TW202337238A - Secured management of maneuver identifications (ids) - Google Patents
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Abstract
Description
本案整體上係關於通訊系統。例如，本案的各態樣涉及用於安全地管理用於基於車輛的通訊（諸如車輛對一切（V2X）通訊）的操縱標識（ID）的配置。This case is generally about communication systems. For example, aspects of this case relate to the configuration of operational identifications (IDs) used to securely manage vehicle-based communications, such as vehicle-to-everything (V2X) communications.
無線通訊系統被廣泛部署以提供各種電訊服務，諸如電話、視訊、資料、訊息收發和廣播。典型的無線通訊系統可以採用能夠經由共享可用系統資源來支援與多個使用者的通訊的多工存取技術。此類多工存取技術的實例包括分碼多工存取（CDMA）系統、分時多工存取（TDMA）系統、分頻多工存取（FDMA）系統、正交分頻多工存取（OFDMA）系統、單載波分頻多工存取（SC-FDMA）系統和時分同步分碼多工存取（TD-SCDMA）系統。Wireless communication systems are widely deployed to provide various telecommunications services, such as telephony, video, data, messaging and broadcasting. A typical wireless communication system may employ multiple access technology that can support communication with multiple users by sharing available system resources. Examples of such multiplexing techniques include code division multiplexing (CDMA) systems, time division multiplexing (TDMA) systems, frequency division multiplexing (FDMA) systems, orthogonal frequency division multiplexing (OFDMA) system, single carrier frequency division multiplex access (SC-FDMA) system and time division synchronization code division multiplex access (TD-SCDMA) system.
這些多種存取技術已被用於各種電訊標準中，以提供能夠使不同無線設備在城市、國家、地區甚至全球的水平上通訊的公共協定。一個實例電訊標準是5G新無線電（NR）。5G NR是第三代合作夥伴計畫（3GPP）頒佈的持續行動寬頻進化的部分，以滿足與時延、可靠性、安全性、可擴展性（例如，在物聯網路（IoT）的情況下）相關聯的新要求和其他要求。5G NR包括與增強型行動寬頻（eMBB）、大規模機器類型通訊（mMTC）和超可靠低時延通訊（URLLC）相關聯的服務。5G NR 的某些態樣可以基於4G長期進化（LTE）標準。無線通訊的各態樣可以包括設備之間的直接通訊，諸如在V2X、車輛對車輛（V2V）、及/或設備對設備（D2D）通訊中。V2X、V2V及/或D2D技術需要進一步改進。這些改進亦可以適用於其他多工存取技術和採用這些技術的電訊標準。These multiple access technologies have been used in various telecommunications standards to provide common protocols that enable different wireless devices to communicate at city, national, regional and even global levels. An example telecommunications standard is 5G New Radio (NR). 5G NR is part of the ongoing mobile broadband evolution announced by the 3rd Generation Partnership Project (3GPP) to meet the challenges related to latency, reliability, security, scalability (e.g., in the context of the Internet of Things (IoT)). ) and other requirements associated with. 5G NR includes services associated with enhanced mobile broadband (eMBB), massive machine type communications (mMTC) and ultra-reliable low latency communications (URLLC). Some aspects of 5G NR could be based on the 4G Long Term Evolution (LTE) standard. Various aspects of wireless communication may include direct communication between devices, such as in V2X, vehicle-to-vehicle (V2V), and/or device-to-device (D2D) communication. V2X, V2V and/or D2D technologies need further improvement. These improvements can also be applied to other multiplexed access technologies and telecommunications standards that use these technologies.
下文呈現與本文所揭示的一或多個態樣有關的簡化概要。因此，以下概要不應被視為與所有預期態樣有關的廣泛概述，且以下概要亦不應被視為標識與所有預期態樣相關的關鍵或重要要素或者圖示與任何特定態樣相關聯的範疇。相應地，以下概要的唯一目的是在下文呈現的詳細描述之前，以簡化形式呈現與涉及本文所揭示的機制的一或多個態樣有關的某些概念。The following presents a simplified summary related to one or more aspects disclosed herein. Accordingly, the following summary should not be construed as an extensive overview relating to all contemplated aspects, nor should the following summary be deemed to identify key or important elements relating to all contemplated aspects or as an illustration associated with any particular aspect. category. Accordingly, the sole purpose of the following summary is to present in a simplified form certain concepts related to one or more aspects involving the mechanisms disclosed herein before the detailed description is presented below.
揭示用於安全地管理用於基於車輛的通訊（例如，V2X通訊）的操縱ID的系統、裝置、方法和電腦可讀取媒體。根據至少一個實例，提供了一種用於車輛處的無線通訊的方法。該方法包括：在車輛處發送與由車輛進行的潛在操縱相關聯的訊息；在車輛處基於訊息決定潛在操縱的操縱標識（ID）；及在車輛處發送用於潛在操縱的第一操縱訊息，第一操縱訊息包括操縱ID。Systems, devices, methods, and computer-readable media for securely managing manipulation IDs for vehicle-based communications (eg, V2X communications) are disclosed. According to at least one example, a method for wireless communications at a vehicle is provided. The method includes transmitting, at the vehicle, a message associated with a potential maneuver performed by the vehicle; determining, at the vehicle, a maneuver identification (ID) of the potential maneuver based on the message; and transmitting, at the vehicle, a first maneuver message for the potential maneuver, The first control message includes the control ID.
在另一實例中，提供了一種用於無線通訊的裝置，該裝置包括記憶體（例如，被配置為儲存資料，諸如虛擬內容資料、一或多個影像等）和耦合到記憶體的一或多個處理器（例如，被實現於電路中）。一或多個處理器被配置為並且可以：發送與由車輛進行的潛在操縱相關聯的訊息；基於訊息決定潛在操縱的操縱標識（ID）；及發送用於潛在操縱的第一操縱訊息，第一操縱訊息包括操縱ID。In another example, an apparatus for wireless communications is provided, the apparatus including a memory (e.g., configured to store data, such as virtual content data, one or more images, etc.) and one or more devices coupled to the memory. Multiple processors (e.g., implemented in a circuit). The one or more processors are configured and may: send a message associated with a potential maneuver performed by the vehicle; determine a maneuver identification (ID) of the potential maneuver based on the message; and send a first maneuver message for the potential maneuver, s. An operation message includes an operation ID.
在另一實例中，提供了一種非暫時性電腦可讀取媒體，其上儲存有指令，指令在由一或多個處理器執行時導致一或多個處理器：發送與由車輛進行的潛在操縱相關聯的訊息；基於訊息決定用於潛在操縱的操縱標識（ID）；及發送用於潛在操縱的第一操縱訊息，第一操縱訊息包括操縱ID。In another example, a non-transitory computer readable medium is provided having instructions stored thereon that when executed by one or more processors cause the one or more processors to: Manipulate the associated message; determine a manipulation identification (ID) for the potential manipulation based on the message; and send a first manipulation message for the potential manipulation, the first manipulation message including the manipulation ID.
在另一實例中，提供了一種用於無線通訊的裝置。該裝置包括：用於發送與由車輛進行的潛在操縱相關聯的訊息的部件；用於基於訊息決定潛在操縱的操縱標識（ID）的部件；及用於發送用於潛在操縱的第一操縱訊息的部件，第一操縱訊息包括操縱ID。In another example, an apparatus for wireless communications is provided. The apparatus includes: means for transmitting a message associated with a potential maneuver performed by the vehicle; means for determining a maneuver identification (ID) of the potential maneuver based on the message; and for transmitting a first maneuver message for the potential maneuver. component, the first control message includes the control ID.
根據至少一個補充或替代實例，提供了一種用於無線通訊的方法。該方法包括：在第一車輛處從第二車輛接收第一操縱訊息，第一操縱訊息包括第一操縱標識（ID）；在第一車輛處決定第一操縱訊息的第一操縱ID是新操縱ID；及在第一車輛處基於第一操縱ID是新操縱ID來決定第一操縱ID是否與基於先前接收的訊息決定的第二操縱ID匹配。According to at least one supplementary or alternative example, a method for wireless communications is provided. The method includes: receiving a first manipulation message from a second vehicle at a first vehicle, where the first manipulation message includes a first manipulation identification (ID); and determining at the first vehicle that the first manipulation ID of the first manipulation message is a new manipulation. ID; and determining at the first vehicle whether the first maneuver ID matches the second maneuver ID determined based on the previously received message based on the first maneuver ID being the new maneuver ID.
在另一實例中，提供了一種用於無線通訊的裝置，該裝置包括記憶體（例如，被配置為儲存資料，諸如虛擬內容資料、一或多個影像等）和耦合到記憶體的一或多個處理器（例如，被實現於電路中）。一或多個處理器被配置為並且可以：從車輛接收第一操縱訊息，第一操縱訊息包括第一操縱標識（ID）；決定第一操縱訊息的第一操縱ID是新操縱ID；及基於第一操縱ID是新操縱ID來決定第一操縱ID是否與基於先前接收的訊息決定的第二操縱ID匹配。In another example, an apparatus for wireless communications is provided, the apparatus including a memory (e.g., configured to store data, such as virtual content data, one or more images, etc.) and one or more devices coupled to the memory. Multiple processors (e.g., implemented in a circuit). The one or more processors are configured to and may: receive a first manipulation message from the vehicle, the first manipulation message including a first manipulation identification (ID); determine that the first manipulation ID of the first manipulation message is the new manipulation ID; and based on The first manipulation ID is a new manipulation ID to determine whether the first manipulation ID matches the second manipulation ID determined based on the previously received message.
在另一實例中，提供了一種非暫時性電腦可讀取媒體，其上儲存有指令，指令在由一或多個處理器執行時導致一或多個處理器：從車輛接收第一操縱訊息，第一操縱訊息包括第一操縱標識（ID）；決定第一操縱訊息的第一操縱ID是新操縱ID；及基於第一操縱ID是新操縱ID來決定第一操縱ID是否與基於先前接收的訊息決定的第二操縱ID匹配。In another example, a non-transitory computer readable medium is provided having instructions stored thereon that, when executed by one or more processors, cause the one or more processors to: receive a first steering message from a vehicle , the first manipulation message includes a first manipulation identification (ID); it is determined that the first manipulation ID of the first manipulation message is a new manipulation ID; and based on the first manipulation ID being a new manipulation ID, it is determined whether the first manipulation ID is the same as the one previously received based on The message determines the second manipulation ID to match.
在另一實例中，提供了一種用於無線通訊的裝置。該裝置包括：用於從車輛接收第一操縱訊息的部件，第一操縱訊息包括第一操縱標識（ID）；用於決定第一操縱訊息的第一操縱ID是新操縱ID的部件；及用於基於第一操縱ID是新操縱ID來決定第一操縱ID是否與基於先前接收的訊息決定的第二操縱ID匹配的部件。In another example, an apparatus for wireless communications is provided. The device includes: a component for receiving a first manipulation message from the vehicle, the first manipulation message including a first manipulation identification (ID); a component for determining that the first manipulation ID of the first manipulation message is a new manipulation ID; and A component for determining whether the first manipulation ID matches a second manipulation ID determined based on a previously received message based on the first manipulation ID being a new manipulation ID.
根據至少一個補充或替代實例，提供了一種用於無線通訊的方法。該方法包括：在車輛處從一或多個車輛接收複數個操縱訊息，該複數個操縱訊息包括相同的操縱標識（ID）和一或多個源ID；及在車輛處決定複數個操縱訊息的一或多個源ID是否匹配。According to at least one supplementary or alternative example, a method for wireless communications is provided. The method includes: receiving a plurality of control messages from one or more vehicles at the vehicle, the plurality of control messages including the same control identification (ID) and one or more source IDs; and determining at the vehicle the location of the plurality of control messages. Whether one or more source IDs match.
在另一實例中，提供了一種用於無線通訊的裝置，該裝置包括記憶體（例如，被配置為儲存資料，諸如虛擬內容資料、一或多個影像等）和耦合到記憶體的一或多個處理器（例如，被實現於電路中）。一或多個處理器被配置為並且可以：從一或多個車輛接收複數個操縱訊息，該複數個操縱訊息包括相同的操縱標識（ID）和一或多個源ID；及決定複數個操縱訊息的一或多個源ID是否匹配。In another example, an apparatus for wireless communications is provided, the apparatus including a memory (e.g., configured to store data, such as virtual content data, one or more images, etc.) and one or more devices coupled to the memory. Multiple processors (e.g., implemented in a circuit). The one or more processors are configured to and may: receive a plurality of maneuver messages from one or more vehicles, the plurality of maneuver messages including the same maneuver identification (ID) and one or more source IDs; and determine a plurality of maneuvers Whether one or more source IDs of the message match.
在另一實例中，提供了一種非暫時性電腦可讀取媒體，其上儲存有指令，指令在由一或多個處理器執行時導致一或多個處理器：從一或多個車輛接收複數個操縱訊息，該複數個操縱訊息包括相同的操縱標識（ID）和一或多個源ID；及決定複數個操縱訊息的一或多個源ID是否匹配。In another example, a non-transitory computer readable medium is provided having instructions stored thereon that when executed by one or more processors cause the one or more processors to: receive from one or more vehicles A plurality of manipulation messages, the plurality of manipulation messages include the same manipulation identification (ID) and one or more source IDs; and determining whether the one or more source IDs of the plurality of manipulation messages match.
在另一實例中，提供了一種用於無線通訊的裝置。該裝置包括：用於從一或多個車輛接收複數個操縱訊息的部件，該複數個操縱訊息包括相同的操縱標識（ID）和一或多個源ID；及用於決定複數個操縱訊息的一或多個源ID是否匹配的部件。In another example, an apparatus for wireless communications is provided. The device includes: a component for receiving a plurality of control messages from one or more vehicles, the plurality of control messages including the same control identification (ID) and one or more source IDs; and a component for determining the plurality of control messages. One or more source IDs match the component.
在某些態樣，裝置是以下各項或者是以下各項的部分：行動設備（例如，行動電話或所謂的「智慧型電話」或其他行動設備）、可穿戴設備、擴展現實設備（例如，虛擬實境（VR）設備、增強現實（AR）設備或混合現實（MR）設備）、個人電腦、膝上型電腦、車輛（例如，汽車或卡車）、伺服器電腦、機器人設備或其他設備。在某些態樣，裝置包括用於捕捉無線電頻率（RF）訊號的無線電偵測和測距（雷達）。在某些態樣，裝置包括一或多個光偵測和測距（LIDAR）感測器、雷達感測器、或用於捕捉基於光（例如，光學頻率）訊號的其他基於光的感測器。在某些態樣，裝置包括用於捕捉一或多個影像的一或多個相機。在某些態樣，裝置亦包括用於顯示一或多個影像、通知及/或其他可顯示資料的顯示器。在某些態樣，上文描述的裝置可以包括一或多個感測器，其可以被用於決定裝置的位置、裝置的狀態（例如，溫度、濕度水平及/或其他狀態）及/或用於其他目的。In some aspects, a device is or is part of a mobile device (e.g., a cell phone or so-called "smartphone" or other mobile device), a wearable device, an extended reality device (e.g., virtual reality (VR) device, augmented reality (AR) device, or mixed reality (MR) device), personal computer, laptop computer, vehicle (e.g., car or truck), server computer, robotic device, or other device. In some aspects, the device includes radio detection and ranging (radar) for capturing radio frequency (RF) signals. In some aspects, the device includes one or more light detection and ranging (LIDAR) sensors, radar sensors, or other light-based sensing for capturing light-based (e.g., optical frequency) signals. device. In some aspects, a device includes one or more cameras for capturing one or more images. In some aspects, the device also includes a display for displaying one or more images, notifications, and/or other displayable data. In some aspects, the devices described above may include one or more sensors that may be used to determine the location of the device, the state of the device (e.g., temperature, humidity levels, and/or other conditions), and/or for other purposes.
本概述不意欲標識所要求保護的主題的關鍵或必要特徵，亦不意欲被單獨用於決定所要求保護的主題的範疇。應該經由參考本專利的整篇說明書的適當部分、任何或全部附圖以及每個請求項來理解主題。This Summary is not intended to identify key or essential features of the claimed subject matter, nor is intended to be used alone in determining the scope of the claimed subject matter. The subject matter should be understood by reference to the appropriate portions of the entire specification of this patent, any or all of the drawings, and each claim.
基於所附附圖和詳細描述，與本文揭示的各態樣相關聯的其他目的和優點對於本發明所屬領域中具有通常知識者將是顯而易見的。Other objects and advantages associated with various aspects disclosed herein will be apparent to those of ordinary skill in the art to which this invention pertains based on the accompanying drawings and detailed description.
為了說明的目的，下文提供了本案的某些態樣。可以在不脫離本案的範疇的情況下設計替代態樣。另外，本案的眾所周知的元素將不被詳細描述或將被省略，以免混淆本案的相關細節。如對本發明所屬領域中具有通常知識者顯而易見的，本文描述的態樣中的某些可以被獨立地應用，並且其中某些可以被組合地應用。在以下描述中，出於解釋的目的，闡述了具體細節以便提供對本案的各態樣的全面理解。然而，將顯而易見的是，各態樣可以在沒有這些具體細節的情況下被實踐。附圖和描述不意欲是限制性的。For purposes of illustration, some aspects of the case are provided below. Alternative aspects can be devised without departing from the scope of the case. In addition, well-known elements of the case will not be described in detail or will be omitted so as not to obscure the relevant details of the case. As will be apparent to one of ordinary skill in the art to which this invention pertains, some of the aspects described herein may be applied independently, and some of them may be applied in combination. In the following description, for purposes of explanation, specific details are set forth in order to provide a comprehensive understanding of various aspects of the case. However, it will be apparent that aspects may be practiced without these specific details. The drawings and descriptions are not intended to be limiting.
隨後的描述僅提供實例態樣，並且不意欲限制本案的範疇、適用性或配置。確切地說，對實例態樣的隨後描述將為本發明所屬領域中具有通常知識者提供用於實現實例態樣的使能描述（enabling description）。應該理解，在功能和元件佈置態樣可以進行各種改變，而不脫離如所附請求項闡述的本案的精神和範疇。The ensuing description provides example aspects only and is not intended to limit the scope, applicability, or configuration of the present invention. Rather, the ensuing description of example aspects will provide those of ordinary skill in the art with enabling descriptions for implementing the example aspects. It will be understood that various changes may be made in functionality and arrangement of components without departing from the spirit and scope of the invention as set forth in the appended claims.
術語「示例性」及/或「實例」在本文中被用於意指「用作實例、例子或說明」。本文中被描述為「示例性」及/或「實例」的任何態樣並不一定要被解釋為相比其他態樣更優選或有利。同樣，術語「本案的各態樣」並不要求本案的所有態樣皆包括所論述的特徵、優點或操作模式。The terms "exemplary" and/or "example" are used herein to mean "serving as an example, instance, or illustration." Any aspects described herein as "exemplary" and/or "examples" are not necessarily to be construed as preferred or advantageous over other aspects. Likewise, the term "various aspects of the present invention" does not require that all aspects of the present invention include the discussed features, advantages, or modes of operation.
無線通訊系統被部署用於提供各種電訊服務，包括電話、視訊、資料、訊息收發、廣播等等。無線通訊系統已發展數代。5G行動服務標準要求更高的資料傳遞速度、更大的連接數量和更好的覆蓋，以及其他改進。根據下一代行動網路聯盟，5G標準（亦被成為「新無線電」或「NR」）被設計為向數萬使用者中的每一個提供每秒數十兆位元的資料速率。Wireless communication systems are deployed to provide various telecommunications services, including telephone, video, data, messaging, broadcasting, etc. Wireless communication systems have been developed for several generations. The 5G mobile service standard calls for higher data transfer speeds, a greater number of connections and better coverage, among other improvements. According to the Next Generation Mobile Network Alliance, the 5G standard (also known as "New Radio" or "NR") is designed to deliver data rates of tens of megabits per second to each of tens of thousands of users.
車輛是可以包括無線通訊能力的設備或系統的實例。例如，車輛（例如，操縱車輛、自主車輛、飛行器、海船等）可以與具有無線通訊能力的其他車輛及/或其他設備通訊。無線車輛通訊系統涵蓋車輛對車輛（V2V）、車輛對基礎設施（V2I）和車輛對行人（V2P）通訊，其全部被統稱為車輛對一切（V2X）通訊。V2X通訊是支援資訊從車輛到位於交通系統內的可能影響車輛的其他實體（例如，其他車輛、具有智慧型電話的行人及/或其他交通基礎設施）的無線傳遞的車輛通訊系統。V2X技術的主要目的是改進道路安全、燃料節省和交通效率。Vehicles are examples of devices or systems that may include wireless communications capabilities. For example, vehicles (eg, piloted vehicles, autonomous vehicles, aircraft, marine vessels, etc.) may communicate with other vehicles and/or other devices with wireless communication capabilities. Wireless vehicle communication systems cover vehicle-to-vehicle (V2V), vehicle-to-infrastructure (V2I) and vehicle-to-pedestrian (V2P) communications, all of which are collectively referred to as vehicle-to-everything (V2X) communications. V2X communications are vehicle communication systems that support the wireless transfer of information from the vehicle to other entities located within the transportation system that may affect the vehicle (e.g., other vehicles, pedestrians with smartphones, and/or other transportation infrastructure). The main purpose of V2X technology is to improve road safety, fuel savings and traffic efficiency.
在V2X通訊系統中，資訊是經由無線鏈路從車輛感測器（和其他源）發送的，以允許資訊被通訊給其他車輛、行人及/或交通基礎設施。資訊可以是使用一或多個基於車輛的訊息（諸如C-V2X訊息，其可以包括感測器資料共享訊息（SDSM）、基本安全訊息（BSM）、協調感知訊息（CAM）、共同感知訊息（CPM）及/或其他類型的訊息）來發送的。經由與其他車輛共享此資訊，V2X技術改進了車輛（和駕駛員）對潛在危險的感知，以幫助減少與其他車輛和實體的碰撞。另外，經由向車輛提供潛在即將到來的道路危險和障礙的交通警告，使得車輛可以選取替代的交通路線，V2X改進了交通效率。In a V2X communication system, information is sent from vehicle sensors (and other sources) via wireless links, allowing the information to be communicated to other vehicles, pedestrians and/or transportation infrastructure. The information may be obtained using one or more vehicle-based messages (such as C-V2X messages, which may include Sensor Data Sharing Message (SDSM), Basic Safety Message (BSM), Coordinated Awareness Message (CAM), Common Awareness Message ( CPM) and/or other types of messages) to send. By sharing this information with other vehicles, V2X technology improves the vehicle's (and driver's) perception of potential hazards to help reduce collisions with other vehicles and entities. In addition, V2X improves traffic efficiency by providing vehicles with traffic warnings of potential upcoming road hazards and obstacles so that vehicles can take alternative traffic routes.
如前述，V2X技術包括V2V通訊，其亦可以被稱為對等通訊。V2V通訊允許車輛在道路上時彼此直接無線通訊。利用V2V通訊，車輛可以經由從其他車輛接收關於即將到來的潛在道路危險（例如，不可預見的迎面而來的車輛、事故和道路狀況）的資訊來獲得情景感知。基於車輛的訊息（例如，SDSM、BSM、CAM和CPM）是有益的，因為它們可以向車輛提供對即將到來的潛在道路危險的感知和理解。As mentioned above, V2X technology includes V2V communication, which can also be called peer-to-peer communication. V2V communication allows vehicles to communicate directly with each other wirelessly while on the road. Using V2V communications, vehicles can gain situational awareness by receiving information from other vehicles about potential upcoming road hazards (e.g., unforeseen oncoming vehicles, accidents, and road conditions). Vehicle-based messages (e.g., SDSM, BSM, CAM, and CPM) are beneficial because they can provide the vehicle with awareness and understanding of potential upcoming road hazards.
IEEE 802.11p標準支援使用專用短距離通訊（DSRC）介面來進行V2X無線通訊。基於IEEE 802.11p的DSRC介面的特性包括低時延和未許可5.9千兆赫（GHz）頻帶的使用。蜂巢V2X（C-V2X）被用作使用基於IEEE 802.11p的DSRC介面進行無線通訊的替代。5G汽車協會（5GAA）支援C-V2X技術的使用。在某些情況下，C-V2X技術使用長期進化（LTE）作為底層技術，並且C-V2X功能基於LTE技術。C-V2X包括複數個操作模式。操作模式之一允許車輛之間經由LTE側鏈路PC5介面的直接無線通訊。類似於基於IEEE 802.11p的DSRC介面，LTE C-V2X側鏈路PC5介面在5.9 GHz頻帶上操作。The IEEE 802.11p standard supports the use of dedicated short-range communications (DSRC) interfaces for V2X wireless communications. Features of the DSRC interface based on IEEE 802.11p include low latency and use of the unlicensed 5.9 gigahertz (GHz) frequency band. Cellular V2X (C-V2X) is used as an alternative to using the DSRC interface based on IEEE 802.11p for wireless communications. The 5G Automotive Association (5GAA) supports the use of C-V2X technology. In some cases, C-V2X technology uses Long Term Evolution (LTE) as the underlying technology, and C-V2X functions are based on LTE technology. C-V2X includes multiple operating modes. One operating mode allows direct wireless communication between vehicles via the LTE side-link PC5 interface. Similar to the DSRC interface based on IEEE 802.11p, the LTE C-V2X side link PC5 interface operates in the 5.9 GHz band.
近年來，已經進行了大量與使用V2X通訊的自動化駕駛相關的研究和開發，其關鍵焦點在於增強交通安全和效率。自主駕駛是使用用於物件偵測、路徑規劃和致動的感測器來執行的。改進安全和效率的研究正針對這些程序中的每一個來進行開發。各種組織正經由使用V2X技術來執行自主自動駕駛開發，以使得駕駛更安全和更高效。這些組織已經定義了用於V2X的網路架構和訊息收發。例如，SDSM、BSM、CAM和CPM是被車輛用於提供關於其狀態的即時資訊並且在某些情況下共享關於車輛的周圍環境的即時資訊的V2X訊息。這些訊息（例如，SDSM、BSM、CAM和CPM）不是為協調路徑規劃設計的，協調路徑規劃需要包括用於整體最佳路徑規劃的未來（規劃）資訊。In recent years, a large amount of research and development related to automated driving using V2X communications has been conducted, with a key focus being on enhancing traffic safety and efficiency. Autonomous driving is performed using sensors for object detection, path planning and actuation. Research to improve safety and efficiency is being developed for each of these procedures. Various organizations are using V2X technology to perform autonomous driving development to make driving safer and more efficient. These organizations have defined network architecture and messaging for V2X. For example, SDSM, BSM, CAM and CPM are V2X messages used by vehicles to provide real-time information about their status and in some cases share real-time information about the vehicle's surrounding environment. These messages (e.g., SDSM, BSM, CAM, and CPM) are not designed for coordinated path planning, which needs to include future (planning) information for overall optimal path planning.
用於最佳路徑規劃的未來（規劃）資訊應包括車輛隨時間的規劃定位的列表（亦即，規劃軌跡）。操縱共享協調訊息（MSCM）（例如，圖14的MSCM 1400）是可以被用於在車輛之間進行規劃軌跡的交換以執行駕駛協調的V2X訊息。MSCM允許車輛協調其規劃的操縱以進行更安全和更高效的駕駛。應當注意，MSCM格式仍在開發中。Future (planning) information for optimal path planning should include a list of planned positions of the vehicle over time (i.e., planned trajectories). A Maneuvering Shared Coordination Message (MSCM) (eg, MSCM 1400 of Figure 14) is a V2X message that can be used to exchange planned trajectories between vehicles to perform driving coordination. MSCM allows the vehicle to coordinate its planned maneuvers for safer and more efficient driving. It should be noted that the MSCM format is still under development.
MSCM依賴於操縱標識（ID）（例如，下文描述的圖14的操縱ID 1414）。在某些情況下，操縱ID可以類似於通信期ID，並且可以允許操縱參與車輛追蹤用於特定操縱的更新。當前，標準（例如，汽車工程協會（SAE）標準，諸如SAE J1386）中亦沒有提出用於產生唯一操縱ID的解決方案。操縱ID應當是唯一的，以便避免任何可能的操縱ID衝突（例如，在兩個或兩個以上操縱具有相同的操縱ID時發生），操縱ID衝突可能導致操縱的取消。提供非唯一操縱ID的產生方法可能導致操縱的取消（或中止）。MSCM relies on a manipulation identification (ID) (eg, manipulation ID 1414 of Figure 14 described below). In some cases, the maneuver ID may be similar to the communication session ID, and may allow maneuver participating vehicle tracking to be updated for a specific maneuver. Currently, there is no solution proposed in standards (eg, Society of Automotive Engineers (SAE) standards such as SAE J1386) for generating unique manipulation IDs. Manipulation IDs should be unique in order to avoid any possible manipulation ID conflicts (e.g., occurring when two or more manipulations have the same manipulation ID), which could result in the cancellation of manipulations. Providing a non-unique operation ID generation method may cause the operation to be canceled (or aborted).
在某些情況下，亂數產生器可以被用於產生用於MCSM的操縱ID的隨機值。然而，使用亂數產生器來產生用於操縱ID的隨機值可能無法防止衝突的操縱ID的風險，因為隨機值可能不一定是唯一的。在某些其他情況下，車輛的數位憑證可以被用於產生操縱ID。然而，使用車輛的數位憑證來產生操縱ID可能是有問題的，因為車輛可能需要產生比數位憑證更多的操縱ID，並且數位憑證典型地已被用於（例如，被散列）產生MSCM的源ID（例如，圖14的源ID 1410）。In some cases, a random number generator may be used to generate random values for the manipulation ID of the MCSM. However, using a random number generator to generate random values for manipulation IDs may not prevent the risk of conflicting manipulation IDs, as the random values may not necessarily be unique. In some other cases, the vehicle's digital credentials may be used to generate a manipulation ID. However, using a vehicle's digital credentials to generate manipulation IDs can be problematic because the vehicle may need to generate more manipulation IDs than digital credentials, and digital credentials have typically been used (e.g., hashed) to generate MSCM's Source ID (eg, source ID 1410 of Figure 14).
當前，亦沒有用於偵測與衝突的操縱ID有關的攻擊的可用解決方案或技術（例如，沒有偵測器）。與衝突的操縱ID有關的攻擊可能導致若干操縱取消（或操縱中止）。如此，與衝突的操縱ID有關的未偵測到的攻擊可能導致交通缺少管理（例如，因為多個操縱將被取消）。Currently, there are no available solutions or techniques for detecting attacks related to conflicting manipulation IDs (e.g., no detectors). Attacks related to conflicting manipulation IDs can cause several manipulations to be canceled (or manipulations aborted). As such, undetected attacks related to conflicting manipulation IDs may result in unmanaged traffic (eg, because multiple manipulations will be canceled).
在本案的某些態樣，本文描述了用於安全地管理用於基於車輛的通訊（諸如V2X通訊）的操縱ID的系統、裝置、方法（亦被稱為程序）和電腦可讀取媒體（本文統稱為「系統和技術」）。經由提供用於每個操縱的唯一操縱ID，並且經由提供用於操縱ID衝突的不當行為偵測和報告（MBDS），系統和技術有效地增加了交通的安全和效率。In some aspects, this document describes systems, devices, methods (also referred to as programs), and computer-readable media ( (collectively referred to herein as the "Systems and Technology"). By providing a unique maneuver ID for each maneuver, and by providing Misbehavior Detection and Reporting (MBDS) for maneuver ID conflicts, the system and technology effectively increase the safety and efficiency of traffic.
在某些態樣，車輛或其他設備可以決定或產生用於車輛或其他設備規劃執行的每個操縱的唯一操縱ID。車輛可以基於先前訊息（諸如BSM或指示執行特定操縱的意圖的操縱訊息（例如，MSCM類型零（0）），其在本文中被稱為意圖操縱訊息）來決定用於特定操縱（和對應的操縱通信期）的唯一操縱ID。先前訊息可以在將包括唯一操縱ID的操縱訊息（例如，MSCM）之前被發送。在某些情況下，為了基於先前訊息決定唯一操縱ID，車輛可以將散列演算法應用於先前訊息以產生經散列訊息（或散列碼），該經散列訊息可以被用作用於操縱訊息（例如，MSCM）的操縱ID。從散列演算法得到的散列碼（或值）可以提供唯一值，該唯一值可以防止不同操縱通信期的操縱ID衝突的可能性。在某些情況下，先前訊息本身（例如，BSM或意圖操縱訊息）對於操縱訊息（例如，MSCM）的操縱ID欄位而言在大小上可能太大。然而，從先前訊息的散列產生的散列碼在大小上顯著小於先前訊息本身的大小，並且在大小上小到足以適合操縱訊息（例如，MSCM）的操縱ID欄位。儘管本文將散列演算法描述為用於產生唯一操縱ID的方法，但是可以使用其他演算法來產生唯一標識。In some aspects, the vehicle or other device may determine or generate a unique maneuver ID for each maneuver the vehicle or other device is intended to perform. The vehicle may decide for a particular maneuver (and corresponding The unique operation ID of the operation communication period). The previous message may be sent before the manipulation message (eg, MSCM) that will include the unique manipulation ID. In some cases, in order to determine a unique steering ID based on a previous message, the vehicle can apply a hashing algorithm to the previous message to produce a hashed message (or hash code), which can be used for steering The manipulation ID of the message (for example, MSCM). The hash code (or value) derived from the hashing algorithm can provide a unique value that can prevent the possibility of collision of operation IDs of different operation communication periods. In some cases, the previous message itself (eg, a BSM or intent-to-manipulate message) may be too large in size for the manipulation ID field of the manipulation message (eg, an MSCM). However, the hash code generated from the hash of the previous message is significantly smaller in size than the previous message itself, and is small enough in size to fit in the manipulation ID field of the manipulation message (eg, MSCM). Although hashing algorithms are described herein as the method used to generate unique manipulation IDs, other algorithms may be used to generate unique identifications.
補充地或替代地，在某些態樣，本文描述的系統和技術可以包括用於操縱ID衝突偵測的一或多個程序。例如，第一程序（例如，被稱為程序A）可以被執行以決定用於特定操縱通信期的操縱訊息（例如，MSCM）中的新接收的操縱ID是否與用於特定操縱通信期的本端產生的操縱ID（例如，使用上述基於散列的技術）匹配。在某些情況下，程序A亦可以包括驗證操縱ID是經由特定源ID產生的（例如，由與操縱的源ID相關聯的車輛產生的）。在另一實例中，第二程序（例如，程序B）可以被執行以驗證攻擊者是否已經仿冒了特定操縱通信期的操縱訊息（例如，MSCM）的源ID，諸如經由比較具有共同操縱ID的複數個操縱訊息的源ID。當已偵測到不當行為時（例如，對於程序A和B中的任一者或兩者），車輛可以產生包含偵測到的不當行為的具體細節的不當行為報告。車輛可以向一或多個其他車輛、向伺服器或向另一實體發送不當行為報告。若未偵測到不當行為（例如，操縱ID匹配及/或源ID匹配），則車輛可以經由根據公共協定處理操縱訊息來保持閒置。Additionally or alternatively, in some aspects, the systems and techniques described herein may include one or more procedures for handling ID conflict detection. For example, a first procedure (eg, referred to as procedure A) may be executed to determine whether a newly received manipulation ID in a manipulation message (eg, MSCM) for a particular manipulation communication period is consistent with the original manipulation ID for a particular manipulation communication period. Match against an end-generated manipulation ID (e.g., using the hash-based technique described above). In some cases, Procedure A may also include verifying that the maneuver ID was generated via a specific source ID (eg, generated by the vehicle associated with the maneuver's source ID). In another example, a second procedure (e.g., Procedure B) may be executed to verify whether the attacker has spoofed the source ID of a manipulation message (e.g., MSCM) for a particular manipulation communication period, such as by comparing Source IDs of multiple manipulation messages. When misconduct has been detected (eg, for either or both procedures A and B), the vehicle may generate a misconduct report containing specific details of the detected misconduct. A vehicle may send a misconduct report to one or more other vehicles, to a server, or to another entity. If no inappropriate behavior is detected (eg, maneuver ID match and/or source ID match), the vehicle may remain idle by processing maneuver messages according to public protocols.
下文更詳細地描述了本案的額外態樣。Additional aspects of this case are described in more detail below.
如本文所使用的，除非另有說明，否則術語「使用者設備」（UE）和「網路實體」並不意欲特定於或以其他方式限於任何特定的無線電存取技術（RAT）。通常，UE可以是由使用者用於經由無線通訊網路進行通訊的任何無線通訊設備（例如，行動電話、路由器、平板電腦、膝上型電腦、及/或追蹤設備等）、可穿戴（例如，智慧手錶、智慧眼鏡、可穿戴環、及/或諸如虛擬實境（VR）頭戴裝置、增強現實（AR）頭戴裝置或眼鏡、或混合現實（MR）頭戴裝置之類的擴展現實（XR）設備）、交通工具（例如，汽車、摩托車、自行車等）、及/或物聯網路（IoT）設備等。UE可以是行動的或者可以（例如，在某些時間）是固定的，並且可以與無線電存取網路（RAN）通訊。如本文所使用的，術語「UE」可以被互換地稱為「存取終端」或「AT」、「客戶端設備」、「無線設備」、「用戶設備」、「用戶終端」、「用戶站」、「使用者終端」或「UT」、「行動設備」、「行動終端」、「行動站」或其變體。通常，UE可以經由RAN與核心網路進行通訊，並且經由核心網路，UE可以與外部網路（諸如網際網路）和其他UE連接。當然，對於UE，連接到核心網路及/或網際網路的其他機制亦是可能的，諸如經由有線存取網路、無線區域網路（WLAN）網路（例如，基於IEEE 802.11通訊標準等）等等。As used herein, unless otherwise stated, the terms "user equipment" (UE) and "network entity" are not intended to be specific or otherwise limited to any particular radio access technology (RAT). Generally, a UE can be any wireless communication device (eg, mobile phone, router, tablet, laptop, and/or tracking device, etc.) used by users to communicate via a wireless communication network, wearable (eg, Smart watches, smart glasses, wearable rings, and/or extended reality such as virtual reality (VR) headsets, augmented reality (AR) headsets or glasses, or mixed reality (MR) headsets ( XR) equipment), vehicles (such as cars, motorcycles, bicycles, etc.), and/or Internet of Things (IoT) equipment, etc. A UE may be mobile or may be stationary (eg, at certain times) and may communicate with the Radio Access Network (RAN). As used herein, the term "UE" may be interchangeably referred to as "access terminal" or "AT", "client equipment", "wireless device", "user equipment", "user terminal", "user station" ”, “user terminal” or “UT”, “mobile device”, “mobile terminal”, “mobile station” or variations thereof. Typically, a UE can communicate with the core network via the RAN, and via the core network, the UE can connect with external networks (such as the Internet) and other UEs. Of course, other mechanisms for connecting to the core network and/or the Internet are also possible for the UE, such as via a wired access network, a wireless local area network (WLAN) network (e.g., based on the IEEE 802.11 communication standard, etc. )etc.
