WO2018153296A1

WO2018153296A1 - Method and device for finding vehicle queue

Info

Publication number: WO2018153296A1
Application number: PCT/CN2018/076286
Authority: WO
Inventors: 梁靖
Original assignee: 电信科学技术研究院有限公司
Priority date: 2017-02-24
Filing date: 2018-02-11
Publication date: 2018-08-30
Also published as: CN108512867A

Abstract

Provided are a method and device for finding a vehicle queue used for solving the problem existing in the prior art of lacking a solution to finding a vehicle queue in an eV2X application scenario. In the embodiments of the present invention, a first communication device located in a vehicle queue determines that the vehicle queue needs to be found by other vehicles; the first communication device sends information about finding the vehicle queue, and a second communication device on a vehicle receives the information about finding the vehicle queue sent by the first communication device located in the vehicle queue; and the second communication device determines that the vehicle queue is found according to the information about finding the vehicle queue. Since, in the present invention, the information about finding the vehicle queue is sent by the first communication device in the vehicle queue, all second communication devices able to receive the information about finding the vehicle queue can find the vehicle queue, providing a simple and effective solution to finding a vehicle queue.

Description

一种发现车队的方法和设备Method and device for discovering a fleet

本申请要求在2017年2月24日提交中国专利局、申请号为201710104217.0、发明名称为“一种发现车队的方法和设备”的中国专利申请的优先权，其全部内容通过引用结合在本申请中。The present application claims the priority of the Chinese Patent Application, filed on Feb. 24, 2017, the entire disclosure of which is hereby incorporated by reference. in.

技术领域Technical field

本发明涉及通信技术领域，特别涉及一种发现车队的方法和设备。The present invention relates to the field of communications technologies, and in particular, to a method and an apparatus for discovering a fleet.

背景技术Background technique

V2X(Vehicle to Everything，车到万物)车联网在概念上是物联网面向应用的实现，同时也是D2D(Device to Device，设备到设备)技术的深入研究，V2X指的是车辆之间、车辆与路测设备以及车辆与基础设施之间的通信***，V2X可以利用装载在车辆上的RFID(Radio Frequency Identification，射频识别)、传感器、摄像头图像处理获取车辆的行驶情况，***运行状态信息以及周边道路环境信息，同时通过GPS(Global Positioning System，全球定位***)定位获取车辆的位置信息，并通过D2D技术架构这些信息，实现端对端的传输，在整个车联网***中实现信息的共享，并通过对这些信息的分析与处理，及时对驾驶员进行路况汇报与警告，使其能有效避开拥堵路段或者潜在危险，进而选择最佳行驶路线。V2X (Vehicle to Everything) is conceptually an application-oriented implementation of the Internet of Things. It is also an in-depth study of D2D (Device to Device) technology. V2X refers to vehicles, vehicles and vehicles. The road test equipment and the communication system between the vehicle and the infrastructure, the V2X can use the RFID (Radio Frequency Identification), sensor, and camera image processing loaded on the vehicle to obtain the driving condition of the vehicle, the system operation status information, and the surrounding roads. Environmental information, and GPS (Global Positioning System) positioning to obtain the location information of the vehicle, and through D2D technology to structure this information, to achieve end-to-end transmission, share information in the entire vehicle network system, and through the The analysis and processing of these information, timely report and warning of the road conditions to the driver, so that it can effectively avoid the congestion of road sections or potential dangers, and then choose the best driving route.

V2X主要包含以下三方面内容：V2X mainly includes the following three aspects:

1、V2V(Vechile toVechile，车到车)：车辆上的OBU(On Broad Unit，车载单元)之间的相互通信。1. V2V (Vechile to Vechile, car to car): Intercommunication between OBUs (On Broad Units) on the vehicle.

2、V2I(Vechile to Infrastructure，车到网络)：车辆和RSU(Road Side Unit，路侧设备)之间的相互通信。2. V2I (Vechile to Infrastructure): Communication between the vehicle and the RSU (Road Side Unit).

3、V2P(VechiletoPedestrian，车到行人)：车辆和行人之间的相互通信。3, V2P (VechiletoPedestrian, car to pedestrians): communication between vehicles and pedestrians.

