阅读说明：本技术 车对车通讯数据简化方法、装置、设备及存储介质 (Vehicle-to-vehicle communication data simplification method, device, equipment and storage medium ) 是由 罗文� 石聪 邓克晚 梁美桂 唐晟 覃远航 于 2021-07-28 设计创作，主要内容包括：本发明属于车通信技术领域,公开了一种车对车通讯数据简化方法、装置、设备及存储介质。该方法包括：获取环境感知信息；根据环境感知信息确定当前车辆对应的环境复杂度；根据环境复杂度确定对应的当前调整策略；根据当前调整策略对通讯信息进行简化,得到当前通讯信息；将当前通讯信息发送至目标车辆。通过上述方式,通过确定车辆所处环境的环境复杂度,根据环境复杂度对通讯信息进行简化,优化采集数据,解决无人驾驶车对车通讯中因传输数据量大导致传输效率低的问题。(The invention belongs to the technical field of vehicle communication, and discloses a vehicle-to-vehicle communication data simplification method, device, equipment and storage medium. The method comprises the following steps: acquiring environment perception information; determining the environmental complexity corresponding to the current vehicle according to the environmental perception information; determining a corresponding current adjustment strategy according to the environment complexity; simplifying the communication information according to the current adjustment strategy to obtain the current communication information; and sending the current communication information to the target vehicle. By the mode, the environment complexity of the environment where the vehicle is located is determined, the communication information is simplified according to the environment complexity, the data acquisition is optimized, and the problem of low transmission efficiency caused by large transmission data volume in the vehicle-to-vehicle communication of the unmanned vehicle is solved.)

1. A vehicle-to-vehicle communication data simplification method is characterized by comprising the following steps:

acquiring environment perception information;

determining the environment complexity corresponding to the current vehicle according to the environment perception information;

determining a corresponding current adjustment strategy according to the environment complexity;

simplifying the communication information according to the current adjustment strategy to obtain current communication information;

and sending the current communication information to a target vehicle.

2. The vehicle-to-vehicle communication data reduction method according to claim 1, wherein the determining the environmental complexity corresponding to the current vehicle according to the environmental awareness information comprises:

determining the number of lane lines and the number of surrounding vehicles according to the environment perception information;

and determining the environment complexity according to the number of the lane lines and the number of the surrounding vehicles.

3. The vehicle-to-vehicle communication data reduction method according to claim 2, wherein the determining the environmental complexity according to the number of lane lines and the number of surrounding vehicles comprises:

judging whether the number of the lane lines is larger than or equal to the number of preset lanes or not;

when the number of lane lines is larger than or equal to the preset number of lanes, comparing the number of the surrounding vehicles with a first preset number and a second preset number respectively to obtain a first comparison result, wherein the first preset number is larger than the second preset number;

and determining the environment complexity according to the first comparison result.

4. The vehicle-to-vehicle communication data reduction method according to claim 3, wherein after determining whether the number of lane lines is greater than or equal to a preset number of lanes, the method further comprises:

when the number of lane lines is smaller than the preset number of lanes, comparing the number of the peripheral vehicles with a third preset number and a fourth preset number respectively to obtain a second comparison result, wherein the third preset number is smaller than the first preset number and larger than the fourth preset number, and the fourth preset number is smaller than the second preset number;

and determining the environment complexity according to the second comparison result.

5. The vehicle-to-vehicle communication data reduction method according to claim 1, wherein the communication information includes at least position information and speed information of the vehicle, and position information, speed information, and classification information of the perception object;

the determining the corresponding current adjustment strategy according to the environment complexity includes:

and when the environment complexity is slow running, determining that the corresponding current adjustment strategy is to delete the classification information of the perception target in the communication information.

6. The vehicle-to-vehicle communication data reduction method according to claim 5, wherein determining the corresponding current adjustment strategy according to the environmental complexity further comprises:

and when the environment complexity is smooth, determining that the corresponding current adjustment strategy is to delete the position information, the speed information and the classification information of the perception target in the communication information.

7. The vehicle-to-vehicle communication data reduction method according to any one of claims 1 to 6, wherein after the reduction of the communication information according to the current adjustment strategy and the obtaining of the current communication information, the method further comprises:

when target communication information sent by a target vehicle is acquired, determining whether a common-view area exists according to the target communication information;

if the common-view area exists, deleting a plurality of target information corresponding to the common-view area from the current communication information to obtain target communication information;

and sending the target communication information to the target vehicle.