在某些情況下，網路實體可以被實現於聚合式或單片基地台或伺服器架構中，或者替代地，被實現於分解式基地台或伺服器架構中，並且可以包括中央單元（CU）、分散式單元（DU）、無線電單元（RU）、近即時（近RT）RAN智慧控制器（RIC）或非即時（非RT）RIC中的一或多個。在某些情況下，網路實體可以包括伺服器設備，諸如多存取邊緣計算（MEC）設備。基地台或伺服器（例如，具有聚合式/單片基地台架構或分解式基地台架構）可以根據與UE、路邊單元（RSU）及/或其他設備通訊的若干RAT中的一個進行操作，這取決於其被部署的網路，並且可以替代地被稱為存取點（AP）、網路節點、NodeB（NB）、進化型NodeB（eNB）、下一代eNB（ng-eNB）、新無線電（NR）節點B （亦被稱為gNB或gNodeB）等。基地台可以主要被用於支援UE的無線存取，包括支援用於所支援UE的資料、語音及/或訊號傳遞連接。在某些系統中，基地台可以提供邊緣節點訊號傳遞功能，而在其他系統中，其可以提供額外的控制及/或網路管理功能。UE可以經由其向基地台發出訊號的通訊鏈路被稱為上行鏈路（UL）通道（例如，反向傳輸量通道、反向控制通道、存取通道等）。基地台可以經由其向UE發出訊號的通訊鏈路被稱為下行鏈路（DL）或前向鏈路通道（例如，傳呼通道、控制通道、廣播通道、或前向傳輸量通道等）。如本文所使用的，術語傳輸量通道（TCH）可以指上行鏈路、反向、或下行鏈路及/或前向傳輸量通道。In some cases, the network entity may be implemented in a converged or monolithic base station or server architecture, or alternatively, in a disaggregated base station or server architecture, and may include a central unit (CU ), one or more of a distributed unit (DU), a radio unit (RU), a near-instantaneous (near-RT) RAN intelligent controller (RIC), or a non-instantaneous (non-RT) RIC. In some cases, network entities may include server devices, such as multi-access edge computing (MEC) devices. A base station or server (e.g., with a converged/monolithic base station architecture or a disaggregated base station architecture) may operate according to one of several RATs communicating with UEs, roadside units (RSUs), and/or other devices, This depends on the network in which it is deployed, and may alternatively be called an access point (AP), network node, NodeB (NB), evolved NodeB (eNB), next-generation eNB (ng-eNB), new Radio (NR) Node B (also known as gNB or gNodeB) etc. A base station may be primarily used to support wireless access of UEs, including supporting data, voice and/or signaling connections for supported UEs. In some systems, the base station can provide edge node signaling functions, while in other systems it can provide additional control and/or network management functions. The communication link through which the UE can send signals to the base station is called an uplink (UL) channel (eg, reverse traffic channel, reverse control channel, access channel, etc.). The communication link through which the base station can send signals to the UE is called a downlink (DL) or forward link channel (eg, paging channel, control channel, broadcast channel, or forward traffic channel, etc.). As used herein, the term traffic channel (TCH) may refer to an uplink, reverse, or downlink and/or forward traffic channel.
術語「網路實體」或「基地台」（例如，具有聚合式/單片基地台架構或分解式基地台架構）可以指單個實體TRP或者可以共位亦可以不共位的多個實體TRP。例如，在術語「網路實體」或「基地台」是指單個實體TRP的情況下，該實體TRP可以是與基地台的細胞（或若干細胞扇區）相對應的基地台的天線。在術語「網路實體」或「基地台」是指多個共位的實體TRP的情況下，實體TRP可以是基地台的天線陣列（例如，如在多輸入多輸出（MIMO）系統中或在基地台採用波束成形的情況下）。在術語「基地台」是指多個非共位的實體TRP的情況下，實體TRP可以是分散式天線系統（DAS）（經由傳送媒體連接到公共源的空間分離天線的網路）或遠端無線電頭端（RRH）（連接到服務基地台的遠端基地台）。替代地，非共位的實體TRP可以是從UE接收量測報告的服務基地台和UE正在量測其參考無線電頻率（RF）訊號（或簡稱為「參考訊號」）的相鄰基地台。因為如本文所使用的，TRP是基地台發送和接收無線訊號的點，所以對來自基地台的發送或基地台處的接收的引用將被理解為代表基地台的特定TRP。The term "network entity" or "base station" (eg, with a converged/monolithic base station architecture or a disaggregated base station architecture) may refer to a single entity TRP or multiple entity TRPs that may or may not be co-located. For example, where the term "network entity" or "base station" refers to a single entity TRP, the entity TRP may be the antenna of the base station corresponding to a cell (or sectors of cells) of the base station. Where the terms "network entity" or "base station" refer to multiple co-located entity TRPs, the entity TRP may be the base station's antenna array (e.g., as in a multiple-input multiple-output (MIMO) system or in When the base station uses beamforming). Where the term "base station" refers to multiple non-co-located physical TRPs, the physical TRP may be a Distributed Antenna System (DAS) (a network of spatially separated antennas connected to a common source via a transmission medium) or a remote Radio head (RRH) (a remote base station connected to the serving base station). Alternatively, the non-co-located physical TRPs may be the serving base station that receives the measurement report from the UE and the neighboring base station whose reference radio frequency (RF) signal (or simply "reference signal") the UE is measuring. Because, as used herein, a TRP is the point at which a base station transmits and receives wireless signals, references to transmission from a base station or reception at a base station will be understood to represent the base station's specific TRP.
在支援UE的定位的某些實現中，網路實體或基地台可能不支援UE的無線存取（例如，可能不支援用於UE的資料、語音及/或訊號傳遞連接），而是可以替代地向UE發送要由UE量測的參考訊號，及/或可以接收和量測由UE發送的訊號。此類基地台可以被稱為定位信標（例如，當向UE發送訊號時）及/或被稱為位置量測單元（例如，當接收和量測來自UE的訊號時）。In some implementations that support positioning of the UE, the network entity or base station may not support the UE's radio access (e.g., may not support data, voice, and/or signaling connections for the UE), but may instead to send reference signals to the UE to be measured by the UE, and/or can receive and measure signals sent by the UE. Such base stations may be referred to as positioning beacons (eg, when transmitting signals to UEs) and/or as location measurement units (eg, when receiving and measuring signals from UEs).
路邊單元（RSU）是可以經由通訊鏈路或介面（例如，基於蜂巢的側鏈路或PC5介面、基於802.11或WiFi TM的專用短距離通訊（DSRC）介面及/或其他介面）向一或多個UE、其他RSU及/或基地台發送訊息以及從一或多個UE、其他RSU及/或基地台接收訊息的設備。可以由RSU發送和接收的訊息的實例包括車輛對一切（V2X）訊息，其在下文被更詳細地描述。RSU可以位於各種運輸基礎設施系統上，包括道路、橋樑、停車場、收費站及/或其他基礎設施系統。在某些實例中，RSU可以促進UE（例如，車輛、行人使用者設備及/或其他UE）與運輸基礎設施系統之間的通訊。在某些實現中，RSU可以與伺服器、基地台及/或可以執行集中式管理功能的其他系統通訊。 A roadside unit (RSU) may communicate via a communication link or interface (e.g., cellular-based side link or PC5 interface, 802.11- or WiFiTM- based dedicated short-range communications (DSRC) interface, and/or other interfaces) to a or A device for sending messages to multiple UEs, other RSUs and/or base stations and receiving messages from one or more UEs, other RSUs and/or base stations. Examples of messages that may be sent and received by RSUs include vehicle-to-everything (V2X) messages, which are described in more detail below. RSUs can be located on various transportation infrastructure systems, including roads, bridges, parking lots, toll booths, and/or other infrastructure systems. In some instances, RSUs may facilitate communications between UEs (eg, vehicles, pedestrian user equipment, and/or other UEs) and transportation infrastructure systems. In some implementations, RSUs may communicate with servers, base stations, and/or other systems that may perform centralized management functions.
RSU可以與UE的通訊系統進行通訊。例如，UE（例如，車輛及/或其他UE）的智慧運輸系統（ITS）可以被用於產生用於向RSU傳輸的訊息並對其進行簽名以及驗證從RSU接收的訊息。RSU可以與沿著道路、橋或其他基礎設施系統行進的車輛通訊（例如，經由PC5介面、DSRC介面等）以便獲得交通相關資料（例如，車輛的時間、速度、位置等）。在某些情況下，回應於獲得交通相關資料，RSU可以決定或估計針對特定位置的交通擁堵資訊（例如，交通擁堵的開始、交通擁堵的結束等）、行進時間及/或其他資訊。在某些實例中，RSU可以與其他RSU通訊（例如，經由PC5介面、DSRC介面等）以便決定交通相關資料。RSU可以向其他車輛、行人UE及/或其他UE發送資訊（例如，交通擁堵資訊、行進時間資訊及/或其他資訊）。例如，RSU可以向RSU的覆蓋範圍內的任何UE（例如，車輛、行人UE等）廣播或以其他方式發送資訊。The RSU can communicate with the UE's communication system. For example, an intelligent transportation system (ITS) of a UE (eg, vehicle and/or other UE) may be used to generate and sign messages for transmission to the RSU and to verify messages received from the RSU. RSU can communicate with vehicles traveling along roads, bridges or other infrastructure systems (e.g., via PC5 interface, DSRC interface, etc.) to obtain traffic-related information (e.g., vehicle time, speed, location, etc.). In some cases, in response to obtaining traffic-related information, RSU may determine or estimate traffic jam information (e.g., start of traffic jam, end of traffic jam, etc.), travel time, and/or other information for a specific location. In some instances, RSUs can communicate with other RSUs (eg, via PC5 interface, DSRC interface, etc.) to determine traffic-related data. The RSU can send information (eg, traffic congestion information, travel time information, and/or other information) to other vehicles, pedestrian UEs, and/or other UEs. For example, the RSU may broadcast or otherwise send information to any UE within the coverage area of the RSU (eg, vehicle, pedestrian UE, etc.).
無線電頻率訊號或「RF訊號」包括經由發送器與接收器之間的空間傳送資訊的給定頻率的電磁波。如本文所使用的，發送器可以向接收器發送單個「RF訊號」或多個「RF訊號」。然而，由於RF訊號經由多路徑通道的傳播特性，接收器可能接收到與每個發送的RF訊號相對應的多個「RF訊號」。發送器與接收器之間的不同路徑上的相同的發送的RF訊號可以被稱為「多路徑」RF訊號。如本文所使用的，RF訊號亦可以被稱為「無線訊號」或被簡稱為「訊號」，其中根據上下文清楚的是，術語「訊號」是指無線訊號或RF訊號。Radio frequency signals, or "RF signals," consist of electromagnetic waves of a given frequency that carry information through the space between a transmitter and a receiver. As used herein, a transmitter may send a single "RF signal" or multiple "RF signals" to a receiver. However, due to the propagation characteristics of RF signals through multipath channels, the receiver may receive multiple "RF signals" corresponding to each transmitted RF signal. The same transmitted RF signal on different paths between the transmitter and receiver may be referred to as a "multipath" RF signal. As used herein, RF signals may also be referred to as "wireless signals" or simply "signals," where it will be clear from the context that the term "signal" refers to wireless signals or RF signals.
根據各個態樣，圖1是圖示出無線通訊系統和存取網路100的實例的示圖。無線通訊系統（亦被稱為無線廣域網路（WWAN））包括基地台102、UE 104、進化封包核心（EPC）160和核心網路（例如，5GC）190。基地台102可以包括巨集細胞（高功率蜂巢基地台）及/或小型細胞（低功率蜂巢基地台）。巨集細胞包括基地台。小型細胞包括毫微微細胞、微微細胞和微細胞。According to various aspects, FIG. 1 is a diagram illustrating an example of a wireless communication system and access network 100. A wireless communication system (also known as a wireless wide area network (WWAN)) includes a base station 102, a UE 104, an evolved packet core (EPC) 160, and a core network (eg, 5GC) 190. Base stations 102 may include macro cells (high power cellular base stations) and/or small cells (low power cellular base stations). Macrocells include base stations. Small cells include femtocells, picocells, and minicells.
被配置用於4G LTE的基地台102（統稱為進化型通用行動電訊系統（UMTS）陸地無線電存取網路（E-UTRAN））可以經由回載鏈路132（例如，S1介面）與EPC 160介面連接。被配置用於NR的基地台 102（統稱為下一代RAN（NG-RAN））可以經由回載鏈路184與核心網路190介面連接。除了其他功能之外，基地台102可以執行以下功能中的一或多個：使用者資料的傳遞、無線電通道加密和解密、完整性保護、標頭壓縮、行動性控制功能（例如，切換、雙連線性）、細胞間干擾協調、連接建立和釋放、負載平衡、非存取層（NAS）訊息分發、NAS節點選擇、同步、無線電存取網路（RAN）共享、多媒體廣播多播服務（MBMS）、用戶和裝備追蹤、RAN資訊管理（RIM）、傳呼、定位以及警告訊息的遞送。基地台102可以經由回載鏈路134（例如，X2介面）彼此直接或間接地（例如，經由EPC 160或核心網路190）通訊。回載鏈路134可以是有線的或無線的。Base stations 102 configured for 4G LTE (collectively referred to as the Evolved Universal Mobile Telecommunications System (UMTS) Terrestrial Radio Access Network (E-UTRAN)) may communicate with the EPC 160 via a backhaul link 132 (eg, S1 interface) interface connection. Base stations 102 configured for NR (collectively referred to as Next Generation RAN (NG-RAN)) may interface with the core network 190 via backhaul links 184 . The base station 102 may perform, among other functions, one or more of the following functions: transfer of user data, radio channel encryption and decryption, integrity protection, header compression, mobility control functions (e.g., handover, dual connectivity), inter-cell interference coordination, connection establishment and release, load balancing, non-access layer (NAS) message distribution, NAS node selection, synchronization, radio access network (RAN) sharing, multimedia broadcast multicast service ( MBMS), user and equipment tracking, RAN Information Management (RIM), paging, positioning and warning message delivery. Base stations 102 may communicate with each other directly or indirectly (eg, via EPC 160 or core network 190) via a backhaul link 134 (eg, an X2 interface). Backhaul link 134 may be wired or wireless.
基地台102可以與UE 104無線通訊。基地台102中的每一個可以為相應的地理覆蓋區域110提供通訊覆蓋。可能存在重疊的地理覆蓋區域110。例如，小型細胞102'可以具有與一或多個巨集基地台102的覆蓋區域110重疊的覆蓋區域110'。包括小型細胞和巨集細胞兩者的網路可以被稱為異質網路。異質網路亦可以包括歸屬進化型節點B（eNB）（HeNB），其可以向被稱為封閉用戶組（CSG）的受限組提供服務。基地台102與UE 104之間的通訊鏈路120可以包括從UE 104到基地台102的上行鏈路（UL）（亦被稱為反向鏈路）發送及/或從基地台102到UE 104的下行鏈路（DL）(亦被稱為前向鏈路）發送。通訊鏈路120可以使用多輸入和多輸出（MIMO）天線技術，包括空間多工、波束成形及/或發送分集。通訊鏈路可以經由一或多個載波。基地台102/UE 104可以使用在用於每個方向上的傳輸的總共多達Yx MHz(x個分量載波)的載波聚合中分配的每載波多達Y MHz(例如，5、10、15、20、100、400等MHz)頻寬的頻譜。載波可以彼此相鄰亦可以不相鄰。載波的分配可以相對於DL和UL不對稱（例如，可以為DL分配比UL更多或更少的載波）。分量載波可以包括主分量載波和一或多個輔分量載波。主分量載波可以被稱為主細胞（PCell）而輔分量載波可以被稱為輔細胞（SCell）。Base station 102 may communicate wirelessly with UE 104. Each of the base stations 102 may provide communications coverage for a corresponding geographic coverage area 110 . There may be overlapping geographic coverage areas 110 . For example, a small cell 102' may have a coverage area 110' that overlaps the coverage area 110 of one or more macrocells 102. Networks that include both small cells and macrocells can be called heterogeneous networks. The heterogeneous network may also include a Home Evolved Node B (eNB) (HeNB), which may provide services to a restricted group known as a Closed Subscriber Group (CSG). Communication link 120 between base station 102 and UE 104 may include uplink (UL) (also referred to as reverse link) transmissions from UE 104 to base station 102 and/or from base station 102 to UE 104 sent on the downlink (DL) (also known as the forward link). Communication link 120 may use multiple-input and multiple-output (MIMO) antenna technologies, including spatial multiplexing, beamforming, and/or transmit diversity. The communication link may be via one or more carriers. The base station 102/UE 104 may use up to Y MHz per carrier (e.g., 5, 10, 15, 20, 100, 400, etc. MHz) frequency spectrum. Carriers may or may not be adjacent to each other. The allocation of carriers may be asymmetric with respect to DL and UL (eg, DL may be allocated more or fewer carriers than UL). The component carrier may include a primary component carrier and one or more secondary component carriers. The primary component carrier may be called a primary cell (PCell) and the secondary component carrier may be called a secondary cell (SCell).
某些UE 104可以使用設備對設備（D2D）通訊鏈路158彼此通訊。D2D通訊鏈路158可以使用DL/UL WWAN頻譜。D2D通訊鏈路158可以使用一或多個側鏈路通道，諸如實體側鏈路廣播通道（PSBCH）、實體側鏈路發現通道（PSDCH）、實體側鏈路共享通道（PSSCH）和實體側鏈路控制通道（PSCCH）。D2D通訊可以經由各種無線D2D通訊系統，諸如例如FlashLinQ、WiMedia、藍芽、ZigBee、基於IEEE 802.11標準的Wi-Fi、LTE或NR。Certain UEs 104 may communicate with each other using device-to-device (D2D) communication links 158 . D2D communication link 158 may use DL/UL WWAN spectrum. The D2D communication link 158 may use one or more side link channels, such as physical side link broadcast channel (PSBCH), physical side link discovery channel (PSDCH), physical side link shared channel (PSSCH), and physical side link channel control channel (PSCCH). D2D communication may be via various wireless D2D communication systems, such as, for example, FlashLinQ, WiMedia, Bluetooth, ZigBee, Wi-Fi based on the IEEE 802.11 standard, LTE or NR.
無線通訊系統亦可以包括在5 GHz未許可頻率頻譜中經由通訊鏈路154與Wi-Fi站（STA）152通訊的Wi-Fi存取點（AP）150。當在未許可的頻率頻譜中通訊時，STA 152/AP 150可以在通訊之前執行閒置通道評估（CCA）以決定通道是否可用。The wireless communication system may also include a Wi-Fi access point (AP) 150 that communicates with a Wi-Fi station (STA) 152 via a communication link 154 in the 5 GHz unlicensed frequency spectrum. When communicating in unlicensed frequency spectrum, the STA 152/AP 150 can perform a Clear Channel Assessment (CCA) before communicating to determine whether the channel is available.
小型細胞102'可以在經許可及/或未許可的頻率頻譜中操作。當在未許可頻率頻譜中操作時，小型細胞102'可以採用NR並使用與Wi-Fi AP 150使用的相同的5 GHz未許可頻率頻譜。在未許可頻率頻譜中採用NR的小型細胞102'可以促進對存取網路的覆蓋及/或增加存取網路的容量。Small cells 102' may operate in licensed and/or unlicensed frequency spectrums. When operating in the unlicensed frequency spectrum, the small cell 102' may employ NR and use the same 5 GHz unlicensed frequency spectrum that the Wi-Fi AP 150 uses. The use of NR small cells 102' in the unlicensed frequency spectrum can facilitate coverage and/or increase the capacity of the access network.
基地台102，無論是小型細胞102'還是大型細胞（例如，巨集基地台），可以包括eNB、gNodeB（gNB）或其他類型的基地台。某些基地台（諸如gNB 180）可以在傳統的6 GHz以下頻譜、毫米波（mmW）頻率及/或與UE 104通訊的近mmW頻率中操作。當gNB 180在mmW或近mmW頻率中操作時，gNB 180可以被稱為mmW基地台。極高頻（EHF）是電磁頻譜中的RF的部分。EHF的範圍為30 GHz到300 GHz，並且波長在1毫米與10毫米之間。該頻帶中的無線電波可以被稱為毫米波。近mmW可以向下延伸到3 GHz的頻率與100毫米的波長。超高頻（SHF）頻帶在3 GHz與30 GHz之間延伸，亦被稱為釐米波。使用mmW/近mmW無線電頻帶的通訊具有極高的路徑損耗和短距離。mmW基地台180可以利用與UE 104的波束成形182以補償極高的路徑損耗和短距離。Base stations 102, whether small cells 102' or large cells (eg, macro base stations), may include eNBs, gNodeBs (gNBs), or other types of base stations. Certain base stations, such as gNB 180 , may operate in conventional sub-6 GHz spectrum, millimeter wave (mmW) frequencies, and/or near mmW frequencies for communication with UE 104 . When gNB 180 operates in mmW or near mmW frequencies, gNB 180 may be referred to as a mmW base station. Extremely high frequency (EHF) is the RF portion of the electromagnetic spectrum. EHF ranges from 30 GHz to 300 GHz and has wavelengths between 1 mm and 10 mm. Radio waves in this frequency band may be called millimeter waves. Near mmW can extend down to 3 GHz frequencies with 100 mm wavelengths. The Super High Frequency (SHF) band extends between 3 GHz and 30 GHz and is also known as centimeter wave. Communications using mmW/near mmW radio frequency bands have extremely high path loss and short distances. The mmW base station 180 may utilize beamforming 182 with the UE 104 to compensate for extremely high path loss and short range.
設備可以使用波束成形來發送和接收通訊。例如，圖1圖示出基地台180可以在一或多個發送方向182'上向UE 104發送波束成形訊號。UE 104可以在一或多個接收方向182''上從基地台180接收波束成形訊號。UE 104亦可以在一或多個發送方向上向基地台180發送波束成形訊號。基地台180可以在一或多個接收方向上從UE 104接收波束成形訊號。基地台180/UE 104可以執行波束訓練以決定用於基地台180/UE 104中的每一個的最佳接收和發送方向。用於基地台180的發送和接收方向可以相同亦可以不同。用於UE 104的發送和接收方向可以相同亦可以不同。儘管波束成形訊號被示出在UE 104與基地台102/180之間，但波束成形的各態樣可以類似地被UE 104或RSU 107應用於與另一UE 104或RSU 107通訊，諸如基於側鏈路通訊，諸如V2X或D2D通訊。Devices can use beamforming to send and receive communications. For example, FIG. 1 illustrates that base station 180 may transmit beamformed signals to UE 104 in one or more transmission directions 182'. UE 104 may receive beamformed signals from base station 180 in one or more receive directions 182''. UE 104 may also transmit beamforming signals to base station 180 in one or more transmission directions. Base station 180 may receive beamformed signals from UE 104 in one or more receive directions. Base station 180/UE 104 may perform beam training to determine the best reception and transmission directions for each of base station 180/UE 104. The transmit and receive directions for base station 180 may be the same or different. The transmit and receive directions for UE 104 may be the same or different. Although beamforming signals are shown between UE 104 and base station 102/180, aspects of beamforming may similarly be applied by a UE 104 or RSU 107 to communicate with another UE 104 or RSU 107, such as side-based Link communication, such as V2X or D2D communication.
EPC 160可以包括行動性管理實體（MME）162、其他MME 164、服務閘道166、多媒體廣播多播服務（MBMS）閘道168、廣播多播服務中心（BM-SC）170和封包資料網路（PDN）閘道172。MME 162可以與歸屬用戶伺服器（HSS）174通訊。MME 162是處理UE 104與EPC 160之間的訊號傳遞的控制節點。通常，MME 162提供承載和連接管理。所有使用者網際網路協定（IP）封包經由服務閘道166被傳遞，服務閘道166本身連接到PDN閘道172。PDN閘道172提供UE IP位址分配以及其他功能。PDN閘道172和BM-SC 170連接到IP服務176。IP服務176可以包括網際網路、網內網路、IP多媒體子系統（IMS）、PS資料串流服務及/或其他IP服務。BM-SC 170可以提供用於MBMS使用者服務供應和遞送的功能。BM-SC 170可以充當用於內容提供者MBMS傳輸的入口點，可以被用於授權和發起公共陸地行動網路（PLMN）內的MBMS承載服務，並且可以被用於排程MBMS傳輸。MBMS閘道168可以被用於向屬於廣播特定服務的多播廣播單頻網路（MBSFN）區域的基地台102分發MBMS傳輸量，並且可以負責通信期管理（開始/停止）和收集eMBMS相關的計費資訊。The EPC 160 may include a mobility management entity (MME) 162, other MMEs 164, a service gateway 166, a multimedia broadcast multicast service (MBMS) gateway 168, a broadcast multicast service center (BM-SC) 170, and a packet data network (PDN)Gateway 172. MME 162 can communicate with Home Subscriber Server (HSS) 174. MME 162 is the control node that handles signaling between UE 104 and EPC 160 . Typically, MME 162 provides bearer and connection management. All user Internet Protocol (IP) packets are delivered through the service gateway 166, which itself is connected to the PDN gateway 172. PDN gateway 172 provides UE IP address allocation and other functions. PDN gateway 172 and BM-SC 170 are connected to IP service 176. IP services 176 may include the Internet, intranet, IP Multimedia Subsystem (IMS), PS data streaming services, and/or other IP services. BM-SC 170 can provide functions for MBMS user service provision and delivery. The BM-SC 170 may act as an entry point for content provider MBMS transmissions, may be used to authorize and initiate MBMS bearer services within the Public Land Mobile Network (PLMN), and may be used to schedule MBMS transmissions. The MBMS gateway 168 may be used to distribute MBMS traffic to the base stations 102 belonging to the multicast single frequency network (MBSFN) area of the broadcast specific service, and may be responsible for communication period management (start/stop) and collection of eMBMS related Billing Information.
核心網路190可以包括存取和行動性管理功能（AMF）192、其他AMF 193、通信期管理功能（SMF）194和使用者平面功能（UPF）195。AMF 192可以與統一資料管理（UDM）196通訊。AMF 192是處理UE 104與核心網路190之間的訊號傳遞的控制節點。通常，AMF 192提供QoS流和通信期管理。所有使用者網際網路協定（IP）封包經由UPF 195被傳遞。UPF 195提供UE IP位址分配以及其他功能。UPF 195連接到IP服務197。IP服務197可以包括網際網路、網內網路、IP多媒體子系統（IMS）、PS資料串流服務及/或其他IP服務。The core network 190 may include an access and mobility management function (AMF) 192, other AMFs 193, a session management function (SMF) 194, and a user plane function (UPF) 195. AMF 192 can communicate with Unified Data Management (UDM) 196. AMF 192 is the control node that handles signaling between UE 104 and core network 190. Typically, AMF 192 provides QoS flow and communication period management. All user Internet Protocol (IP) packets are delivered via UPF 195. UPF 195 provides UE IP address allocation and other functions. UPF 195 connects to IP service 197. IP services 197 may include the Internet, intranet, IP Multimedia Subsystem (IMS), PS data streaming services, and/or other IP services.
基地台102亦可以被稱為gNB、節點B、進化型節點B（eNB）、存取點、基地收發器站、無線電基地台、無線電收發器、收發器功能、基本服務集（BSS）、擴展服務集（ESS）、發送接收點（TRP）或某些其他合適的術語。基地台102為UE 104提供到EPC 160或核心網路190的存取點。UE 104的實例包括蜂巢式電話、智慧型電話、對話啟動協定（SIP）電話、膝上型電腦、個人數位助理（PDA）、衛星無線電、全球定位系統、多媒體設備、視訊設備、數位音訊播放機（例如，MP3播放機）、相機、遊戲控制台、平板電腦、智慧設備、可穿戴設備、車輛、電錶、氣泵、大型或小型廚房電器、醫療保健設備、植入物、感測器/致動器、顯示器或任何其他類似功能的設備。UE 104中的某些可以被稱為IoT設備（例如，停車計時器、氣泵、烤麵包機、車輛、心臟監視器等）。UE 104亦可以被稱為站、行動站、用戶站、行動單元、用戶單元、無線單元、遠端單元、行動設備、無線設備、無線通訊設備、遠端設備、行動用戶站、存取終端、行動終端、無線終端、遠端終端機、手持裝置、使用者代理、行動服務客戶端、客戶端或某些其他合適的術語。Base station 102 may also be referred to as gNB, Node B, evolved Node B (eNB), access point, base transceiver station, radio base station, radio transceiver, transceiver function, basic service set (BSS), extension Service Set (ESS), Transmit Receive Point (TRP) or some other suitable terminology. Base station 102 provides UE 104 with an access point to EPC 160 or core network 190. Examples of UE 104 include cellular phones, smart phones, Session Initiation Protocol (SIP) phones, laptop computers, personal digital assistants (PDAs), satellite radios, global positioning systems, multimedia devices, video equipment, digital audio players (e.g., MP3 players), cameras, game consoles, tablets, smart devices, wearables, vehicles, electricity meters, gas pumps, large or small kitchen appliances, healthcare devices, implants, sensors/actuators monitor, or any other device with similar functionality. Some of the UEs 104 may be referred to as IoT devices (eg, parking meters, gas pumps, toasters, vehicles, heart monitors, etc.). UE 104 may also be referred to as a station, mobile station, user station, mobile unit, subscriber unit, wireless unit, remote unit, mobile device, wireless device, wireless communication device, remote device, mobile user station, access terminal, Mobile terminal, wireless terminal, remote terminal, handheld device, user agent, mobile service client, client or some other suitable term.
某些無線通訊網路可以包括可以根據車輛對車輛（V2V）、車輛對基礎設施（V2I）（例如，從基於車輛的通訊設備到道路基礎設施節點，諸如路邊單元（RSU））、車輛對網路（V2N）（例如，從基於車輛的通訊設備到一或多個網路節點，諸如基地台）、蜂巢車輛對一切（C-V2X）、增強型V2X（e-V2X）及/或其組合，及/或與其他設備進行通訊的基於車輛的通訊設備，這可以被統稱為車輛對一切（V2X）通訊。再次參考圖1，在某些態樣，UE 104（例如，發送車輛使用者設備（VUE））或其他UE可以被配置為直接向另一UE 104發送訊息。該通訊可以基於V2X或其他D2D通訊，諸如鄰近服務（ProSe）等。基於V2X及/或D2D通訊的通訊亦可以由其他發送和接收設備（諸如路邊單元（RSU）107等）發送和接收。例如，如結合圖2中的實例所描述的，通訊的各態樣可以基於PC5或側鏈路通訊。儘管以下描述可以提供用於結合5G NR的V2X/D2D通訊的實例，但本文描述的概念可適用於其他類似領域，諸如LTE、LTE-A、CDMA、GSM 和其他無線技術。Certain wireless communication networks may include vehicles based on vehicle-to-vehicle (V2V), vehicle-to-infrastructure (V2I) (e.g., from vehicle-based communication devices to road infrastructure nodes such as roadside units (RSU)), vehicle-to-network road-to-everything (V2N) (e.g., from vehicle-based communications equipment to one or more network nodes, such as base stations), cellular vehicle-to-everything (C-V2X), enhanced V2X (e-V2X), and/or combinations thereof , and/or vehicle-based communication devices that communicate with other devices, which may be collectively referred to as vehicle-to-everything (V2X) communications. Referring again to FIG. 1 , in some aspects, a UE 104 (eg, a transmitting vehicle user equipment (VUE)) or other UE may be configured to send messages directly to another UE 104 . The communication can be based on V2X or other D2D communication, such as ProSe (ProSe), etc. Communication based on V2X and/or D2D communication can also be sent and received by other sending and receiving devices (such as Roadside Unit (RSU) 107, etc.). For example, as described in conjunction with the example in Figure 2, aspects of communication may be based on PC5 or side-link communication. Although the following description may provide examples for V2X/D2D communications in conjunction with 5G NR, the concepts described herein may be applicable to other similar areas such as LTE, LTE-A, CDMA, GSM and other wireless technologies.
圖2圖示出實例圖200，其圖示出可以被用於例如UE 104之間、UE與基礎設施之間、UE與RSU之間等的側鏈路通訊的訊框結構內的側鏈路子訊框。該訊框結構可以在LTE訊框結構內。儘管以下描述可以集中於LTE，但本文描述的概念可以適用於其他類似領域，諸如5G NR、LTE-A、CDMA、GSM 和其他無線技術。這僅僅是一個實例，並且其他無線通訊技術可以具有不同的訊框結構及/或不同的通道。訊框（10 ms）可以被劃分成10個大小相等的子訊框（1 ms）。每個子訊框可以包括兩個時槽。每個時槽可以包括7個SC-FDMA符號。對於時槽配置0，每個時槽可以包括14個符號，對於時槽配置1，每個時槽可以包括7個符號。儘管圖200圖示出單個RB子訊框，但是側鏈路通訊可以包括多個RB。FIG. 2 illustrates an example diagram 200 illustrating sidelink sub-frames within a frame structure that may be used, for example, for sidelink communications between UEs 104, between UEs and infrastructure, between UEs and RSUs, etc. message frame. The frame structure may be within the LTE frame structure. Although the following description may focus on LTE, the concepts described herein may be applicable to other similar areas, such as 5G NR, LTE-A, CDMA, GSM, and other wireless technologies. This is just one example, and other wireless communication technologies may have different frame structures and/or different channels. The frame (10 ms) can be divided into 10 equal-sized sub-frames (1 ms). Each subframe can include two time slots. Each time slot may include 7 SC-FDMA symbols. For slot configuration 0, each slot may include 14 symbols, and for slot configuration 1, each slot may include 7 symbols. Although diagram 200 illustrates a single RB subframe, sidelink communications may include multiple RBs.
資源網格可以被用於表示訊框結構。每個時槽包括延伸12個連續次載波的資源區塊（RB）（亦被稱為實體RB（PRB））。資源網格被劃分為多個資源元素（RE）。每個RE攜帶的位元數量取決於調制方案。如圖2所示，RE中的某些可以包括參考訊號，諸如解調RS（DMRS）。如本文所描述的，至少一個符號可以被用於回饋。回饋之前及/或之後的符號可以被用於資料的接收與回饋的發送之間的周轉。另一符號（例如，在子訊框的末尾處）可以被用作沒有發送/接收的保護符號。該保護使設備能夠從作為發送設備操作切換到準備例如在接下來的子訊框中作為接收設備操作。如圖所示，資料或控制可以在剩餘的RE中被發送。例如，資料可以在PSSCH中被攜帶，而控制資訊可以在PSCCH中被攜帶。控制資訊可以包括側鏈路控制資訊（SCI）。參考訊號、控制和資料中的任一個的定位可以不同於圖2中所示的實例。Resource grids can be used to represent frame structures. Each slot consists of a resource block (RB) (also called a physical RB (PRB)) extending over 12 consecutive subcarriers. The resource grid is divided into multiple resource elements (REs). The number of bits carried by each RE depends on the modulation scheme. As shown in Figure 2, some of the REs may include reference signals, such as demodulated RS (DMRS). As described herein, at least one symbol may be used for rewards. Symbols before and/or after the feedback may be used in the transition between the receipt of data and the sending of the feedback. Another symbol (eg at the end of the subframe) may be used as a guard symbol without transmission/reception. This protection enables the device to switch from operating as a transmitting device to preparing to operate as a receiving device, for example, in the following subframe. As shown, data or control can be sent in the remaining REs. For example, data can be carried in the PSSCH and control information can be carried in the PSCCH. The control information may include side link control information (SCI). The location of any of the reference signals, control and data may differ from the example shown in Figure 2.
圖2僅圖示可以使用的訊框結構的一個非限制性實例。本文描述的各態樣可以被應用於使用其他不同框架格式的通訊。Figure 2 illustrates only one non-limiting example of a frame structure that may be used. The aspects described in this article can be applied to communications using other different framework formats.
圖3A是第一無線通訊設備310與第二無線通訊設備350通訊（例如，經由V2V/V2X/其他通訊）的方塊圖。設備310可以包括與接收設備（例如，設備350）通訊的發送設備。通訊可以基於例如側鏈路。發送設備310可以包括UE、RSU等。接收設備可以包括UE、RSU等。封包可以被提供給實現層3和層2功能的控制器/處理器375。層3包括無線電資源控制（RRC）層，而層2包括封包資料彙聚協定（PDCP）層、無線電鏈路控制（RLC）層和媒體存取控制（MAC）層。FIG. 3A is a block diagram of the first wireless communication device 310 communicating with the second wireless communication device 350 (eg, via V2V/V2X/other communication). Device 310 may include a sending device in communication with a receiving device (eg, device 350). Communication can be based on side links, for example. The sending device 310 may include a UE, RSU, etc. The receiving device may include UE, RSU, etc. Packets may be provided to controller/processor 375 that implements layer 3 and layer 2 functions. Layer 3 includes the Radio Resource Control (RRC) layer, while Layer 2 includes the Packet Data Convergence Protocol (PDCP) layer, Radio Link Control (RLC) layer, and Media Access Control (MAC) layer.
發送（TX）處理器316和接收（RX）處理器370實現與各種訊號處理功能相關聯的層1功能。包括實體（PHY）層的層1可以包括傳送通道上的錯誤偵測、傳送通道的前向糾錯（FEC）解碼/解碼、交錯（interleaving）、速率匹配、到實體通道的映射、實體通道的調制/解調以及MIMO天線處理。TX處理器316基於各種調制方案（例如，二進位移相鍵控（BPSK）、正交移相鍵控（QPSK）、M-移相鍵控（M-PSK）、M-正交幅度調制（M-QAM））來處理到訊號群集（constellation）的映射。經解碼和經調制的符號可以隨後被拆分成並行串流。每個串流可以隨後可以被映射到OFDM次載波，與時域及/或頻域中的參考訊號（例如，引導頻）多工，並且隨後使用逆快速傅裡葉變換（IFFT）被組合在一起以產生攜帶時域OFDM符號串流的實體通道。OFDM串流被空間預解碼以產生多個空間串流。來自通道估計器374的通道估計可以被用於決定解碼和調制方案，以及用於空間處理。通道估計可以從設備350所發送的參考訊號及/或通道狀況回饋匯出。每個空間串流隨後可以經由單獨的發送器318TX被提供給不同的天線320。每個發送器318TX可以利用相應空間串流調制RF載波以供傳輸。Transmit (TX) processor 316 and receive (RX) processor 370 implement Layer 1 functions associated with various signal processing functions. Layer 1 including the physical (PHY) layer may include error detection on the transport channel, forward error correction (FEC) decoding/decoding of the transport channel, interleaving, rate matching, mapping to the physical channel, mapping of the physical channel Modulation/demodulation and MIMO antenna processing. The TX processor 316 is based on various modulation schemes (eg, binary phase shift keying (BPSK), quadrature phase shift keying (QPSK), M-phase shift keying (M-PSK), M-quadrature amplitude modulation ( M-QAM) to handle the mapping to signal constellation. The decoded and modulated symbols can then be split into parallel streams. Each stream can then be mapped to an OFDM subcarrier, multiplexed with a reference signal (e.g., a pilot tone) in the time and/or frequency domain, and then combined using an inverse fast Fourier transform (IFFT). together to generate a physical channel carrying a stream of time-domain OFDM symbols. The OFDM stream is spatially pre-decoded to generate multiple spatial streams. Channel estimates from channel estimator 374 may be used to determine decoding and modulation schemes, as well as for spatial processing. Channel estimates may be derived from reference signals and/or channel condition feedback sent by device 350 . Each spatial stream may then be provided to a different antenna 320 via a separate transmitter 318TX. Each transmitter 318TX can modulate an RF carrier with a corresponding spatial stream for transmission.