目前，eV2X(enhancement of Vehicle to Everything，增强车到万物)通信是对V2X通信的演进，在基于LTE网络V2X车间通信的基础上，进一步通过LTE/5G技术实现V2X通信，以应用于车队协同驾驶，自动驾驶，传感器信息共享和远程驾驶等智能应用场景中。在eV2X中，车辆、行人以及路测设备间交互支持更多种类的信息，如车载传感器数据，行车路线，更多协作，如何车辆组队，协同驾驶，协同风险规避以及更多的车辆驾驶模式，如车队驾驶，自动驾驶，使V2X技术可以更加灵活，安全和可靠地满足智能交通的需求。At present, eV2X (enhancement of Vehicle to Everything) communication is an evolution of V2X communication. Based on LTE network V2X workshop communication, V2X communication is further realized by LTE/5G technology, which is applied to fleet cooperative driving. Intelligent application scenarios such as autopilot, sensor information sharing and remote driving. In eV2X, vehicles, pedestrians, and drive test equipment interact to support a wider variety of information, such as vehicle sensor data, driving routes, more collaboration, how to team up, collaborative driving, coordinated risk aversion, and more vehicle driving modes. Such as fleet driving and automatic driving, V2X technology can be more flexible, safe and reliable to meet the needs of intelligent transportation.

在eV2X的应用场景中，车辆在道路上运行时可以动态的组成行车车队，车队的头车负责车队的管理，车与车之间以很小的间距行驶。目前，车辆虽然可以动态组成车队，但目前却没有相关的方案可以发现车队。In the application scenario of the eV2X, the vehicle can dynamically form a fleet of vehicles when running on the road, and the head of the team is responsible for the management of the team, with the car and the car traveling at a small distance. At present, although the vehicles can dynamically form a fleet, there are no related programs to find the team.

也即，现有技术中，在现有的eV2X的应用场景中，缺少发现车队的方案。That is, in the prior art, in the existing application scenario of the eV2X, there is a lack of a scheme for discovering the fleet.

发明内容Summary of the invention

本发明提供一种发现车队的方法和设备，用以解决现有技术中存在eV2X的应用场景中缺少发现车队的方案的问题。The present invention provides a method and a device for discovering a fleet of vehicles to solve the problem of lack of a scheme for discovering a fleet in an application scenario in which eV2X exists in the prior art.

本发明实施例提供了一种发现车队的方法，该方法包括：An embodiment of the present invention provides a method for discovering a fleet, the method comprising:

位于车队中的第一通信设备确定需要其他车辆发现所述车队；The first communication device located in the fleet determines that other vehicles are required to discover the fleet;

所述第一通信设备发送车队发现信息，以使接收到所述车队发现信息的其他车辆发现所述车队。The first communication device transmits fleet discovery information such that other vehicles that receive the fleet discovery information discover the fleet.

车辆上的第二通信设备接收到位于车队中的第一通信设备发送的车队发现信息；The second communication device on the vehicle receives the fleet discovery information transmitted by the first communication device located in the fleet;

所述第二通信设备根据所述车队发现信息确定发现所述车队。The second communication device determines to discover the fleet based on the fleet discovery information.

本发明实施例提供了一种终端，包括：The embodiment of the invention provides a terminal, including:

处理器，用于读取存储器中的程序，执行下列过程：A processor for reading a program in the memory, performing the following process:

用于确定需要其他车辆发现所述车队，通过收发机发送车队发现信息，以使收到所述车队发现信息的其他车辆发现所述车队；Used to determine that other vehicles are required to discover the fleet, and send fleet discovery information through the transceiver to cause other vehicles that receive the fleet discovery information to discover the fleet;

收发机，用于在处理器的控制下接收和发送数据。A transceiver for receiving and transmitting data under the control of a processor.

通过收发机接收车队发现信息，处理器根据所述车队发现信息确定发现所述车队；Receiving fleet discovery information through the transceiver, the processor determining to discover the fleet based on the fleet discovery information;

本发明实施例提供了一种发现车队的第一通信设备，该第一通信设备包括：The embodiment of the invention provides a first communication device for discovering a fleet, the first communication device comprising:

第一处理模块，用于确定需要其他车辆发现所述车队；a first processing module, configured to determine that other vehicles are required to discover the fleet;

第一传输模块，用于发送车队发现信息，以使接收到所述车队发现信息的其他车辆发现所述车队。The first transmission module is configured to send fleet discovery information such that other vehicles that receive the fleet discovery information discover the fleet.

本发明实施例提供了一种发现车队的第二通信设备，该第二通信设备包括：The embodiment of the invention provides a second communication device for discovering a fleet, the second communication device comprising:

第二传输模块，用于接收到位于车队中的第一通信设备发送的车队发现信息；a second transmission module, configured to receive fleet discovery information sent by the first communication device located in the fleet;

第二处理模块，用于根据所述车队发现信息确定发现所述车队。And a second processing module, configured to determine, according to the fleet discovery information, the discovery of the fleet.