8. A vehicle-to-vehicle communication data reduction device, comprising:

the acquisition module is used for acquiring environment perception information;

the determining module is used for determining the environment complexity corresponding to the current vehicle according to the environment perception information;

the adjusting module is used for determining a corresponding current adjusting strategy according to the environment complexity;

the adjusting module is further used for simplifying the communication information according to the current adjusting strategy to obtain the current communication information;

and the sending module is used for sending the current communication information to a target vehicle.

9. A vehicle-to-vehicle communication data reduction apparatus, comprising: a memory, a processor, and a vehicle-to-vehicle communication data reduction program stored on the memory and executable on the processor, the vehicle-to-vehicle communication data reduction program configured to implement the vehicle-to-vehicle communication data reduction method according to any one of claims 1 to 7.

10. A storage medium having stored thereon a vehicle-to-vehicle communication data reduction program that, when executed by a processor, implements the vehicle-to-vehicle communication data reduction method according to any one of claims 1 to 7.

Technical Field

The invention relates to the technical field of vehicle communication, in particular to a vehicle-to-vehicle communication data simplifying method, device, equipment and storage medium.

Background

In order to improve communication efficiency, conventional Vehicle-to-Vehicle communication (V2V) generally uses a channel as an entry point, but when a large amount of data is encountered, channel allocation is still insufficient. The Chinese patent application: A5G Internet of vehicles V2V resource allocation method (publication number: CN112995951A) adopting a deep deterministic strategy gradient algorithm provides that V2V communication accesses a 5G network by using a network slicing technology, an optimal V2V user channel allocation and transmission power joint optimization strategy is obtained by utilizing a deep reinforcement learning optimization strategy, a V2V user reduces mutual interference between V2V links by selecting proper transmission power and channel, and the total system throughput of the V2V link is maximized under the condition of meeting the link delay constraint. This patent suffers from the following drawbacks: the optimal channel allocation and the transmitting power are obtained through a deep reinforcement learning optimization strategy, and the communication efficiency cannot be effectively improved. The channel allocation and the transmission power only adjust the frequency of sending and receiving, and different signals are allocated to different frequencies, so that the problems of data loss and the like caused by frequency superposition can be improved, but the signals and the channels are not changed, or the situation of insufficient channel allocation still exists once the data quantity is increased.

The above is only for the purpose of assisting understanding of the technical aspects of the present invention, and does not represent an admission that the above is prior art.

Disclosure of Invention

The invention mainly aims to provide a method, a device, equipment and a storage medium for simplifying vehicle-to-vehicle communication data, and aims to solve the technical problem of improving the data transmission efficiency of vehicle-to-vehicle communication.

In order to achieve the above object, the present invention provides a vehicle-to-vehicle communication data simplification method, comprising the steps of:

acquiring environment perception information;

determining the environment complexity corresponding to the current vehicle according to the environment perception information;

determining a corresponding current adjustment strategy according to the environment complexity;

simplifying the communication information according to the current adjustment strategy to obtain current communication information;

and sending the current communication information to a target vehicle.

Optionally, the determining the environmental complexity corresponding to the current vehicle according to the environmental awareness information includes:

determining the number of lane lines and the number of surrounding vehicles according to the environment perception information;

and determining the environment complexity according to the number of the lane lines and the number of the surrounding vehicles.

Optionally, the determining the environmental complexity according to the number of lane lines and the number of surrounding vehicles includes:

judging whether the number of the lane lines is larger than or equal to the number of preset lanes or not;

when the number of lane lines is larger than or equal to the preset number of lanes, comparing the number of the surrounding vehicles with a first preset number and a second preset number respectively to obtain a first comparison result, wherein the first preset number is larger than the second preset number;

and determining the environment complexity according to the first comparison result.

Optionally, after determining whether the number of lane lines is greater than or equal to a preset number of lanes, the method further includes:

when the number of lane lines is smaller than the preset number of lanes, comparing the number of the peripheral vehicles with a third preset number and a fourth preset number respectively to obtain a second comparison result, wherein the third preset number is smaller than the first preset number and larger than the fourth preset number, and the fourth preset number is smaller than the second preset number;

and determining the environment complexity according to the second comparison result.