在設備350處，每個接收器354RX經由其相應的天線352接收訊號。每個接收器354RX恢復調制到RF載波上的資訊並且向接收（RX）處理器356提供該資訊。TX處理器368和RX處理器356實現與各種訊號處理功能相關聯的層1功能。RX處理器356可以對資訊執行空間處理以恢復以設備350為目的地的任何空間串流。若多個空間串流以設備350為目的地，則它們可以由RX處理器356組合成單個OFDM符號串流。RX處理器356隨後使用快速傅裡葉變換（FFT）將OFDM符號串流從時域轉換到頻域。頻域訊號包括用於OFDM訊號的每個次載波的單獨OFDM符號串流。經由決定由設備310發送的最可能的訊號群集點，每個次載波上的符號和參考訊號被恢復和解調。這些軟（soft）決策可以基於由通道估計器358計算的通道估計。軟決策隨後被解碼和解交錯以恢復最初由設備310在實體通道上發送的資料和控制訊號。資料和控制訊號隨後被提供給實現層3和層2功能的控制器/處理器359。At device 350, each receiver 354RX receives the signal via its corresponding antenna 352. Each receiver 354RX recovers the information modulated onto the RF carrier and provides the information to a receive (RX) processor 356. TX processor 368 and RX processor 356 implement Layer 1 functions associated with various signal processing functions. RX processor 356 may perform spatial processing on the information to recover any spatial streams destined for device 350. If multiple spatial streams are destined for device 350, they may be combined into a single OFDM symbol stream by RX processor 356. The RX processor 356 then converts the OFDM symbol stream from the time domain to the frequency domain using a Fast Fourier Transform (FFT). The frequency domain signal includes a separate stream of OFDM symbols for each subcarrier of the OFDM signal. By determining the most likely signal clustering points transmitted by device 310, the symbols and reference signals on each subcarrier are recovered and demodulated. These soft decisions may be based on channel estimates calculated by channel estimator 358. The soft decisions are then decoded and deinterleaved to recover the data and control signals originally sent by device 310 on the physical channel. Data and control signals are then provided to the controller/processor 359 that implements Layer 3 and Layer 2 functions.
控制器/處理器359可以與儲存程式碼和資料的記憶體360相關聯。記憶體360可以被稱為電腦可讀取媒體。控制器/處理器359可以提供傳送通道與邏輯通道之間的解多工、封包重組、解密、標頭解壓縮和控制訊號處理。控制器/處理器375亦負責使用ACK及/或NACK協定進行錯誤偵測以支援HARQ操作。Controller/processor 359 may be associated with memory 360 that stores program code and data. Memory 360 may be referred to as computer-readable media. Controller/processor 359 may provide demultiplexing, packet reassembly, decryption, header decompression, and control signal processing between transport channels and logical channels. The controller/processor 375 is also responsible for error detection using ACK and/or NACK protocols to support HARQ operations.
類似於結合設備310的傳輸所描述的功能，控制器/處理器359可以提供與系統資訊（例如，MIB、SIB）獲取、RRC連接和量測報告相關聯的RRC層功能；與標頭壓縮/解壓縮和安全性（加密、解密、完整性保護、完整性驗證）相關聯的PDCP層功能；與上層PDU的傳遞、經由ARQ的糾錯、RLC SDU的級聯、分段和重組、RLC資料PDU的重新分段以及RLC資料PDU的重新排序相關聯的RLC層功能；及與邏輯通道與傳送通道之間的映射、MAC SDU到TB的多工、MAC SDU從TB的解多工、排程資訊報告、經由HARQ的糾錯、優先順序處理和邏輯通道優先順序排序相關聯的MAC層功能。Similar to the functions described in connection with transmission of device 310 , controller/processor 359 may provide RRC layer functions associated with system information (e.g., MIB, SIB) retrieval, RRC connections, and measurement reporting; with header compression/ PDCP layer functions associated with decompression and security (encryption, decryption, integrity protection, integrity verification); delivery of upper layer PDUs, error correction via ARQ, concatenation, segmentation and reassembly of RLC SDUs, RLC data RLC layer functions associated with resegmentation of PDUs and reordering of RLC data PDUs; and mapping between logical channels and transport channels, multiplexing of MAC SDUs to TBs, demultiplexing of MAC SDUs from TBs, and scheduling MAC layer functions associated with information reporting, error correction via HARQ, prioritization, and logical channel prioritization.
由通道估計器358從設備310發送的參考訊號或回饋匯出的通道估計可以由TX處理器368用於選擇適當的解碼和調制方案，以及促進空間處理。由TX處理器368產生的空間串流可以經由單獨的發送器354TX被提供給不同的天線352。每個發送器354TX可以利用相應空間串流調制RF載波以供傳輸。The channel estimate derived from the reference signal or feedback derived from the device 310 by the channel estimator 358 may be used by the TX processor 368 to select appropriate decoding and modulation schemes, and to facilitate spatial processing. The spatial streams generated by TX processor 368 may be provided to different antennas 352 via separate transmitters 354TX. Each transmitter 354TX can modulate an RF carrier with a corresponding spatial stream for transmission.
傳輸在設備310處以與結合設備350處的接收器功能描述的方式類似的方式被處理。每個接收器318RX經由其相應的天線320接收訊號。每個接收器318RX恢復調制到RF載波上的資訊並且向RX處理器370提供該資訊。Transmissions are handled at device 310 in a manner similar to that described in conjunction with the receiver functionality at device 350 . Each receiver 318RX receives signals via its corresponding antenna 320. Each receiver 318RX recovers the information modulated onto the RF carrier and provides this information to the RX processor 370.
控制器/處理器375可以與儲存程式碼和資料的記憶體376相關聯。記憶體376可以被稱為電腦可讀取媒體。控制器/處理器375提供傳送通道與邏輯通道之間的解多工、封包重組、解密、標頭解壓縮、控制訊號處理。控制器/處理器375亦負責使用ACK及/或NACK協定進行錯誤偵測以支援HARQ操作。Controller/processor 375 may be associated with memory 376 that stores program code and data. Memory 376 may be referred to as computer-readable media. Controller/processor 375 provides demultiplexing, packet reassembly, decryption, header decompression, and control signal processing between transport channels and logical channels. The controller/processor 375 is also responsible for error detection using ACK and/or NACK protocols to support HARQ operations.
設備350的TX處理器368、RX處理器356或控制器/處理器359或者TX 316、RX處理器370或控制器/處理器375中的至少一個可以被配置為執行結合圖1的198或199描述的各態樣。At least one of TX processor 368, RX processor 356 or controller/processor 359 or TX 316, RX processor 370 or controller/processor 375 of device 350 may be configured to perform 198 or 199 in connection with FIG. 1 Various forms of description.
圖3B是圖示出根據某些實例的可由所揭示的系統用於安全地管理用於通訊（例如，V2X通訊）的操縱ID的分解式基地台3300架構的實例的示圖。通訊系統（諸如5G NR系統）的部署可以用各種部件或構成部分以多種方式來佈置。在5G NR系統或網路中，網路節點、網路實體、網路的行動性元件、無線電存取網路（RAN）節點、核心網路節點、網路部件或網路裝備（諸如基地台（BS）或執行基地台功能的一或多個單元（或一或多個部件））可以是以聚合式或分解式架構來實現的。例如，BS（諸如節點B（NB）、進化型NB（eNB）、NR BS、5G NB、AP、發送接收點（TRP）或細胞等）可以被實現為聚合式基地台（亦被稱為獨立BS或單片BS）或分解式基地台。3B is a diagram illustrating an example of a disaggregated base station 3300 architecture that may be used by the disclosed system to securely manage manipulation IDs for communications (eg, V2X communications), according to certain examples. The deployment of communication systems, such as 5G NR systems, can be arranged in a variety of ways with various components or building blocks. In a 5G NR system or network, a network node, network entity, mobile component of the network, radio access network (RAN) node, core network node, network component or network equipment (such as a base station (BS) or one or more units (or one or more components) that perform base station functions) may be implemented in a converged or decomposed architecture. For example, a BS such as a Node B (NB), Evolved NB (eNB), NR BS, 5G NB, AP, Transceiver Point (TRP) or cell, etc., may be implemented as an aggregated base station (also known as a standalone base station). BS or single-chip BS) or decomposed base station.
聚合式基地台可以被配置為利用實體上或邏輯上整合在單個RAN節點內的無線電協定堆疊。分解式基地台可以被配置為利用在實體上或邏輯上分佈於兩個或兩個以上單元（諸如一或多個中央或集中式單元（CU）、一或多個分散式單元（DU）、或一或多個無線電單元（RU））之間的協定堆疊。在某些態樣，CU可以被實現於RAN節點內，並且一或多個DU可以與CU共位，或者替代地，可以在地理上或虛擬地分佈在一或多個其他RAN節點中。DU可以被實現為與一或多個RU通訊。CU、DU和RU中的每一個亦可以被實現為虛擬單元，亦即，虛擬中央單元（VCU）、虛擬分散式單元（VDU）或虛擬無線電單元（VRU）。Aggregated base stations may be configured to utilize radio protocol stacks that are physically or logically integrated within a single RAN node. A disaggregated base station may be configured to utilize resources physically or logically distributed across two or more units, such as one or more central or centralized units (CU), one or more decentralized units (DU), or protocol stacking between one or more Radio Units (RU)). In some aspects, a CU may be implemented within a RAN node and one or more DUs may be co-located with the CU or, alternatively, may be geographically or virtually distributed among one or more other RAN nodes. A DU may be implemented to communicate with one or more RUs. Each of the CU, DU and RU may also be implemented as a virtual unit, that is, a virtual central unit (VCU), a virtual distributed unit (VDU) or a virtual radio unit (VRU).
基地台類型操作或網路設計可以考慮基地台功能的聚合特性。例如，分解式基地台可以被用於整合存取回載（IAB）網路、開放無線電存取網路（O-RAN（諸如由O-RAN聯盟贊助的網路配置））或虛擬化無線電存取網路（vRAN，亦被稱為雲端無線電存取網路（C-RAN））中。分解可以包括跨各種實體位置處的兩個或兩個以上單元來分發功能，以及虛擬地為至少一個單元分發功能，這可以實現網路設計中的靈活性。分解式基地台或分解式RAN架構的各種單元可以被配置用於與至少一個其他單元的有線或無線通訊。Base station type operation or network design can take into account the aggregated nature of base station functionality. For example, disaggregated base stations may be used for Integrated Access Backhaul (IAB) networks, Open Radio Access Networks (O-RAN (such as network configurations sponsored by the O-RAN Alliance)) or virtualized radio storage In the access network (vRAN, also known as Cloud Radio Access Network (C-RAN)). Decomposition may include distributing functionality across two or more units at various physical locations, as well as virtually distributing functionality to at least one unit, which may enable flexibility in network design. Various units of a disaggregated base station or disaggregated RAN architecture may be configured for wired or wireless communication with at least one other unit.
如先前所提及的，圖3B圖示圖示出實例分解式基地台3300架構的示圖。分解式基地台3300架構可以包括一或多個中央單元（CU）3310，其可以經由回載鏈路直接與核心網路3320通訊，或經由一或多個分解式基地台單元（諸如經由E2鏈路的近即時（近RT）RAN智慧控制器（RIC）3325、或與服務管理和編排（SMO）框架3305相關聯的非即時（非RT）RIC 3315、或兩者）間接地與核心網路3320通訊。CU 3310可以經由相應的中傳鏈路（諸如F1介面）與一或多個分散式單元（DU）3330通訊。DU 3330可以經由相應的前傳鏈路與一或多個無線電單元（RU）3340通訊。RU 3340可以經由一或多個RF存取鏈路與相應的UE 3120通訊。在某些實現中，UE 3120可以同時由多個RU 3340服務。As previously mentioned, Figure 3B illustrates a diagram of an example exploded base station 3300 architecture. The disaggregated base station 3300 architecture may include one or more central units (CUs) 3310, which may communicate directly with the core network 3320 via a backhaul link, or via one or more disaggregated base station units (such as via an E2 link a near-real-time (near-RT) RAN Intelligent Controller (RIC) 3325, or a non-real-time (non-RT) RIC 3315 associated with the Service Management and Orchestration (SMO) framework 3305, or both) indirectly connected to the core network 3320 Communications. CU 3310 may communicate with one or more distributed units (DU) 3330 via corresponding midhaul links (such as the F1 interface). DU 3330 may communicate with one or more radio units (RU) 3340 via corresponding fronthaul links. RU 3340 may communicate with corresponding UE 3120 via one or more RF access links. In some implementations, UE 3120 may be served by multiple RUs 3340 simultaneously.
單元（亦即，CU 3310、DU 3330、RU 3340以及近RT RIC 3325、非RT RIC 3315和SMO框架3305）中的每一個可以包括一或多個介面或者耦合到一或多個介面，該一或多個介面被配置為經由有線或無線傳輸媒體接收或發送訊號、資料或資訊（統稱為訊號）。單元中的每一個或者向單元的通訊介面提供指令的相關聯處理器或控制器可以被配置為經由傳輸媒體與一或多個其他單元通訊。例如，單元可以包括有線介面，該有線介面被配置為經由到其他單元中的一或多個的有線傳輸媒體來接收或發送訊號。另外，單元可以包括無線介面，該無線介面可以包括接收器、發送器或收發器（諸如RF收發器），其被配置為經由到其他單元中的一或多個的無線傳輸媒體來接收或發送訊號或兩者。Each of the units (i.e., CU 3310, DU 3330, RU 3340, and near-RT RIC 3325, non-RT RIC 3315, and SMO frame 3305) may include or be coupled to one or more interfaces, which or interfaces configured to receive or send signals, data or information (collectively, signals) via wired or wireless transmission media. Each of the units, or an associated processor or controller that provides instructions to the unit's communication interface, may be configured to communicate with one or more other units via the transmission medium. For example, a unit may include a wired interface configured to receive or send signals via a wired transmission medium to one or more of the other units. Additionally, a unit may include a wireless interface, which may include a receiver, transmitter, or transceiver (such as an RF transceiver) configured to receive or transmit via a wireless transmission medium to one or more of the other units. signal or both.
在某些態樣，CU 3310可以託管一或多個更高層控制功能。此類控制功能可以包括無線電資源控制（RRC）、封包資料彙聚協定（PDCP）、服務資料適配協定（SDAP）等。每個控制功能可以用介面實現，該介面被配置為與CU 3310所託管的其他控制功能通訊訊號。CU 3310可以被配置為處理使用者平面功能（亦即，中央單元–使用者平面（CU-UP））、控制平面功能（亦即，中央單元–控制平面（CU-CP））、或其組合。在某些實現中，CU 3310可以在邏輯上被拆分成一或多個CU-UP單元和一或多個CU-CP單元。當以O-RAN配置來實現時，CU-UP單元可以經由介面（諸如E1介面）與CU-CP單元進行雙向通訊。CU 3310可以被實現為根據需要與DU 3330通訊，以用於網路控制和訊號傳遞。In some aspects, the CU 3310 can host one or more higher-level control functions. Such control functions may include Radio Resource Control (RRC), Packet Data Convergence Protocol (PDCP), Service Data Adaptation Protocol (SDAP), etc. Each control function can be implemented using an interface configured to communicate signals with other control functions hosted by the CU 3310. CU 3310 may be configured to handle user plane functions (i.e., Central Unit – User Plane (CU-UP)), control plane functions (i.e., Central Unit – Control Plane (CU-CP)), or a combination thereof . In some implementations, CU 3310 may be logically split into one or more CU-UP units and one or more CU-CP units. When implemented in an O-RAN configuration, the CU-UP unit can communicate bidirectionally with the CU-CP unit via an interface (such as an E1 interface). CU 3310 can be implemented to communicate with DU 3330 as needed for network control and signaling.
DU 3330可以對應於包括用於控制一或多個RU 3340的操作的一或多個基地台功能的邏輯單元。在某些態樣，至少部分地取決於功能拆分（諸如由第三代合作夥伴計畫（3GPP）定義的那些），DU 3330可以託管無線電鏈路控制（RLC）層、媒體存取控制（MAC）層、以及一或多個高實體（PHY）層（諸如用於前向糾錯（FEC）編碼和解碼、加擾、調制和解調等的模組）中的一或多個。在某些態樣，DU 3330亦可以託管一或多個低PHY層。每個層（或模組）皆可以用介面實現，該介面被配置為與DU 3330託管的其他層（和模組）或者與CU 3310託管的控制功能通訊訊號。DU 3330 may correspond to a logical unit including one or more base station functions for controlling the operation of one or more RUs 3340. In some aspects, depending at least in part on functional separation (such as those defined by the 3rd Generation Partnership Project (3GPP)), the DU 3330 can host the radio link control (RLC) layer, media access control ( MAC) layer, and one or more high physical (PHY) layers (such as modules for forward error correction (FEC) encoding and decoding, scrambling, modulation and demodulation, etc.). In some aspects, the DU 3330 can also host one or more low PHY layers. Each layer (or module) can be implemented with an interface configured to communicate signals with other layers (and modules) hosted by the DU 3330 or with control functions hosted by the CU 3310.
較低層功能可以由一或多個RU 3340實現。在某些部署中，至少部分地基於功能拆分，諸如較低層功能拆分，由DU 3330控制的RU 3340可以對應於託管RF處理功能或低PHY層功能（諸如執行快速傅裡葉變換（FFT）、逆FFT（iFFT）、數位波束成形、實體隨機存取通道（PRACH）提取和濾波等）或兩者的邏輯節點。在此類架構中，RU 3340可以被實現為處理與一或多個UE 3120的空中（OTA）通訊。在某些實現中，與RU 3340的控制平面和使用者平面通訊的即時和非即時態樣可以由對應的DU 3330控制。在某些場景中，此配置可以使DU 3330和CU 3310能夠被實現於基於雲端的RAN架構中，諸如vRAN架構中。Lower layer functions can be implemented by one or more RU 3340. In some deployments, based at least in part on functional splitting, such as lower layer functional splitting, RU 3340 controlled by DU 3330 may correspond to hosting RF processing functions or low PHY layer functions such as performing fast Fourier transforms ( FFT), inverse FFT (iFFT), digital beamforming, physical random access channel (PRACH) extraction and filtering, etc.) or both. In such an architecture, RU 3340 may be implemented to handle over-the-air (OTA) communications with one or more UEs 3120. In some implementations, the real-time and non-real-time aspects of control plane and user plane communications with the RU 3340 may be controlled by the corresponding DU 3330. In some scenarios, this configuration may enable DU 3330 and CU 3310 to be implemented in a cloud-based RAN architecture, such as a vRAN architecture.
SMO框架3305可以被配置為支援非虛擬化和虛擬化網路元件的RAN部署和供應。對於非虛擬化網路元件，SMO框架3305可以被配置為支援用於RAN覆蓋要求的專用實體資源的部署，其可以經由操作和維護介面（諸如O1介面）來進行管理。對於虛擬化網路元件，SMO框架3305可以被配置為與雲端計算平臺（諸如開放雲端（O-雲端）3390）互動以經由雲端計算平臺介面（諸如O2介面）執行網路部件生命週期管理（諸如產生實體虛擬化網路元件）。此類虛擬化網路元件可以包括但不限於CU 3310、DU 3330、RU 3340和近RT RIC 3325。在某些實現中，SMO框架3305可以經由O1介面與4G RAN的硬體態樣（諸如開放eNB（O-eNB）3311）通訊。另外，在某些實現中，SMO框架3305可以經由O1介面與一或多個RU 3340直接通訊。SMO框架3305亦可以包括非RT RIC 3315，其被配置為支援SMO框架3305的功能。The SMO framework 3305 may be configured to support RAN deployment and provisioning of non-virtualized and virtualized network elements. For non-virtualized network elements, the SMO framework 3305 may be configured to support deployment of dedicated physical resources for RAN coverage requirements, which may be managed via an operations and maintenance interface (such as the O1 interface). For virtualized network elements, the SMO framework 3305 may be configured to interact with a cloud computing platform, such as an Open Cloud (O-Cloud) 3390, to perform network element lifecycle management (such as Produce physical virtualized network elements). Such virtualized network elements may include, but are not limited to, CU 3310, DU 3330, RU 3340, and near RT RIC 3325. In some implementations, the SMO framework 3305 may communicate with a hardware aspect of the 4G RAN, such as an open eNB (O-eNB) 3311, via an O1 interface. Additionally, in some implementations, the SMO framework 3305 may communicate directly with one or more RUs 3340 via the O1 interface. The SMO framework 3305 may also include a non-RT RIC 3315 configured to support the functionality of the SMO framework 3305.
非RT RIC 3315可以被配置為包括邏輯功能，該邏輯功能實現RAN元件和資源的非即時控制和最佳化、包括模型訓練和更新的人工智慧/機器學習（AI/ML）工作流、或近RT RIC 3325中的應用/特徵的基於策略的指導。非RT RIC 3315可以耦合到或與近RT RIC 3325通訊（諸如經由A1介面）。近RT RIC 3325可以被配置為包括邏輯功能，該邏輯功能經由經由連接一或多個CU 3310、一或多個DU 3330或兩者以及O-eNB與近RT RIC 3325的介面（諸如經由E2介面）的資料收集和動作來實現RAN元件和資源的近即時控制和最佳化。The non-RT RIC 3315 may be configured to include logic functions that enable non-real-time control and optimization of RAN elements and resources, artificial intelligence/machine learning (AI/ML) workflows including model training and updates, or near Strategy-based instruction in applications/characteristics of RT RIC 3325. The non-RT RIC 3315 may be coupled to or in communication with the near-RT RIC 3325 (such as via the A1 interface). Near RT RIC 3325 may be configured to include logic functionality via an interface connecting one or more CUs 3310, one or more DUs 3330, or both, and an O-eNB to near RT RIC 3325, such as via an E2 interface. ) data collection and actions to achieve near-real-time control and optimization of RAN components and resources.
在某些實現中，為了產生要被部署於近RT RIC 3325中的AI/ML模型，非RT RIC 3315可以從外部伺服器接收參數或外部豐富資訊。此類資訊可以由近RT RIC 3325使用並且可以在SMO框架3305或非RT RIC 3315處從非網路資料來源或從網路功能接收。在某些實例中，非RT RIC 3315或近RT RIC 3325可以被配置為調諧RAN行為或效能。例如，非RT RIC 3315可以監視效能的長期趨勢和樣式，並採用AI/ML模型來經由SMO框架3305（諸如經由O1的重配置）或經由RAN管理策略（諸如A1策略）的建立執行校正動作。In some implementations, the non-RT RIC 3315 may receive parameters or external rich information from an external server in order to generate AI/ML models to be deployed in the near-RT RIC 3325. Such information may be used by near RT RIC 3325 and may be received at SMO Framework 3305 or non-RT RIC 3315 from non-network sources or from network functions. In some examples, non-RT RIC 3315 or near-RT RIC 3325 may be configured to tune RAN behavior or performance. For example, the non-RT RIC 3315 may monitor long-term trends and patterns in performance and employ AI/ML models to perform corrective actions via the SMO framework 3305 (such as via reconfiguration of O1) or via the establishment of RAN management policies (such as the A1 policy).
圖4圖示出由各種UE使用的不同通訊機制的實例。在側鏈路通訊的一個實例中，圖4圖示出使用PC5、DSRC或其他設備對設備直接訊號傳遞介面彼此通訊的車輛404、車輛405和RSU 403。另外，車輛404和車輛405可以使用網路（Uu）介面與基地台402（被示為BS 402）通訊。在某些實例中，基地台402可以包括gNB。圖4亦圖示出使用網路（Uu）介面與基地台402通訊的使用者設備407。如下所述，功能可以基於一或多個特性或因素（例如，溫度、濕度等）而被從車輛（例如，車輛404）傳遞到使用者設備（例如，使用者設備407）。在一個說明性實例中，如圖4所示，V2X功能可以被從車輛404轉移到使用者設備407，之後使用者設備407可以經由PC5介面（或其他設備對設備直接介面，諸如DSRC介面）與其他車輛（例如，車輛405）通訊。Figure 4 illustrates examples of different communication mechanisms used by various UEs. In one example of side-link communication, Figure 4 illustrates vehicle 404, vehicle 405, and RSU 403 communicating with each other using PC5, DSRC, or other device-to-device direct signaling interface. Additionally, vehicles 404 and 405 may communicate with base station 402 (shown as BS 402) using a network (Uu) interface. In some examples, base station 402 may include a gNB. Figure 4 also illustrates user equipment 407 communicating with base station 402 using a network (Uu) interface. As described below, functionality may be delivered from a vehicle (eg, vehicle 404 ) to a user device (eg, user device 407 ) based on one or more characteristics or factors (eg, temperature, humidity, etc.). In one illustrative example, as shown in Figure 4, V2X functionality may be transferred from vehicle 404 to user device 407, which may then communicate with the user via a PC5 interface (or other direct device-to-device interface, such as a DSRC interface) Communication with other vehicles (e.g., vehicle 405).
儘管圖4圖示出特定數量的車輛（例如，兩個車輛404和405）彼此通訊及/或與RSU 403、BS 402及/或使用者設備407通訊，但本案不限於此。例如，數十或數百個此類車輛可以彼此通訊及/或與RSU 403、BS 402及/或使用者設備407通訊。在任何給定的時間點，每個此類車輛、RSU 403、BS 402及/或使用者設備407可以將各種類型的資訊作為訊息發送給其他附近車輛，從而導致每個車輛（例如，車輛404及/或405）、RSU 403、BS 402及/或使用者設備407每秒從其他附近車輛、RSU、基地台及/或其他UE接收數百或數千個訊息。Although FIG. 4 illustrates a specific number of vehicles (eg, two vehicles 404 and 405) communicating with each other and/or with the RSU 403, BS 402, and/or user equipment 407, the present invention is not limited thereto. For example, dozens or hundreds of such vehicles may communicate with each other and/or with RSU 403, BS 402, and/or user equipment 407. At any given point in time, each such vehicle, RSU 403, BS 402, and/or user equipment 407 may send various types of information as messages to other nearby vehicles, causing each vehicle (e.g., vehicle 404 and/or 405), RSU 403, BS 402 and/or user equipment 407 receive hundreds or thousands of messages per second from other nearby vehicles, RSUs, base stations and/or other UEs.
儘管圖4中示出PC5介面，但各種UE（例如，車輛、使用者設備等）和RSU可以使用任何合適類型的直接介面（例如，802.11 DSRC介面、藍芽 TM介面及/或其他介面）來直接通訊。例如，車輛可以經由直接通訊介面（例如，使用PC5及/或DSRC）與使用者設備通訊，車輛可以經由直接通訊介面與另一車輛通訊，使用者設備可以經由直接通訊介面與另一使用者設備通訊，UE（例如，車輛、使用者設備等）可以經由直接通訊介面與RSU通訊，RSU可以經由直接通訊介面與另一RSU通訊，等等。 Although a PC5 interface is shown in Figure 4, various UEs (eg, vehicles, user equipment, etc.) and RSUs may use any suitable type of direct interface (eg, 802.11 DSRC interface, Bluetooth ™ interface, and/or other interfaces) to Direct communication. For example, a vehicle may communicate with a user device via a direct communication interface (e.g., using PC5 and/or DSRC), a vehicle may communicate with another vehicle via a direct communication interface, and a user device may communicate with another user device via a direct communication interface. For communication, the UE (eg, vehicle, user equipment, etc.) can communicate with the RSU through the direct communication interface, and the RSU can communicate with another RSU through the direct communication interface, and so on.
圖5是圖示出車輛504的實例車輛計算系統550的方塊圖。車輛504是可以經由Uu介面與網路（例如，eNB、gNB、定位信標、位置量測單元、及/或其他網路實體）通訊並且經由PC5介面（或其他設備對設備直接介面，諸如DSRC介面）使用V2X通訊與其他UE通訊的UE的實例。如圖所示，車輛計算系統550可以至少包括功率管理系統551、控制系統552、資訊娛樂系統554、智慧運輸系統（ITS）555、一或多個感測器系統556和通訊系統558。在某些情況下，車輛計算系統550可以包括任何類型的處理設備或系統或者可以是使用任何類型的處理設備或系統來實現的，諸如一或多個中央處理單元（CPU）、數位訊號處理器（DSP）、特殊應用積體電路（ASIC）、現場可程式設計閘陣列（FPGA）、應用處理器（AP）、圖形處理單元（GPU）、視覺處理單元（VPU）、神經網路訊號處理器（NSP）、微控制器、專用硬體、其任意組合及/或其他處理設備或系統。FIG. 5 is a block diagram illustrating an example vehicle computing system 550 for vehicle 504 . Vehicle 504 may communicate with the network (e.g., eNB, gNB, location beacon, location measurement unit, and/or other network entities) via the Uu interface and via the PC5 interface (or other direct device-to-device interface, such as DSRC Interface) An instance of a UE communicating with other UEs using V2X communication. As shown, vehicle computing system 550 may include at least a power management system 551 , a control system 552 , an infotainment system 554 , an intelligent transportation system (ITS) 555 , one or more sensor systems 556 , and a communication system 558 . In some cases, vehicle computing system 550 may include or may be implemented using any type of processing device or system, such as one or more central processing units (CPUs), digital signal processors, (DSP), Application Special Integrated Circuit (ASIC), Field Programmable Gate Array (FPGA), Application Processor (AP), Graphics Processing Unit (GPU), Vision Processing Unit (VPU), Neural Network Signal Processor (NSP), microcontrollers, special purpose hardware, any combination thereof, and/or other processing devices or systems.
控制系統552可以被配置為控制車輛504、功率管理系統551、計算系統550、資訊娛樂系統554、ITS 555及/或車輛504的一或多個其他系統（例如，制動系統、轉向系統、除ITS 555之外的安全系統、客艙系統及/或其他系統）的一或多個操作。在某些實例中，控制系統552可以包括一或多個電子控制單元（ECU）。ECU可以控制車輛中的電氣系統或子系統中的一或多個。可以被包括作為控制系統552的部分的特定ECU的實例包括引擎控制模組（ECM）、傳動系統控制模組（PCM）、傳輸控制模組（TCM）、制動控制模組（BCM）、中央控制模組（CCM）、中央時序模組（CTM）等。在某些情況下，控制系統552可以從一或多個感測器系統556接收感測器訊號，並且可以與車輛計算系統550的其他系統通訊以操作車輛504。Control system 552 may be configured to control vehicle 504 , power management system 551 , computing system 550 , infotainment system 554 , ITS 555 , and/or one or more other systems of vehicle 504 (e.g., braking system, steering system, other than ITS One or more operations of safety systems, cabin systems and/or other systems other than 555). In some examples, control system 552 may include one or more electronic control units (ECUs). An ECU may control one or more of the electrical systems or subsystems in the vehicle. Examples of specific ECUs that may be included as part of control system 552 include engine control module (ECM), powertrain control module (PCM), transmission control module (TCM), brake control module (BCM), central control module module (CCM), central timing module (CTM), etc. In some cases, control system 552 may receive sensor signals from one or more sensor systems 556 and may communicate with other systems of vehicle computing system 550 to operate vehicle 504 .
車輛計算系統550亦包括功率管理系統551。在某些實現中，功率管理系統551可以包括功率管理積體電路（PMIC）、備用電池及/或其他部件。在某些情況下，車輛計算系統550的其他系統可以包括一或多個PMIC、電池及/或其他部件。功率管理系統551可以執行用於車輛504的功率管理功能，諸如管理用於計算系統550及/或車輛的其他部分的功率供應。例如，鑒於諸如基於啟動車輛引擎的功率波動，功率管理系統551可以提供穩定的功率供應。在另一實例中，功率管理系統551可以諸如經由檢查環境及/或電晶體結溫度來執行熱監視操作。在另一實例中，功率管理系統551可以基於偵測到特定溫度水平來執行某些功能，諸如導致冷卻系統（例如，一或多個風扇、空調系統等）冷卻車輛計算系統550的某些部件（例如，控制系統552，諸如一或多個ECU）、關閉車輛計算系統550的某些功能（例如，限制資訊娛樂系統554，諸如經由關閉一或多個顯示器、從無線網路斷開等）、以及其他功能。Vehicle computing system 550 also includes a power management system 551 . In some implementations, power management system 551 may include a power management integrated circuit (PMIC), battery backup, and/or other components. In some cases, other systems of vehicle computing system 550 may include one or more PMICs, batteries, and/or other components. Power management system 551 may perform power management functions for vehicle 504 , such as managing the supply of power to computing system 550 and/or other portions of the vehicle. For example, the power management system 551 may provide a stable supply of power in view of power fluctuations, such as based on starting a vehicle engine. In another example, power management system 551 may perform thermal monitoring operations, such as via checking environmental and/or transistor junction temperatures. In another example, the power management system 551 may perform certain functions based on detecting a particular temperature level, such as causing a cooling system (e.g., one or more fans, air conditioning system, etc.) to cool certain components of the vehicle computing system 550 (e.g., control system 552 , such as one or more ECUs), shut down certain functions of vehicle computing system 550 (e.g., limit infotainment system 554 , such as via turning off one or more displays, disconnecting from a wireless network, etc.) , and other functions.
車輛計算系統550亦包括通訊系統558。通訊系統558可以包括用於向網路（例如，gNB或其他網路實體，經由Uu介面）及/或其他UE（例如，經由PC5介面、WiFi介面（例如，DSRC）、藍芽 TM介面及/或其他無線及/或有線介面向另一車輛或UE）發送訊號以及從網路及/或其他UE接收訊號的軟體和硬體部件兩者。例如，通訊系統558被配置為經由任何合適的無線網路（例如，3G網路、4G網路、5G網路、WiFi網路、藍芽 TM網路及/或其他網路）無線地發送和接收資訊。通訊系統558包括用於執行無線通訊功能的各種部件或設備，包括原始設備製造商（OEM）用戶身份模組（稱為SIM或SIM卡）560、使用者SIM 562和數據機564。儘管車輛計算系統550被示為具有兩個SIM和一個數據機，但是在某些實現中，計算系統550可以具有任何數量的SIM（例如，一個SIM或多於兩個SIM）和任何數量的數據機（例如，一個數據機、兩個數據機或多於兩個數據機）。 Vehicle computing system 550 also includes communication system 558 . Communication system 558 may include a communication system for providing communication to the network (e.g., gNB or other network entity, via Uu interface) and/or other UEs (e.g., via PC5 interface, WiFi interface (e.g., DSRC), Bluetooth ™ interface, and/or (or other wireless and/or wired interface) both software and hardware components that send signals to another vehicle or UE) and receive signals from the network and/or other UEs. For example, communication system 558 is configured to wirelessly transmit and Receive information. Communication system 558 includes various components or devices for performing wireless communication functions, including original equipment manufacturer (OEM) subscriber identity module (referred to as SIM or SIM card) 560 , user SIM 562 and modem 564 . Although vehicle computing system 550 is shown as having two SIMs and one data machine, in some implementations, computing system 550 may have any number of SIMs (eg, one SIM or more than two SIMs) and any number of data machine (for example, one modem, two modems, or more than two modems).
SIM是可以安全地儲存特定用戶或使用者的國際行動用戶身份（IMSI）號和相關金鑰（例如，加密-解密金鑰）的設備（例如，積體電路）。IMSI和金鑰可以被用於標識和認證特定UE上的用戶。OEM SIM 560可以由通訊系統558用於建立無線連接，以用於基於車輛的操作，諸如用於進行緊急撥叫（eCall）功能、與車輛製造商的通訊系統通訊（例如，用於軟體更新等）、以及其他操作。OEM SIM 560對於OEM SIM支援關鍵服務（諸如用於在汽車事故或其他緊急情況的情況下進行緊急撥叫的eCall）可能是重要的。例如，eCall可以包括在車輛事故的情況下自動撥打緊急號碼（例如，在美國是「9-1-1」、在歐洲是「1-1-2」等）並且向緊急服務（諸如警察局、消防署等）通訊車輛的位置的服務。A SIM is a device (e.g., integrated circuit) that securely stores the International Mobile Subscriber Identity (IMSI) number and associated keys (e.g., encryption-decryption keys) of a specific subscriber or user. IMSI and keys can be used to identify and authenticate users on specific UEs. OEM SIM 560 may be used by communication system 558 to establish a wireless connection for vehicle-based operations, such as for emergency dialing (eCall) functionality, communication with the vehicle manufacturer's communication system (e.g., for software updates, etc. ), and other operations. OEM SIM 560 may be important for OEM SIMs to support critical services such as eCall for emergency dialing in the event of a car accident or other emergency. For example, eCall may include automatically dialing an emergency number (e.g., "9-1-1" in the United States, "1-1-2" in Europe, etc.) in the event of a vehicle accident and calling emergency services (such as a police station, Fire Department, etc.) to communicate the location of vehicles.
使用者SIM 562可以由通訊系統558用於執行無線網路存取功能，以便支援使用者資料連接（例如，用於進行電話撥叫、訊息收發、資訊娛樂相關服務等等）。在某些情況下，使用者的使用者設備可以經由介面（例如，經由PC5、藍芽 TM、WiFI TM（例如，DSRC）、通用序列匯流排（USB）埠及/或其他無線或有線介面）與車輛計算系統550連接。一旦連接，使用者設備就可以將無線網路存取功能從使用者設備轉移到車輛的通訊系統558，在這種情況下，使用者設備可以停止無線網路存取功能的執行（例如，在通訊系統558正在執行無線存取功能的時段期間）。通訊系統558可以開始與基地台互動以執行一或多個無線通訊操作，諸如促進電話撥叫、發送及/或接收資料（例如，訊息收發、視訊、音訊等）、以及其他操作。在此類情況下，車輛計算系統550的其他部件可以被用於輸出由通訊系統558接收的資料。例如，資訊娛樂系統554（在下文描述）可以在一或多個顯示器上顯示由通訊系統558接收的視訊及/或可以使用一或多個揚聲器輸出由通訊系統558接收的音訊。 The user SIM 562 may be used by the communication system 558 to perform wireless network access functions to support user data connections (eg, for making phone calls, messaging, infotainment-related services, etc.). In some cases, the user's user device may communicate via the interface (e.g., via PC5, Bluetooth ™ , WiFI ™ (e.g., DSRC), Universal Serial Bus (USB) port, and/or other wireless or wired interfaces) Interface with vehicle computing system 550 . Once connected, the user device may transfer the wireless network access functions from the user device to the vehicle's communications system 558 , in which case the user device may cease execution of the wireless network access functions (e.g., in During the period during which the communication system 558 is performing wireless access functions). Communications system 558 may initiate interaction with the base station to perform one or more wireless communications operations, such as facilitating phone calls, sending and/or receiving data (eg, messaging, video, audio, etc.), and other operations. In such cases, other components of vehicle computing system 550 may be used to output data received by communication system 558 . For example, infotainment system 554 (described below) may display video received by communication system 558 on one or more displays and/or may output audio received by communication system 558 using one or more speakers.