本发明实施例提供了一种计算机可读存储介质，其特征在于，所述计算机可读存储介质存储有执行上述发现车队的方法的计算机程序。An embodiment of the present invention provides a computer readable storage medium, characterized in that the computer readable storage medium stores a computer program for performing the above method of discovering a fleet.

本发明实施例中，位于车队中的第一通信设备确定需要其他车辆发现所述车队；第一通信设备发送车队发现信息，车辆上的第二通信设备接收到位于车队中的第一通信设备发送的车队发现信息；第二通信设备根据所述车队发现信息确定发现所述车队，由于本发明中由车队中的第一通信设备发送车队发现信息，凡是能够接收到该车队发现信息的第二通信设备均能发现车队，提供了一种简单有效的发现车队的方案。In an embodiment of the present invention, the first communication device located in the fleet determines that other vehicles are required to discover the fleet; the first communication device transmits fleet discovery information, and the second communication device on the vehicle receives the first communication device located in the fleet. The second team communication device determines the discovery of the fleet based on the fleet discovery information. Since the fleet discovery information is transmitted by the first communication device in the fleet in the present invention, any second communication capable of receiving the fleet discovery information is received. The equipment can be found in the fleet, providing a simple and effective solution for the discovery of the team.

附图说明DRAWINGS

为了更清楚地说明本发明实施例中的技术方案，下面将对实施例描述中所需要使用的附图作简要介绍，显而易见地，下面描述中的附图仅仅是本发明的一些实施例，对于本领域的普通技术人员来讲，在不付出创造性劳动性的前提下，还可以根据这些附图获得其他的附图。In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings used in the description of the embodiments will be briefly described below. It is obvious that the drawings in the following description are only some embodiments of the present invention, Those skilled in the art can also obtain other drawings based on these drawings without paying for inventive labor.

图1为本发明实施例发现车队的***结构示意图；1 is a schematic structural diagram of a system for discovering a fleet of vehicles according to an embodiment of the present invention;

图2为本发明实施例发现车队的***中的第一种第一通信设备的结构示意图；2 is a schematic structural diagram of a first type of first communication device in a system for discovering a fleet according to an embodiment of the present invention;

图3为本发明实施例发现车队的***中的第二种第一通信设备的结构示意图；3 is a schematic structural diagram of a second type of first communication device in a system for discovering a fleet according to an embodiment of the present invention;

图4为本发明实施例发现车队的***中的第一种第二通信设备的结构示意图；4 is a schematic structural diagram of a first type of second communication device in a system for discovering a fleet according to an embodiment of the present invention;

图5为本发明实施例发现车队的***中的第二种第二通信设备的结构示意图；FIG. 5 is a schematic structural diagram of a second type of second communication device in a system for discovering a fleet according to an embodiment of the present invention; FIG.

图6为本发明实施例发现车队的方法的示意图；6 is a schematic diagram of a method for discovering a fleet of vehicles according to an embodiment of the present invention;

图7为本发明实施例发现车队的方法的示意图；7 is a schematic diagram of a method for discovering a fleet of vehicles according to an embodiment of the present invention;

图8为本发明实施例发现车队的过程流程图。FIG. 8 is a flow chart of a process for discovering a fleet of vehicles according to an embodiment of the present invention.

具体实施方式detailed description

为了使本发明的目的、技术方案和优点更加清楚，下面将结合附图对本发明作进一步地详细描述，显然，所描述的实施例仅仅是本发明一部分实施例，而不是全部的实施例。基于本发明中的实施例，本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其它实施例，都属于本发明保护的范围。The present invention will be further described in detail with reference to the accompanying drawings, in which FIG. All other embodiments obtained by a person of ordinary skill in the art based on the embodiments of the present invention without creative efforts are within the scope of the present invention.

下面结合说明书附图对本发明实施例作进一步详细描述。The embodiments of the present invention are further described in detail below with reference to the accompanying drawings.

在下面的说明过程中，先从第一通信设备侧和第二通信设备侧的配合实施进行说明，最后分别从第一通信设备侧和第二设备侧的实施进行说明，但这并不意味着二者必须配合实施，实际上，当第一通信设备侧与第二通信设备侧分开实施时，也解决了分别在第一通信设备侧和第二通信设备侧所存在的问题。只有两者结合使用时，会获得更好的技术效果。In the following description, the first implementation is performed from the cooperation of the first communication device side and the second communication device side, and finally, the implementations from the first communication device side and the second device side are respectively explained, but this does not mean that Both must be implemented together. In fact, when the first communication device side and the second communication device side are separately implemented, the problems existing on the first communication device side and the second communication device side, respectively, are also solved. Only when the two are combined, will get better technical results.