Optionally, the communication information at least includes position information and speed information of the vehicle, and position information, speed information and classification information of the perception target;

the determining the corresponding current adjustment strategy according to the environment complexity includes:

and when the environment complexity is slow running, determining that the corresponding current adjustment strategy is to delete the classification information of the perception target in the communication information.

Optionally, the determining a corresponding current adjustment policy according to the environment complexity further includes:

and when the environment complexity is smooth, determining that the corresponding current adjustment strategy is to delete the position information, the speed information and the classification information of the perception target in the communication information.

Optionally, after the communication information is simplified according to the current adjustment policy and the current communication information is obtained, the method further includes:

when target communication information sent by a target vehicle is acquired, determining whether a common-view area exists according to the target communication information;

if the common-view area exists, deleting a plurality of target information corresponding to the common-view area from the current communication information to obtain target communication information;

and sending the target communication information to the target vehicle.

In addition, in order to achieve the above object, the present invention further provides a vehicle-to-vehicle communication data simplifying apparatus, including:

the acquisition module is used for acquiring environment perception information;

the determining module is used for determining the environment complexity corresponding to the current vehicle according to the environment perception information;

the adjusting module is used for determining a corresponding current adjusting strategy according to the environment complexity;

the adjusting module is further used for simplifying the communication information according to the current adjusting strategy to obtain the current communication information;

and the sending module is used for sending the current communication information to a target vehicle.

In addition, in order to achieve the above object, the present invention further provides a vehicle-to-vehicle communication data reduction device, including: the system comprises a memory, a processor and a vehicle-to-vehicle communication data simplification program stored on the memory and operable on the processor, wherein the vehicle-to-vehicle communication data simplification program is configured to realize the vehicle-to-vehicle communication data simplification method.

In addition, to achieve the above object, the present invention further provides a storage medium, in which a vehicle-to-vehicle communication data simplification program is stored, and the vehicle-to-vehicle communication data simplification program, when executed by a processor, implements the vehicle-to-vehicle communication data simplification method as described above.

The invention obtains environment perception information; determining the environmental complexity corresponding to the current vehicle according to the environmental perception information; determining a corresponding current adjustment strategy according to the environment complexity; simplifying the communication information according to the current adjustment strategy to obtain the current communication information; and sending the current communication information to the target vehicle. By the method, the environment complexity of the environment where the vehicle is located is determined, the communication information is simplified according to the environment complexity, the collected data is optimized, the data transmission efficiency is improved, and the problem that the transmission efficiency is low due to the fact that the transmission data volume is large in the vehicle-to-vehicle communication of the unmanned vehicle is solved.

Drawings

FIG. 1 is a schematic structural diagram of a vehicle-to-vehicle communication data reduction device in a hardware operating environment according to an embodiment of the present invention;

FIG. 2 is a schematic flow chart illustrating a first embodiment of a vehicle-to-vehicle communication data reduction method according to the present invention;

FIG. 3 is a schematic view of a common view field of an embodiment of a vehicle-to-vehicle communication data reduction method according to the present invention;

FIG. 4 is a flowchart illustrating a second embodiment of a vehicle-to-vehicle communication data reduction method according to the present invention;

fig. 5 is a block diagram illustrating a first embodiment of the vehicle-to-vehicle communication data simplifying apparatus according to the present invention.

The implementation, functional features and advantages of the objects of the present invention will be further explained with reference to the accompanying drawings.

Detailed Description

It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.

Referring to fig. 1, fig. 1 is a schematic structural diagram of a vehicle-to-vehicle communication data simplification device in a hardware operating environment according to an embodiment of the present invention.

As shown in fig. 1, the vehicle-to-vehicle communication data reduction apparatus may include: a processor 1001, such as a Central Processing Unit (CPU), a communication bus 1002, a user interface 1003, a network interface 1004, and a memory 1005. Wherein a communication bus 1002 is used to enable connective communication between these components. The user interface 1003 may include a Display screen (Display), an input unit such as a Keyboard (Keyboard), and the optional user interface 1003 may also include a standard wired interface, a wireless interface. The network interface 1004 may optionally include a standard wired interface, a Wireless interface (e.g., a Wireless-Fidelity (Wi-Fi) interface). The Memory 1005 may be a Random Access Memory (RAM) or a Non-Volatile Memory (NVM), such as a disk Memory. The memory 1005 may alternatively be a storage device separate from the processor 1001.