數據機是調制一或多個載波訊號以對用於傳輸的數位資訊進行編碼，並且解調訊號以對所發送資訊進行解碼的設備。數據機564（及/或通訊系統558的一或多個其他數據機）可以被用於針對OEM SIM 560及/或使用者SIM 562的資料的通訊。在某些實例中，數據機564可以包括4G（或LTE）數據機，並且通訊系統558的另一數據機（未圖示）可以包括5G（或NR）數據機。在某些實例中，通訊系統558可以包括一或多個藍芽 TM數據機（例如，用於藍芽 TM低能量（BLE）或其他類型的藍芽通訊）、一或多個WiFi TM數據機（例如，用於DSRC通訊及/或其他WiFi通訊）、寬頻數據機（例如，超寬頻（UWB）數據機）、其任何組合、及/或其他類型的數據機。 A modem is a device that modulates one or more carrier signals to encode digital information for transmission, and demodulates the signals to decode the transmitted information. Modem 564 (and/or one or more other modems of communications system 558 ) may be used to communicate data for OEM SIM 560 and/or user SIM 562 . In some examples, modem 564 may include a 4G (or LTE) modem, and another modem (not shown) of communications system 558 may include a 5G (or NR) modem. In some examples, communication system 558 may include one or more Bluetooth ™ modems (eg, for Bluetooth ™ Low Energy (BLE) or other types of Bluetooth communications), one or more WiFi ™ modems (e.g., for DSRC communications and/or other WiFi communications), wideband modems (e.g., ultra-wideband (UWB) modems), any combination thereof, and/or other types of modems.
在某些情況下，數據機564（及/或通訊系統558的一或多個其他數據機）可以被用於執行V2X通訊（例如，與用於V2V通訊的其他車輛、與用於D2D通訊的其他設備、與用於V2I通訊的基礎設施系統、與用於V2P通訊的行人UE等）。在某些實例中，通訊系統558可以包括用於執行V2X通訊（例如，經由PC5介面或DSRC介面的側鏈路通訊）的V2X數據機，在這種情況下，V2X數據機可以與用於無線網路存取功能（例如，用於經由網路/Uu介面的網路通訊及/或除V2X通訊之外的側鏈路通訊）的一或多個數據機分離。In some cases, modem 564 (and/or one or more other modems of communication system 558 ) may be used to perform V2X communications (e.g., with other vehicles for V2V communications, with other vehicles for D2D communications). Other equipment, infrastructure systems for V2I communication, pedestrian UE for V2P communication, etc.). In some examples, communication system 558 may include a V2X modem for performing V2X communications (e.g., side-link communication via a PC5 interface or a DSRC interface), in which case the V2X modem may be used with a V2X modem for wireless One or more modems are separated for network access functions (e.g., for network communications via the network/Uu interface and/or side-link communications other than V2X communications).
在某些實例中，通訊系統558可以是或可以包括遠端資訊處理控制單元（TCU）。在某些實現中，TCU可以包括網路存取設備（NAD）（在某些情況下亦被稱為網路控制單元或NCU）。NAD可以包括數據機564、圖5中未圖示的任何其他數據機、OEM SIM 560、使用者SIM 562及/或用於無線通訊的其他部件。在某些實例中，通訊系統558可以包括全球導航衛星系統（GNSS）。在某些情況下，如下所述，GNSS可以是一或多個感測器系統556的部分。GNSS可以為車輛計算系統550提供執行一或多個位置服務、導航服務及/或可以利用GNSS功能的其他服務的能力。In some examples, communications system 558 may be or may include a telematics control unit (TCU). In some implementations, the TCU may include a network access device (NAD) (also referred to as a network control unit or NCU in some cases). The NAD may include modem 564, any other modem not shown in Figure 5, OEM SIM 560, user SIM 562, and/or other components for wireless communications. In some examples, communication system 558 may include a Global Navigation Satellite System (GNSS). In some cases, GNSS may be part of one or more sensor systems 556, as discussed below. GNSS may provide vehicle computing system 550 with the ability to perform one or more location services, navigation services, and/or other services that may utilize GNSS functionality.
在某些情況下，通訊系統558亦可以包括用於發送和接收無線通訊的一或多個無線介面（例如，包括用於每個無線介面的一或多個收發器和一或多個基頻處理器）、用於經由一或多個硬佈線連接執行通訊的一或多個有線介面（例如，諸如通用序列匯流排（USB）輸入的序列介面、閃電連接器及/或其他有線介面）、及/或可以允許車輛504與網路及/或其他UE通訊的其他部件。In some cases, communications system 558 may also include one or more wireless interfaces for sending and receiving wireless communications (e.g., including one or more transceivers and one or more basebands for each wireless interface). processor), one or more wired interfaces for communicating via one or more hardwired connections (e.g., a serial interface such as a universal serial bus (USB) input, Lightning connector, and/or other wired interface), and/or other components that may allow vehicle 504 to communicate with the network and/or other UEs.
車輛計算系統550亦可以包括可以控制內容的資訊娛樂系統554以及可以被用於輸出內容的車輛504的一或多個輸出設備。資訊娛樂系統554亦可以被稱為車載資訊娛樂（IVI）系統或車內娛樂（ICE）系統。內容可以包括導航內容、媒體內容（例如，視訊內容、音樂或其他音訊內容、及/或其他媒體內容）、以及其他內容。一或多個輸出設備可以包括一或多個圖形使用者介面、一或多個顯示器、一或多個揚聲器、一或多個擴展現實設備（例如，VR、AR及/或MR頭戴裝置）、一或多個觸覺回饋設備（例如，被配置為振動車輛504的座位、方向盤及/或其他部分的一或多個設備）及/或其他輸出設備。Vehicle computing system 550 may also include an infotainment system 554 that may control content and one or more output devices of vehicle 504 that may be used to output content. The infotainment system 554 may also be referred to as an in-vehicle infotainment (IVI) system or an in-car entertainment (ICE) system. Content may include navigation content, media content (eg, video content, music or other audio content, and/or other media content), and other content. The one or more output devices may include one or more graphical user interfaces, one or more displays, one or more speakers, one or more extended reality devices (e.g., VR, AR, and/or MR headsets) , one or more tactile feedback devices (eg, one or more devices configured to vibrate the seat, steering wheel, and/or other portions of the vehicle 504 ), and/or other output devices.
在某些實例中，計算系統550可以包括智慧運輸系統（ITS）555。在某些實例中，ITS 555可以被用於實現V2X通訊。例如，ITS 555的ITS堆疊可以基於來自ITS的應用層的資訊來產生V2X訊息。在某些情況下，應用層可以決定是否已經滿足用於產生供ITS 555使用的訊息及/或用於產生將被發出到其他車輛（用於V2V通訊）、行人UE（用於V2P通訊）及/或基礎設施系統（用於V2I通訊）的訊息的特定條件。在某些情況下，通訊系統558及/或ITS 555可以獲得汽車存取網路（CAN）資訊（例如，經由CAN匯流排從車輛的其他部件）。在某些實例中，通訊系統558（例如，TCU NAD）可以經由CAN匯流排獲得CAN資訊，並且可以向ITS 555的PHY/MAC層發出CAN資訊。ITS 555可以向ITS 555的ITS堆疊提供CAN資訊。CAN資訊可以包括車輛相關資訊，諸如車輛的航向、車輛的速度、制動資訊以及其他資訊。CAN資訊可以被連續地或週期性地（例如，每1毫秒（ms）、每10 ms等）提供給ITS 555。In some examples, computing system 550 may include an intelligent transportation system (ITS) 555 . In some instances, the ITS 555 can be used to implement V2X communications. For example, the ITS stack of ITS 555 can generate V2X messages based on information from the application layer of the ITS. In some cases, the application layer may decide whether sufficient conditions have been met for generating messages for use by ITS 555 and/or for generating messages to be sent to other vehicles (for V2V communications), pedestrian UEs (for V2P communications) and /or specific conditions for messages from infrastructure systems (used for V2I communications). In some cases, communications system 558 and/or ITS 555 may obtain Automotive Access Network (CAN) information (eg, from other components of the vehicle via the CAN bus). In some examples, communications system 558 (eg, TCU NAD) may obtain CAN information via the CAN bus and may issue CAN information to the PHY/MAC layer of ITS 555 . The ITS 555 can provide CAN information to the ITS stack of the ITS 555. CAN information may include vehicle-related information, such as vehicle heading, vehicle speed, braking information, and other information. CAN information may be provided to the ITS 555 continuously or periodically (eg, every 1 millisecond (ms), every 10 ms, etc.).
用於決定是否產生訊息的條件可以是使用基於安全相關應用及/或其他應用的CAN資訊來決定的，該安全相關應用及/或其他應用包括與道路安全、交通效率、資訊娛樂、商業及/或其他應用相關的應用。在一個說明性實例中，ITS 555可以執行車道改變輔助或協商。例如，使用CAN資訊，ITS 555可以決定車輛504的駕駛員正在嘗試將車道從當前車道改變到相鄰車道（例如，基於閃光訊號燈被啟動、基於使用者變向或轉向到相鄰車道等）。基於決定車輛504正在嘗試改變車道，ITS 555可以決定已經滿足與要被發出到相鄰車道中的車輛附近的其他車輛的訊息相關聯的車道改變條件。ITS 555可以觸發ITS堆疊以產生用於向其他車輛發送的一或多個訊息，其可以被用於與其他車輛協商車道改變。應用的其他實例包括前向碰撞警告、自動緊急制動、車道偏離警告、行人避免或保護（例如，當在車輛504附近偵測到行人時，諸如基於與使用者的UE的V2P通訊）、交通標誌辨識等等。The conditions used to decide whether to generate a message may be determined using CAN information based on safety-related applications and/or other applications including those related to road safety, traffic efficiency, infotainment, business and/or or other application-related applications. In one illustrative example, ITS 555 may perform lane change assistance or negotiation. For example, using CAN information, ITS 555 may determine that the driver of vehicle 504 is attempting to change lanes from the current lane to an adjacent lane (e.g., based on flashing lights being activated, based on the user changing direction or steering into an adjacent lane, etc.) . Based on determining that vehicle 504 is attempting to change lanes, ITS 555 may determine that lane change conditions associated with messages to be sent to other vehicles in the vicinity of the vehicle in adjacent lanes have been met. The ITS 555 may trigger the ITS stack to generate one or more messages for transmission to other vehicles, which may be used to negotiate lane changes with other vehicles. Other examples of applications include forward collision warning, automatic emergency braking, lane departure warning, pedestrian avoidance or protection (e.g., when a pedestrian is detected near the vehicle 504, such as based on V2P communication with the user's UE), traffic signs Identification etc.
ITS 555可以使用任何合適的協定來產生訊息（例如，V2X訊息）。可以由ITS 555使用的協定的實例包括一或多個汽車工程協會（SAE）標準，諸如SAE J2735、SAE J2945、SAE J3161及/或其他標準，其全部內容特此經由引用合併於此並且用於所有目的。The ITS 555 may use any suitable protocol to generate messages (eg, V2X messages). Examples of protocols that may be used by ITS 555 include one or more Society of Automotive Engineers (SAE) standards, such as SAE J2735, SAE J2945, SAE J3161, and/or other standards, the entire contents of which are hereby incorporated by reference and used for all purposes. Purpose.
ITS 555的安全層可以被用於安全地對來自ITS堆疊的訊息進行簽名，這些訊息被發出給被配置用於V2X通訊的其他UE（諸如其他車輛、行人UE、及/或基礎設施系統）並由其驗證。安全層亦可以驗證從此類其他UE接收的訊息。在某些實現中，簽名和驗證程序可以基於車輛的安全上下文。在某些實例中，安全上下文可以包括一或多個加密-解密演算法、用於使用加密-解密演算法產生簽名的揭示金鑰及/或私密金鑰、及/或其他資訊。例如，由ITS 555產生的每個ITS訊息可以由ITS 555的安全層簽名。簽名可以是使用揭示金鑰和加密-解密演算法來匯出的。接收經簽名訊息的車輛、行人UE及/或基礎設施系統可以驗證簽名以確保訊息來自授權車輛。在某些實例中，一或多個加密-解密演算法可以包括一或多個對稱加密演算法（例如，高級加密標準（AES）、資料加密標準（DES）及/或其他對稱加密演算法）、使用揭示金鑰和私密金鑰的一或多個非對稱加密演算法（例如，Rivest–Shamir–Adleman（RSA）及/或其他非對稱加密演算法）及/或其他加密-解密演算法。The security layer of the ITS 555 can be used to securely sign messages from the ITS stack to other UEs configured for V2X communications (such as other vehicles, pedestrian UEs, and/or infrastructure systems) and verified by it. The security layer can also authenticate messages received from such other UEs. In some implementations, the signing and verification procedures may be based on the vehicle's security context. In some examples, the security context may include one or more encryption-decryption algorithms, disclosure keys and/or private keys used to generate signatures using the encryption-decryption algorithms, and/or other information. For example, each ITS message generated by the ITS 555 may be signed by the ITS 555's security layer. Signatures can be generated using revealed keys and encryption-decryption algorithms. Vehicles, pedestrian UEs, and/or infrastructure systems that receive the signed message can verify the signature to ensure that the message comes from an authorized vehicle. In some examples, one or more encryption-decryption algorithms may include one or more symmetric encryption algorithms (e.g., Advanced Encryption Standard (AES), Data Encryption Standard (DES), and/or other symmetric encryption algorithms) , using one or more asymmetric encryption algorithms that reveal the key and the private key (for example, Rivest–Shamir–Adleman (RSA) and/or other asymmetric encryption algorithms) and/or other encryption-decryption algorithms.
在某些實例中，ITS 555可以基於從其他UE接收的訊息來決定要執行的某些操作（例如，基於V2X的操作）。操作可以包括安全相關操作及/或其他操作，諸如用於道路安全、交通效率、資訊娛樂、商業及/或其他應用的操作。在某些實例中，操作可以包括導致車輛（例如，控制系統552）執行自動功能，諸如自動制動、自動轉向（例如，以維持特定車道中的航向）、與其他車輛的自動車道改變協商、以及其他自動功能。在一個說明性實例中，通訊系統558可以從另一車輛（例如，經由PC5介面、DSRC介面或其他設備對設備直接介面）接收指示其他車輛即將突然停止的訊息。回應於接收到該訊息，ITS堆疊可以產生訊息或指令，並且可以向控制系統552發出該訊息或指令，這可以導致控制系統552自動地制動車輛504，使得其在與其他車輛衝撞之前停止。在其他說明性實例中，操作可以包括觸發以下各項的顯示：警告駕駛員另一車輛在車輛旁邊的車道中的訊息、警告駕駛員停止車輛的訊息、警告駕駛員行人正處於即將出現的人行橫道中的訊息、警告駕駛員收費站在車輛的特定距離內（例如，在1英哩內）的訊息等等。In some instances, the ITS 555 may decide certain operations to perform (eg, V2X-based operations) based on messages received from other UEs. Operations may include safety-related operations and/or other operations, such as operations for road safety, traffic efficiency, infotainment, business and/or other applications. In some examples, operations may include causing the vehicle (eg, control system 552 ) to perform automated functions, such as automated braking, automated steering (eg, to maintain heading in a particular lane), automated lane change negotiation with other vehicles, and Other automatic functions. In one illustrative example, communication system 558 may receive a message from another vehicle (eg, via a PC5 interface, DSRC interface, or other direct device-to-device interface) indicating that the other vehicle is about to come to a sudden stop. In response to receiving the message, the ITS stack may generate a message or instruction and may issue the message or instruction to the control system 552 , which may cause the control system 552 to automatically brake the vehicle 504 so that it stops before colliding with another vehicle. In other illustrative examples, operations may include triggering the display of a message warning the driver that another vehicle is in the lane next to the vehicle, a message warning the driver to stop the vehicle, a message warning the driver that a pedestrian is in an upcoming crosswalk messages in the vehicle, messages warning drivers that a toll station is within a specific distance of the vehicle (for example, within 1 mile), etc.
在某些實例中，ITS 555可以從其他UE（例如，車輛、RSU等）接收大量訊息，在這種情況下，ITS 555將認證（例如，解碼和解密）訊息中的每一個及/或決定要執行哪些操作。如此大量的訊息可能導致針對車輛計算系統550的大計算負載。在某些情況下，大計算負載可能導致計算系統550的溫度升高。計算系統550的部件的溫度升高可能不利地影響計算系統550處理大量傳入訊息的能力。一或多個功能可以基於車輛計算系統550（或其部件）的溫度超過或接近一或多個熱水平而被從車輛504轉移到另一設備（例如，使用者設備、RSU等）。轉移一或多個功能可以降低車輛504上的計算負載，從而有助於降低部件的溫度。可以提供熱負載平衡器，其使得車輛計算系統550能夠執行基於熱的負載平衡，以根據計算系統550的溫度和車輛計算系統550的處理能力來控制處理負載。In some instances, the ITS 555 may receive a large number of messages from other UEs (e.g., vehicles, RSUs, etc.), in which case the ITS 555 will authenticate (e.g., decode and decrypt) each of the messages and/or determine What actions to perform. Such a large amount of information may result in a large computational load on the vehicle computing system 550 . In some cases, a large computing load may cause the temperature of computing system 550 to increase. Increased temperatures of components of computing system 550 may adversely affect computing system 550's ability to process large amounts of incoming messages. One or more functions may be transferred from the vehicle 504 to another device (eg, user equipment, RSU, etc.) based on the temperature of the vehicle computing system 550 (or components thereof) exceeding or approaching one or more thermal levels. Moving one or more functions can reduce the computational load on the vehicle 504, thereby helping to reduce component temperatures. A thermal load balancer may be provided that enables vehicle computing system 550 to perform thermal-based load balancing to control processing load based on the temperature of computing system 550 and the processing capabilities of vehicle computing system 550 .
計算系統550亦包括一或多個感測器系統556（例如，第一感測器系統到第N感測器系統，其中N是等於或大於0的值）。當包括多個感測器系統時，感測器系統556可以包括可佈置在車輛504的不同部分之上或之中的不同類型的感測器系統。感測器系統556可以包括一或多個相機感測器系統、LIDAR感測器系統、無線電偵測和測距（RADAR）感測器系統、電磁偵測和測距（EmDAR）感測器系統、聲音導航和測距（SONAR）感測器系統、聲音偵測和測距（SODAR）感測器系統、全球導航衛星系統（GNSS）接收器系統（例如，一或多個全球定位系統（GPS）接收器系統）、加速度計、陀螺儀、慣性量測單元（IMU）、紅外感測器系統、鐳射測距儀系統、超聲感測器系統、次聲感測器系統、麥克風、其任何組合及/或其他感測器系統。應當理解，可以包括任何數量的感測器或感測器系統來作為車輛504的計算系統550的部分。Computing system 550 also includes one or more sensor systems 556 (eg, first through Nth sensor systems, where N is a value equal to or greater than 0). When multiple sensor systems are included, sensor system 556 may include different types of sensor systems that may be disposed on or in different portions of vehicle 504 . Sensor system 556 may include one or more camera sensor systems, LIDAR sensor systems, radio detection and ranging (RADAR) sensor systems, electromagnetic detection and ranging (EmDAR) sensor systems , Sound Navigation and Ranging (SONAR) sensor systems, Sound Detection and Ranging (SODAR) sensor systems, Global Navigation Satellite System (GNSS) receiver systems (e.g., one or more Global Positioning Systems (GPS) ) Receiver system), accelerometer, gyroscope, inertial measurement unit (IMU), infrared sensor system, laser rangefinder system, ultrasonic sensor system, infrasound sensor system, microphone, any combination thereof and/or other sensor systems. It should be understood that any number of sensors or sensor systems may be included as part of the computing system 550 of the vehicle 504 .
儘管車輛計算系統550被示出為包括某些部件及/或系統，但具有通常知識者將理解，車輛計算系統550可以包括比圖5所示的彼等部件更多或更少的部件。例如，車輛計算系統550亦可以包括一或多個輸入設備和一或多個輸出設備（未圖示）。在某些實現中，車輛計算系統550亦可以包括（例如，作為控制系統552、資訊娛樂系統554、通訊系統558及/或感測器系統556的部分或與控制系統552、資訊娛樂系統554、通訊系統558及/或感測器系統556分離）至少一個處理器和具有由至少一個處理器執行的電腦可執行指令的至少一個記憶體。至少一個處理器與至少一個記憶體通訊及/或電連接到（被稱為「耦合到」或「通訊耦合到」)至少一個記憶體。至少一個處理器可以包括例如一或多個微控制器、一或多個中央處理單元（CPU）、一或多個現場可程式設計閘陣列（FPGA）、一或多個圖形處理單元（GPU）、一或多個應用處理器（例如，用於執行或執行一或多個軟體應用）及/或其他處理器。至少一個記憶體可以包括例如唯讀記憶體（ROM）、隨機存取記憶體（RAM）（例如，靜態RAM（SRAM））、電子可抹除可程式設計唯讀記憶體（EEPROM）、快閃記憶體、一或多個緩衝器、一或多個資料庫及/或其他記憶體。儲存在至少一個記憶體之中或之上的電腦可執行指令可以被執行以執行本文描述的功能或操作中的一或多個。Although vehicle computing system 550 is shown as including certain components and/or systems, one of ordinary skill will understand that vehicle computing system 550 may include more or fewer components than those shown in FIG. 5 . For example, vehicle computing system 550 may also include one or more input devices and one or more output devices (not shown). In some implementations, vehicle computing system 550 may also include, for example, as part of or with control system 552 , infotainment system 554 , communications system 558 , and/or sensor system 556 . Communication system 558 and/or sensor system 556 separate) at least one processor and at least one memory having computer-executable instructions executed by the at least one processor. At least one processor is in communication with and/or electrically connected to (referred to as "coupled to" or "communicatively coupled to") at least one memory. The at least one processor may include, for example, one or more microcontrollers, one or more central processing units (CPUs), one or more field programmable gate arrays (FPGAs), one or more graphics processing units (GPUs) , one or more application processors (e.g., for executing or executing one or more software applications), and/or other processors. The at least one memory may include, for example, read only memory (ROM), random access memory (RAM) (eg, static RAM (SRAM)), electronically erasable programmable read only memory (EEPROM), flash memory, one or more buffers, one or more databases and/or other memory. Computer-executable instructions stored in or on at least one memory may be executed to perform one or more of the functions or operations described herein.
圖6圖示出使用者設備607的計算系統670的實例。使用者設備607是可以由終端使用者使用的UE的實例。例如，使用者設備607可以包括行動電話、路由器、平板電腦、膝上型電腦、追蹤設備、可穿戴設備（例如，智慧手錶、眼鏡、XR設備等）、物聯網路（IoT）設備、及/或由使用者用於經由無線通訊網路通訊的其他設備。計算系統670包括可以經由匯流排689電耦合或通訊耦合（或者可以酌情以其他方式通訊）的軟體和硬體部件。例如，計算系統670包括一或多個處理器684。一或多個處理器684可以包括一或多個CPU、ASIC、FPGA、AP、GPU、VPU、NSP、微控制器、專用硬體、其任意組合及/或其他處理設備或系統。匯流排689可以由一或多個處理器684用於在核心之間通訊及/或與一或多個記憶體設備686通訊。Figure 6 illustrates an example of a computing system 670 for user device 607. User equipment 607 is an example of a UE that can be used by an end user. For example, user devices 607 may include mobile phones, routers, tablets, laptops, tracking devices, wearable devices (e.g., smart watches, glasses, XR devices, etc.), Internet of Things (IoT) devices, and/or or other devices used by users to communicate via wireless communication networks. Computing system 670 includes software and hardware components that may be electrically or communicatively coupled via bus 689 (or may otherwise communicate as appropriate). For example, computing system 670 includes one or more processors 684. One or more processors 684 may include one or more CPUs, ASICs, FPGAs, APs, GPUs, VPUs, NSPs, microcontrollers, special purpose hardware, any combination thereof, and/or other processing devices or systems. Bus 689 may be used by one or more processors 684 to communicate between cores and/or to communicate with one or more memory devices 686 .
計算系統670亦可以包括一或多個記憶體設備686、一或多個數位訊號處理器（DSP）682、一或多個SIM 674、一或多個數據機676、一或多個無線收發器678、天線687、一或多個輸入設備672（例如，相機、滑鼠、鍵盤、觸敏螢幕、觸控板、小鍵盤、麥克風等等）、以及一或多個輸出設備680（例如，顯示器、揚聲器、印表機等等）。Computing system 670 may also include one or more memory devices 686, one or more digital signal processors (DSPs) 682, one or more SIMs 674, one or more modems 676, and one or more wireless transceivers. 678, antenna 687, one or more input devices 672 (e.g., camera, mouse, keyboard, touch-sensitive screen, trackpad, keypad, microphone, etc.), and one or more output devices 680 (e.g., display , speakers, printers, etc.).
一或多個無線收發器678可以經由天線687從一或多個其他設備（諸如其他使用者設備、車輛（例如，上述圖5的車輛504）、網路設備（例如，基地台，諸如eNB及/或gNB、WiFI路由器）、雲端網路等）接收無線訊號（例如，訊號688）。在某些實例中，計算系統670可以包括多個天線。無線訊號688可以是經由無線網路來發送的。無線網路可以是任何無線網路，諸如蜂巢或電訊網路（例如，3G、4G、5G等）、無線區域網路（例如，WiFi網路）、藍芽 TM網路及/或其他網路。在某些實例中，一或多個無線收發器678可以包括RF前端，RF前端包括一或多個部件，諸如放大器、用於訊號下轉換的混合器（亦被稱為訊號乘法器）、向混合器提供訊號的頻率合成器（亦被稱為振盪器）、基頻濾波器、類比數位轉換器（ADC）、一或多個功率放大器、以及其他部件。RF前端通常可以處理無線訊號688到基頻或中頻的的選擇以及轉換，並且可以將RF訊號轉換到數位域。 One or more wireless transceivers 678 may transmit signals via antenna 687 from one or more other devices, such as other user equipment, vehicles (e.g., vehicle 504 of FIG. 5 described above), network devices (e.g., base stations such as eNBs and /or gNB, WiFI router), cloud network, etc.) to receive wireless signals (for example, signal 688). In some examples, computing system 670 may include multiple antennas. Wireless signal 688 may be sent via a wireless network. The wireless network may be any wireless network, such as a cellular or telecommunications network (e.g., 3G, 4G, 5G, etc.), a wireless local area network (e.g., a WiFi network), a Bluetooth ™ network, and/or other networks . In some examples, one or more wireless transceivers 678 may include an RF front-end including one or more components such as amplifiers, mixers (also known as signal multipliers) for signal down-conversion, A mixer provides a signal from a frequency synthesizer (also called an oscillator), a fundamental frequency filter, an analog-to-digital converter (ADC), one or more power amplifiers, and other components. The RF front-end can usually handle the selection and conversion of wireless signals 688 into baseband or intermediate frequencies, and can convert RF signals into the digital domain.
在某些情況下，計算系統670可以包括解碼-解碼設備（或轉碼器），其被配置為對使用一或多個無線收發器678發送及/或接收的資料進行編碼及/或解碼。在某些情況下，計算系統670可以包括加密-解密設備或部件，其被配置為對由一或多個無線收發器678發送及/或接收的資料進行加密及/或解密（例如，根據AES及/或DES標準）。In some cases, computing system 670 may include a decoding-decoding device (or transcoder) configured to encode and/or decode data sent and/or received using one or more wireless transceivers 678 . In some cases, computing system 670 may include encryption-decryption devices or components configured to encrypt and/or decrypt data sent and/or received by one or more wireless transceivers 678 (e.g., in accordance with AES and/or DES standard).
一或多個SIM 674可以各自安全地儲存指派給使用者設備607的使用者的IMSI號碼和相關金鑰。如前述，當存取由與一或多個SIM 674相關聯的網路服務提供者或操作者提供的網路時，IMSI和金鑰可以被用於標識和驗證用戶。一或多個數據機676可以調制一或多個訊號，以對用於使用一或多個無線收發器678傳輸的資訊進行編碼。一或多個數據機676亦可以解調由一或多個無線收發器678接收的訊號，以便對所發送資訊進行解碼。在某些實例中，一或多個數據機676可以包括4G（或LTE）數據機、5G（或NR）數據機、被配置用於V2X通訊的數據機及/或其他類型的數據機。一或多個數據機676和一或多個無線收發器678可以被用於通訊用於一或多個SIM 674的資料。One or more SIMs 674 may each securely store the user's IMSI number and associated keys assigned to the user device 607 . As mentioned above, the IMSI and key may be used to identify and authenticate the user when accessing a network provided by a network service provider or operator associated with one or more SIMs 674. One or more modems 676 may modulate one or more signals to encode information for transmission using one or more wireless transceivers 678 . One or more modems 676 may also demodulate signals received by one or more wireless transceivers 678 to decode the transmitted information. In some examples, one or more modems 676 may include 4G (or LTE) modems, 5G (or NR) modems, modems configured for V2X communications, and/or other types of modems. One or more modems 676 and one or more wireless transceivers 678 may be used to communicate information for one or more SIMs 674 .
計算系統670亦可以包括（及/或與之通訊）一或多個非暫時性機器可讀儲存媒體或存放裝置（例如，一或多個記憶體設備686），其可以包括但不限於本端及/或網路可存取的儲存、磁碟機、驅動器陣列、光學存放裝置、諸如RAM及/或ROM之類的固態存放裝置，其可以是可程式設計的、可快閃記憶體更新的等等。此類存放裝置可以被配置為實現任何適當的資料儲存，包括但不限於各種檔案系統、資料庫結構等。Computing system 670 may also include (and/or be in communication with) one or more non-transitory machine-readable storage media or storage devices (e.g., one or more memory devices 686), which may include, but is not limited to, local and/or network-accessible storage, disk drives, drive arrays, optical storage devices, solid state storage devices such as RAM and/or ROM, which may be programmable, flash memory updateable etc. Such storage devices may be configured to implement any suitable data storage, including but not limited to various file systems, database structures, etc.
在各個態樣中，功能可以作為一或多個電腦程式產品（例如，指令或代碼）被儲存在記憶體設備686中，並且由一或多個處理器684及/或一或多個DSP 682來執行。計算系統670亦可以包括軟體元件（例如，位於一或多個記憶體設備686內），包括例如作業系統、裝置驅動程式、可執行庫及/或其他代碼，諸如一或多個應用程式，其可以包括實現由各態樣提供的功能的電腦程式，及/或可以被設計為實現方法及/或配置系統，如本文描述的。In various aspects, functionality may be stored in memory device 686 as one or more computer program products (e.g., instructions or code) and performed by one or more processors 684 and/or one or more DSPs 682 to execute. Computing system 670 may also include software components (e.g., located within one or more memory devices 686), including, for example, an operating system, device drivers, executable libraries, and/or other code, such as one or more applications, which Computer programs that implement the functionality provided by the various aspects may be included, and/or may be designed to implement methods and/or configure systems as described herein.
圖7圖示出基於側鏈路通訊（諸如V2X或其他D2D通訊）的設備之間的無線通訊的實例700。該通訊可以基於包括結合圖2描述的各態樣的時槽結構。例如，發送UE 702可以發送傳輸714，例如，包括控制通道及/或對應的資料通道，傳輸714可以由接收UE 704、706、708接收。至少一個UE可以包括自主車輛或無人駕駛飛行器。控制通道可以包括用於對資料通道進行解碼的資訊，並且亦可以被接收設備用於在資料傳輸期間經由抑制在被佔用的資源上發送來避免干擾。將被資料傳輸佔用的TTI以及RB的數量可以在來自發送設備的控制訊息中被指示。除了作為接收設備操作之外，UE 702、704、706、708各自可以能夠作為發送設備操作。因此，UE 706、708被圖示為發送傳輸716、720。傳輸714、716、720（以及RSU 707的718）可以被廣播或多播到附近的設備。例如，UE 714可以發送意欲由UE 714的範圍701內的其他UE接收的通訊。補充地/替代地，RSU 707可以從UE 702、704、706、708接收通訊及/或向UE 702、704、706、708發送通訊。Figure 7 illustrates an example 700 of wireless communication between devices based on side-link communication, such as V2X or other D2D communication. The communication may be based on a time slot structure including aspects described in connection with FIG. 2 . For example, the sending UE 702 may send a transmission 714, eg, including a control channel and/or a corresponding data channel, which may be received by the receiving UE 704, 706, 708. At least one UE may include an autonomous vehicle or an unmanned aerial vehicle. The control channel may include information used to decode the data channel, and may also be used by the receiving device to avoid interference during data transmission by suppressing transmission on occupied resources. The TTI and the number of RBs to be occupied by data transmission can be indicated in the control message from the sending device. In addition to operating as a receiving device, each of the UEs 702, 704, 706, 708 may be capable of operating as a transmitting device. Accordingly, UEs 706, 708 are illustrated sending transmissions 716, 720. Transmissions 714, 716, 720 (and 718 of the RSU 707) may be broadcast or multicast to nearby devices. For example, UE 714 may send communications intended to be received by other UEs within range 701 of UE 714. Additionally/alternatively, the RSU 707 may receive communications from and/or send communications to the UEs 702, 704, 706, 708.
UE 702、704、706、708或RSU 707可以包括偵測部件，其類似於結合圖1描述的198。UE 702、704、706、708或RSU 707亦可以包括BSM或緩解部件，其類似於結合圖1描述的199。UE 702, 704, 706, 708 or RSU 707 may include detection components similar to 198 described in connection with FIG. 1 . The UE 702, 704, 706, 708 or RSU 707 may also include a BSM or mitigation component similar to 199 described in connection with Figure 1.
在無線通訊（諸如，V2X通訊）中，V2X實體可以執行與其他V2X實體的感測器共享以用於協調和自動化駕駛。例如，參考圖8A的圖800，主車輛（HV）802可以偵測其環境內的數個物品。例如，在方塊832處，HV 802可以偵測非V2X實體（NV）806的存在。HV 802可以通知其他實體（諸如第一遠端車輛（RV1）804或路邊單元（RSU）808）關於NV 806的存在（若RV1 804及/或RSU 808自己無法偵測NV 806）。HV 802向RV1 804及/或RSU 808通知關於NV 806是感測器資訊的共享。參考圖8B的圖810，HV 802可以偵測尚未被RV1 804及/或RSU 808偵測到的、可能是HV 802及/或RV1 804的路徑中的阻礙的實體障礙物812，諸如坑窪、殘骸或對象。HV 802可以向RV1及/或RSU 808通知障礙物812，使得障礙物812可以被避開。參考圖8C的圖820，HV 802可以偵測易受傷的道路使用者（VRU）822的存在，並且可以與RV1 804和RSU 808共享對VRU 822的偵測（在RSU 808及/或RV1 804可能無法偵測VRU 822的情況下）。參考圖8D的圖830，根據對附近實體（例如，NV、VRU、障礙物）的偵測，HV可以向RV及/或RSU發送感測器資料共用訊息（SDSM）834以共享對實體的偵測。SDSM 834可以是廣播訊息，使得HV附近的任何接收設備皆可以接收訊息。在某些情況下，共享資訊可以被中繼到其他實體，諸如RV。例如，參考圖9的圖900，HV 902可以偵測NV 006及/或VRU 922的存在。HV 902可以向RSU 908廣播SDSM 910以報告對NV 906及/或VRU 922的偵測。RSU 908可以向遠端車輛中繼從HV 902接收的SDSM 910，使得遠端車輛得知NV 906及/或VRU 922的存在。例如，RSU 908可以向RV1 904發送SDSM 912，其中SDSM 912包括與對NV 906及/或VRU 922的偵測相關的資訊。In wireless communications (such as V2X communications), V2X entities can perform sensor sharing with other V2X entities for coordination and automated driving. For example, referring to diagram 800 of Figure 8A, a host vehicle (HV) 802 may detect several items within its environment. For example, at block 832, the HV 802 may detect the presence of a non-V2X entity (NV) 806. The HV 802 may notify other entities, such as the first remote vehicle (RV1) 804 or the roadside unit (RSU) 808, of the presence of the NV 806 (if RV1 804 and/or the RSU 808 are unable to detect the NV 806 themselves). HV 802 notifies RV1 804 and/or RSU 808 that NV 806 is sharing sensor information. Referring to diagram 810 of Figure 8B, HV 802 may detect physical obstacles 812 that may be obstructions in the path of HV 802 and/or RV1 804, such as potholes, potholes, Wreck or object. HV 802 may notify RV1 and/or RSU 808 of obstacle 812 so that obstacle 812 can be avoided. Referring to diagram 820 of FIG. 8C , HV 802 may detect the presence of a vulnerable road user (VRU) 822 and may share detection of VRU 822 with RV1 804 and RSU 808 (possibly in RSU 808 and/or RV1 804 When VRU 822 cannot be detected). Referring to diagram 830 of Figure 8D, based on the detection of nearby entities (eg, NV, VRU, obstacle), the HV may send a sensor data sharing message (SDSM) 834 to the RV and/or RSU to share the detection of the entity. Test. SDSM 834 can be a broadcast message so that any receiving device near the HV can receive the message. In some cases, shared information may be relayed to other entities, such as RVs. For example, referring to diagram 900 of FIG. 9, HV 902 may detect the presence of NV 006 and/or VRU 922. HV 902 may broadcast SDSM 910 to RSU 908 to report detection of NV 906 and/or VRU 922. The RSU 908 may relay the SDSM 910 received from the HV 902 to the remote vehicle so that the remote vehicle is aware of the presence of the NV 906 and/or the VRU 922. For example, RSU 908 may send SDSM 912 to RV1 904, where SDSM 912 includes information related to detection of NV 906 and/or VRU 922.
如前述，操縱共享協調訊息（MSCM）是可以被用於在車輛之間進行規劃軌跡的交換以執行駕駛協調的V2X訊息。MSCM（例如，圖14的MSCM 1400）允許車輛共享其操縱意圖以協調其規劃的操縱，以進行更安全和更高效的駕駛。在車輛之間發送的MSCM系列可以被用於協調和操縱的執行。MSCM系列可以由受預期操縱影響的車輛之間的交握通信期組成。MSCM的使用依賴於MSCM的交換和通訊協定，諸如基本協定（例如，圖15的基本協定1500）和緊急協定（例如，圖16的緊急協定1600）。圖10、11、12A和12B示出用於針對各種不同場景（例如，超車、併入和車道改變場景）的操縱的實例車輛配置1000、1100、1200、1210，其可以利用MSCM來進行操縱的車輛協調。As mentioned above, the Maneuvering Shared Coordination Message (MSCM) is a V2X message that can be used to exchange planned trajectories between vehicles to perform driving coordination. MSCM (eg, MSCM 1400 of Figure 14) allows vehicles to share their maneuvering intentions to coordinate their planned maneuvers for safer and more efficient driving. MSCM series sent between vehicles can be used to coordinate and maneuver the execution. The MSCM series may consist of handshake communication periods between vehicles affected by the intended maneuver. The use of MSCM relies on the exchange and communication protocols of MSCM, such as basic protocols (eg, basic protocol 1500 of FIG. 15) and emergency protocols (eg, emergency protocol 1600 of FIG. 16). Figures 10, 11, 12A, and 12B illustrate example vehicle configurations 1000, 1100, 1200, 1210 for maneuvering for a variety of different scenarios (eg, overtaking, merging, and lane change scenarios) that can be maneuvered using MSCM vehicle coordination.