如图1所示，本发明实施例提供了一种发现车队的***，该***包括至少一个车队中第一通信设备10和至少一个车辆上第二通信设备20：As shown in FIG. 1, an embodiment of the present invention provides a system for discovering a fleet of vehicles, the system including a first communication device 10 of at least one fleet and at least one second communication device 20 on the vehicle:

第一通信设备10，用于确定需要其他车辆发现所述车队；发送车队发现信息，以使接收到所述车队发现信息的其他车辆发现所述车队。The first communication device 10 is configured to determine that other vehicles are required to discover the fleet; to send fleet discovery information such that other vehicles that receive the fleet discovery information discover the fleet.

第二通信设备20，用于接收到位于车队中的第一通信设备发送的车队发现信息；根据所述车队发现信息确定发现所述车队。The second communication device 20 is configured to receive fleet discovery information sent by the first communication device located in the fleet; and determine to discover the fleet according to the fleet discovery information.

车队中的车辆上均具有第一通信设备10，一个车队中包含头车及成员车辆，头车和成员车辆可以一同发送车队发现信息，也可以只有固定的车辆发送车队发现信息。对于一个车队中包含的头车，头车可以组建车队，也可以对车队中的车辆进行管理，例如，头车可以控制车队的行驶路径，行驶方向，行驶速度，可以剔除某个或某些成员车辆，也可以增加成员车辆的数目。The vehicles in the fleet each have a first communication device 10, and a fleet includes a head vehicle and a member vehicle. The head vehicle and the member vehicle can transmit the fleet discovery information together, or only the fixed vehicle can transmit the fleet discovery information. For a head car included in a fleet, the head car can form a fleet or manage the vehicles in the team. For example, the head car can control the team's driving path, driving direction, driving speed, and can remove some or some members. Vehicles can also increase the number of member vehicles.

当前需要其他车辆发现所述车队的情景有许多，例如，头车需要组建车队，车队现在需要增加成员车辆，均需要使其他车辆发现所述车队，上述情景仅举例说明，凡是需要其他车辆发现所述车队的情景的均适用于本发明实施例。There are many situations in which other vehicles are currently required to discover the fleet. For example, the first vehicle needs to form a fleet, the fleet now needs to add member vehicles, and all other vehicles need to find the fleet. The above scenario is only an example, and any other vehicle discovery is needed. The scenarios of the fleet are applicable to the embodiments of the present invention.

车队中的第一通信设备10可以发送车队发现信息联系其他车辆共同组建车队，也可以在车队组建后继续发送车队发现信息联系其他车辆加入车队。The first communication device 10 in the fleet can send fleet discovery information to contact other vehicles to form a fleet, or continue to send fleet discovery information to contact other vehicles to join the fleet after the team is formed.

第一通信设备10发送车队信息的方式有许多种，例如所述第一通信设备10可以周期性的广播所述车队发现信息；也可以在设定的时间广播所述车队发现信息，并且所述车队发现信息不局限于采用广播的方式进行发送，也可以只对特定的车辆发送所述车队发现信息。There are many ways for the first communication device 10 to transmit fleet information, for example, the first communication device 10 can periodically broadcast the fleet discovery information; the fleet discovery information can also be broadcasted at a set time, and the The fleet discovery information is not limited to being transmitted by means of broadcasting, and the fleet discovery information may be transmitted only to a specific vehicle.

其中，所述车队发现信息包括但不限于下列信息中的部分或全部：Wherein, the fleet discovery information includes but is not limited to some or all of the following information:

车队标识、车队中的头车标识、加入车队的条件、发送加入车队请求的资源信息、车队中车辆的类型、用于发现车队的发现信号。The team logo, the head car logo in the fleet, the conditions for joining the team, the resource information sent to join the team request, the type of vehicle in the fleet, and the discovery signal used to discover the fleet.