Those skilled in the art will appreciate that the configuration shown in FIG. 1 does not constitute a limitation of the vehicle-to-vehicle communication data reduction apparatus, and may include more or fewer components than shown, or some components in combination, or a different arrangement of components.

As shown in fig. 1, a memory 1005, which is a storage medium, may include therein an operating system, a network communication module, a user interface module, and a vehicle-to-vehicle communication data reduction program.

In the vehicle-to-vehicle communication data reduction device shown in fig. 1, the network interface 1004 is mainly used for data communication with a network server; the user interface 1003 is mainly used for data interaction with a user; the processor 1001 and the memory 1005 of the vehicle-to-vehicle communication data simplification device of the present invention may be disposed in the vehicle-to-vehicle communication data simplification device, and the vehicle-to-vehicle communication data simplification device invokes the vehicle-to-vehicle communication data simplification program stored in the memory 1005 through the processor 1001, and executes the vehicle-to-vehicle communication data simplification method provided by the embodiment of the present invention.

An embodiment of the present invention provides a method for simplifying vehicle-to-vehicle communication data, and referring to fig. 2, fig. 2 is a schematic flow chart of a first embodiment of the method for simplifying vehicle-to-vehicle communication data according to the present invention.

In this embodiment, the vehicle-to-vehicle communication data simplification method includes the following steps:

step S10: and acquiring environment perception information.

It can be understood that the execution subject of this embodiment is a vehicle-to-vehicle communication data simplification device installed on a vehicle, and the vehicle-to-vehicle communication data simplification device may be a domain controller, and may also be other devices having the same or similar functions, and this embodiment takes the domain controller as an example for description. In a specific implementation, the domain controller is connected with a camera for detecting the surrounding environment of the vehicle and other perception sensors for acquiring environment perception information, and is also connected with a communication device for data transmission with other vehicles for receiving communication data sent by other vehicles and transmitting the communication data of the vehicle to other vehicles.

It should be noted that the environment sensing information is lane lines and target vehicle information collected by camera sensors installed around the vehicle, in a specific implementation, a front camera is arranged on a front windshield of the vehicle and used for sensing information F in front of the vehicle, a rear camera is arranged on a rear windshield of the vehicle and used for sensing information B behind the vehicle, a left camera is arranged on a left column B of the vehicle and used for sensing information L on the left side of the vehicle, and a right camera is arranged on a right column B of the vehicle and used for sensing information R on the right side of the vehicle, wherein the front camera and the rear camera can sense the target information within a range of 150 meters, and the left camera and the right camera can sense the target information within a range of 10 meters. All data around the vehicle are collected in a covering mode through the front camera, the rear camera, the left camera and the right camera, and the corresponding sensing area is [ F, B, L and R ].

Step S20: and determining the environmental complexity corresponding to the current vehicle according to the environmental perception information.

It can be understood that the corresponding environment complexity is determined according to the number of lane lines and the number of surrounding vehicles, and different lane lines and different surrounding vehicles correspond to different environment complexities. The environmental complexity includes clear, slow, and congested.

Step S30: and determining a corresponding current adjustment strategy according to the environment complexity.

It should be noted that different environment complexities correspond to different adjustment strategies, and after the environment complexity of the environment where the vehicle is located is determined according to the environment perception information collected by the camera, the current adjustment strategy is selected according to the environment complexity. The current adjustment strategy includes: when the environment complexity of the environment where the vehicle is located is congestion, if the current vehicle is determined to have more target vehicles around the vehicle and the environment is dangerous and complex, all communication information needs to be transmitted; when the environmental complexity of the environment where the vehicle is located is slow running, the number of target vehicles around the current vehicle is determined to be moderate, and the vehicles nearby normally run, so that the classification information of the perception target does not need to be transmitted, and the classification information of the perception target is simplified; when the environment complexity of the environment where the vehicle is located is smooth, the number of the targets around the current vehicle is determined to be small, and the unmanned vehicle runs quickly, so that only the running parameters of the vehicle need to be transmitted.