亦應注意，用於協調操縱（例如，超車操縱、併入操縱或車道改變操縱）的MSCM系列之每一者MSCM可以具有特定類型（例如，圖14的MSCM類型1408），其可以指示MSCM的類型。MSCM的特定類型可以包括但不限於意圖操縱訊息、請求操縱訊息、回應操縱訊息、預留操縱訊息、HV取消操縱訊息、RV取消操縱訊息和執行狀態操縱訊息。圖15中圖示的用於MSCM的實例基本協定1500圖示MSCM的某些實例類型。例如，在圖15中，用於實例基本協定1500的MCSM訊息類型被示為包括操縱意圖（例如，MSCM類型零）1510、操縱請求（例如，MSCM類型一）1511、操縱回應（例如， MSCM類型二）1512、操縱預留（例如，MSCM類型三）1513、主車輛（HV）操縱取消（例如，MSCM類型四）1514、遠端車輛（RV）操縱取消（例如，MSCM類型五） 1515、以及操縱執行狀態（例如，MSCM類型七）1517。It should also be noted that each MSCM of the series of MSCMs used to coordinate maneuvers (eg, overtaking maneuvers, merge maneuvers, or lane change maneuvers) may have a specific type (eg, MSCM type 1408 of FIG. 14 ), which may indicate an MSCM type. Specific types of MSCM may include, but are not limited to, intent manipulation messages, request manipulation messages, response manipulation messages, reservation manipulation messages, HV cancellation manipulation messages, RV cancellation manipulation messages, and execution status manipulation messages. The instance base contract 1500 for MSCM illustrated in Figure 15 illustrates certain instance types of MSCM. For example, in Figure 15, the MCSM message types for the example base protocol 1500 are shown to include a manipulation intent (eg, MSCM type zero) 1510, a manipulation request (eg, MSCM type one) 1511, a manipulation response (eg, MSCM type 2) 1512. Control reservation (for example, MSCM type three) 1513. Host vehicle (HV) control cancellation (for example, MSCM type four) 1514. Remote vehicle (RV) control cancellation (for example, MSCM type five) 1515. and Manipulate execution state (e.g., MSCM type seven) 1517.
意圖的MSCM（例如，MSCM類型零）可以是以特定功率水平廣播的以允許特定傳輸範圍，使得受意圖操縱影響的車輛可以接收MSCM並且其他車輛不接收MSCM。替代地，意圖的MSCM（例如，MSCM類型零）可以是以最大功率水平廣播的以允許最大可允許傳輸範圍，使得位於最大可允許傳輸範圍內的所有車輛皆可以接收MSCM。回應於接收到意圖的MSCM，回應的MSCM（例如，MSCM類型二）可以僅被廣播（例如，單播）到發出意圖的MSMC（例如，MSCM類型零）的特定車輛。An intended MSCM (eg, MSCM type zero) may be broadcast at a specific power level to allow for a specific transmission range such that vehicles affected by the intended maneuver may receive the MSCM and other vehicles may not receive the MSCM. Alternatively, the intended MSCM (eg, MSCM type zero) may be broadcast at the maximum power level to allow the maximum allowable transmission range, such that all vehicles located within the maximum allowable transmission range can receive the MSCM. In response to an MSCM receiving an intent, the responding MSCM (eg, MSCM type two) may be broadcast (eg, unicast) only to the specific vehicle that issued the intent's MSMC (eg, MSCM type zero).
應當注意，用於操縱（例如，超車操縱、併入操縱或車道改變操縱）的MSCM系列可以具有指派給MSCM的單個操縱ID（例如，圖14的操縱ID 1414）。操縱ID類似於通信期ID，並且被用於標識與MSCM系列相關的特定操縱（例如，超車操縱、併入操縱或車道改變操縱），並且允許車輛追蹤用於該特定操縱的更新。如前述，操縱ID應當是唯一的，以便避免任何可能的操縱ID衝突（例如，在兩個或兩個以上操縱具有相同的操縱ID時發生），操縱ID衝突可能導致操縱的取消。It should be noted that a series of MSCMs for a maneuver (eg, a passing maneuver, a merge maneuver, or a lane change maneuver) may have a single maneuver ID assigned to the MSCM (eg, maneuver ID 1414 of Figure 14). The maneuver ID is similar to the communication period ID and is used to identify a specific maneuver associated with the MSCM series (eg, a passing maneuver, a merge maneuver, or a lane change maneuver) and allows the vehicle to track updates for that specific maneuver. As mentioned before, manipulation IDs should be unique in order to avoid any possible manipulation ID conflicts (e.g., occurring when two or more manipulations have the same manipulation ID), which could result in the cancellation of manipulations.
當前，不存在用於產生唯一操縱ID或用於偵測與衝突操縱ID（其可能導致多個操縱取消）有關的攻擊的可用解決方案。所揭示的系統和技術提供用於每個操縱的唯一操縱ID（例如，圖17的程序1700），並且提供用於操縱ID衝突的不當行為偵測和報告（MBDS）（例如，圖18的程序1800）。Currently, there are no available solutions for generating unique manipulation IDs or for detecting attacks related to conflicting manipulation IDs that may result in multiple manipulation cancellations. The disclosed systems and techniques provide a unique manipulation ID for each manipulation (eg, process 1700 of Figure 17) and provide Misbehavior Detection and Reporting (MBDS) for manipulation ID conflicts (eg, process of Figure 18 1800).
圖10是圖示出用於針對接管場景的車輛操縱的車輛配置1000的實例的示圖。在圖10中，車輛配置1000被示為包括複數個經配備（equipped）（例如，具有V2X能力的）網路設備。複數個經配備網路設備包括車輛（例如，汽車）1004、1006和車輛（例如，卡車）1002。車輛配置1000可以包括比圖10中所示更多或更少的經配備網路設備。另外，車輛配置1000可以包括未配備（non-equipped）網路設備（圖10中未圖示），諸如未配備車輛、易受傷的道路使用者（VRU），諸如騎自行車者和行人。另外，車輛配置1000可以包括比圖10中所示更多或更少的不同類型的經配備網路設備（例如，其可以包括經配備UE）。另外，在一或多個實例中，經配備網路設備可以配備有異構能力，其可以包括但不限於C-V2X/DSRC能力、4G/5G蜂巢連線性、GPS能力、相機能力、雷達能力、及/或LIDAR能力。FIG. 10 is a diagram illustrating an example of a vehicle configuration 1000 for vehicle maneuvering for a takeover scenario. In Figure 10, a vehicle configuration 1000 is shown as including a plurality of equipped (eg, V2X capable) network devices. The plurality of network-equipped devices includes vehicles (eg, cars) 1004, 1006, and vehicles (eg, trucks) 1002. Vehicle configuration 1000 may include more or fewer equipped network devices than shown in FIG. 10 . Additionally, vehicle configuration 1000 may include non-equipped network equipment (not shown in Figure 10), such as non-equipped vehicle, vulnerable road users (VRU), such as cyclists and pedestrians. Additionally, vehicle configuration 1000 may include more or fewer different types of provisioned network devices than shown in FIG. 10 (eg, it may include provisioned UEs). Additionally, in one or more instances, the provisioned network equipment may be equipped with heterogeneous capabilities, which may include, but are not limited to, C-V2X/DSRC capabilities, 4G/5G cellular connectivity, GPS capabilities, camera capabilities, radar capabilities, and/or LIDAR capabilities.
複數個經配備網路設備可以能夠執行V2X通訊。另外，經配備網路設備中的至少某些能夠發送和接收用於雷達的感測訊號（例如，RF感測訊號）及/或用於LIDAR的感測訊號（例如，光學感測訊號）以偵測附近的車輛及/或物件。在一或多個實例中，車輛1002、1004、1006可以能夠發送和接收某種感測訊號（例如，相機、雷達及/或LIDAR感測訊號）。Multiple network-equipped devices may be able to perform V2X communications. Additionally, at least some of the network-equipped devices are capable of transmitting and receiving sensing signals for radar (e.g., RF sensing signals) and/or sensing signals for LIDAR (e.g., optical sensing signals) and Detect nearby vehicles and/or objects. In one or more examples, vehicles 1002, 1004, 1006 may be capable of transmitting and receiving certain sensing signals (eg, camera, radar, and/or LIDAR sensing signals).
在某些實例中，經配備網路設備1002、1004、1006中的某些可以具有比車輛配置1000的其他經配備網路設備更高能力的感測器（例如，GPS接收器、相機、RF天線及/或光學雷射器及/或光學感測器）。例如，車輛（例如，卡車）1002可以具有比其他車輛（例如，汽車）1006、1004更昂貴、更高能力的感測器。在一個說明性實例中，車輛1002可以具有比車輛配置1000中的其他經配備網路設備更高能力的一或多個LIDAR感測器（例如，高能力光學雷射器和光學感測器）。例如，車輛1002的LIDAR可以能夠以高置信度（例如，百分之七十的置信度）偵測VRU（例如，騎自行車者）及/或行人。在另一實例中，車輛1002可以具有比車輛配置1000中的其他經配備網路設備更高能力的雷達（例如，高能力RF天線）。例如，車輛1002的雷達可以能夠以一定的置信度（例如，百分之八十五的置信度）偵測VRU及/或行人。In some examples, some of the network-equipped devices 1002 , 1004 , 1006 may have higher-capability sensors (eg, GPS receivers, cameras, RF Antenna and/or optical laser and/or optical sensor). For example, a vehicle (eg, a truck) 1002 may have more expensive, higher-capacity sensors than other vehicles (eg, a car) 1006, 1004. In one illustrative example, vehicle 1002 may have one or more LIDAR sensors with higher capabilities than other network-equipped devices in vehicle configuration 1000 (eg, high-power optical lasers and optical sensors) . For example, the LIDAR of vehicle 1002 may be able to detect VRUs (eg, cyclists) and/or pedestrians with high confidence (eg, seventy percent confidence). In another example, vehicle 1002 may have higher-capability radar (eg, a high-capability RF antenna) than other network-equipped devices in vehicle configuration 1000 . For example, vehicle 1002's radar may be able to detect VRUs and/or pedestrians with a certain level of confidence (eg, eighty-five percent confidence level).
在操作期間，經配備網路設備（例如，車輛1002、1004、1006）可以發送及/或接收感測訊號（例如，RF及/或光學訊號）以感測和偵測位於道路內和道路周圍的車輛（例如，車輛1002、1004、1006）及/或物件（未圖示）。經配備網路設備（例如，車輛1002、1004、1006）隨後可以使用感測訊號來決定偵測到的車輛及/或物件的特性（例如，運動、維度、類型、航向和速度）。經配備網路設備（例如，車輛1002、1004、1006）可以產生至少一個基於車輛的訊息（例如，C-V2X訊息，諸如感測器資料共享訊息（SDSM）、基本安全訊息（BSM）、協調認知訊息（CAM）、共同感知訊息（CPM）、及/或其他類型的訊息），其包括與偵測到的車輛及/或物件的所決定特性有關的資訊。During operation, network-equipped devices (e.g., vehicles 1002, 1004, 1006) may send and/or receive sensing signals (e.g., RF and/or optical signals) to sense and detect locations in and around the roadway. vehicles (eg, vehicles 1002, 1004, 1006) and/or objects (not shown). Network-equipped devices (eg, vehicles 1002, 1004, 1006) may then use the sensed signals to determine characteristics (eg, motion, dimensions, type, heading, and speed) of the detected vehicles and/or objects. Network-equipped devices (e.g., vehicles 1002, 1004, 1006) may generate at least one vehicle-based message (e.g., C-V2X message, such as Sensor Data Sharing Message (SDSM), Basic Safety Message (BSM), Coordination Cognitive Messages (CAM), Common Perception Messages (CPM), and/or other types of messages), which include information related to determined characteristics of detected vehicles and/or objects.
基於車輛的訊息可以包括與偵測到的車輛或物件有關的資訊（例如，車輛或物件的定位、定位的準確性、車輛或物件的速度、車輛或物件正在行進的方向、及/或與車輛或物件有關的其他資訊）、交通條件（例如，低速及/或密集交通、高速交通、與事故有關的資訊等）、天氣條件（例如，雨、雪等）、訊息類型（例如，緊急訊息、非緊急或「一般」訊息等）、道路拓撲（視線（LOS）或非LOS（NLOS）等）、其任何組合、及/或其他資訊。在某些實例中，基於車輛的訊息亦可以包括關於經配備網路設備從其他某些經配備網路設備接收基於車輛的訊息的偏好的資訊。在某些情況下，基於車輛的訊息可以包括經配備網路設備（例如，車輛1002、1004、1006）的當前能力，諸如經配備網路設備的感測能力（其可以影響經配備網路設備在感測車輛及/或物件態樣的準確性）、處理能力、經配備網路設備的熱狀態（其可以影響車輛處理資料的能力）以及經配備網路設備的健康狀態。Vehicle-based information may include information related to the detected vehicle or object (e.g., the position of the vehicle or object, the accuracy of the position, the speed of the vehicle or object, the direction in which the vehicle or object is traveling, and/or information related to the vehicle or object) or other information related to the object), traffic conditions (e.g., low-speed and/or dense traffic, high-speed traffic, accident-related information, etc.), weather conditions (e.g., rain, snow, etc.), message type (e.g., emergency message, non-emergency or "general" messages, etc.), road topology (line of sight (LOS) or non-LOS (NLOS), etc.), any combination thereof, and/or other information. In some examples, the vehicle-based messages may also include information regarding the preferences of the equipped network device for receiving vehicle-based messages from certain other equipped network devices. In some cases, the vehicle-based information may include the current capabilities of the equipped network device (eg, vehicle 1002, 1004, 1006), such as the sensing capabilities of the equipped network device (which may affect the accuracy in sensing the shape of the vehicle and/or objects), processing power, the thermal state of the network-equipped equipment (which can affect the vehicle's ability to process data), and the health of the network-equipped equipment.
在某些態樣，基於車輛的訊息可以包括用於經配備網路設備（例如，車輛1002、1004、1006）中的每一個的動態鄰點清單（亦被稱為本端動態地圖（LDM）或動態周圍地圖）。例如，每個動態鄰點清單可以包括位於距對應經配備網路設備的特定預定距離（或距離半徑）內的所有車輛及/或物件的清單。在某些情況下，每個動態鄰點清單包括位於距對應經配備網路設備的特定預定距離（或距離半徑）內的所有車輛及/或物件的映射，其可以包括道路和地形拓撲。In some aspects, the vehicle-based information may include a dynamic neighbor list (also known as a local dynamic map (LDM)) for each of the network-equipped devices (eg, vehicles 1002, 1004, 1006) or dynamic surrounding map). For example, each dynamic neighbor list may include a list of all vehicles and/or objects located within a specific predetermined distance (or distance radius) from the corresponding network-equipped device. In some cases, each dynamic neighbor list includes a map of all vehicles and/or objects located within a specific predetermined distance (or distance radius) from the corresponding network-equipped device, which may include road and terrain topology.
在某些實現中，基於車輛的訊息可以包括與經配備網路設備（例如，車輛1002、1004、1006）的當前條件有關的特定用例或安全警告，諸如未經由警告（DNPW）或前向碰撞警告（FCW）。在某些實例中，基於車輛的訊息可以是標準BSM、CAM、CPM、SDSM（例如，SAE J3224 SDSM）及/或其他格式的形式。In some implementations, vehicle-based messages may include specific use cases or safety warnings related to current conditions of the network-equipped device (eg, vehicle 1002, 1004, 1006), such as a non-passing warning (DNPW) or a forward collision Warning (FCW). In some examples, vehicle-based messages may be in the form of standard BSM, CAM, CPM, SDSM (eg, SAE J3224 SDSM), and/or other formats.
在圖10中，車輛配置1000圖示了接管場景的實例，其中車輛1004想要超過（超車）車輛（例如，卡車）1002。具體地，在圖10中，車輛1004被示為在車輛（例如，卡車）1002後方行駛，並且車輛1006在車輛1002、1004的相反車道和相反方向上行駛。車輛1004（或車輛的駕駛員）期望超車（超過）車輛（例如，卡車）1002。如此，車輛1004（或車輛的駕駛員）期望執行超車操縱以超車車輛1002。這樣做時，在一或多個實例中，車輛1004可以利用MSCM系列（例如，圖14的MSCM 1400）來與其他車輛1002、1006協調超車操縱。In FIG. 10 , a vehicle configuration 1000 illustrates an example of a takeover scenario where a vehicle 1004 wants to overtake (overtake) a vehicle (eg, a truck) 1002 . Specifically, in FIG. 10 , vehicle 1004 is shown traveling behind vehicle (eg, truck) 1002 , and vehicle 1006 is traveling in the opposite lane and in the opposite direction of vehicles 1002 , 1004 . Vehicle 1004 (or the driver of the vehicle) desires to overtake (pass) vehicle (eg, truck) 1002 . As such, vehicle 1004 (or the driver of the vehicle) desires to perform a passing maneuver to overtake vehicle 1002 . In doing so, in one or more instances, the vehicle 1004 may utilize a family of MSCMs (eg, MSCM 1400 of Figure 14) to coordinate overtaking maneuvers with other vehicles 1002, 1006.
在採用MSCM來執行圖10的超車操縱的操作期間，車輛1004可以向其他車輛1002、1006發送意圖操縱訊息（例如，MSCM類型零）和請求操縱訊息（例如，MSCM類型一），以向其他車輛1002、1006通知車輛1004超過車輛（例如，卡車）1002的意圖和期望。作為回應，車輛1002、1006可以向車輛1004發送回應操縱訊息（例如，MSCM類型二）以向車輛1004指示它們確認並接受車輛1004的意圖和請求，並且將協助車輛1004進行請求的超車操縱。During the operation of employing MSCM to perform the overtaking maneuver of FIG. 10 , the vehicle 1004 may send an intent-to-maneuver message (eg, MSCM type zero) and a request-to-maneuver message (eg, MSCM type one) to other vehicles 1002 , 1006 to communicate with other vehicles 1002 , 1006 . Vehicles 1002 , 1006 notify vehicle 1004 of the intention and desire to pass vehicle (eg, truck) 1002 . In response, vehicles 1002, 1006 may send a response maneuver message (eg, MSCM type two) to vehicle 1004 to indicate to vehicle 1004 that they acknowledge and accept vehicle 1004's intent and request, and will assist vehicle 1004 in performing the requested overtaking maneuver.
在從車輛1002、1006接收回應操縱訊息（例如，MSCM類型二）之後，車輛1004可以向車輛1002、1006發送預留操縱訊息（例如，MSCM類型三）以確認車輛1004已接收到它們的回應操縱訊息並計畫繼續進行超車操縱。隨後，車輛1004可以繼續執行超車操縱，並且向車輛1002、1006發送執行狀態操縱訊息（例如，MSCM類型七），以向車輛1002、1006通知車輛1004執行超車操縱的狀態。應注意，這僅是可以由車輛1004用於協調操縱的MSCM系列的一個實例，並且在其他實例中，可採用更多或更少及/或其他MSCM來執行操縱。After receiving a response maneuver message (eg, MSCM type two) from the vehicle 1002, 1006, the vehicle 1004 may send a reservation maneuver message (eg, MSCM type three) to the vehicle 1002, 1006 to confirm that the vehicle 1004 has received their response maneuver. message and plan to continue overtaking maneuvers. Subsequently, the vehicle 1004 may continue to perform the overtaking maneuver and send an execution status maneuver message (eg, MSCM type seven) to the vehicles 1002 and 1006 to notify the vehicles 1002 and 1006 of the status of the vehicle 1004 performing the overtaking maneuver. It should be noted that this is only one example of the series of MSCMs that may be used by vehicle 1004 to coordinate maneuvers, and in other examples, more or less and/or other MSCMs may be employed to perform maneuvers.
圖11是圖示出用於針對併入場景的車輛操縱的車輛配置1100的實例的示圖。在圖11中，車輛配置1100被示為包括複數個經配備（例如，具有V2X能力的）網路設備。複數個經配備網路設備包括車輛（例如，汽車）1102、1104、1106、1108、1110。在一或多個實例中，車輛配置1100可以包括比圖11中所示更多或更少的經配備網路設備。另外，車輛配置1100可以包括未配備網路設備（圖11中未圖示），諸如未配備車輛、VRU和行人。在一或多個實例中，車輛配置1100可以包括比圖11中所示更多的不同類型的經配備網路設備（例如，其可以包括經配備UE及/或卡車）。另外，經配備網路設備可以配備有異構能力，其可以包括但不限於C-V2X/DSRC能力、4G/5G蜂巢連線性、GPS能力、相機能力、雷達能力、及/或LIDAR能力。FIG. 11 is a diagram illustrating an example of a vehicle configuration 1100 for vehicle maneuvering for a merge scenario. In FIG. 11 , a vehicle configuration 1100 is shown as including a plurality of network devices equipped (eg, with V2X capabilities). The plurality of network-equipped devices include vehicles (eg, cars) 1102, 1104, 1106, 1108, 1110. In one or more examples, vehicle configuration 1100 may include more or fewer equipped network devices than shown in FIG. 11 . Additionally, vehicle configuration 1100 may include unequipped network devices (not shown in Figure 11), such as unequipped vehicles, VRUs, and pedestrians. In one or more examples, vehicle configuration 1100 may include more different types of equipped network devices than shown in FIG. 11 (eg, it may include equipped UEs and/or trucks). In addition, the equipped network equipment may be equipped with heterogeneous capabilities, which may include but are not limited to C-V2X/DSRC capabilities, 4G/5G cellular connectivity, GPS capabilities, camera capabilities, radar capabilities, and/or LIDAR capabilities.
複數個經配備網路設備（例如，車輛1102、1104、1106、1108、1110）可以能夠執行V2X通訊。經配備網路設備中的至少某些能夠發送和接收用於雷達的感測訊號（例如，RF感測訊號）及/或用於LIDAR的感測訊號（例如，光學感測訊號）以偵測附近的車輛及/或物件。在一或多個實例中，車輛1102、1104、1106、1108、1110可以能夠發送和接收某種感測訊號（例如，相機、雷達及/或LIDAR感測訊號）。在某些實例中，經配備網路設備（例如，車輛1102、1104、1106、1108、1110）中的某些可以具有比車輛配置1100的其他經配備網路設備（例如，車輛1102、1104、1106、1108、1110）更高能力的感測器（例如，GPS接收器、相機、RF天線及/或光學雷射器及/或光學感測器）。A plurality of network-equipped devices (eg, vehicles 1102, 1104, 1106, 1108, 1110) may be capable of performing V2X communications. At least some of the network devices are equipped with the ability to send and receive sensing signals (e.g., RF sensing signals) for radar and/or sensing signals (e.g., optical sensing signals) for LIDAR to detect Nearby vehicles and/or objects. In one or more examples, vehicles 1102, 1104, 1106, 1108, 1110 may be capable of transmitting and receiving certain sensing signals (eg, camera, radar, and/or LIDAR sensing signals). In some examples, some of the equipped network devices (eg, vehicles 1102, 1104, 1106, 1108, 1110) may have other equipped network devices (eg, vehicles 1102, 1104, 1106, 1108, 1110) higher-capability sensors (e.g., GPS receivers, cameras, RF antennas and/or optical lasers and/or optical sensors).
在操作期間，經配備網路設備（例如，車輛1102、1104、1106、1108、1110）可以發送及/或接收感測訊號（例如，RF及/或光學訊號）以感測和偵測位於道路內和道路周圍的車輛（例如，車輛1102、1104、1106、1108、1110）及/或對象（圖11中未圖示）。經配備網路設備（例如，車輛1102、1104、1106、1108、1110）可以利用感測訊號來決定偵測到的車輛及/或物件的特性（例如，運動、維度、類型、航向和速度）。During operation, network-equipped devices (e.g., vehicles 1102, 1104, 1106, 1108, 1110) may send and/or receive sensing signals (e.g., RF and/or optical signals) to sense and detect locations on the roadway. vehicles (eg, vehicles 1102, 1104, 1106, 1108, 1110) and/or objects (not shown in Figure 11) in and around the road. Network-equipped devices (e.g., vehicles 1102, 1104, 1106, 1108, 1110) may utilize sensed signals to determine characteristics (e.g., motion, dimensions, type, heading, and speed) of detected vehicles and/or objects. .
經配備網路設備（例如，車輛1102、1104、1106、1108、1110）可以產生至少一個基於車輛的訊息（例如，SDSM、BSM、CAM、CPM），其包括與偵測到的車輛及/或物件的特性有關的資訊。在一或多個實例中，基於車輛的訊息可以包括與經配備網路設備（例如，車輛1102、1104、1106、1108、1110）的當前條件和環境有關的特定用例或安全警告，諸如DNPW或FCW。在某些實例中，基於車輛的訊息可以是標準BSM、CAM、CPM、SDSM（例如，SAE J3224 SDSM）及/或其他格式的形式。Network-equipped devices (e.g., vehicles 1102, 1104, 1106, 1108, 1110) may generate at least one vehicle-based message (e.g., SDSM, BSM, CAM, CPM) that includes information related to the detected vehicle and/or Information about the object's properties. In one or more examples, the vehicle-based messages may include specific use cases or safety warnings related to the current conditions and environment of the network-equipped device (eg, vehicle 1102, 1104, 1106, 1108, 1110), such as DNPW or FCW. In some examples, vehicle-based messages may be in the form of standard BSM, CAM, CPM, SDSM (eg, SAE J3224 SDSM), and/or other formats.
在圖11中，車輛配置1100圖示了併入場景的實例，其中車輛1104想要併入到高速公路上。具體地，在圖11中，車輛1106、1102和1108被示為在高速公路上在相同方向上行駛。車輛1110被示為在高速公路的相反側上並且在車輛1106、1102和1108的相反方向上行駛。同樣在圖11中，車輛1108被示為在車輛1102後面行駛。車輛1104期望併入到高速公路上，進入位於車輛1102與車輛1108之間的空間中。如此，車輛1104（或車輛的駕駛員）期望執行併入操縱以併入到高速公路上，進入位於車輛1102與1108之間的空間。在一或多個實例中，車輛1104可以使用MSCM系列來與車輛1102、1108協調併入操縱。In Figure 11, vehicle configuration 1100 illustrates an example of a merge scenario where vehicle 1104 wants to merge onto a highway. Specifically, in Figure 11, vehicles 1106, 1102, and 1108 are shown traveling in the same direction on a highway. Vehicle 1110 is shown on the opposite side of the highway and traveling in the opposite direction of vehicles 1106, 1102, and 1108. Also in FIG. 11 , vehicle 1108 is shown traveling behind vehicle 1102 . Vehicle 1104 desires to merge onto the highway into the space between vehicle 1102 and vehicle 1108 . As such, vehicle 1104 (or the driver of the vehicle) desires to perform a merge maneuver to merge onto the highway into the space between vehicles 1102 and 1108 . In one or more instances, vehicle 1104 may use the MSCM series to coordinate merge maneuvers with vehicles 1102, 1108.
在採用MSCM來執行圖11的併入操縱的操作期間，車輛1104可以向車輛1102、1108發送意圖操縱訊息（例如，MSCM類型零）和請求操縱訊息（例如，MSCM類型一），以向車輛1002、1108通知車輛1104併入到高速公路上、進入車輛1102與1108之間的位置中的意圖和期望。作為回應，車輛1102、1108可以向車輛1104發送回應操縱訊息（例如，MSCM類型二）以向車輛1104指示它們確認並接受車輛1104併入到高速公路上的意圖和請求，並且將協助車輛1104進行請求的併入操縱。During operations using MSCM to perform the merge maneuver of FIG. 11 , vehicle 1104 may send an intent-to-maneuver message (eg, MSCM type zero) and a request-to-maneuver message (eg, MSCM type one) to vehicles 1102 , 1108 to indicate to vehicle 1002 , 1108 notifies vehicle 1104 of its intention and desire to merge onto the highway, into a position between vehicles 1102 and 1108 . In response, vehicles 1102 , 1108 may send a response maneuver message (eg, MSCM type two) to vehicle 1104 to indicate to vehicle 1104 that they acknowledge and accept vehicle 1104 's intent and request to merge onto the highway and will assist vehicle 1104 in doing so. Requested merge manipulation.
在從車輛1102、1108接收回應操縱訊息（例如，MSCM類型二）之後，車輛1104可以向車輛1102、1108發送預留操縱訊息（例如，MSCM類型三）以確認車輛1104已接收到它們的回應操縱訊息並計畫執行併入操縱以併入到高速公路上。車輛1104隨後可以繼續執行併入操縱，並且向車輛1102、1108發送執行狀態操縱訊息（例如，MSCM類型七），以向車輛1102、1108通知車輛1104執行併入操縱的狀態。應注意，這僅是可以由車輛1104用於協調併入操縱的MSCM系列的一個實例，並且可以採用更多或更少及/或其他MSCM來執行操縱。After receiving a response maneuver message (eg, MSCM type two) from vehicles 1102, 1108, vehicle 1104 may send a reservation maneuver message (eg, MSCM type three) to vehicles 1102, 1108 to confirm that vehicle 1104 has received their response maneuver. message and plan to perform a merge maneuver to merge onto the highway. The vehicle 1104 may then continue to perform the merge maneuver and send a perform state maneuver message (eg, MSCM type seven) to the vehicles 1102, 1108 to notify the vehicles 1102, 1108 of the status of the vehicle 1104 performing the merge maneuver. It should be noted that this is only one example of the series of MSCMs that may be used by the vehicle 1104 to coordinate merge maneuvers, and more or less and/or other MSCMs may be employed to perform the maneuvers.
圖12A和12B是圖示出用於針對車道改變場景的車輛操縱的車輛配置1200、1210的實例的示圖。圖13是用於圖12A和12B的車輛操縱的通訊（例如，V2X通訊）交換1300的實例的示圖。在圖12A和12B中，車輛配置1200被示為包括複數個經配備（例如，具有V2X能力的）網路設備。複數個經配備網路設備包括車輛（例如，汽車）1202（HV）、1206（RV-1）、1208（RV-2）。亦圖示未配備網路設備，其包括未配備車輛1204（RV-3）。車輛配置1200可以包括比圖12A和12B中所示更多或更少的經配備網路設備及/或更多或更少的未配備網路設備。另外，車輛配置1200可以包括比圖12A和12B中所示更多或更少的不同類型的經配備網路設備（例如，其可以包括經配備UE）及/或更多或更少的不同類型的未配備網路設備（例如，其可以包括未配備UE）。另外，經配備網路設備可以配備有異構能力，其可以包括但不限於C-V2X/DSRC能力、4G/5G蜂巢連線性、GPS能力、相機能力、雷達能力、及/或LIDAR能力。12A and 12B are diagrams illustrating examples of vehicle configurations 1200, 1210 for vehicle maneuvers for lane change scenarios. 13 is a diagram of an example of a communication (eg, V2X communication) exchange 1300 for the vehicle manipulation of FIGS. 12A and 12B. In Figures 12A and 12B, a vehicle configuration 1200 is shown as including a plurality of network devices equipped (eg, with V2X capabilities). The plurality of network-equipped devices include vehicles (eg, automobiles) 1202 (HV), 1206 (RV-1), 1208 (RV-2). Also shown are unequipped with network equipment, including unequipped vehicle 1204 (RV-3). Vehicle configuration 1200 may include more or fewer network-equipped devices and/or more or fewer non-network-equipped devices than shown in Figures 12A and 12B. Additionally, vehicle configuration 1200 may include more or fewer different types of provisioned network devices (eg, which may include provisioned UEs) and/or more or fewer different types of provisioned network devices than shown in FIGS. 12A and 12B of unequipped network equipment (for example, it may include unequipped UEs). In addition, the equipped network equipment may be equipped with heterogeneous capabilities, which may include but are not limited to C-V2X/DSRC capabilities, 4G/5G cellular connectivity, GPS capabilities, camera capabilities, radar capabilities, and/or LIDAR capabilities.
在一或多個實例中，經配備網路設備（例如，車輛1202、1206、1208）可以能夠執行V2X通訊。經配備網路設備（例如，車輛1202、1206、1208）中的至少某些能夠發送和接收用於雷達的感測訊號（例如，RF感測訊號）及/或用於LIDAR的感測訊號（例如，光學感測訊號）以偵測附近的車輛及/或物件。在一或多個實例中，車輛1202、1206、1208可以能夠發送和接收某種感測訊號（例如，相機、雷達及/或LIDAR感測訊號）。經配備網路設備（例如，車輛1202、1206、1208）中的某些可以具有比其他經配備網路設備（例如，車輛1202、1206、1208）更高能力的感測器（例如，GPS接收器、相機、RF天線及/或光學雷射器及/或光學感測器）。In one or more instances, network-equipped devices (eg, vehicles 1202, 1206, 1208) may be capable of performing V2X communications. At least some of the network-equipped devices (e.g., vehicles 1202 , 1206 , 1208 ) are capable of transmitting and receiving sensing signals for radar (e.g., RF sensing signals) and/or sensing signals for LIDAR ( For example, optical sensing signals) to detect nearby vehicles and/or objects. In one or more examples, vehicles 1202, 1206, 1208 may be capable of transmitting and receiving certain sensing signals (eg, camera, radar, and/or LIDAR sensing signals). Some of the network-equipped devices (eg, vehicles 1202 , 1206 , 1208 ) may have higher-capability sensors (eg, GPS receivers) than other network-equipped devices (eg, vehicles 1202 , 1206 , 1208 ). devices, cameras, RF antennas and/or optical lasers and/or optical sensors).
在操作期間，經配備網路設備（例如，車輛1202、1206、1208）可以發送及/或接收感測訊號（例如，RF及/或光學訊號）以感測和偵測位於道路內和道路周圍的車輛（例如，車輛1202、1204、1206、1208）及/或對象（圖12A和12B中未圖示）。經配備網路設備（例如，車輛1202、1206、1208）可以利用感測訊號來決定偵測到的車輛及/或物件的特性（例如，運動、維度、類型、航向和速度）。During operation, network-equipped devices (e.g., vehicles 1202, 1206, 1208) may send and/or receive sensing signals (e.g., RF and/or optical signals) to sense and detect locations in and around the roadway. vehicles (eg, vehicles 1202, 1204, 1206, 1208) and/or objects (not shown in Figures 12A and 12B). Network-equipped devices (eg, vehicles 1202, 1206, 1208) may utilize sensed signals to determine characteristics (eg, motion, dimension, type, heading, and speed) of detected vehicles and/or objects.
在一或多個實例中，經配備網路設備（例如，車輛1202、1206、1208）可以產生至少一個基於車輛的訊息（例如，SDSM、BSM、CAM、CPM等），其包括與偵測到的車輛及/或物件的特性有關的資訊。基於車輛的訊息可以包括與經配備網路設備（例如，車輛1202、1206、1208）的當前條件和環境有關的特定用例或安全警告（例如，DNPW或FCW）。基於車輛的訊息可以是標準BSM、CAM、CPM、SDSM（例如，SAE J3224 SDSM）及/或其他格式的形式。In one or more instances, a network-equipped device (e.g., vehicle 1202, 1206, 1208) may generate at least one vehicle-based message (e.g., SDSM, BSM, CAM, CPM, etc.) that includes information related to the detected information about the characteristics of the vehicle and/or object. Vehicle-based messages may include specific use cases or safety warnings (eg, DNPW or FCW) related to the current conditions and environment of the network-equipped device (eg, vehicle 1202, 1206, 1208). Vehicle-based messages may be in the form of standard BSM, CAM, CPM, SDSM (e.g., SAE J3224 SDSM), and/or other formats.
在圖12A和12B中，車輛配置1200圖示了車道改變場景的實例，其中車輛1202（HV）想要改變車道。具體地，在圖12A中，車輛1202、1204、1206、1208全部被示為在高速公路上在相同方向上行駛。車輛1202（HV）和1204（RV-3）彼此在相同車道中行駛，其中車輛1202在車輛1204後方行駛。並且，車輛1206（RV-1）和1208（RV-2）彼此在相同車道中行駛，其中車輛1206在車輛1208後方行駛。車輛1202期望改變車道以移動到位於車輛1206與車輛1208之間的空間中。如此，車輛1202（或車輛的駕駛員）期望執行車道改變操縱以移動到位於車輛1206與1208之間的空間中。In Figures 12A and 12B, vehicle configuration 1200 illustrates an example of a lane change scenario where vehicle 1202 (HV) wants to change lanes. Specifically, in Figure 12A, vehicles 1202, 1204, 1206, 1208 are all shown traveling in the same direction on a highway. Vehicles 1202 (HV) and 1204 (RV-3) are traveling in the same lane as each other, with vehicle 1202 traveling behind vehicle 1204. Also, vehicles 1206 (RV-1) and 1208 (RV-2) are traveling in the same lane as each other, with vehicle 1206 traveling behind vehicle 1208. Vehicle 1202 desires to change lanes to move into the space between vehicle 1206 and vehicle 1208 . As such, vehicle 1202 (or the driver of the vehicle) desires to perform a lane change maneuver to move into the space between vehicles 1206 and 1208 .
在一或多個實例中，車輛1202可以使用MSCM系列來與車輛1206和1208協調車道改變操縱。MSCM的使用允許車輛之間的操縱意圖的協調和共享以進行更好的道路協調。受潛在操縱（例如，車道改變）影響的車輛（例如，車輛1202、1206、1208）可以參與使用MSCM來協調操縱的交握通信期。車輛之間用於協調操縱的交握通信期依賴於MSCM的交換和通訊協定（例如，圖15的基本協定1500和圖16的緊急協定1600）。In one or more instances, vehicle 1202 may use the MSCM series to coordinate lane change maneuvers with vehicles 1206 and 1208 . The use of MSCM allows the coordination and sharing of maneuvering intentions between vehicles for better road coordination. Vehicles (eg, vehicles 1202, 1206, 1208) affected by a potential maneuver (eg, lane change) may participate in a handover period using MSCM to coordinate the maneuver. The handshake communication period between vehicles for coordinated maneuvers relies on the exchange and communication protocols of the MSCM (eg, the basic protocol 1500 of Figure 15 and the emergency protocol 1600 of Figure 16).