下面就车队发现信息中可能包含的各种信息分别进行介绍：The following is a description of the various information that may be included in the fleet discovery information:

1、车队标识；1. Team logo;

为了其他车辆可以识别车队，每个车队具有一个车队标识，在车队发现信息中有必要加入车队标识，以使其他车辆在接收到含有车队标识的车队发现信息后，可以根据车队标识确定该车队是否为想要加入的车队。In order for other vehicles to identify the fleet, each fleet has a fleet identity. It is necessary to add the fleet identification in the fleet discovery information so that other vehicles can determine whether the fleet is based on the fleet identification after receiving the fleet discovery information containing the fleet identification. For the team that wants to join.

2、车队中的头车标识：2. The head car logo in the team:

头车可以组建车队，也可以对车队中的车辆进行管理，其中，对车辆进行管理，可以是对车队中的车辆进行协调，例如进行行驶方向、速度的管理，也可以对车队中车辆的组合进行管理，例如减小车队中的车辆数目，增加车队中的车辆数目。对于一个车队，头车具有重要作用，故为了其他车辆可以识别车队中的头车，每个车队中的头车具有一个头车标识，在车队发现信息中有必要加入头车标识，以使其他车辆在接收到含有头车标识的车队发现信息后，可以根据头车标识确定在加入车队后识别头车。The first car can form a fleet, and it can also manage the vehicles in the fleet. The management of the vehicles can be to coordinate the vehicles in the fleet, such as the direction of travel, speed management, and the combination of vehicles in the fleet. Manage, for example, reduce the number of vehicles in the fleet and increase the number of vehicles in the fleet. For a fleet, the first car has an important role, so for other vehicles to identify the first car in the fleet, the first car in each team has a head car logo, it is necessary to add the head car logo in the team discovery information to make other After receiving the fleet discovery information containing the logo of the head car, the vehicle may determine to identify the head car after joining the team according to the logo of the head car.

3、加入车队的条件：3. Conditions for joining the team:

车队发现信息中包含有加入车队的条件，可以保证车队中车辆具有较为统一的条件，故若加入车队需要具有一定的要求时，可以使车队发现信息中包含加入车队条件，而其他车辆在接收到包含有加入车队条件的车队发现信息后，可以根据加入车队条件确定是否满足该条件加入车队，The team discovery information includes the conditions for joining the team, which can ensure that the vehicles in the team have more uniform conditions. Therefore, if the team needs to have certain requirements, the team discovery information can include the conditions of joining the team, while other vehicles are receiving. After the team discovery information including the conditions of joining the team is included, it can be determined according to the conditions of joining the team to determine whether the condition is met and the team is joined.

其中，所述加入车队的条件包括下列条件中的部分或全部：Wherein, the conditions for joining the team include some or all of the following conditions:

所述第二通信设备20信号接收强度大于设定阈值；The signal receiving strength of the second communication device 20 is greater than a set threshold;

其它车辆的组织标识与车队中车辆的组织标识相同；The organization logo of other vehicles is the same as the organization logo of the vehicle in the fleet;

所述车队允许其他车辆加入的指示信息。The fleet allows instructions for other vehicles to join.

下面对加入车队条件进行介绍：The following is an introduction to joining the team conditions:

第一种，所述第二通信设备20信号接收强度大于设定阈值；First, the signal receiving strength of the second communication device 20 is greater than a set threshold;

车队中的车辆要接收头车或者其他车辆的通信设备发送的控制信号，若车辆的第二通信设备20接收头车或者车队其他车辆的通信设备的信号的信号接收强度较小，加入车队后，可能无法正常接收到头车或者其他车辆的通信设备发送的控制信号，进而影响车队管理、车辆通信。The vehicle in the fleet is to receive the control signal sent by the communication device of the head vehicle or other vehicle. If the second communication device 20 of the vehicle receives the signal receiving strength of the signal of the head vehicle or the communication device of the other vehicle of the fleet, after joining the fleet, Control signals sent by the communication equipment of the head vehicle or other vehicles may not be received normally, thereby affecting fleet management and vehicle communication.

针对信号接收强度可以存在一个设定阈值，以保证车队中的车辆可以进行正常管理以及车辆通信，只有其他的车辆的第二通信设备20信号接收强度大于设定阈值才能加入车队。There may be a set threshold for the signal reception strength to ensure that the vehicles in the fleet can perform normal management and vehicle communication, and only the second communication device 20 of other vehicles can receive the signal when the signal reception intensity is greater than the set threshold.