Specifically, the step S30 includes: when the environment complexity is slow running, determining that the corresponding current adjustment strategy is to delete the classification information of the perception target in the communication information; and when the environment complexity is smooth, determining that the corresponding current adjustment strategy is to delete the position information, the speed information and the classification information of the perception target in the communication information.

It can be understood that when the environment complexity is slow running, the number of target vehicles around the current vehicle is determined to be moderate, and nearby vehicles pass normally, the classification information of the perception target does not need to be transmitted, the classification information of the perception target is simplified, and the classification information of the perception target is deleted from the communication information; when the environment complexity is smooth, the number of the targets around the current vehicle is determined to be small, and the unmanned vehicle runs quickly, only the running parameters of the vehicle need to be transmitted, and the position information, the speed information and the classification information of the perception target are deleted from the communication information.

Step S40: and simplifying the communication information according to the current adjustment strategy to obtain the current communication information.

Further, after the step S40, the method further includes: when target communication information sent by a target vehicle is acquired, determining whether a common-view area exists according to the target communication information; if the common-view area exists, deleting a plurality of target information corresponding to the common-view area from the current communication information to obtain target communication information; and sending the target communication information to the target vehicle.

It should be understood that the target vehicle refers to a vehicle in vehicle-to-vehicle communication with the current vehicle, the common view area is an overlapping area of the current vehicle and a sensing area of the target vehicle, and the sensing area of the current vehicle is [ F, B, L, R [ ]]The perception area of the target vehicle is [ F ]₁,B₁,L₁,R₁]When the target vehicle transmits target communication information to the current vehicle, the current vehicle determines the position information of the target vehicle according to the target communication information, wherein the position information comprises coordinates and a driving direction, the coordinates of the target vehicle are mapped into a vehicle coordinate system, and a perception area [ F ] of the target vehicle is determined according to the driving direction₁,B₁,L₁，R₁]Marking a vehicle sensing area [ F, B, L, R ] in the vehicle coordinate system according to the position information of the vehicle]Referring to fig. 3, fig. 3 is a schematic view of a common-view area according to an embodiment of a vehicle-to-vehicle communication data simplification method of the present invention, where a current vehicle determines whether an overlapping area, that is, a common-view area, exists according to a sensing range of the current vehicle and a target vehicle, and if the overlapping area exists, determines target information in the overlapping area according to environment sensing information acquired by a camera, deletes the target information, and sends the deleted target communication information to the target vehicle. For example, when the vehicle a receives the communication information and recognizes that there is a common view area with the vehicle B, the vehicle a does not need to send the common view area to the vehicle B, and the single communication optimizes the communication efficiency by 25%.

Step S50: and sending the current communication information to a target vehicle.

It should be noted that, when sending the current communication information to the target vehicle, a plurality of potential transmission paths are determined, and a transmission path with the highest evaluation level is selected from the potential transmission paths for transmission, so as to further improve the transmission efficiency, and the specific process may be: acquiring a speed difference and a driving direction difference between a current vehicle and a target vehicle; acquiring hop counts and connection time consumption corresponding to a source end node and a tail end node; performing fuzzy evaluation on a plurality of potential paths according to the speed difference, the driving direction difference, the hop count and the connection time consumption, and determining evaluation levels corresponding to the potential paths; determining an optimal transmission path according to evaluation levels corresponding to the plurality of potential paths; and transmitting the communication information according to the optimal transmission path.

The embodiment obtains the environment perception information; determining the environmental complexity corresponding to the current vehicle according to the environmental perception information; determining a corresponding current adjustment strategy according to the environment complexity; simplifying the communication information according to the current adjustment strategy to obtain the current communication information; and sending the current communication information to the target vehicle. By the method, the environment complexity of the environment where the vehicle is located is determined, the communication information is simplified according to the environment complexity, the collected data is optimized, the data transmission efficiency is improved, and the problem that the transmission efficiency is low due to the fact that the transmission data volume is large in the vehicle-to-vehicle communication of the unmanned vehicle is solved.

Referring to fig. 4, fig. 4 is a schematic flow chart of a vehicle-to-vehicle communication data simplification method according to a second embodiment of the present invention.