在採用MSCM來執行圖12A和12B的車道改變操縱的操作期間，車輛1202（HV）可以向車輛1206（RV-1）和1208（RV-2）發送（例如，被示為圖13的訊號1310a、1310b）意圖操縱訊息（例如，Msg_Intention：車道改變請求），以向車輛1206、1208通知車輛1202改變車道並且移動到車輛1206與1208之間的位置中的意圖和期望。作為回應，車輛1206、1208可以向車輛1202發送（例如，被示為圖13的訊號1320a、1320b）回應操縱訊息（例如，Msg_Response：車道改變接受），以向車輛1202指示它們確認並接受車輛1202改變車道的意圖和請求，並且將協助車輛1202進行請求的車道改變操縱。During operations employing MSCM to perform the lane change maneuvers of Figures 12A and 12B, vehicle 1202 (HV) may send (e.g., signal 1310a of Figure 13) to vehicles 1206 (RV-1) and 1208 (RV-2) , 1310b) intent manipulation message (eg, Msg_Intention: Lane Change Request) to notify vehicles 1206, 1208 of vehicle 1202's intention and desire to change lanes and move into a position between vehicles 1206 and 1208. In response, vehicles 1206 , 1208 may send (e.g., shown as signals 1320 a , 1320 b of FIG. 13 ) a response maneuver message (e.g., Msg_Response: Lane Change Accepted) to vehicle 1202 to indicate to vehicle 1202 that they acknowledge and accept vehicle 1202 Intention and request to change lanes, and vehicle 1202 will be assisted in performing the requested lane change maneuver.
在從車輛1206、1208接收回應操縱訊息（例如，Msg_Response：車道改變接受）之後，車輛1202可以向車輛1202、1208發送（例如，被示為圖13的訊號1330a、1330b）確認操縱訊息（例如，Msg_Confirmation：操縱決定）以確認車輛1202已經接收到它們的回應操縱訊息（例如，Msg_Response：車道改變接受）並且計畫執行車道改變操縱。隨後，車輛1202可以繼續執行車道改變操縱。在車輛1202已執行車道改變操縱之後，車輛1202可以任選地向車輛1206、1208發送（例如，被示為訊號1340a、1340b）完成操縱訊息（例如，Msg_Completion）以向車輛1206、1208指示車輛1202已完成車道改變操縱。應注意，這僅是可以由車輛1202（HV）用於協調車道改變操縱的MSCM系列的一個實例，並且可以採用更多或更少及/或其他MSCM來執行操縱。After receiving a response maneuver message (e.g., Msg_Response: Lane Change Accept) from the vehicle 1206, 1208, the vehicle 1202 may send (e.g., shown as signals 1330a, 1330b of Figure 13) a confirmation maneuver message (e.g., Msg_Confirmation: Maneuvering Decision) to confirm that vehicles 1202 have received their response maneuver message (eg, Msg_Response: Lane Change Accepted) and plan to perform the lane change maneuver. Vehicle 1202 may then continue to perform the lane change maneuver. After vehicle 1202 has performed a lane change maneuver, vehicle 1202 may optionally send (e.g., shown as signals 1340a, 1340b) a completion maneuver message (e.g., Msg_Completion) to vehicles 1206, 1208 to indicate to vehicles 1206, 1208 that vehicle 1202 Lane change maneuver completed. It should be noted that this is only one example of the series of MSCMs that may be used by the vehicle 1202 (HV) to coordinate lane change maneuvers, and more or less and/or other MSCMs may be employed to perform the maneuvers.
圖14是實例MSCM 1400的示圖。具體地，圖14的MSCM 1400圖示由抽象語法表示一（ASN.1）定義的MSCM格式，其是用於定義可跨平臺序列化/反序列化的資料結構的標準介面描述語言。在圖14中，MSCM 1400被示為包括複數個欄位，這些欄位可以包括但不限於訊息（Msg）時間戳記1402、HV三維（3D）定位1404、定位準確性1406、MSCM類型1408、源ID 1410、目的地ID 1412、操縱ID 1414、操縱1416、原因代碼1418、以及操縱執行狀態1420。在一或多個實例中，MSCM 1400的欄位中的某些可以是任選的，諸如目的地ID 1412、操縱ID 1414、操縱1416、原因代碼1418和操縱執行狀態1420。在某些實例中，用於操縱1416的欄位可以包括子欄位，其可以包括但不限於操縱類型1422和多個子操縱1424a、1424b。Figure 14 is a diagram of an example MSCM 1400. Specifically, the MSCM 1400 diagram of FIG. 14 illustrates the MSCM format defined by Abstract Syntax Notation One (ASN.1), which is a standard interface description language for defining data structures that can be serialized/deserialized across platforms. In Figure 14, MSCM 1400 is shown to include a plurality of fields, which may include, but are not limited to, message (Msg) timestamp 1402, HV three-dimensional (3D) positioning 1404, positioning accuracy 1406, MSCM type 1408, source ID 1410, destination ID 1412, manipulation ID 1414, manipulation 1416, reason code 1418, and manipulation execution status 1420. In one or more instances, some of the fields of MSCM 1400 may be optional, such as destination ID 1412, maneuver ID 1414, maneuver 1416, reason code 1418, and maneuver execution status 1420. In some examples, the fields for manipulation 1416 may include subfields, which may include, but are not limited to, manipulation type 1422 and multiple sub-manipulations 1424a, 1424b.
如前述，MSCM 1400的MSCM類型1408指示MSCM 1400的特定類型。MSCM的特定類型可以包括但不限於意圖操縱訊息、請求操縱訊息、回應操縱訊息、預留操縱訊息、HV取消操縱訊息、RV取消操縱訊息和執行狀態操縱訊息。As mentioned previously, MSCM type 1408 of MSCM 1400 indicates the specific type of MSCM 1400. Specific types of MSCM may include, but are not limited to, intent manipulation messages, request manipulation messages, response manipulation messages, reservation manipulation messages, HV cancellation manipulation messages, RV cancellation manipulation messages, and execution status manipulation messages.
在一或多個實例中，對於MSCM 1400的源ID 1410，由源（例如，產生並發送MSCM 1400的車輛，諸如HV）發送的最近一次BSM的源ID可以被用於MSCM 1400的源ID 1410。在某些實例中，MSCM 1400的源ID 1410可以與源的數位憑證（例如，產生並發送MSCM 1400的車輛的數位憑證）相關。在這些實例中，源的經編碼數位憑證可以被散列（例如，利用散列演算法或模糊散列演算法）以產生證書的散列碼。證書的散列碼可以被用於MSCM 1400的源ID 1410。應當注意，作為隱私機制，源ID 1410可以隨時間週期性地改變。In one or more examples, for source ID 1410 of MSCM 1400 , the source ID of the most recent BSM sent by the source (eg, the vehicle that generated and sent MSCM 1400 , such as an HV) may be used for source ID 1410 of MSCM 1400 . In some instances, the source ID 1410 of the MSCM 1400 may be related to a digital credential of the source (eg, the digital credential of the vehicle that generated and sent the MSCM 1400). In these instances, the source's encoded digital credentials may be hashed (eg, using a hashing algorithm or a fuzzy hashing algorithm) to produce a hash code for the certificate. The hash code of the certificate may be used for the source ID 1410 of the MSCM 1400 . It should be noted that the source ID 1410 may change periodically over time as a privacy mechanism.
如前述，MSCM 1400的操縱1416可以包括操縱類型1422和多個子操縱1424a、1424b。操縱類型1422可以指示操縱的特定類型（例如，超車操縱、併入操縱、車道改變操縱等）。操縱可以被分成多個子操縱，其中每個子操縱（例如，子操縱1424a、1424b）可以指示完成操縱所需的複數個移動（例如，可以由一或多個車輛執行）中的特定移動。As previously mentioned, manipulation 1416 of MSCM 1400 may include manipulation type 1422 and multiple sub- manipulations 1424a, 1424b. Maneuver type 1422 may indicate a specific type of maneuver (eg, passing maneuver, merge maneuver, lane change maneuver, etc.). A maneuver may be divided into multiple sub-manipulations, where each sub-manipulation (eg, sub-manipulations 1424a, 1424b) may indicate a specific movement among a plurality of movements (eg, may be performed by one or more vehicles) required to complete the maneuver.
如前述，操縱ID 1414類似於通信期ID，並且被用於具體地標識特定操縱（例如，超車操縱、併入操縱或車道改變操縱）。操縱ID 1414允許車輛追蹤用於該特定操縱的更新。操縱ID 1414應當是唯一的，以便避免任何可能的操縱ID衝突（例如，在兩個或兩個以上操縱具有相同的操縱ID時發生），操縱ID衝突可能導致操縱的取消。當前，不存在用於產生唯一操縱ID或用於偵測與衝突操縱ID（其可能導致多個操縱取消）有關的攻擊的可用解決方案。所揭示的系統和技術提供用於每個操縱的唯一操縱ID（例如，圖17的程序1700），並且提供用於操縱ID衝突的不當行為偵測和報告（MBDS）（例如，圖18的程序1800）。As mentioned previously, the maneuver ID 1414 is similar to the communication period ID and is used to specifically identify a particular maneuver (eg, a passing maneuver, a merge maneuver, or a lane change maneuver). Maneuver ID 1414 allows the vehicle to track updates for that specific maneuver. The manipulation ID 1414 should be unique in order to avoid any possible manipulation ID conflicts (eg, occurring when two or more manipulations have the same manipulation ID), which could result in the cancellation of manipulations. Currently, there are no available solutions for generating unique manipulation IDs or for detecting attacks related to conflicting manipulation IDs that may result in multiple manipulation cancellations. The disclosed systems and techniques provide a unique manipulation ID for each manipulation (eg, process 1700 of Figure 17) and provide Misbehavior Detection and Reporting (MBDS) for manipulation ID conflicts (eg, process of Figure 18 1800).
圖15是可以被用於MSCM的實例基本協定1500的示圖。基本協定1500可以包括可以由普通車輛（例如，非緊急車輛）在普通操作條件（例如，非緊急情形）期間以交握方式在期望操縱的源（例如，HV）與接收方（例如，RV）之間利用的複數個不同的訊息類型。在圖15中，基本協定1500被示為包括用於協調操縱（例如，超車操縱、併入操縱或車道改變操縱）的複數個不同的MSCM類型（例如，圖14的MSCM類型1408）。MSCM的特定類型可以包括但不限於操縱意圖（例如，MSCM類型零）1510、操縱請求（例如，MSCM類型一）1511、操縱回應（例如，MSCM類型二）1512、操縱預留（例如，MSCM類型三）1513、HV操縱取消（例如，MSCM類型四）1514、RV操縱取消（例如，MSCM類型五）1515和操縱執行狀態（例如，MSCM類型七）1517。在一或多個實例中，操縱意圖（例如，MSCM類型零）1510 對於基本協定1500可以是任選的。對於這些實例，源（例如，HV）可以用操縱請求（例如，MSCM類型一）1511來啟動協定。Figure 15 is a diagram of an example basic protocol 1500 that may be used for MSCM. Basic agreement 1500 may include a source (e.g., HV) of desired maneuvers and a recipient (e.g., RV) that may be operated by a normal vehicle (e.g., a non-emergency vehicle) in a hand-held manner during normal operating conditions (e.g., a non-emergency situation). A plurality of different message types utilized between. In FIG. 15 , a basic protocol 1500 is shown as including a plurality of different MSCM types (eg, MSCM type 1408 of FIG. 14 ) for coordinating maneuvers (eg, passing maneuvers, merging maneuvers, or lane change maneuvers). Specific types of MSCM may include, but are not limited to, manipulation intent (eg, MSCM type zero) 1510 , manipulation request (eg, MSCM type one) 1511 , manipulation response (eg, MSCM type two) 1512 , manipulation reservation (eg, MSCM type 3) 1513. HV manipulation cancellation (for example, MSCM type four) 1514, RV manipulation cancellation (for example, MSCM type five) 1515 and manipulation execution status (for example, MSCM type seven) 1517. In one or more instances, manipulation intent (eg, MSCM type zero) 1510 may be optional for base agreement 1500 . For these instances, the source (eg, HV) may initiate the agreement with a manipulation request (eg, MSCM type one) 1511.
應當注意，基本協定1500的MSCM類型中的某些可以被指定用於期望和意圖操縱的源（例如，HV），並且其他MSCM類型可以被指定用於接收方（例如，RV）。例如，操縱意圖（例如，MSCM類型零）1510、操縱請求（例如，MSCM類型一）1511、操縱預留（例如，MSCM類型三）1513、HV操縱取消（例如，MSCM類型四）1514和操縱執行狀態（例如，MSCM類型七）1517可以被指定用於源。操縱回應（例如，MSCM類型二）1512和RV操縱取消（例如，MSCM類型五）1515可以被指定用於接收方。It should be noted that some of the MSCM types of base agreement 1500 may be specified for sources that desire and intend manipulation (eg, HV), and other MSCM types may be specified for recipients (eg, RV). For example, manipulation intention (eg, MSCM type zero) 1510, manipulation request (eg, MSCM type one) 1511, manipulation reservation (eg, MSCM type three) 1513, HV manipulation cancellation (eg, MSCM type four) 1514, and manipulation execution Status (eg, MSCM type seven) 1517 may be specified for the source. Manipulation response (eg, MSCM type two) 1512 and RV manipulation cancel (eg, MSCM type five) 1515 may be specified for the recipient.
圖16是可以被用於MSCM的實例緊急協定1600的示圖。緊急協定1600可以包括可以由緊急車輛（例如，員警）在緊急條件期間以交握的方式在源（例如，HV）與接收方（例如，RV）之間利用的複數個不同的訊息類型。在圖16中，緊急協定1600被示為包括用於協調操縱的複數個不同的MSCM類型（例如，圖14的MSCM類型1408）。MSCM的特定類型可以包括但不限於操縱意圖（例如，MSCM類型零）1610、緊急操縱預留（例如，MSCM類型六）1616、HV操縱取消（例如，MSCM類型四）1614， RV操縱取消（例如，MSCM類型五）1615、以及操縱執行狀態（例如，MSCM類型七）1617。Figure 16 is a diagram of an example emergency protocol 1600 that may be used for MSCM. Emergency protocol 1600 may include a plurality of different message types that may be utilized by emergency vehicles (eg, police) in a hand-off manner between a source (eg, HV) and a recipient (eg, RV) during emergency conditions. In Figure 16, emergency protocol 1600 is shown as including a plurality of different MSCM types for coordinated maneuvers (eg, MSCM type 1408 of Figure 14). Specific types of MSCM may include, but are not limited to, maneuver intent (e.g., MSCM type zero) 1610 , emergency maneuver reserve (e.g., MSCM type six) 1616 , HV maneuver cancellation (e.g., MSCM type four) 1614 , RV maneuver cancellation (e.g., MSCM type four) 1614 , MSCM type five) 1615, and manipulate execution status (e.g., MSCM type seven) 1617.
緊急協定1600的MSCM類型中的某些可以被指定用於源（例如，HV），而其他MSCM類型可以被指定用於接收方（例如，RV）。例如，操縱意圖（例如，MSCM類型零）1610、緊急操縱預留（例如，MSCM類型六）1616、HV操縱取消（例如，MSCM類型四）1614和操縱執行狀態（例如，MSCM類型七）1617可以被指定用於源。RV操縱取消（例如，MSCM類型五）1615可以被指定用於接收方。Some of the MSCM types of emergency agreement 1600 may be designated for the source (eg, HV), while other MSCM types may be designated for the recipient (eg, RV). For example, maneuver intent (eg, MSCM type zero) 1610, emergency maneuver reservation (eg, MSCM type six) 1616, HV maneuver cancellation (eg, MSCM type four) 1614, and maneuver execution status (eg, MSCM type seven) 1617 may is specified for the source. RV handling cancellation (eg, MSCM type five) 1615 may be specified for the recipient.
可能存在其中利用基本協定1500或緊急協定1600的操縱協商可以被中止（例如，圖15和16的HV操縱取消（例如，MSCM類型四）1514、1614和遠端車輛（RV）操縱取消（例如，MSCM類型五）1515、1615）的某些情形。其中操縱協商可以被中止的某些情形包括但不限於：在特定預定時間量內沒有回應、不當行為攻擊（例如，攻擊者仿冒操縱通信期的操縱的源ID）、阻止操縱發生的故障設備（例如，故障車輛部件）、以及不符合協定（例如，圖15的基本協定1500或圖16的緊急協定1600）內列出的序列。There may be situations where maneuver negotiation utilizing the basic protocol 1500 or the emergency protocol 1600 may be aborted (e.g., HV maneuver cancellation (e.g., MSCM type four) 1514, 1614 of Figures 15 and 16 and remote vehicle (RV) maneuver cancellation (e.g., Certain situations of MSCM type five) 1515, 1615). Some situations in which manipulation negotiations can be aborted include, but are not limited to: no response within a certain predetermined amount of time, a misconduct attack (e.g., an attacker spoofing the source ID of a manipulation that manipulates a communication period), malfunctioning equipment that prevents manipulation from occurring ( For example, a malfunctioning vehicle component), as well as sequences listed within non-compliance protocols (eg, basic protocol 1500 of FIG. 15 or emergency protocol 1600 of FIG. 16 ).
圖17是圖示出用於產生用於通訊（例如，V2X通訊）的唯一操縱ID的程序1700的實例的流程圖。程序1700包括基於在操縱訊息（例如，MSCM訊息）之前發送的先前訊息來產生唯一操縱ID。程序1700可以涉及不同的辦法，例如涉及用作先前訊息的安全訊息（例如，BSM）的傳輸的第一辦法和涉及用作先前訊息的意圖的操縱訊息（例如，指示執行潛在操縱的意圖的MSCM類型零）的傳輸的第二辦法。在一或多個實例中，用於產生唯一操縱ID的程序1700可以有助於SAE J1386標準。Figure 17 is a flowchart illustrating an example of a process 1700 for generating a unique manipulation ID for communications (eg, V2X communications). Process 1700 includes generating a unique manipulation ID based on a previous message sent prior to the manipulation message (eg, MSCM message). Procedure 1700 may involve different approaches, such as a first approach involving the transmission of a security message (e.g., a BSM) used as a previous message and a manipulation message (e.g., an MSCM indicating an intent to perform a potential manipulation) used as an intent of the previous message. Second method of transmission of type zero). In one or more instances, the procedure 1700 for generating a unique manipulation ID may contribute to the SAE J1386 standard.
對於用於產生唯一操縱ID的第一辦法，在方塊1710處，在發送意圖的操縱訊息（例如，MSCM類型零）或請求的操縱訊息（例如，MSCM類型一）之前，安全訊息（例如，BSM）可以由源（例如，HV）發送。在安全訊息（例如，BSM）被發送之後，在方塊1720處，可以決定意圖的訊息（例如，MSCM類型零）是否被發送。由於意圖的訊息（例如，MSCM類型零）未被發送，因此在方塊1730處，安全訊息（例如，BSM）可以被散列（例如，經由利用散列演算法或模糊散列演算法）以產生經散列安全訊息。隨後，在方塊1750處，經散列安全訊息可以被***到用於將在後續發送的請求的操縱訊息（例如，MSCM類型一）的操縱ID 1414的欄位中。For a first approach to generating a unique manipulation ID, at block 1710, before sending an intended manipulation message (eg, MSCM type zero) or a requested manipulation message (eg, MSCM type one), a security message (eg, BSM ) can be sent by the source (e.g., HV). After the safety message (eg, BSM) is sent, at block 1720, a decision can be made whether the intended message (eg, MSCM type zero) is sent. Since the intended message (e.g., MSCM type zero) was not sent, at block 1730 the security message (e.g., BSM) may be hashed (e.g., by utilizing a hashing algorithm or a fuzzy hashing algorithm) to generate Hash secure message. Subsequently, at block 1750, the hashed security message may be inserted into the field for the manipulation ID 1414 of the requested manipulation message (eg, MSCM Type One) to be subsequently sent.
在一或多個實例中（例如，對於第一辦法），源（例如，HV）可以不發送意圖的操縱訊息（例如，MSCM類型零）。意圖的操縱訊息（例如，MSCM類型零）的傳輸可以取決於數個因素，其可以包括但不限於車輛設置、駕駛上下文（例如，快速執行操縱的必要性）和通道頻寬。In one or more instances (eg, for the first approach), the source (eg, HV) may not send the intended manipulation message (eg, MSCM type zero). Transmission of an intended maneuver message (e.g., MSCM type zero) may depend on several factors, which may include, but are not limited to, vehicle settings, driving context (e.g., the need to perform a maneuver quickly), and channel bandwidth.
對於用於產生唯一操縱 ID 的第二辦法，在方塊1710處，在發送請求的操縱訊息（例如，MSCM類型一）之前，意圖的操縱訊息（例如，MSCM類型零）可以由源（例如，HV）發送。在意圖的操縱訊息（例如，MSCM類型零）被發送之後，在方塊1720處，可以決定意圖的訊息（例如，MSCM類型零）是否被發送。由於意圖的操縱訊息（例如，MSCM類型零）被發送，因此在方塊1740處，意圖的操縱訊息（例如，MSCM類型零）可以被散列（例如，經由利用散列演算法或模糊散列演算法）以產生經散列意圖的操縱訊息。隨後，在方塊1750處，經散列意圖的操縱訊息可以被***到用於將在後續發送的請求的操縱訊息（例如，MSCM類型一）的操縱ID 1414的欄位中。For a second approach to generating a unique manipulation ID, at block 1710, prior to sending the requested manipulation message (eg, MSCM type one), the intended manipulation message (e.g., MSCM type zero) may be sent by the source (e.g., HV ) sent. After the intended manipulation message (eg, MSCM type zero) is sent, at block 1720, a determination may be made whether the intended message (eg, MSCM type zero) is sent. As the intended manipulation message (e.g., MSCM type zero) is sent, at block 1740 the intended manipulation message (e.g., MSCM type zero) may be hashed (e.g., via a hashing algorithm or a fuzzy hashing algorithm) method) to produce a hashed intended manipulated message. Subsequently, at block 1750, the hashed intended manipulation message may be inserted into the field for the manipulation ID 1414 of the requested manipulation message to be subsequently sent (eg, MSCM type one).
在一或多個實例中（例如，對於第二辦法），源（例如，HV）可以不在兩個MSCM通信期之間發送安全訊息（例如，BSM）。兩個MSCM通信期之間安全訊息（例如，BSM）的傳輸可以取決於數個因素，其可以包括但不限於緊急情形發生、RV對第一MSCM通信期的取消、以及發出BSM的必要性。In one or more instances (eg, for the second approach), the source (eg, HV) may not send security messages (eg, BSM) between two MSCM communication periods. The transmission of safety messages (eg, BSMs) between two MSCM communication periods may depend on several factors, which may include but are not limited to the occurrence of an emergency, cancellation of the first MSCM communication period by the RV, and the necessity of issuing a BSM.
圖18是圖示出用於偵測針對通訊（例如，V2X通訊）的操縱ID及/或源ID衝突的本端不當行為偵測器和報告（MBDR）方案的程序1800的實例的流程圖。如前述，在某些態樣，對於用於操縱ID衝突的MBDS，不當行為偵測可以包括兩個程序，包括決定新接收的操縱ID是否與本端產生的操縱ID（例如，經由使用上面關於圖17描述的基於散列的技術）匹配的第一程序（例如，程序A 1830）和驗證攻擊者是否仿冒了操縱通信期的操縱的源ID的第二程序（例如，程序B 1850）。在某些情況下，第一程序（程序A）可以包括驗證操縱ID是經由特定源ID產生的（例如，由與操縱的源ID相關聯的車輛產生的）。當已偵測到不當行為時（例如，對於程序中的一者或兩者），包含偵測到的不當行為的具體細節的不當行為報告可以被產生並被發出（例如，發送）到附近的車輛、伺服器、及/或其他系統或設備。在一或多個實例中，用於針對操縱及/或源ID衝突的本端MBDR方案的程序1800可以有助於歐洲電訊標準（ETSI）技術規範（TS）103 759標準或其他標準。18 is a flowchart illustrating an example of a process 1800 for a local Misbehavior Detector and Reporting (MBDR) scheme for detecting manipulation ID and/or source ID conflicts for communications (eg, V2X communications). As mentioned above, in some aspects, for MBDS used for manipulation ID conflicts, misconduct detection may include two procedures, including determining whether the newly received manipulation ID is consistent with the locally generated manipulation ID (e.g., via the use of the manipulation ID mentioned above). 17) a first program (eg, Program A 1830) that matches and a second program (eg, Program B 1850) that verifies whether the attacker has impersonated a manipulated source ID that manipulated the communication period. In some cases, the first procedure (Procedure A) may include verifying that the maneuvering ID was generated via a specific source ID (eg, generated by the vehicle associated with the maneuvered source ID). When misconduct has been detected (e.g., for one or both of the programs), a misconduct report containing specific details of the detected misconduct may be generated and issued (e.g., sent) to a nearby Vehicles, servers, and/or other systems or equipment. In one or more instances, procedures 1800 for local MBDR schemes for manipulation and/or source ID conflicts may contribute to the European Telecommunications Standards (ETSI) Technical Specification (TS) 103 759 standard or other standards.
應當注意，攻擊者可以利用衝突操縱ID來引起攻擊。例如，攻擊者可以能夠經由預測操縱ID來仿冒操縱ID。在此類實例中，攻擊者可能知道下一個操縱ID將是由源（例如，HV）發出的先前使用的操縱ID的增量。攻擊者隨後可以利用例如為二（2）的操縱ID在源（例如，HV）之前開始下一操縱通信期。源（例如，HV）隨後亦可以利用相同的操縱ID（例如，值為 2）開始下一操縱。由於兩個操縱ID皆包括針對操縱的值二，因此不當訊息交換將引起兩個操縱的取消。攻擊者隨後可以重複相同的程序，但現在使用下一操縱 ID，例如值三（3），從而再次導致兩個新操作的取消。而且，作為攻擊的受害者的源（例如，HV）可能會被錯誤地報告為是不當行為車輛（例如，攻擊者）。It should be noted that an attacker can exploit conflicts to manipulate IDs to cause attacks. For example, an attacker may be able to spoof a manipulation ID via a predicted manipulation ID. In such instances, the attacker may know that the next manipulation ID will be the delta of the previously used manipulation ID issued by the source (e.g., HV). The attacker may then utilize a manipulation ID of, for example, two (2) to begin the next manipulation communication period before the source (eg, HV). The source (for example, HV) can then start the next operation with the same operation ID (for example, a value of 2). Since both operation IDs include the value two for the operation, the improper message exchange will cause the cancellation of both operations. The attacker can then repeat the same procedure, but now with the next manipulation ID, such as the value three (3), again causing the cancellation of two new operations. Furthermore, a source (e.g., HV) that is the victim of an attack may be falsely reported as being the misbehaving vehicle (e.g., attacker).
對於圖18的程序1800，在方塊1810處，複數個MSCM被收集。複數個MSCM可以包括亦可以不包括相同的源ID 1410。在方塊1820處，程序1800包括決定所收集的MSCM中的任一個是否具有新的操縱ID 1414（例如，所收集的MSCM中的任一個是否具有與其他所收集的MSCM不同的操縱ID）。For the process 1800 of Figure 18, at block 1810, a plurality of MSCMs are collected. Multiple MSCMs may or may not include the same source ID 1410. At block 1820 , the process 1800 includes determining whether any of the collected MSCMs have a new manipulation ID 1414 (eg, whether any of the collected MSCMs have a different manipulation ID than other collected MSCMs).
當決定所收集的MSCM中的至少一個具有新的操縱ID 1414時，程序1800進行到程序A 1830。在程序A 1830處，對於具有特定類型（例如，MSCM類型1408為一（1））的每個MSCM，操縱ID 1414（以及在某些情況下，源ID 1410）被收集。隨後，最近發送的安全訊息（例如，BSM）及/或先前發送的MSCM（例如，MSCM類型1408為零（0））被獲得/檢查。隨後，最近發送的安全訊息（例如，BSM）及/或先前發送的MSCM（例如，MSCM類型1408為零）被散列以產生經散列訊息（例如，具有散列碼）。例如，程序1800可以利用散列演算法或模糊散列演算法來產生經散列訊息（例如，具有散列碼）。隨後，可以將產生的經散列訊息（例如，散列碼）與對應MSCM（例如，MSCM類型1408為一）的操縱ID進行比較。因為對應MSCM的操縱ID亦是使用相同先前訊息（例如，諸如BSM的安全訊息，及/或先前發送的MSCM，諸如MSCM類型1408為零）的相同散列演算法來產生的，所以若不存在惡意活動或錯誤，則操縱ID應當匹配。When it is determined that at least one of the collected MSCMs has a new manipulation ID 1414, process 1800 proceeds to process A 1830. At Procedure A 1830, for each MSCM of a particular type (eg, MSCM type 1408 is one (1)), the manipulation ID 1414 (and in some cases, the source ID 1410) is collected. Subsequently, the most recently sent security message (eg, BSM) and/or the previously sent MSCM (eg, MSCM type 1408 is zero (0)) is obtained/checked. Subsequently, the most recently sent security message (eg, BSM) and/or the previously sent MSCM (eg, MSCM type 1408 is zero) is hashed to produce a hashed message (eg, with a hash code). For example, process 1800 may utilize a hashing algorithm or a fuzzy hashing algorithm to generate a hashed message (eg, with a hash code). The resulting hashed message (eg, hash code) may then be compared to the manipulation ID of the corresponding MSCM (eg, MSCM type 1408 is one). Because the manipulation ID corresponding to the MSCM is also generated using the same hash algorithm of the same previous message (e.g., security message such as BSM, and/or previously sent MSCM, such as MSCM type 1408 is zero), so if it does not exist Malicious activity or error, the manipulation ID should match.
在程序A 1830已被執行之後，在方塊1860處，可以決定在程序A 1830期間計算的散列碼與MSCM類型1408為1的對應MSCM的操縱ID之間是否存在匹配。若決定存在匹配，則在方塊1880處，程序1800將僅進入閒置（例如，經由執行正常的操縱協定操作，諸如關於圖15或圖16描述的那些）。然而，若決定不存在匹配，則在方塊1870處，不當行為報告可以被產生並被發出（例如，發送）到網路，諸如到後端伺服器、到一或多個其他車輛、及/或到其他設備或系統。After procedure A 1830 has been executed, at block 1860 , a determination may be made whether there is a match between the hash code calculated during procedure A 1830 and the manipulation ID of the corresponding MSCM for which MSCM type 1408 is 1. If it is determined that there is a match, then at block 1880, the process 1800 will simply enter idle (eg, via performing normal manipulation protocol operations, such as those described with respect to Figure 15 or Figure 16). However, if it is determined that there is no match, then at block 1870, a misconduct report may be generated and issued (eg, sent) to the network, such as to a backend server, to one or more other vehicles, and/or to other devices or systems.
然而，當決定所收集的MSCM中沒有一個具有新的操縱ID 1414時，在方塊1840處，在方塊1810處獲得的具有相同源ID 1410的所收集的MSCM中，具有相同操縱ID 1414的複數個MSCM被收集。在具有相同操縱ID 1414的複數個MSCM被收集之後，程序1800進行到程序B 1850。在程序B 1850處，對於具有相同操縱ID 1414的複數個MSCM，程序1800可以決定複數個MSCM的源ID是否匹配。在某些情況下，程序1800可以包括獲得或收集MSCM類型1408為一（1）、三（3）和四（4）的MSCM。隨後，可以將MSCM類型1408為一、二、三、四和七的所有所收集的MSCM的源ID 1410相互比較。However, when it is determined that none of the collected MSCMs have a new manipulation ID 1414, at block 1840, a plurality of the collected MSCMs with the same source ID 1410 obtained at block 1810 have the same manipulation ID 1414. MSCM is collected. After multiple MSCMs with the same manipulation ID 1414 are collected, process 1800 proceeds to process B 1850. At procedure B 1850, for a plurality of MSCMs with the same manipulation ID 1414, the procedure 1800 may determine whether the source IDs of the plurality of MSCMs match. In some cases, process 1800 may include obtaining or collecting MSCMs with MSCM types 1408 of one (1), three (3), and four (4). Subsequently, the source IDs 1410 of all collected MSCMs with MSCM types 1408 being one, two, three, four, and seven may be compared to each other.
在程序B 1850被執行之後，在方塊1860處，可以決定MSCM類型1408為一、二、三、四和七的所有所收集的MSCM的所主動ID 1410之間是否存在匹配。若決定存在匹配（例如，所主動ID 1410是相同的），則在方塊1880處，程序1800將進入閒置（例如，執行正常操縱協定操作，諸如關於圖15或圖16描述的那些）。然而，若決定一個MSCM的源ID不同於另一MSCM的源ID並且因此不存在匹配（例如，源ID 1410中的至少一個是不同的），則在方塊1870處，不當行為報告被產生（例如，針對具有不同源ID 1410的MSCM產生）並被發出（例如，發送）到網路（例如，後端伺服器）及/或到其他車輛。After Procedure B 1850 is executed, at block 1860 it may be determined whether there is a match between the active IDs 1410 of all collected MSCMs with MSCM types 1408 of one, two, three, four and seven. If it is determined that there is a match (e.g., the active IDs 1410 are the same), then at block 1880, the process 1800 will enter idle (e.g., perform normal manipulation protocol operations, such as those described with respect to Figure 15 or Figure 16). However, if it is determined that the source ID of one MSCM is different from the source ID of another MSCM and therefore there is no match (e.g., at least one of the source IDs 1410 is different), then at block 1870 a misconduct report is generated (e.g., , generated for an MSCM with a different source ID 1410) and issued (e.g., sent) to the network (e.g., a backend server) and/or to other vehicles.
在一或多個實例中，產生的不當行為報告可以包含偵測到的攻擊類型的通知（例如，衝突操縱ID 1414）及/或衝突MSCM的標識。In one or more instances, the generated misconduct report may include a notification of the type of attack detected (eg, conflict manipulation ID 1414) and/or an identification of the conflicting MSCM.
在一或多個實例中，複數個不同類型的散列演算法可以被用於在圖17的程序1700和圖18的程序1800中執行的散列。可以採用的不同類型的散列演算法可以包括但不限於SHA-256演算法、Merkle-Damgard演算法、MD5演算法、SHA-1演算法、SHA-2演算法、RIPEMD-160演算法、Whirlpool演算法和BLAKE 2演算法。In one or more examples, a plurality of different types of hashing algorithms may be used for the hashes performed in process 1700 of FIG. 17 and process 1800 of FIG. 18 . Different types of hash algorithms that can be used may include, but are not limited to, SHA-256 algorithm, Merkle-Damgard algorithm, MD5 algorithm, SHA-1 algorithm, SHA-2 algorithm, RIPEMD-160 algorithm, Whirlpool algorithm and the BLAKE 2 algorithm.
圖19是圖示出用於車輛處的無線通訊（例如，由車輛或由車輛的部件或系統（諸如晶片組、車輛的通訊系統（諸如圖5的通訊系統558）、車輛的控制系統（諸如圖5的控制系統552）、其任何組合、或車輛的其他部件或系統）進行的）的程序1900的實例的流程圖。根據本案的某些態樣，程序1900可以安全地管理用於通訊（例如，V2X通訊）的操縱ID。在某些態樣，車輛被配置為使用V2X協定來通訊。19 is a diagram illustrating wireless communications for use at a vehicle (eg, by the vehicle or by a component or system of the vehicle such as a chipset, a communication system of the vehicle such as communication system 558 of FIG. 5 ), a control system of the vehicle such as A flowchart of an example of a process 1900 performed by the control system 552 of FIG. 5 ), any combination thereof, or other components or systems of the vehicle). According to some aspects of this case, the process 1900 can securely manage operation IDs used for communications (eg, V2X communications). In some aspects, vehicles are configured to communicate using V2X protocols.
在方塊1910處，車輛（或者其部件或系統）可以發送與由車輛進行的潛在操縱相關聯的訊息。在某些情況下，訊息是安全訊息，諸如關於圖17描述的BSM。在某些情況下，訊息是操縱訊息，諸如MSCM。在一個說明性實例中，諸如圖15中所示以及關於圖17所描述的，訊息是指示執行潛在操縱的意圖的MSCM（例如，類型0的MSCM）。At block 1910, the vehicle (or a component or system thereof) may send a message associated with a potential maneuver by the vehicle. In some cases, the message is a safety message, such as the BSM described with respect to Figure 17. In some cases, the message is a manipulation message, such as MSCM. In one illustrative example, such as shown in Figure 15 and described with respect to Figure 17, the message is an MSCM (eg, a Type 0 MSCM) indicating an intent to perform a potential manipulation.
在方塊1920處，車輛（或者其部件或系統）可以基於訊息決定潛在操縱的操縱標識（ID）。在某些態樣，為了基於訊息決定潛在操縱的操縱ID，車輛（或者其部件或系統）可以將散列演算法應用於訊息以產生經散列訊息，在此情況下，操縱ID包括經散列訊息。如本文所述，可以使用不同類型的散列演算法。可以使用的散列演算法的實例可以包括但不限於SHA-256演算法、Merkle-Damgard演算法、MD5演算法、SHA-1演算法、SHA-2演算法、RIPEMD-160演算法、Whirlpool演算法、BLAKE 2演算法、其任何組合、或其他散列演算法。At block 1920, the vehicle (or a component or system thereof) may determine a maneuver identification (ID) of the potential maneuver based on the message. In some aspects, to determine a maneuver ID for a potential maneuver based on a message, the vehicle (or a component or system thereof) may apply a hashing algorithm to the message to produce a hashed message, in which case the maneuver ID includes a hashed message. column message. As described in this article, different types of hashing algorithms can be used. Examples of hash algorithms that can be used may include, but are not limited to, SHA-256 algorithm, Merkle-Damgard algorithm, MD5 algorithm, SHA-1 algorithm, SHA-2 algorithm, RIPEMD-160 algorithm, Whirlpool algorithm method, the BLAKE 2 algorithm, any combination thereof, or other hashing algorithms.
在方塊1930處，車輛（或者其部件或系統）可以發送用於潛在操縱的第一操縱訊息。第一操縱訊息包括操縱ID（例如，圖14的MSCM 1400的操縱ID欄位中的操縱ID 1414）。在某些態樣，第一操縱訊息是MSCM。在一個說明性實例中，諸如圖15中所示以及關於圖17所描述的，訊息是指示對執行潛在操縱的請求的MSCM（例如，類型1的MSCM）。At block 1930, the vehicle (or a component or system thereof) may send a first maneuver message for the potential maneuver. The first manipulation message includes a manipulation ID (eg, manipulation ID 1414 in the manipulation ID field of MSCM 1400 of Figure 14). In some aspects, the first control message is MSCM. In one illustrative example, such as shown in Figure 15 and described with respect to Figure 17, the message is an MSCM (eg, a Type 1 MSCM) indicating a request to perform a potential manipulation.
圖20是圖示出用於第一車輛處的無線通訊（例如，由第一車輛或由第一車輛的部件或系統（諸如晶片組、車輛的通訊系統（諸如圖5的通訊系統558）、車輛的控制系統（諸如圖5的控制系統552）、其任何組合、或車輛的其他部件或系統）進行的）的程序1900的實例的流程圖。根據本案的某些態樣，程序2000可以安全地管理用於通訊（例如，V2X通訊）的操縱ID。在某些態樣，第一車輛被配置為使用V2X協定來通訊。20 is a diagram illustrating wireless communication at a first vehicle (eg, by the first vehicle or by a component or system of the first vehicle (such as a chipset, a communication system of the vehicle (such as communication system 558 of FIG. 5)), A flowchart of an example of a procedure 1900 performed by a vehicle's control system, such as control system 552 of FIG. 5 , any combination thereof, or other components or systems of the vehicle. According to some aspects of this case, the program 2000 can securely manage operation IDs used for communications (eg, V2X communications). In some aspects, the first vehicle is configured to communicate using a V2X protocol.
在方塊2010處，第一車輛（或者其部件或系統）可以從第二車輛接收第一操縱訊息。第一操縱訊息包括第一操縱ID。At block 2010, the first vehicle (or component or system thereof) may receive a first steering message from the second vehicle. The first control message includes a first control ID.
在方塊2020處，第一車輛（或者其部件或系統）可以決定第一操縱訊息的第一操縱ID是新操縱ID（例如，如圖18的方塊1820所示）。例如，第一車輛（或者其部件或系統）可以決定第一操縱訊息是否具有與任何其他接收或收集的訊息（例如，MSCM）不同的操縱ID。At block 2020, the first vehicle (or component or system thereof) may determine that the first maneuver ID of the first maneuver message is the new maneuver ID (eg, as shown at block 1820 of Figure 18). For example, the first vehicle (or component or system thereof) may determine whether the first maneuver message has a different maneuver ID than any other received or collected messages (eg, MSCM).
在方塊2030處，第一車輛（或者其部件或系統）可以基於第一操縱ID是新操縱ID來決定第一操縱ID是否與基於先前接收的訊息決定的第二操縱ID匹配（例如， 如圖18的方塊1830和1860所示）。例如，在某些態樣，第一車輛（或者其部件或系統）可以將散列演算法應用於先前接收的訊息以產生經散列訊息，其中第二操縱ID包括經散列訊息（例如，第二操縱ID是經散列訊息）。第一車輛（或者其部件或系統）隨後可以將第二操縱ID與第一操縱ID進行比較以決定第一操縱ID與第二操縱ID是否匹配。如前述，可以使用任何散列演算法，諸如使用SHA-256演算法、Merkle-Damgard演算法、MD5演算法、SHA-1演算法、SHA-2演算法、RIPEMD-160演算法、Whirlpool演算法、BLAKE 2演算法、其任何組合、或其他散列演算法。在某些態樣，第一操縱訊息是第一MSCM並且先前接收的訊息是第二MSCM。在某些情況下，第二MSCM指示執行潛在操縱的意圖，諸如具有類型0的MCSM訊息。在某些情況下，第一操縱訊息是MSCM並且先前接收的訊息是安全訊息，諸如BSM。At block 2030, the first vehicle (or component or system thereof) may determine whether the first maneuver ID matches a second maneuver ID determined based on the previously received message based on whether the first maneuver ID is a new maneuver ID (e.g., as shown in FIG. 18 shown in boxes 1830 and 1860). For example, in some aspects, the first vehicle (or component or system thereof) may apply a hashing algorithm to a previously received message to generate a hashed message, wherein the second manipulation ID includes the hashed message (e.g., The second operation ID is the hashed message). The first vehicle (or component or system thereof) may then compare the second maneuver ID to the first maneuver ID to determine whether the first maneuver ID and the second maneuver ID match. As mentioned above, any hashing algorithm can be used, such as SHA-256 algorithm, Merkle-Damgard algorithm, MD5 algorithm, SHA-1 algorithm, SHA-2 algorithm, RIPEMD-160 algorithm, Whirlpool algorithm , BLAKE 2 algorithm, any combination thereof, or other hashing algorithms. In some aspects, the first manipulation message is a first MSCM and the previously received message is a second MSCM. In some cases, the second MSCM indicates the intention to perform potential manipulation, such as with a Type 0 MCSM message. In some cases, the first steering message is an MSCM and the previously received message is a safety message, such as a BSM.
在一個實例中，第一車輛（或者其部件或系統）可以決定第一操縱ID不同於第二操縱ID。第一車輛（或者其部件或系統）可以基於決定第一操縱ID不同於第二操縱ID而向後端伺服器或者一或多個其他車輛中的至少一個發送不當行為報告（例如，如圖18的方塊1870所示）。在某些態樣，不當行為報告包括從操縱訊息偵測到的攻擊類型、衝突操縱訊息、攻擊類型和衝突操縱訊息、及/或其他資訊。In one example, the first vehicle (or component or system thereof) may determine that the first maneuver ID is different than the second maneuver ID. The first vehicle (or a component or system thereof) may send a misbehavior report to the backend server or at least one of the one or more other vehicles based on determining that the first maneuver ID is different from the second maneuver ID (e.g., as in FIG. 18 shown in block 1870). In some aspects, the misconduct report includes attack types detected from manipulation messages, conflict manipulation messages, attack types and conflict manipulation messages, and/or other information.
在另一實例中，第一車輛（或者其部件或系統）可以決定第一操縱ID與第二操縱ID相同或匹配。第一車輛（或者其部件或系統）可以基於決定第一操縱ID與第二操縱ID相同或匹配而保持閒置（例如，如圖18的方塊1880所示，例如經由執行正常的操縱協定操作，諸如關於圖15或圖16描述的那些）。In another example, the first vehicle (or component or system thereof) may determine that the first maneuver ID and the second maneuver ID are the same or match. The first vehicle (or a component or system thereof) may remain idle based on a determination that the first maneuver ID is the same as or matches the second maneuver ID (e.g., as shown at block 1880 of FIG. 18 , e.g., via performing normal maneuver protocol operations, such as those described with respect to Figure 15 or Figure 16).
圖21是圖示出用於車輛處的無線通訊（例如，由車輛或者由車輛的部件或系統（諸如晶片組、車輛的通訊系統（諸如圖5的通訊系統558）、車輛的控制系統（諸如圖5的控制系統552）、其任何組合、或車輛的其他部件或系統）進行的）的程序2100的實例的流程圖。根據本案的某些態樣，程序2100可以安全地管理用於通訊（例如，V2X通訊）的操縱ID。在某些態樣中，第一車輛被配置為使用V2X協定來通訊。21 is a diagram illustrating wireless communications for use at a vehicle (eg, by the vehicle or by a component or system of the vehicle such as a chipset, a communication system of the vehicle such as communication system 558 of FIG. 5 ), a control system of the vehicle such as A flowchart of an example of a process 2100 performed by the control system 552 of FIG. 5 ), any combination thereof, or other components or systems of the vehicle). According to some aspects of this case, the process 2100 can securely manage operation IDs used for communications (eg, V2X communications). In some aspects, the first vehicle is configured to communicate using a V2X protocol.
在方塊2110處，車輛（或者其部件或系統）可以從一或多個車輛接收複數個操縱訊息（例如，如圖18的方塊1810所示）。複數個操縱訊息包括相同的操縱標識（ID）和一或多個源ID（例如，複數個操縱訊息之每一者操縱訊息具有相同的操縱ID以及相同或不同的源ID）。在某些態樣，複數個操縱訊息包括複數個MSCM。在某些態樣，複數個操縱訊息可以包括指示對執行操縱的請求的操縱訊息（例如，類型1的MSCM）、指示執行操縱的預留的操縱訊息（例如，類型3的MSCM）、或指示主車輛取消操縱的執行的操縱訊息（例如，類型5的MSCM）中的一或多個。At block 2110, the vehicle (or components or systems thereof) may receive a plurality of steering messages from one or more vehicles (eg, as shown at block 1810 of Figure 18). The plurality of manipulation messages include the same manipulation identification (ID) and one or more source IDs (eg, each manipulation message of the plurality of manipulation messages has the same manipulation ID and the same or different source IDs). In some aspects, multiple control messages include multiple MSCMs. In some aspects, the plurality of manipulation messages may include a manipulation message indicating a request to perform the manipulation (eg, a Type 1 MSCM), a manipulation message indicating a reservation to perform the manipulation (eg, a Type 3 MSCM), or an indication One or more of the maneuver messages (eg, MSCM of type 5) that the host vehicle cancels execution of the maneuver.
在方塊2120處，車輛（或者其部件或系統）可以決定複數個操縱訊息的一或多個源ID是否匹配（例如，如圖18的方塊1850和1860所示）。在一個實例中，車輛（或者其部件或系統）可以決定來自複數個操縱訊息的操縱訊息的源ID不同於來自複數個操縱訊息的至少一個其他操縱訊息的至少一個其他源ID。車輛（或者其部件或系統）可以基於決定操縱訊息的源ID不同於至少一個其他操縱訊息的至少一個其他源ID而向後端伺服器或者一或多個其他車輛中的至少一個發送不當行為報告（例如，如圖18的方塊1870所示）。在某些態樣，不當行為報告包括從操縱訊息偵測到的攻擊類型、衝突操縱訊息、攻擊類型和衝突操縱訊息、及/或其他資訊。At block 2120, the vehicle (or a component or system thereof) may determine whether one or more source IDs of the plurality of steering messages match (eg, as shown at blocks 1850 and 1860 of Figure 18). In one example, the vehicle (or a component or system thereof) may determine that the source ID of the steering message from the plurality of steering messages is different from at least one other source ID of at least one other steering message from the plurality of steering messages. The vehicle (or a component or system thereof) may send a misbehavior report to the backend server or to at least one of the one or more other vehicles based on a determination that the source ID of the manipulation message is different from at least one other source ID of at least one other manipulation message ( For example, as shown at block 1870 in Figure 18). In some aspects, the misconduct report includes attack types detected from manipulation messages, conflict manipulation messages, attack types and conflict manipulation messages, and/or other information.
在另一實例中，第一車輛（或者其部件或系統）可以決定複數個操縱訊息的源ID相同或匹配。第一車輛（或者其部件或系統）可以基於決定複數個操縱訊息的源ID相同或匹配而保持閒置（例如，如圖18的方塊1880所示，例如經由執行正常的操縱協定操作，諸如關於圖15或圖16描述的那些）。In another example, the first vehicle (or component or system thereof) may determine that the source IDs of the plurality of steering messages are the same or match. The first vehicle (or a component or system thereof) may remain idle based on a determination that the source IDs of the plurality of steering messages are the same or match (eg, as shown at block 1880 of FIG. 18 , such as by performing normal steering protocol operations, such as with respect to FIG. 15 or those depicted in Figure 16).
在某些態樣，車輛（或者其部件或系統）可以決定來自複數個操縱訊息的操縱訊息的至少一個操縱ID是新操縱ID（例如，如圖18的方塊1820所示）。例如，第一車輛（或者其部件或系統）可以決定操縱訊息是否具有與任何其他接收或收集的訊息（例如，MSCM）不同的操縱ID。車輛（或者其部件或系統）可以基於至少一個操縱ID是新操縱ID來決定複數個操縱訊息的一或多個源ID是否匹配（例如，基於在方塊1820處決定操縱ID是新的來執行圖18的方塊1830的操作）。In some aspects, the vehicle (or a component or system thereof) may determine that at least one maneuver ID of a maneuver message from a plurality of maneuver messages is a new maneuver ID (eg, as shown at block 1820 of Figure 18). For example, the first vehicle (or component or system thereof) may determine whether the maneuver message has a different maneuver ID than any other received or collected message (eg, MSCM). The vehicle (or a component or system thereof) may determine whether one or more source IDs of the plurality of maneuver messages match based on at least one maneuver ID being a new maneuver ID (e.g., performing the diagram based on determining at block 1820 that the maneuver ID is new). 18 of 1830 operations).
圖22是圖示出用於裝置2202的硬體實現的實例的示圖2200。裝置2202是UE並且包括耦合到蜂巢RF收發器2222和一或多個用戶身份模組（SIM）卡2220的蜂巢基頻處理器2204（亦被稱為數據機）、耦合到安全數位（SD）卡2208和螢幕2210的應用處理器2206、藍芽模組2212、無線區域網路（WLAN）模組2214、GNSS模組2216和功率供應2218。GNSS模組2216可以包括各種衛星定位系統。例如，GNSS模組可以對應於全球定位系統（GPS）、全球導航衛星系統（GLONASS）、伽利略、北斗導航衛星系統（BDS）、廣域增強系統（WAAS）、歐洲地球同步導航覆蓋服務（EGNOS）、GPS輔助GEO增強導航（GAGAN）、多功能傳輸衛星（MTSAT）衛星增強系統（MSAS）、準天頂衛星系統（QZSS）或印度群集導航（NavIC）。蜂巢基頻處理器2204經由蜂巢RF收發器2222與圖1的UE 104及/或圖1的BS 102/180通訊。蜂巢基頻處理器2204可以包括電腦可讀取媒體/記憶體。電腦可讀取媒體/記憶體可以是非暫時性的。蜂巢基頻處理器2204負責一般的處理，包括儲存在電腦可讀取媒體/記憶體上的軟體的執行。軟體在由蜂巢基頻處理器2204執行時導致蜂巢基頻處理器2204執行前述的各種功能。電腦可讀取媒體/記憶體亦可以被用於儲存在執行軟體時由蜂巢基頻處理器2204操縱的資料。蜂巢基頻處理器2204亦包括接收部件2230、通訊管理器2232和發送部件2234。通訊管理器2232包括一或多個所示部件，包括被配置為偵測一或多個物件的偵測部件2240和被配置為產生一或多個訊息（例如，SDSM、CPM、BSM等）的訊息部件2242。通訊管理器2232內的部件可以被儲存在電腦可讀取媒體/記憶體中及/或被配置為蜂巢基頻處理器2204內的硬體。蜂巢基頻處理器2204可以是圖3A的UE 350的部件，並且可以包括圖3A的記憶體360及/或圖3A的TX處理器368、圖3A的RX處理器356、以及圖3A的控制器/處理器359中的至少一個。在一個配置中，裝置2202可以是數據機晶片並且僅包括基頻處理器2204，而在另一配置中，裝置2202可以是整個UE（例如，參見圖3A的350）並且包括前面論述的裝置2202的額外模組。22 is a diagram 2200 illustrating an example of a hardware implementation for device 2202. Device 2202 is a UE and includes a cellular baseband processor 2204 (also known as a modem) coupled to a cellular RF transceiver 2222 and one or more Subscriber Identity Module (SIM) cards 2220, coupled to a Secure Digital (SD) Application processor 2206, Bluetooth module 2212, wireless local area network (WLAN) module 2214, GNSS module 2216 and power supply 2218 of card 2208 and screen 2210. GNSS module 2216 may include various satellite positioning systems. For example, the GNSS module can correspond to the Global Positioning System (GPS), Global Navigation Satellite System (GLONASS), Galileo, Beidou Navigation Satellite System (BDS), Wide Area Augmentation System (WAAS), and European Geostationary Navigation Overlay Service (EGNOS). , GPS Assisted GEO Augmented Navigation (GAGAN), Multi-function Transmission Satellite (MTSAT) Satellite Augmentation System (MSAS), Quasi-Zenith Satellite System (QZSS) or Indian Cluster Navigation (NavIC). Cellular baseband processor 2204 communicates with UE 104 of FIG. 1 and/or BS 102/180 of FIG. 1 via cellular RF transceiver 2222. Cellular baseband processor 2204 may include computer readable media/memory. Computer-readable media/memory may be non-transitory. The cellular baseband processor 2204 is responsible for general processing, including the execution of software stored on computer readable media/memory. The software, when executed by the cellular baseband processor 2204, causes the cellular baseband processor 2204 to perform the various functions described above. Computer readable media/memory may also be used to store data manipulated by the cellular baseband processor 2204 when executing software. The cellular baseband processor 2204 also includes a receiving component 2230, a communication manager 2232, and a sending component 2234. Communications manager 2232 includes one or more illustrated components, including a detection component 2240 configured to detect one or more objects and a detection component 2240 configured to generate one or more messages (e.g., SDSM, CPM, BSM, etc.) Message component 2242. The components within the communications manager 2232 may be stored in computer readable media/memory and/or configured as hardware within the cellular baseband processor 2204 . Cellular baseband processor 2204 may be a component of UE 350 of Figure 3A, and may include memory 360 of Figure 3A and/or TX processor 368 of Figure 3A, RX processor 356 of Figure 3A, and the controller of Figure 3A /Processor 359 at least one. In one configuration, the apparatus 2202 may be a modem die and include only the baseband processor 2204, while in another configuration the apparatus 2202 may be the entire UE (eg, see 350 of Figure 3A) and include the apparatus 2202 discussed above additional modules.
裝置可以包括執行前述圖17、18及/或19的流程圖中的演算法的方塊中的每一個的額外部件。如此，前述圖17、18及/或19的流程圖之每一者方塊可以由部件來執行，並且裝置可以包括彼等部件中的一或多個。部件可以：是被具體配置為執行所陳述的程序/演算法的一或多個硬體部件、由被配置為執行所陳述的程序/演算法的處理器實現、被儲存在電腦可讀取媒體內以由處理器實現、或其某種組合。The apparatus may include additional components that execute each of the blocks of the algorithm in the flowcharts of Figures 17, 18, and/or 19 described above. As such, each block of the flowcharts of Figures 17, 18, and/or 19 may be performed by a component, and the apparatus may include one or more of these components. A component may: be one or more hardware components specifically configured to execute the stated program/algorithm, be implemented by a processor configured to execute the stated program/algorithm, be stored on a computer-readable medium It can be implemented by the processor, or some combination thereof.
在一個配置中，裝置2202，特別是蜂巢基頻處理器2204，包括用於從第一無線設備接收指示威脅區域內的威脅實體的訊息的部件。威脅實體發送干擾BSM的傳輸的資料。裝置包括用於至少部分地基於來自第一無線設備的指示與威脅實體相關的資訊的訊息來決定候選資源的集合中的要在其上發送BSM的候選資源的部件。裝置包括用於在決定的候選資源上向至少第三無線設備發送BSM的部件。裝置亦包括用於基於超過RSRP閾值的、針對候選資源的集合之每一者候選資源的預計RSRP來在候選資源的集合中排除一或多個候選資源以決定候選資源的第一子集的部件。裝置亦包括用於基於加權RSSI排名對候選資源的第一子集進行排名以獲得具有最低加權RSSI的候選資源的第二子集的部件。候選資源的第二子集是候選資源的第一子集的部分。裝置亦包括用於從候選資源的第二子集中選擇候選資源的部件。裝置亦包括用於在候選資源的集合中排除具有超過預濾波閾值的RSSI的一或多個虛擬感測的候選資源以獲得不超過預濾波閾值的候選資源的經濾波子集的部件。裝置亦包括用於在候選資源的經濾波子集內排除不超過預濾波閾值而超過RSRP閾值的候選資源，以獲得不超過RSRP閾值的候選資源的第二子集的部件。裝置亦包括用於從候選資源的第二子集中選擇候選資源的部件。上述部件可以是被配置為執行上述部件所敘述的功能的裝置2202的上述部件中的一或多個。In one configuration, apparatus 2202, particularly cellular baseband processor 2204, includes means for receiving a message from a first wireless device indicating a threat entity within the threat area. Threat entities send material that interferes with BSM's transmissions. The apparatus includes means for determining a candidate resource of the set of candidate resources over which to transmit the BSM based at least in part on a message from the first wireless device indicating information related to the threat entity. The apparatus includes means for sending a BSM to at least a third wireless device on the determined candidate resource. The apparatus also includes means for excluding one or more candidate resources in the set of candidate resources to determine a first subset of candidate resources based on a predicted RSRP for each candidate resource in the set of candidate resources that exceeds an RSRP threshold. . The apparatus also includes means for ranking the first subset of candidate resources based on the weighted RSSI ranking to obtain a second subset of candidate resources with the lowest weighted RSSI. The second subset of candidate resources is part of the first subset of candidate resources. The apparatus also includes means for selecting candidate resources from the second subset of candidate resources. The apparatus also includes means for excluding one or more virtually sensed candidate resources having an RSSI exceeding a pre-filtering threshold in the set of candidate resources to obtain a filtered subset of candidate resources that do not exceed the pre-filtering threshold. The apparatus also includes means for excluding candidate resources that do not exceed the pre-filtering threshold but exceed the RSRP threshold within the filtered subset of candidate resources to obtain a second subset of candidate resources that do not exceed the RSRP threshold. The apparatus also includes means for selecting candidate resources from the second subset of candidate resources. The above-described components may be one or more of the above-described components of the device 2202 configured to perform the functions recited by the above-described components.
在以上描述中提供了具體細節以提供對本文提供的各態樣和實例的透徹理解，但是本發明所屬領域中具有通常知識者將認識到本案不限於此。因此，儘管本文已經詳細描述了本案的說明性實例，但是應當理解，本發明概念可以用其他方式而被不同地體現和採用，並且所附請求項意欲被解釋為包括除被現有技術限制之外的此類變體。上述申請的各種特徵和態樣可以被單獨或聯合使用。此外，實例可以在超過本文描述的環境和應用的任何數量的環境和應用中被利用，而不背離本說明書的更廣泛的精神和範疇。相應地，說明書和附圖應被認為是說明性而非限制性的。出於說明的目的，方法以特定的次序被描述。應理解，在替代實例中，方法可以以與所描述的次序不同的次序來被執行。Specific details are provided in the above description to provide a thorough understanding of the various aspects and examples provided herein, but one of ordinary skill in the art to which this invention belongs will recognize that the present invention is not limited thereto. Accordingly, while illustrative examples of the present invention have been described in detail herein, it is to be understood that the inventive concepts may be otherwise embodied and employed variously and that the appended claims are intended to be construed to include other than as limited by the prior art. of such variations. The various features and aspects of the above applications may be used individually or in combination. Furthermore, the examples may be utilized in any number of environments and applications beyond those described herein without departing from the broader spirit and scope of the specification. Accordingly, the specification and drawings are to be regarded as illustrative rather than restrictive. For purposes of illustration, the methods are described in a specific order. It will be understood that, in alternative examples, the methods may be performed in an order different than that described.
為了解釋的清楚，在某些實例中，本技術可以被呈現為包括單獨的功能方塊，該功能方塊包括設備、設備部件、被體現於軟體中的方法中的步驟或常式、或者硬體和軟體的組合。可以使用除了圖中所示及/或本文描述的那些之外的額外部件。例如，電路、系統、網路、程序和其他部件可以被示為方塊圖形式的部件，以免在不必要的細節上模糊實例。在其他實例中，可以在沒有不必要的細節的情況下示出眾所周知的電路、程序、演算法、結構和技術，以免模糊實例。For clarity of explanation, in some instances, the technology may be presented as including separate functional blocks including devices, device components, steps or routines in methods embodied in software, or hardware and A combination of software. Additional components other than those shown in the figures and/or described herein may be used. For example, circuits, systems, networks, programs and other components may be shown as block diagram components in order to avoid obscuring the examples in unnecessary detail. In other instances, well-known circuits, procedures, algorithms, structures, and techniques may be shown without unnecessary detail so as not to obscure the examples.
此外，本發明所屬領域中具有通常知識者將理解，結合本文揭示的各態樣描述的各種說明性邏輯區塊、模組、電路和演算法步驟可以被實現為電子硬體、電腦軟體或兩者的組合。為清楚地說明硬體與軟體的此可互換性，上文已大體上就其功能而言描述了各種說明性部件、方塊、模組、電路和步驟。此類功能被實現為硬體還是軟體取決於特定應用以及施加於整個系統的設計約束。本發明所屬領域中具有通常知識者可以針對每個特定應用以不同方式實現所描述的功能，但不應將此類實現決策解釋為致使背離本案的範疇。Furthermore, one of ordinary skill in the art to which this invention pertains will understand that the various illustrative logical blocks, modules, circuits, and algorithm steps described in connection with the various aspects disclosed herein may be implemented as electronic hardware, computer software, or both. combination of those. To clearly illustrate this interchangeability of hardware and software, various illustrative components, blocks, modules, circuits, and steps have been described above generally in terms of their functionality. Whether such functionality is implemented as hardware or software depends on the specific application and the design constraints imposed on the overall system. One of ordinary skill in the art may implement the described functionality in different ways for each particular application, but such implementation decisions should not be construed as causing a departure from the scope of the present invention.
上文可以將個別實例描述為程序或方法，程序或方法被圖示為流程圖、流程圖表、資料流圖、結構圖或方塊圖。儘管流程圖可以將操作描述為順序程序，但操作中的許多可以被並行或併發地執行。另外，操作的次序可以被重新佈置。程序在其操作完成時被終止，但可以有圖中未包含的額外步驟。程序可以對應於方法、函數、程序、子常式、副程式等。當程序對應於函數時，其終止可以對應於函數返回到調用函數或主函數。Individual instances may be described above as procedures or methods, and the procedures or methods may be illustrated as flowcharts, process charts, data flow diagrams, structure diagrams, or block diagrams. Although a flowchart may describe operations as a sequential program, many of the operations may be performed in parallel or concurrently. Additionally, the order of operations can be rearranged. The program is terminated when its operations are complete, but may have additional steps not included in the figure. Programs can correspond to methods, functions, procedures, subroutines, subroutines, etc. When a program corresponds to a function, its termination may correspond to the function's return to the calling function or to the main function.
可以使用被儲存的或以其他方式從電腦可讀取媒體可用的電腦可執行指令來實現根據上述實例的程序和方法。此類指令可以包括例如導致或以其他方式配置通用電腦、專用電腦或處理設備來執行特定功能或功能組的指令和資料。所使用的電腦資源的部分可以經由網路來存取。電腦可執行指令可以是例如二進位、中間格式指令（諸如組合語言）、韌體、原始程式碼。可以被用於儲存指令、所使用的資訊及/或在根據所描述的實例的方法期間建立的資訊的電腦可讀取媒體的實例包括磁碟或光碟、快閃記憶體、提供有非揮發性記憶體的USB設備、網路存放裝置、等等。Programs and methods according to the above examples may be implemented using computer-executable instructions stored or otherwise available from computer-readable media. Such instructions may include, for example, instructions and material that cause or otherwise configure a general purpose computer, special purpose computer or processing device to perform a particular function or group of functions. Part of the computer resources used can be accessed via the Internet. Computer-executable instructions may be, for example, binary, intermediate format instructions (such as assembly language), firmware, or source code. Examples of computer-readable media that may be used to store instructions, information used, and/or information created during methods according to the described examples include magnetic or optical disks, flash memory, non-volatile Memory USB devices, network storage devices, etc.
非暫時性媒體的實例可以包括但不限於磁碟或磁帶、諸如緊湊盤（CD）或數位多功能光碟（DVD）之類的光學儲存媒體、快閃記憶體、記憶體或記憶體設備。電腦可讀取媒體可以在其上儲存代碼及/或機器可執行指令，該代碼及/或機器可執行指令可以表示程序、函數、副程式、程式、常式、子常式、模組、套裝軟體、類，或者指令、資料結構或程式語句的任何組合。程式碼片段可以經由傳遞及/或接收資訊、資料、引數、參數或記憶體內容而耦合到另一程式碼片段或硬體電路。可以經由任何合適的手段來傳遞、轉發或發送資訊、引數、參數、資料等，手段包括記憶體共享、訊息傳遞、符記傳遞、網路傳輸等。在某些實例中，電腦可讀存放裝置、媒體和記憶體可以包括包含位元串流等的有線或無線訊號。然而，當被提及時，非暫時性電腦可讀取儲存媒體明確排除諸如能量、載波訊號、電磁波和訊號本身之類的媒體。Examples of non-transitory media may include, but are not limited to, magnetic disks or tapes, optical storage media such as compact disks (CDs) or digital versatile discs (DVDs), flash memory, memory, or memory devices. A computer-readable medium may have code and/or machine-executable instructions stored thereon, which code and/or machine-executable instructions may represent a program, function, subroutine, program, routine, subroutine, module, package Software, class, or any combination of instructions, data structures, or program statements. A code segment may be coupled to another code segment or hardware circuit by passing and/or receiving information, data, arguments, parameters, or memory contents. Information, arguments, parameters, data, etc. can be transferred, forwarded or sent by any suitable means, including memory sharing, message transfer, token transfer, network transmission, etc. In some examples, computer-readable storage devices, media, and memories may include wired or wireless signals including bit streams and the like. However, when referred to, non-transitory computer-readable storage media specifically excludes media such as energy, carrier signals, electromagnetic waves, and signals themselves.
本發明所屬領域中具有通常知識者將理解，資訊和訊號可以使用各種不同技術和技法中的任一種來表示。例如，在某些情況下，部分取決於特定的應用，部分取決於所需的設計，部分取決於對應的技術等，在整個以上描述中可能引用的資料、指令、命令、資訊、訊號、位元、符號和碼片可以由電壓、電流、電磁波、磁場或粒子、光場或粒子或其任何組合來表示。One of ordinary skill in the art to which this invention pertains will understand that information and signals may be represented using any of a variety of different techniques and techniques. For example, in some cases, partly depending on the specific application, partly depending on the required design, partly depending on the corresponding technology, etc., the data, instructions, commands, information, signals, bits may be referenced throughout the above description. Elements, symbols, and chips can be represented by voltages, currents, electromagnetic waves, magnetic fields or particles, light fields or particles, or any combination thereof.
結合本文揭示的各態樣描述的各種說明性邏輯區塊、模組及電路可以是使用硬體、軟體、韌體、中介軟體、微碼、硬體描述語言或其任何組合來實現或執行的，並且可以採取各種形狀因數中的任一個。當被實現於軟體、韌體、中介軟體或微碼中時，執行必要任務的程式碼或程式碼片段（例如，電腦程式產品）可以被儲存在電腦可讀或機器可讀取媒體中。處理器可以執行必要的任務。形狀因數的實例包括膝上型電腦、智慧型電話、行動電話、平板設備或其他小形狀因數的個人電腦、個人數位助理、機架式設備、獨立設備等。本文描述的功能亦可以被體現於周邊設備或額外卡中。作為進一步的實例，此類功能亦可以被實現於不同晶片之間的電路板上或在單個設備中執行的不同程序上。The various illustrative logic blocks, modules and circuits described in connection with the aspects disclosed herein may be implemented or executed using hardware, software, firmware, middleware, microcode, hardware description languages, or any combination thereof. , and can take any of a variety of form factors. When implemented in software, firmware, middleware, or microcode, the program code or program code fragments (e.g., a computer program product) that performs the necessary tasks may be stored in a computer-readable or machine-readable medium. The processor can perform necessary tasks. Examples of form factors include laptops, smartphones, mobile phones, tablet devices or other small form factor personal computers, personal digital assistants, rack-mounted devices, stand-alone devices, etc. The functionality described in this article can also be implemented in peripheral devices or additional cards. As further examples, such functionality may also be implemented on circuit boards between different chips or on different programs executing within a single device.
指令、用於運送此類指令的媒體、用於執行它們的計算資源以及用於支援此類計算資源的其他結構是用於提供本案中描述的功能的實例手段。Instructions, the media used to carry such instructions, the computing resources used to execute them, and other structures used to support such computing resources are example means for providing the functionality described in this case.
本文所描述的技術可以被實現於電子硬體、電腦軟體、韌體或其任何組合中。此類技術可以被實現於諸如以下各項的各種設備中的任一種中：通用電腦、無線通訊設備手持裝置，或者具有包括無線通訊設備手持裝置和其他設備中的應用的多種用途的積體電路設備。被描述為模組或部件的任何特徵可以一起被實現於整合邏輯裝置中，或者被單獨實現為離散但可交互動操作的邏輯裝置。若被實現於軟體中，則技術可以至少部分地由包括程式碼的電腦可讀取資料儲存媒體實現，該程式碼包括指令，指令在被執行時執行上文描述的方法、演算法及/或操作中的一或多個。電腦可讀取資料儲存媒體可以形成電腦程式產品的部分，該電腦程式產品可以包括封裝材料。電腦可讀取媒體可以包括記憶體或資料儲存媒體，諸如：諸如同步動態隨機存取記憶體（SDRAM）之類的隨機存取記憶體（RAM）、唯讀記憶體（ROM）、非揮發性隨機存取記憶體（NVRAM）、電子可抹除可程式設計唯讀記憶體（EEPROM）、快閃記憶體、磁性或光學資料儲存媒體等。該技術補充地或替代地可以至少部分地經由電腦可讀通訊媒體來實現，該電腦可讀通訊媒體以指令或資料結構的形式攜帶或通訊並且可以由電腦存取、讀取及/或執行的程式碼，諸如傳播的訊號或波。The techniques described herein may be implemented in electronic hardware, computer software, firmware, or any combination thereof. Such technology may be implemented in any of a variety of devices, such as a general-purpose computer, a wireless communication device handheld device, or an integrated circuit having multiple uses including applications in wireless communication device handheld devices and other devices. equipment. Any features described as modules or components may be implemented together in an integrated logic device, or separately as discrete but interactively operable logic devices. If implemented in software, the technology may be implemented, at least in part, by a computer-readable data storage medium including program code that includes instructions that, when executed, perform the methods, algorithms, and/or methods described above. One or more of the operations. The computer-readable data storage medium may form part of a computer program product, which may include packaging materials. Computer-readable media may include memory or data storage media such as: random access memory (RAM) such as synchronous dynamic random access memory (SDRAM), read only memory (ROM), non-volatile Random access memory (NVRAM), electronically erasable programmable read-only memory (EEPROM), flash memory, magnetic or optical data storage media, etc. The technology may additionally or alternatively be implemented, at least in part, via a computer-readable communication medium that carries or communicates in the form of instructions or data structures that can be accessed, read, and/or executed by a computer. Programming code, such as a propagating signal or wave.
程式碼可以由處理器執行，處理器可以包括一或多個處理器，諸如一或多個數位訊號處理器（DSP）、通用微處理器、特殊應用積體電路（ASIC）、現場可程式設計閘陣列（FPGA）或其他等效的整合或離散邏輯電路。此類處理器可以被配置為執行本案中描述的技術中的任一個。通用處理器可以是微處理器，但在替代方案中，該處理器可以是任何習知的處理器、控制器、微控制器或狀態機。處理器亦可以被實現為計算設備的組合，例如，DSP和微處理器的組合、複數個微處理器、與DSP核結合的一或多個微處理器、或任何其他此類配置。相應地，如本文中所使用的術語「處理器」可以指前述結構中的任一個、前述結構的任何組合、或者適於實現本文中描述的技術的任何其他結構或裝置。The program code may be executed by a processor, which may include one or more processors, such as one or more digital signal processors (DSPs), general purpose microprocessors, application specific integrated circuits (ASICs), field programmable gate array (FPGA) or other equivalent integrated or discrete logic circuits. Such processors may be configured to perform any of the techniques described in this case. A general purpose processor may be a microprocessor, but in the alternative the processor may be any conventional processor, controller, microcontroller or state machine. A processor may also be implemented as a combination of computing devices, such as a combination of a DSP and a microprocessor, a plurality of microprocessors, one or more microprocessors combined with a DSP core, or any other such configuration. Accordingly, the term "processor" as used herein may refer to any one of the foregoing structures, any combination of the foregoing structures, or any other structure or device suitable for implementing the techniques described herein.
具有通常知識者將理解，本文中使用的小於（「＜」）和大於（「＞」）的符號或術語可以分別用小於或等於（「≦」）和大於或等於（「≧」）的符號來代替，而不背離本說明書的範疇。Those with ordinary knowledge will understand that the symbols or terms used herein for less than ("<") and greater than (">") may be replaced with the symbols for less than or equal to ("≦") and greater than or equal to ("≧"), respectively. instead without departing from the scope of this manual.
在將部件描述為「被配置為」執行某些操作的情況下，可以例如經由設計電子電路或其他硬體以執行操作、經由對可程式設計電子電路（例如，微處理器或其他合適的電子電路）進行程式設計以執行操作、或其任何組合來實現此類配置。Where a component is described as being "configured to" perform certain operations, this may be, for example, by designing electronic circuitry or other hardware to perform the operations, by programming programmable electronic circuitry (e.g., a microprocessor or other suitable electronic circuits) programmed to perform operations, or any combination thereof to achieve such a configuration.
短語「耦合到」是指任何部件直接或間接地實體連接到另一部件，及/或任何部件與另一部件直接或間接地通訊（例如，經由有線或無線連接、及/或其他合適的通訊介面連接到另一部件）。The phrase "coupled to" means that any component is directly or indirectly physically connected to another component, and/or that any component communicates with another component, directly or indirectly (e.g., via wired or wireless connections, and/or other suitable communication interface to another component).
敘述集合中的「至少一個」或集合中的「一或多個」的請求項語言或其他語言指示集合的一個成員或集合的多個成員（以任何組合）滿足請求項。例如，敘述「A和B中的至少一個」或「A或B中的至少一個」的請求項語言意指A、B、或者A和B。在另一實例中，敘述「A、B和C中的至少一個」或「A、B或C中的至少一個」的請求項語言意指A、B、C，或者A和B，或者A和C，或者B和C，或者A和B和C。語言集合中的「至少一個」及/或集合中的「一或多個」不將該集合限制為該集合中列出的項。例如，敘述「A和B中的至少一個」或「A或B中的至少一個」的請求項語言可以意指A、B或者A和B，並且可以附加地包括未在A和B的集合中列出的項。Request language or other language that states "at least one" of a collection or "one or more" of a collection indicates that a member of the collection or multiple members of the collection (in any combination) satisfy the request. For example, claim language stating "at least one of A and B" or "at least one of A or B" means A, B, or A and B. In another example, claim language stating "at least one of A, B, and C" or "at least one of A, B, or C" means A, B, C, or A and B, or A and C, or B and C, or A and B and C. "At least one" in a language set and/or "one or more" in a set does not limit the set to the items listed in the set. For example, claim language stating "at least one of A and B" or "at least one of A or B" may mean A, B, or A and B, and may additionally include those not in the set of A and B. items listed.
本案的說明性態樣包括：Illustrative aspects of this case include:
態樣1：一種用於車輛處的無線通訊的方法，該方法包括：在車輛處發送與由車輛進行的潛在操縱相關聯的訊息；在車輛處基於訊息決定潛在操縱的操縱標識（ID）；及在車輛處發送用於潛在操縱的第一操縱訊息，第一操縱訊息包括操縱ID。Aspect 1: A method for wireless communication at a vehicle, the method comprising: transmitting at the vehicle a message associated with a potential maneuver performed by the vehicle; determining at the vehicle a maneuver identification (ID) of the potential maneuver based on the message; and sending a first maneuver message for the potential maneuver at the vehicle, the first maneuver message including the maneuver ID.
態樣2：如態樣1的方法，其中訊息是安全訊息。Aspect 2: The method of Aspect 1, where the message is a security message.
態樣3：如態樣2的方法，其中安全訊息是基本安全訊息（BSM）。Aspect 3: The method of Aspect 2, in which the security message is a Basic Security Message (BSM).
態樣4：如態樣1的方法，其中訊息是指示執行潛在操縱的意圖的第二操縱訊息。Aspect 4: The method of Aspect 1, wherein the message is a second manipulation message indicating an intention to perform the potential manipulation.
態樣5：如態樣4的方法，其中第二操縱訊息是操縱共享協調訊息（MSCM）。Aspect 5: The method of Aspect 4, wherein the second manipulation message is a manipulation shared coordination message (MSCM).
態樣6：如態樣1至5中任一項的方法，其中第一操縱訊息是指示對執行潛在操縱的請求的操縱共享協調訊息（MSCM）。Aspect 6: The method of any one of aspects 1 to 5, wherein the first manipulation message is a manipulation shared coordination message (MSCM) indicating a request to perform a potential manipulation.