Based on the first embodiment, step S20 of the vehicle-to-vehicle communication data simplification method in this embodiment includes:

the determining the environmental complexity corresponding to the current vehicle according to the environmental perception information includes:

step S201: and determining the number of lane lines and the number of surrounding vehicles according to the environment perception information.

It is understood that the number of lane lines of the environment in which the current vehicle is located is determined using a lane line recognition algorithm, and the number of nearby vehicles of the environment in which the current vehicle is located is determined using a vehicle recognition technique.

Step S202: and determining the environment complexity according to the number of the lane lines and the number of the surrounding vehicles.

Specifically, the step S202 includes: judging whether the number of the lane lines is larger than or equal to the number of preset lanes or not; when the number of lane lines is larger than or equal to the preset number of lanes, comparing the number of the surrounding vehicles with a first preset number and a second preset number respectively to obtain a first comparison result, wherein the first preset number is larger than the second preset number; and determining the environment complexity according to the first comparison result.

It should be understood that the preset number of lanes is set according to actual conditions, when a lane line is greater than or equal to the preset number of lanes, it is characterized that the number of lanes corresponding to the environment where the current vehicle is located is large, at this time, if the number of surrounding vehicles is greater than or equal to a first preset number, the environment complexity is determined to be congestion, if the number of surrounding vehicles is greater than or equal to a second preset number and less than the first preset number, the environment complexity is determined to be slow running, and if the number of surrounding vehicles is less than the second preset number, the environment complexity is determined to be smooth.

Specifically, after the step S202, the method further includes: when the number of lane lines is smaller than the preset number of lanes, comparing the number of the peripheral vehicles with a third preset number and a fourth preset number respectively to obtain a second comparison result, wherein the third preset number is smaller than the first preset number and larger than the fourth preset number, and the fourth preset number is smaller than the second preset number; and determining the environment complexity according to the second comparison result.

It should be noted that when the lane line is smaller than the preset number of lanes, it is characterized that the number of lanes corresponding to the environment where the current vehicle is located is small, at this time, if the number of the peripheral vehicles is greater than or equal to the third preset number, it is determined that the environment complexity is congested, if the number of the peripheral vehicles is greater than or equal to the fourth preset number and less than the third preset number, it is determined that the environment complexity is slow running, and if the number of the peripheral vehicles is less than the fourth preset number, it is determined that the environment complexity is smooth.

In a specific implementation, the environmental complexity of the current vehicle is determined by equation (1):

the method comprises the steps that Jam represents that the environmental complexity of a current vehicle belongs to congestion, the Amble represents that the environmental complexity of the current vehicle belongs to slow traveling, and the Clear represents that the environmental complexity of the current vehicle belongs to smooth traveling; l is the number of lane lines, and o is the number of surrounding vehicles.

The embodiment obtains the environment perception information; determining the number of lane lines and the number of surrounding vehicles according to the environment perception information; determining the environment complexity according to the number of lane lines and the number of surrounding vehicles; determining a corresponding current adjustment strategy according to the environment complexity; simplifying the communication information according to the current adjustment strategy to obtain the current communication information; and sending the current communication information to the target vehicle. Through the mode, the environment complexity of the environment where the vehicle is located is reasonably determined according to the number of lane lines and the number of surrounding vehicles, communication information is simplified according to the environment complexity, data collection is optimized, data transmission efficiency is improved, and the problem that transmission efficiency is low due to the fact that the transmission data volume is large in unmanned vehicle-to-vehicle communication is solved.

In addition, an embodiment of the present invention further provides a storage medium, where the storage medium stores a vehicle-to-vehicle communication data simplification program, and the vehicle-to-vehicle communication data simplification program, when executed by a processor, implements the vehicle-to-vehicle communication data simplification method described above.

Since the storage medium adopts all technical solutions of all the embodiments, at least all the beneficial effects brought by the technical solutions of the embodiments are achieved, and no further description is given here.

Referring to fig. 5, fig. 5 is a block diagram illustrating a first embodiment of the vehicle-to-vehicle communication data simplifying apparatus according to the present invention.

As shown in fig. 5, the vehicle-to-vehicle communication data simplification apparatus according to the embodiment of the present invention includes:

and an obtaining module 10, configured to obtain the environment awareness information.

And the determining module 20 is configured to determine the environmental complexity corresponding to the current vehicle according to the environmental awareness information.