態樣7：如態樣1至6中任一項的方法，其中車輛被配置為使用車輛對一切（V2X）協定進行通訊。Aspect 7: The method of any one of Aspects 1 to 6, wherein the vehicle is configured to communicate using a vehicle-to-everything (V2X) protocol.
態樣8：如態樣1至7中任一項的方法，其中基於訊息決定潛在操縱的操縱ID包括將散列演算法應用於訊息以產生經散列訊息，操縱ID包括經散列訊息。Aspect 8: The method of any one of aspects 1 to 7, wherein determining a manipulation ID of a potential manipulation based on the message includes applying a hashing algorithm to the message to generate a hashed message, and the manipulation ID includes the hashed message.
態樣9：一種用於第一車輛處的無線通訊的方法，該方法包括：在第一車輛處從第二車輛接收第一操縱訊息，第一操縱訊息包括第一操縱標識（ID）；在第一車輛處決定第一操縱訊息的第一操縱ID是新操縱ID；及在第一車輛處基於第一操縱ID是新操縱ID來決定第一操縱ID是否與基於先前接收的訊息決定的第二操縱ID匹配。Aspect 9: A method for wireless communication at a first vehicle, the method comprising: receiving a first manipulation message from a second vehicle at the first vehicle, the first manipulation message including a first manipulation identification (ID); The first vehicle determines that the first manipulation ID of the first manipulation message is a new manipulation ID; and the first vehicle determines whether the first manipulation ID is the same as the first manipulation ID determined based on the previously received message based on the first manipulation ID being the new manipulation ID. 2. Manipulate ID matching.
態樣10：如態樣9之方法，其中決定第一操縱ID是否與第二操縱ID匹配包括：將散列演算法應用於先前接收的訊息以產生經散列訊息，第二操縱ID包括經散列訊息；及將第二操縱ID與第一操縱ID進行比較。Aspect 10: The method of aspect 9, wherein determining whether the first operation ID matches a second operation ID includes applying a hashing algorithm to a previously received message to generate a hashed message, the second operation ID including Hash the message; and compare the second operation ID with the first operation ID.
態樣11：如態樣9或10中任一項的方法，亦包括：在第一車輛處決定第一操縱ID不同於第二操縱ID；及在第一車輛處基於決定第一操縱ID不同於第二操縱ID而向後端伺服器或者一或多個其他車輛中的至少一個發送不當行為報告。Aspect 11: The method of any one of aspects 9 or 10, further comprising: determining at the first vehicle that the first manipulation ID is different from the second manipulation ID; and determining at the first vehicle that the first manipulation ID is different. A misconduct report is sent to at least one of the backend server or one or more other vehicles on the second maneuver ID.
態樣12：如態樣11的方法，其中不當行為報告包括從第一操縱訊息偵測到的攻擊類型或者衝突操縱訊息中的至少一個。Aspect 12: The method of aspect 11, wherein the misconduct report includes at least one of an attack type detected from the first manipulation message or a conflicting manipulation message.
態樣13：如態樣9至12中任一項的方法，其中第一操縱訊息是第一操縱共用協調訊息（MSCM）並且先前接收的訊息是第二MSCM。Aspect 13: The method of any one of aspects 9 to 12, wherein the first manipulation message is a first manipulation shared coordination message (MSCM) and the previously received message is a second MSCM.
態樣14：如態樣13的方法，其中第二MSCM指示執行潛在操縱的意圖。Aspect 14: The method of aspect 13, wherein the second MSCM indicates an intent to perform the potential manipulation.
態樣15：如態樣9至12中任一項的方法，其中第一操縱訊息是操縱共享協調訊息（MSCM）並且先前接收的訊息是安全訊息。Aspect 15: The method of any one of Aspects 9 to 12, wherein the first manipulation message is a manipulation shared coordination message (MSCM) and the previously received message is a safety message.
態樣16：如態樣15的方法，其中安全訊息是基本安全訊息（BSM）。Aspect 16: The method of Aspect 15, where the security message is a Basic Security Message (BSM).
態樣17：如態樣9至16中任一項的方法，其中第一車輛被配置為使用車輛對一切（V2X）協定進行通訊。Aspect 17: The method of any one of Aspects 9 to 16, wherein the first vehicle is configured to communicate using a vehicle-to-everything (V2X) protocol.
態樣18：一種用於車輛處的無線通訊的方法，該方法包括：在車輛處從一或多個車輛接收複數個操縱訊息，該複數個操縱訊息包括相同的操縱標識（ID）和一或多個源ID；及在車輛處決定複數個操縱訊息的一或多個源ID是否匹配。Aspect 18: A method for wireless communication at a vehicle, the method comprising: receiving at the vehicle a plurality of control messages from one or more vehicles, the plurality of control messages including the same control identification (ID) and one or more multiple source IDs; and determining at the vehicle whether one or more source IDs of the plurality of control messages match.
態樣19：如態樣18的方法，亦包括：在車輛處決定來自複數個操縱訊息的操縱訊息的源ID不同於來自複數個操縱訊息的至少一個其他操縱訊息的至少一個其他源ID；及在車輛處基於決定操縱訊息的源ID不同於至少一個其他操縱訊息的至少一個其他源ID而向後端伺服器或者一或多個其他車輛中的至少一個發送不當行為報告。Aspect 19: The method of aspect 18, further comprising: determining at the vehicle that the source ID of the control message from the plurality of control messages is different from at least one other source ID of at least one other control message from the plurality of control messages; and An inappropriate behavior report is sent at the vehicle to at least one of the backend server or one or more other vehicles based on a determination that the source ID of the steering message is different from at least one other source ID of at least one other steering message.
態樣20：如態樣19的方法，其中來自複數個操縱訊息的至少一個其他操縱訊息是指示對執行操縱的請求的操縱訊息、指示執行操縱的預留的操縱訊息、或指示主車輛取消操縱的執行的操縱訊息中的至少一個。Aspect 20: The method of aspect 19, wherein at least one other maneuver message from the plurality of maneuver messages is a maneuver message indicating a request to perform a maneuver, a reserved maneuver message indicating a reservation to perform a maneuver, or instructing the host vehicle to cancel the maneuver. At least one of the executed manipulation messages.
態樣21：如態樣19或20中任一項的方法，其中不當行為報告包括從操縱訊息偵測到的攻擊類型或者衝突操縱訊息中的至少一個。Aspect 21: The method of any one of aspects 19 or 20, wherein the misconduct report includes at least one of an attack type detected from the manipulation message or a conflicting manipulation message.
態樣22：如態樣18至21中任一項的方法，亦包括：在車輛處決定來自複數個操縱訊息的操縱訊息的至少一個操縱ID是新操縱ID；及在車輛處基於至少一個操縱ID是新操縱ID來決定複數個操縱訊息的一或多個源ID是否匹配。Aspect 22: The method of any one of aspects 18 to 21, further comprising: determining at the vehicle that at least one manipulation ID of the manipulation message from the plurality of manipulation messages is a new manipulation ID; and based on at least one manipulation at the vehicle ID is a new operation ID to determine whether one or more source IDs of multiple operation messages match.
態樣23：如態樣18至22中任一項的方法，其中複數個操縱訊息包括複數個操縱共享協調訊息（MSCM）。Aspect 23: The method of any one of aspects 18 to 22, wherein the plurality of manipulation messages include a plurality of manipulation shared coordination messages (MSCM).
態樣24：如態樣18至23中任一項的方法，其中車輛被配置為使用車輛對一切（V2X）協定進行通訊。Aspect 24: The method of any of Aspects 18 to 23, wherein the vehicle is configured to communicate using a vehicle-to-everything (V2X) protocol.
態樣25：一種用於無線通訊的裝置，包括記憶體和耦合到記憶體的一或多個處理器（例如，被實現於電路中）。一或多個處理器被配置為：發送與由車輛進行的潛在操縱相關聯的訊息；基於訊息決定潛在操縱的操縱標識（ID）；及發送用於潛在操縱的第一操縱訊息，第一操縱訊息包括操縱ID。Aspect 25: An apparatus for wireless communications, including a memory and one or more processors coupled to the memory (eg, implemented in circuitry). The one or more processors are configured to: send a message associated with a potential maneuver performed by the vehicle; determine a maneuver identification (ID) of the potential maneuver based on the message; and send a first maneuver message for the potential maneuver, the first maneuver The message includes the manipulation ID.
態樣26：如態樣25的裝置，其中訊息是安全訊息。Aspect 26: A device as in aspect 25, where the message is a security message.
態樣27：如態樣26的裝置，其中安全訊息是基本安全訊息（BSM）。Aspect 27: A device as in Aspect 26, where the security message is a Basic Security Message (BSM).
態樣28：如態樣25的裝置，其中訊息是指示執行潛在操縱的意圖的第二操縱訊息。Aspect 28: The device of aspect 25, wherein the message is a second manipulation message indicating an intent to perform the underlying manipulation.
態樣29：如態樣28的裝置，其中第二操縱訊息是操縱共享協調訊息（MSCM）。Aspect 29: The device of aspect 28, wherein the second manipulation message is a manipulation shared coordination message (MSCM).
態樣30：如態樣25至29中任一項的裝置，其中第一操縱訊息是指示對執行潛在操縱的請求的操縱共用協調訊息（MSCM）。Aspect 30: The apparatus of any one of aspects 25 to 29, wherein the first manipulation message is a manipulation shared coordination message (MSCM) indicating a request to perform a potential manipulation.
態樣31：如態樣25至30中任一項的裝置，其中裝置是車輛的部分，車輛被配置為使用車輛對一切（V2X）協定進行通訊。Aspect 31: The device of any one of Aspects 25 to 30, wherein the device is part of a vehicle and the vehicle is configured to communicate using a vehicle-to-everything (V2X) protocol.
態樣32：如態樣25至31中任一項的裝置，其中為了基於訊息決定潛在操縱的操縱ID，一或多個處理器被配置為將散列演算法應用於訊息以產生經散列訊息，操縱ID包括經散列訊息。Aspect 32: The apparatus of any one of aspects 25 to 31, wherein to determine an manipulation ID of a potential manipulation based on the message, the one or more processors are configured to apply a hashing algorithm to the message to produce a hashed The message, manipulation ID includes the hashed message.
態樣33：一種用於無線通訊的裝置，包括記憶體和耦合到記憶體的一或多個處理器（例如，被實現於電路中）。一或多個處理器被配置為：從車輛接收第一操縱訊息，第一操縱訊息包括第一操縱標識（ID）；決定第一操縱訊息的第一操縱ID是新操縱ID；及基於第一操縱ID是新操縱ID來決定第一操縱ID是否與基於先前接收的訊息決定的第二操縱ID匹配。Aspect 33: An apparatus for wireless communications, including a memory and one or more processors coupled to the memory (eg, implemented in circuitry). One or more processors are configured to: receive a first manipulation message from the vehicle, the first manipulation message including a first manipulation identification (ID); determine that the first manipulation ID of the first manipulation message is the new manipulation ID; and based on the first manipulation ID The manipulation ID is a new manipulation ID to determine whether the first manipulation ID matches the second manipulation ID determined based on the previously received message.
態樣34：如態樣33的裝置，其中一或多個處理器被配置為：將散列演算法應用於先前接收的訊息以產生經散列訊息，第二操縱ID包括經散列訊息；及將第二操縱ID與第一操縱ID進行比較。Aspect 34: The apparatus of aspect 33, wherein the one or more processors are configured to: apply a hashing algorithm to previously received messages to generate a hashed message, the second manipulation ID comprising the hashed message; and comparing the second manipulation ID with the first manipulation ID.
態樣35：如態樣33或34中任一項的裝置，其中一或多個處理器被配置為：決定第一操縱ID不同於第二操縱ID；及基於決定第一操縱ID不同於第二操縱ID而向後端伺服器或者一或多個其他車輛中的至少一個發送不當行為報告。Aspect 35: The apparatus of any one of aspects 33 or 34, wherein the one or more processors are configured to: determine that the first manipulation ID is different from the second manipulation ID; and based on determining that the first manipulation ID is different from the second manipulation ID b. Manipulate the ID to send a misconduct report to at least one of the backend server or one or more other vehicles.
態樣36：如態樣35的裝置，其中不當行為報告包括從第一操縱訊息偵測到的攻擊類型或者衝突操縱訊息中的至少一個。Aspect 36: The apparatus of aspect 35, wherein the misconduct report includes at least one of an attack type detected from the first manipulation message or a conflicting manipulation message.
態樣37：如態樣33至36中任一項的裝置，其中第一操縱訊息是第一操縱共享協調訊息（MSCM）並且先前接收的訊息是第二MSCM。Aspect 37: The apparatus of any one of aspects 33 to 36, wherein the first manipulation message is a first manipulation shared coordination message (MSCM) and the previously received message is a second MSCM.
態樣38：如態樣37的裝置，其中第二MSCM指示執行潛在操縱的意圖。Aspect 38: The apparatus of aspect 37, wherein the second MSCM indicates an intent to perform the potential manipulation.
態樣39：如態樣33至36中任一項的裝置，其中第一操縱訊息是操縱共享協調訊息（MSCM）並且先前接收的訊息是安全訊息。Aspect 39: The apparatus of any one of aspects 33 to 36, wherein the first manipulation message is a manipulation shared coordination message (MSCM) and the previously received message is a safety message.
態樣40：如態樣39的裝置，其中安全訊息是基本安全訊息（BSM）。Aspect 40: A device as in Aspect 39, where the security message is a Basic Security Message (BSM).
態樣41：如態樣33至40中任一項的裝置，其中裝置是額外車輛的部分，該額外車輛被配置為使用車輛對一切（V2X）協定進行通訊。Aspect 41: The device of any one of Aspects 33 to 40, wherein the device is part of an additional vehicle configured to communicate using a vehicle-to-everything (V2X) protocol.
態樣42：一種用於無線通訊的裝置，包括記憶體和耦合到記憶體的一或多個處理器（例如，被實現於電路中）。一或多個處理器被配置為：從一或多個車輛接收複數個操縱訊息，該複數個操縱訊息包括相同的操縱標識（ID）和一或多個源ID；及決定複數個操縱訊息的一或多個源ID是否匹配。Aspect 42: An apparatus for wireless communications, including a memory and one or more processors coupled to the memory (eg, implemented in circuitry). The one or more processors are configured to: receive a plurality of control messages from one or more vehicles, the plurality of control messages including the same control identification (ID) and one or more source IDs; and determine a plurality of control messages. Whether one or more source IDs match.
態樣43：如態樣42的裝置，其中一或多個處理器被配置為：決定來自複數個操縱訊息的操縱訊息的源ID不同於來自複數個操縱訊息的至少一個其他操縱訊息的至少一個其他源ID；及基於決定操縱訊息的源ID不同於至少一個其他操縱訊息的至少一個其他源ID而向後端伺服器或者一或多個其他車輛中的至少一個發送不當行為報告。Aspect 43: The apparatus of aspect 42, wherein the one or more processors are configured to: determine that the source ID of the manipulation message from the plurality of manipulation messages is different from at least one other manipulation message from the plurality of manipulation messages. other source ID; and sending an inappropriate behavior report to at least one of the backend server or one or more other vehicles based on determining that the source ID of the manipulation message is different from at least one other source ID of at least one other manipulation message.
態樣44：如態樣43的裝置，其中來自複數個操縱訊息的至少一個其他操縱訊息是指示對執行操縱的請求的操縱訊息、指示執行操縱的預留的操縱訊息、或指示主車輛取消操縱的執行的操縱訊息中的至少一個。Aspect 44: The apparatus of aspect 43, wherein at least one other maneuver message from the plurality of maneuver messages is a maneuver message indicating a request to perform a maneuver, a reserved maneuver message indicating a reservation to perform a maneuver, or instructing the host vehicle to cancel the maneuver. At least one of the executed manipulation messages.
態樣45：如態樣43或44中任一項的裝置，其中不當行為報告包括從操縱訊息偵測到的攻擊類型或者衝突操縱訊息中的至少一個。Aspect 45: The apparatus of any one of aspects 43 or 44, wherein the misconduct report includes at least one of an attack type detected from the manipulation message or a conflicting manipulation message.
態樣46：如態樣42至45中任一項的裝置，其中一或多個處理器被配置為：決定來自複數個操縱訊息的操縱訊息的至少一個操縱ID是新操縱ID；及基於至少一個操縱ID是新操縱ID來決定複數個操縱訊息的一或多個源ID是否匹配。Aspect 46: The apparatus of any one of aspects 42 to 45, wherein the one or more processors are configured to: determine that at least one manipulation ID of the manipulation message from the plurality of manipulation messages is a new manipulation ID; and based on at least An operation ID is a new operation ID that determines whether one or more source IDs of multiple operation messages match.
態樣47：如態樣42至46中任一項的裝置，其中複數個操縱訊息包括複數個操縱共享協調訊息（MSCM）。Aspect 47: The device of any one of aspects 42 to 46, wherein the plurality of manipulation messages includes a plurality of manipulation shared coordination messages (MSCM).
態樣48：如態樣42至47中任一項的裝置，其中裝置是車輛的部分，車輛被配置為使用車輛對一切（V2X）協定進行通訊。Aspect 48: The device of any one of Aspects 42 to 47, wherein the device is part of a vehicle and the vehicle is configured to communicate using a vehicle-to-everything (V2X) protocol.
態樣49：一種非暫時性電腦可讀取媒體，包括指令，指令在由一或多個處理器執行時，導致一或多個處理器執行根據態樣1至8中任一項的操作。Aspect 49: A non-transitory computer-readable medium including instructions that, when executed by one or more processors, cause the one or more processors to perform operations in accordance with any one of Aspects 1 to 8.
態樣50：一種裝置，包括用於執行根據態樣1至8中任一項的操作的部件。Aspect 50: An apparatus comprising means for performing an operation according to any one of aspects 1 to 8.
態樣51：一種非暫時性電腦可讀取媒體，包括指令，指令在由一或多個處理器執行時，導致一或多個處理器執行根據態樣9至17中任一項的操作。Aspect 51: A non-transitory computer-readable medium including instructions that, when executed by one or more processors, cause the one or more processors to perform operations in accordance with any one of Aspects 9 through 17.
態樣52：一種裝置，包括用於執行根據態樣9至17中任一項的操作的部件。Aspect 52: An apparatus comprising means for performing an operation according to any one of aspects 9 to 17.
態樣53：一種非暫時性電腦可讀取媒體，包括指令，指令在由一或多個處理器執行時，導致一或多個處理器執行根據態樣18至24中任一項的操作。Aspect 53: A non-transitory computer-readable medium including instructions that, when executed by one or more processors, cause the one or more processors to perform operations in accordance with any one of Aspects 18 to 24.
態樣54：一種裝置，包括用於執行根據態樣18至24中任一項的操作的部件。Aspect 54: An apparatus comprising means for performing an operation according to any one of aspects 18 to 24.
態樣53：一種非暫時性電腦可讀取媒體，包括指令，指令在由一或多個處理器執行時，導致一或多個處理器執行根據態樣1至8、態樣9至17、及/或態樣18至24中任一項的操作。Aspect 53: A non-transitory computer-readable medium including instructions that, when executed by one or more processors, cause the one or more processors to execute aspects 1 through 8, Aspects 9 through 17, and/or the operation of any one of aspects 18 to 24.
態樣54：一種裝置，包括用於執行根據態樣1至8、態樣9至17、及/或態樣18至24中任一項的操作的部件。Aspect 54: An apparatus comprising means for performing an operation according to any one of aspects 1 to 8, aspects 9 to 17, and/or aspects 18 to 24.
先前描述被提供用於使任何本發明所屬領域中具有通常知識者能夠實踐本文描述的各個態樣。對這些態樣的各種修改對本發明所屬領域中具有通常知識者而言將是顯而易見的，並且本文定義的一般原理可以被應用於其他態樣。因此，請求項不意欲受限於本文所示出的態樣，而是意欲被賦予與請求項的語言一致的全部範疇，其中除非有特定說明，以單數形式對元件的引用並非意欲意指「一個以及僅一個」，而是「一或多個」。The preceding description is provided to enable any person of ordinary skill in the art to which this invention pertains to practice the various aspects described herein. Various modifications to these aspects will be readily apparent to those skilled in the art to which this invention belongs, and the general principles defined herein may be applied to other aspects. Accordingly, the claims are not intended to be limited to the form shown herein, but are to be given all scope consistent with the language of the claims, wherein references to an element in the singular are not intended to mean " "One and only one", but "one or more".
100:無線通訊系統和存取網路 102:基地台 102':小型細胞 104:UE 107:RSU 110:地理覆蓋區域 110':覆蓋區域 120:通訊鏈路 132:回載鏈路 134:回載鏈路 150:Wi-Fi存取點（AP） 152:Wi-Fi站（STA） 154:通訊鏈路 158:設備對設備（D2D）通訊鏈路 160:進化封包核心（EPC 162:行動性管理實體（MME） 164:其他MME 166:服務閘道 168:多媒體廣播多播服務（MBMS）閘道 170:廣播多播服務中心（BM-SC） 172:封包資料網路（PDN）閘道 174:歸屬用戶伺服器（HSS） 176:IP服務 180:mmW基地台 182:波束成形 182':發送方向 182'':接收方向 184:回載鏈路 190:核心網路 192:存取和行動性管理功能（AMF） 193:其他AMF 194:通信期管理功能（SMF） 195:使用者平面功能（UPF） 196:統一資料管理（UDM） 197:統一資料管理（UDM） 198:偵測部件 199:BSM或緩解部件 200:圖 310:第一無線通訊設備 316:發送（TX）處理器 318:發送器 320:天線 350:第二無線通訊設備 352:天線 354:接收器 356:接收（RX）處理器 358:通道估計器 359:控制器/處理器 360:記憶體 368:TX處理器 370:接收（RX）處理器 374:通道估計器 375:控制器/處理器 376:記憶體 402:網路（Uu）介面與基地台 403:RSU 404:車輛 405:車輛 407:使用者設備 504:車輛 550:車輛計算系統 551:功率管理系統 552:控制系統 554:資訊娛樂系統 555:智慧運輸系統（ITS） 556:感測器系統 558:通訊系統 560:OEM SIM 562:使用者SIM 564:數據機 607:使用者設備 670:計算系統 672:輸入設備 674:SIM 676:數據機 678:無線收發器 680:輸出設備 682:DSP 684:處理器 686:記憶體設備 687:天線 688:無線訊號 689:匯流排 700:實例 701:範圍 702:UE 704:UE 706:UE 707:RSU 708:UE 714:傳輸 716:傳輸 718:傳輸 720:傳輸 800:圖 802:主車輛（HV） 804:第一遠端車輛（RV1） 806:NV 808:RSU 810:圖 812:障礙物 820:圖 822:道路使用者（VRU） 830:圖 832:方塊 834:方塊 900:圖 902:HV 904:RV1 906:NV 908:RSU 910:SDSM 912:SDSM 922:VRU 1000:車輛配置 1002:車輛 1004:車輛 1006:車輛 1100:車輛配置 1102:車輛 1104:車輛 1106:車輛 1108:車輛 1110:車輛 1200:車輛配置 1202:車輛 1204:車輛 1206:車輛 1208:車輛 1210:車輛配置 1300:通訊交換 1310a:訊號 1310b:訊號 1320a:訊號 1320b:訊號 1330a:訊號 1330b:訊號 1340a:訊號 1340b:訊號 1400:MSCM 1402:訊息（Msg）時間戳記 1418:操縱執行狀態 1404:HV三維（3D）定位 1406:定位準確性 1408:MSCM類型 1410:源ID 1412:目的地ID 1414:操縱ID 1416:操縱 1418:原因代碼 1420:操縱執行狀態 1422:操縱類型 1424a:子操縱 1424b:子操縱 1500:基本協定 1510:操縱意圖 1511:操縱請求 1512:操縱回應 1513:操縱預留 1514:HV操縱取消 1515:RV操縱取消 1517:操縱執行狀態 1600:緊急協定 1610:操縱意圖 1614:HV操縱取消 1615:RV操縱取消 1616:緊急操縱預留 1617:操縱執行狀態 1700:程序 1710:方塊 1720:方塊 1730:方塊 1740:方塊 1750:方塊 1800:程序 1810:方塊 1820:方塊 1830:程序A 1840:方塊 1850:程序B 1860:方塊 1870:方塊 1880:方塊 1900:程序 1910:方塊 1920:方塊 1930:方塊 2000:程序 2010:方塊 2020:方塊 2030:方塊 2100:程序 2110:方塊 2120:方塊 2200:示圖 2202:裝置 2204:蜂巢基頻處理器 2206:應用處理器 2208:安全數位（SD）卡 2210:螢幕 2212:藍芽模組 2214:無線區域網路（WLAN）模組 2216:GNSS模組 2218:功率供應 2220:用戶身份模組（SIM）卡 2222:蜂巢RF收發器 2230:接收部件 2232:通訊管理器 2234:發送部件 2240:偵測部件 2242:訊息部件 3120:UE 3300:分解式基地台 3305:服務管理和編排（SMO）框架 3310:中央單元（CU）3310 3311:開放eNB（O-eNB） 3315:非即時（非RT）RIC 3320:核心網路 3325:近RT RIC 3330:DU 3340:無線電單元（RU） 3390:開放雲端（O-雲端） A1:介面 DMRS:解調RS E2:鏈路 HV:主車輛 NV:非V2X實體 O1:介面 O2:介面 PC5:介面 RSU:路邊單元 RV:遠端車輛 RV1:第一遠端車輛 RV-1:車輛 RV-2:車輛 RV-3:車輛 Uu:廣域網路介面 VRU:虛擬無線電單元 100: Wireless communication systems and access networks 102:Base station 102': small cells 104:UE 107:RSU 110:Geographic coverage area 110': coverage area 120: Communication link 132:Backhaul link 134:Backhaul link 150:Wi-Fi access point (AP) 152:Wi-Fi station (STA) 154: Communication link 158: Device-to-device (D2D) communication link 160: Evolved Packet Core (EPC 162: Mobility Management Entity (MME) 164:Other MME 166:Service gateway 168: Multimedia Broadcast Multicast Service (MBMS) Gateway 170: Broadcast Multicast Service Center (BM-SC) 172: Packet Data Network (PDN) gateway 174: Home User Server (HSS) 176:IP service 180:mmW base station 182: Beamforming 182':Sending direction 182'': receiving direction 184:Backhaul link 190:Core network 192: Access and Mobility Management Function (AMF) 193:Other AMF 194: Communication period management function (SMF) 195:User Plane Function (UPF) 196: Unified Data Management (UDM) 197: Unified Data Management (UDM) 198:Detection component 199: BSM or Mitigation Parts 200: Figure 310: First wireless communication equipment 316: Transmit (TX) processor 318: Transmitter 320:Antenna 350: Second wireless communication equipment 352:Antenna 354:Receiver 356:Receive (RX) processor 358: Channel estimator 359:Controller/Processor 360:Memory 368:TX processor 370:Receive (RX) processor 374:Channel Estimator 375:Controller/Processor 376:Memory 402: Network (Uu) interface and base station 403:RSU 404:Vehicle 405:Vehicle 407: User equipment 504:Vehicle 550:Vehicle Computing System 551:Power management system 552:Control system 554: Infotainment system 555: Intelligent Transportation System (ITS) 556: Sensor system 558:Communication system 560:OEM SIM 562:User SIM 564: Modem 607: User equipment 670:Computing Systems 672:Input device 674:SIM 676: Modem 678:Wireless transceiver 680:Output device 682:DSP 684: Processor 686:Memory device 687:Antenna 688:Wireless signal 689:Bus 700:Instance 701: Range 702:UE 704:UE 706:UE 707:RSU 708:UE 714:Transmission 716:Transmission 718:Transmission 720:Transmission 800: Figure 802: Host vehicle (HV) 804: First remote vehicle (RV1) 806:NV 808:RSU 810: Figure 812:Obstacle 820: Figure 822: Road User (VRU) 830: Figure 832:Block 834:block 900: Figure 902:HV 904:RV1 906:NV 908:RSU 910:SDSM 912:SDSM 922:VRU 1000:Vehicle configuration 1002:Vehicle 1004:Vehicle 1006:Vehicle 1100:Vehicle configuration 1102:Vehicle 1104:Vehicle 1106:Vehicle 1108:Vehicle 1110:Vehicle 1200:Vehicle configuration 1202:Vehicle 1204:Vehicle 1206:Vehicle 1208:Vehicle 1210:Vehicle configuration 1300: Communication exchange 1310a: Signal 1310b:Signal 1320a: Signal 1320b:signal 1330a: Signal 1330b:Signal 1340a: Signal 1340b:signal 1400:MSCM 1402: Message (Msg) timestamp 1418:Manipulate execution status 1404:HV three-dimensional (3D) positioning 1406: Positioning accuracy 1408:MSCM type 1410: Source ID 1412:Destination ID 1414: Manipulate ID 1416:Manipulation 1418: Reason code 1420: Manipulate execution status 1422:Manipulation type 1424a: Sub-manipulation 1424b: Sub-manipulation 1500:Basic Agreement 1510:Manipulative Intent 1511:Manipulation request 1512: Manipulating responses 1513:Manipulate reservation 1514:HV control canceled 1515:RV control canceled 1517: Manipulate execution status 1600:Emergency Agreement 1610:Manipulative intent 1614:HV control canceled 1615:RV operation canceled 1616: Emergency operation reserved 1617: Manipulate execution status 1700:Program 1710:block 1720:block 1730:block 1740:block 1750:block 1800:Program 1810:block 1820:square 1830:Program A 1840:block 1850:Program B 1860:block 1870:block 1880:square 1900:Program 1910:square 1920:square 1930:square 2000: Program 2010: Cube 2020: Cube 2030: Cube 2100:Program 2110:block 2120:block 2200: Diagram 2202:Device 2204: Cellular Baseband Processor 2206:Application processor 2208: Secure Digital (SD) Card 2210:Screen 2212:Bluetooth module 2214: Wireless Local Area Network (WLAN) module 2216:GNSS module 2218:Power supply 2220: Subscriber Identity Module (SIM) card 2222: Cellular RF Transceiver 2230:Receive parts 2232:Communication Manager 2234:Send parts 2240:Detection component 2242:Message component 3120:UE 3300: Decomposed base station 3305: Service Management and Orchestration (SMO) Framework 3310: Central Unit (CU) 3310 3311: Open eNB (O-eNB) 3315: Non-real-time (non-RT) RIC 3320:Core network 3325: Near RT RIC 3330:DU 3340: Radio unit (RU) 3390: Open Cloud (O-Cloud) A1:Interface DMRS: Demodulated RS E2: link HV: Main vehicle NV: Non-V2X entity O1:Interface O2:Interface PC5:Interface RSU: Roadside Unit RV: remote vehicle RV1: the first remote vehicle RV-1: Vehicle RV-2: Vehicle RV-3: Vehicle Uu: wide area network interface VRU: virtual radio unit
所附附圖是為了幫助描述本案的各個態樣而呈現的，並且僅僅是為了說明這些態樣而提供的，而不是對其的限制。The accompanying drawings are presented to assist in describing various aspects of the present invention, and are provided solely to illustrate these aspects, but not to limit them.
圖1是圖示出根據本案的某些態樣的無線通訊系統和存取網路的實例的示圖。FIG. 1 is a diagram illustrating an example of a wireless communication system and an access network according to some aspects of the present invention.
圖2圖示出根據本案的某些態樣的側鏈路時槽結構的實例態樣。FIG. 2 illustrates an example aspect of a sidelink slot structure according to some aspects of the present invention.
圖3A是圖示出根據本案的某些態樣的無線通訊（例如，V2V通訊、V2X通訊、及/或其他設備對設備通訊）中所涉及的第一設備和第二設備的實例的示圖。3A is a diagram illustrating an example of a first device and a second device involved in wireless communications (eg, V2V communications, V2X communications, and/or other device-to-device communications) according to certain aspects of the present invention. .
圖3B是圖示出根據某些實例的可由所揭示的系統用於安全地管理用於通訊（例如，V2X通訊）的操縱ID的分解式基地台架構的實例的示圖。3B is a diagram illustrating an example of a disaggregated base station architecture that may be used by the disclosed system to securely manage manipulation IDs for communications (eg, V2X communications), according to certain examples.
圖4是圖示出根據本案的某些態樣的各種使用者設備（UE）經由直接通訊介面（例如，基於蜂巢的PC5側鏈路介面、802.11p定義的專用短距離通訊（DSRC）介面、或其他直接介面）和廣域網路（Uu）介面進行通訊的實例的示圖。4 is a diagram illustrating various user equipments (UEs) communicating via direct communication interfaces (e.g., cellular-based PC5 side link interface, 802.11p-defined dedicated short-range communication (DSRC) interface, or other direct interface) and a wide area network (Uu) interface for communication.
圖5是圖示出根據本案的某些態樣的車輛的計算系統的實例的方塊圖。5 is a block diagram illustrating an example of a computing system for a vehicle in accordance with certain aspects of the present invention.
圖6是圖示出根據本案的某些態樣的使用者設備的計算系統的實例的方塊圖。6 is a block diagram illustrating an example of a computing system of user equipment according to certain aspects of the present invention.
圖7是圖示出根據本案的某些態樣的無線通訊（例如，側鏈路通訊）中所涉及的設備的實例的示圖。7 is a diagram illustrating examples of devices involved in wireless communications (eg, side-link communications) according to certain aspects of the present invention.
圖8A-8D是圖示出根據本案的某些態樣的用於協調和自動化駕駛系統的感測器共享的實例的示圖。8A-8D are diagrams illustrating examples of sensor sharing for coordinated and automated driving systems according to certain aspects of the present invention.
圖9是圖示出根據本案的某些態樣的用於協調和自動化駕駛系統的感測器共享的實例的示圖。9 is a diagram illustrating an example of sensor sharing for a coordinated and automated driving system according to some aspects of the present invention.
圖10是圖示出根據本案的某些態樣的用於針對接管場景的車輛操縱的車輛配置的實例的示圖。10 is a diagram illustrating an example of a vehicle configuration for vehicle maneuvering for a takeover scenario in accordance with certain aspects of the present invention.
圖11是圖示出根據本案的某些態樣的用於針對併入場景的車輛操縱的車輛配置的實例的示圖。11 is a diagram illustrating an example of a vehicle configuration for vehicle maneuvering for a merge scenario in accordance with certain aspects of the present disclosure.
圖12A和12B是圖示出根據本案的某些態樣的用於針對車道改變場景的車輛操縱的車輛配置的實例的示圖。12A and 12B are diagrams illustrating examples of vehicle configurations for vehicle maneuvering for lane change scenarios in accordance with certain aspects of the present invention.
圖13是根據本案的某些態樣的用於圖12A和12B的車輛操縱的通訊（例如，V2X通訊）交換的實例的示圖。13 is a diagram of an example of communication (eg, V2X communication) exchange for vehicle manipulation of FIGS. 12A and 12B according to certain aspects of the present invention.
圖14是根據本案內容的某些態樣的實例操縱共享和協調訊息（MSCM）的示圖。Figure 14 is a diagram of an example manipulation of a shared and coordinated message (MSCM) in accordance with some aspects of this case.
圖15是根據本案的某些態樣的可以被用於操縱共享和協調訊息（MSCM）的實例基本協定的示圖。15 is a diagram of an example basic protocol that may be used to manipulate shared and coordinated messages (MSCM) according to some aspects of the present invention.
圖16是根據本案的某些態樣的可以被用於MSCM的實例緊急協定的示圖。Figure 16 is a diagram of an example emergency protocol that may be used for MSCM, according to some aspects of the present invention.
圖17是圖示出根據本案的某些態樣的用於產生用於通訊（例如，V2X通訊）的唯一操縱ID的程序的實例的流程圖。17 is a flowchart illustrating an example of a procedure for generating a unique manipulation ID for communications (eg, V2X communications) in accordance with certain aspects of the present invention.
圖18是圖示出根據本案的某些態樣的用於針對通訊（例如，V2X通訊）的操縱ID衝突的本端不當行為偵測器和報告（MBDR）方案的程序的實例的流程圖。18 is a flowchart illustrating an example of a procedure for a local Misbehavior Detector and Reporting (MBDR) scheme for manipulation of ID conflicts for communications (eg, V2X communications), in accordance with certain aspects of the present invention.
圖19是圖示出根據本案的某些態樣的用於無線通訊的程序的實例的流程圖。19 is a flowchart illustrating an example of a procedure for wireless communication according to some aspects of the present invention.
圖20是圖示出根據本案的某些態樣的用於無線通訊的程序的另一實例的流程圖。FIG. 20 is a flowchart illustrating another example of a procedure for wireless communication according to some aspects of the present invention.
圖21是圖示出根據本案的某些態樣的用於無線通訊的程序的另一實例的流程圖。FIG. 21 is a flowchart illustrating another example of a procedure for wireless communication according to some aspects of the present invention.
圖22是圖示出根據本案的某些態樣的用於實例裝置的硬體實現的實例的示圖。22 is a diagram illustrating an example of a hardware implementation for an example device in accordance with certain aspects of the subject matter.
國內寄存資訊(請依寄存機構、日期、號碼順序註記) 無 國外寄存資訊(請依寄存國家、機構、日期、號碼順序註記) 無 Domestic storage information (please note in order of storage institution, date and number) without Overseas storage information (please note in order of storage country, institution, date, and number) without
1500:基本協定 1500:Basic Agreement
1510:操縱意圖 1510:Manipulative Intent
1511:操縱請求 1511:Manipulation request
1512:操縱回應 1512: Manipulating responses
1513:操縱預留 1513:Manipulate reservation
1514:HV操縱取消 1514:HV control canceled
1515:RV操縱取消 1515:RV control canceled
1517:操縱執行狀態 1517: Manipulate execution status
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| US202263315417P | 2022-03-01 | 2022-03-01 | |
| US63/315,417 | 2022-03-01 | ||
| US18/161,706 US20230282109A1 (en) | 2022-03-01 | 2023-01-30 | Secured management of maneuver identifications (ids) |
| US18/161,706 | 2023-01-30 |
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| TW202337238A true TW202337238A (en) | 2023-09-16 |
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| DE102016205142A1 (en) * | 2016-03-29 | 2017-10-05 | Volkswagen Aktiengesellschaft | Methods, apparatus and computer program for initiating or performing a cooperative maneuver |
| WO2018108293A1 (en) * | 2016-12-16 | 2018-06-21 | Huawei Technologies Co., Ltd. | Methods, devices and vehicles for authenticating a vehicle during a cooperative maneuver |
| CN114514758A (en) * | 2019-11-04 | 2022-05-17 | 英特尔公司 | Maneuver coordination service in a vehicle network |
| US20210245758A1 (en) * | 2020-02-11 | 2021-08-12 | Ford Global Technologies, Llc | V2x traffic maneuver handshaking between traffic participants |
| US11692839B2 (en) * | 2020-05-20 | 2023-07-04 | Here Global B.V. | Methods and apparatuses for providing navigation instructions |
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