And the adjusting module 30 is configured to determine a corresponding current adjusting strategy according to the environment complexity.

The adjusting module 30 is further configured to simplify the communication information according to the current adjusting policy, so as to obtain the current communication information.

And the sending module 40 is used for sending the current communication information to the target vehicle.

It should be understood that the above is only an example, and the technical solution of the present invention is not limited in any way, and in a specific application, a person skilled in the art may set the technical solution as needed, and the present invention is not limited thereto.

The embodiment obtains the environment perception information; determining the environmental complexity corresponding to the current vehicle according to the environmental perception information; determining a corresponding current adjustment strategy according to the environment complexity; simplifying the communication information according to the current adjustment strategy to obtain the current communication information; and sending the current communication information to the target vehicle. By the method, the environment complexity of the environment where the vehicle is located is determined, the communication information is simplified according to the environment complexity, the collected data is optimized, the data transmission efficiency is improved, and the problem that the transmission efficiency is low due to the fact that the transmission data volume is large in the vehicle-to-vehicle communication of the unmanned vehicle is solved.

It should be noted that the above-described work flows are only exemplary, and do not limit the scope of the present invention, and in practical applications, a person skilled in the art may select some or all of them to achieve the purpose of the solution of the embodiment according to actual needs, and the present invention is not limited herein.

In addition, the technical details that are not described in detail in this embodiment can be referred to the vehicle-to-vehicle communication data simplification method provided by any embodiment of the present invention, and are not described herein again.

In an embodiment, the determining module 20 is further configured to determine the number of lane lines and the number of neighboring vehicles according to the environment sensing information, and determine the environment complexity according to the number of lane lines and the number of neighboring vehicles.

In an embodiment, the determining module 20 is further configured to determine whether the number of lane lines is greater than or equal to a preset number of lanes, compare the number of neighboring vehicles with a first preset number and a second preset number respectively to obtain a first comparison result when the number of lane lines is greater than or equal to the preset number of lanes, where the first preset number is greater than the second preset number, and determine the environment complexity according to the first comparison result.

In an embodiment, the determining module 20 is further configured to, when the number of lane lines is smaller than the preset number of lanes, compare the number of the neighboring vehicles with a third preset number and a fourth preset number respectively to obtain a second comparison result, where the third preset number is smaller than the first preset number and larger than the fourth preset number, and the fourth preset number is smaller than the second preset number, and determine the environment complexity according to the second comparison result.

In one embodiment, the communication information at least includes position information and speed information of the vehicle, and position information, speed information and classification information of the perception target;

the adjusting module 30 is further configured to determine that the corresponding current adjusting policy is to delete the classification information of the sensing target in the communication information when the environment complexity is slow-moving.

In an embodiment, the adjusting module 30 is further configured to determine that the corresponding current adjusting policy is to delete the location information, the speed information, and the classification information of the sensing target in the communication information when the environment complexity is clear.

In an embodiment, the adjusting module 30 is further configured to determine whether a common-view area exists according to the target communication information when the target communication information sent by the target vehicle is acquired, delete a plurality of pieces of target information corresponding to the common-view area from the current communication information if the common-view area exists, obtain the target communication information, and send the target communication information to the target vehicle.

Further, it is to be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or system that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or system. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other like elements in a process, method, article, or system that comprises the element.

The above-mentioned serial numbers of the embodiments of the present invention are merely for description and do not represent the merits of the embodiments.

Through the above description of the embodiments, those skilled in the art will clearly understand that the method of the above embodiments can be implemented by software plus a necessary general hardware platform, and certainly can also be implemented by hardware, but in many cases, the former is a better implementation manner. Based on such understanding, the technical solution of the present invention or portions thereof that contribute to the prior art may be embodied in the form of a software product, where the computer software product is stored in a storage medium (e.g. Read Only Memory (ROM)/RAM, magnetic disk, optical disk), and includes several instructions for enabling a terminal device (e.g. a mobile phone, a computer, a server, or a network device) to execute the method according to the embodiments of the present invention.

The above description is only a preferred embodiment of the present invention, and not intended to limit the scope of the present invention, and all modifications of equivalent structures and equivalent processes, which are made by using the contents of the present specification and the accompanying drawings, or directly or indirectly applied to other related technical fields, are included in the scope of the present invention.