第二种，其它车辆的组织标识与车队中车辆的组织标识相同；Second, the organization logo of other vehicles is the same as the organization logo of the vehicle in the fleet;

一般车队中的车辆可以同属于一个组织，例如一个公司，一个工作组，一个团体，一个组织中的车辆都具有相应的组织标识，为了保证只有一个组织的车辆才能加入车队，可以限定其它车辆的组织标识与车队中车辆的组织标识相同。The vehicles in the general fleet can belong to the same organization, such as a company, a working group, a group, and the vehicles in an organization have corresponding organization logos. In order to ensure that only one organization's vehicles can join the fleet, other vehicles can be limited. The organization logo is the same as the organization logo of the vehicle in the fleet.

第三种，车队允许其他车辆加入的指示信息；Third, the team's instructions to allow other vehicles to join;

加入车队条件设定为车队允许其他车辆加入的指示信息时，说明此时车队允许其他车辆加入，相应的，也可以设定车队不允许其他车辆加入的指示信息，例如，当前车队中无空闲位置，可以设定车队不允许其他车辆加入的指示信息。When the condition of joining the team is set to the instruction that the team allows other vehicles to join, it indicates that the team allows other vehicles to join at this time. Correspondingly, it can also set instructions that the team does not allow other vehicles to join. For example, there is no idle position in the current fleet. You can set instructions for the team not to allow other vehicles to join.

上述三种加入车队的条件，可以包含全部或者部分，例如，加入车队的条件包含所述第二通信设备20信号接收强度大于设定阈值和其它车辆的组织标识与车队中车辆的组织标识相同，也即车队要求加入车队的车辆必须属于同一个组织，同时信号接收强度可以保证正常通信；例如，加入车队的条件包含所述第二通信设备20信号接收强度大于设定阈值和车队允许其他车辆加入的指示信息，也即车队允许加入且要求加入车队的车辆信号接收强度可以保证正常通信。The above three conditions for joining the team may include all or part. For example, the condition of joining the team includes that the second communication device 20 has a signal receiving strength greater than a set threshold and the organization identifier of the other vehicle is the same as the organization identifier of the vehicle in the fleet. That is, the vehicles requested by the team to join the team must belong to the same organization, and the signal reception strength can ensure normal communication; for example, the conditions for joining the team include that the second communication device 20 has a signal receiving strength greater than a set threshold and the fleet allows other vehicles to join. The indication information, that is, the vehicle signal reception strength that the team is allowed to join and requires to join the team can ensure normal communication.

需要说明的是，加入车队的条件有多种，上述三种仅是举例说明凡是可以限定加入车队的条件均属于本发明实施例。It should be noted that there are various conditions for joining the team. The above three are merely examples to illustrate that all conditions that can be limited to join the team belong to the embodiment of the present invention.

4、发送加入车队请求的资源信息：4. Send resource information for joining the team request:

发送加入车队请求的资源信息用于指示其他车辆在发送加入车队请求时需要在指定的资源上发送信息，例如指定的资源可以是在指定的信道上发送信息，也可以是在指定的波束上进行传输，或者是在指定的时频资源位置上发送信息，规定发送加入车队请求的资源信息后，车队中的第一通信设备10只在指定的资源上接收加入车队请求而不需要检测其他资源上的信息，故可以提高加入车队请求的信息处理的效率，也可以保障发现车队的安全性。The resource information sent to join the team request is used to indicate that other vehicles need to send information on the specified resource when sending the joining team request, for example, the specified resource may be sent on the specified channel, or may be performed on the designated beam. Transmission, or sending information at a specified time-frequency resource location, specifying that after transmitting the resource information added to the fleet request, the first communication device 10 in the fleet receives the joining request only on the specified resource without detecting other resources. The information can improve the efficiency of information processing that is added to the team's request, and it can also ensure the safety of the found team.

5、车队中车辆的类型：5. Types of vehicles in the fleet:

在加入车队条件中指示车辆类型，使得其他车辆只有符合车辆类型才能加入车队，以保证车队中的车辆都具有相同的车辆类型；例如车队可以设定加入车辆的类型只能是货车，当一个轿车接收到含有车辆类型的车队发现信息时，发现车辆类型不符合，则可以确定无法加入该车队；车队可以设定加入车辆的类型只能是小汽车，当一个小汽车接收到含有车辆类型的车队发现信息时，发现车辆类型相符合，则可以确定加入该车队。Indicate the type of vehicle in the conditions of joining the team, so that other vehicles can only join the team if they meet the vehicle type, so as to ensure that the vehicles in the team have the same type of vehicle; for example, the type of vehicle that can be set to join the vehicle can only be a truck, when a car When receiving the fleet discovery information containing the vehicle type, if the vehicle type is found to be inconsistent, it can be determined that the vehicle cannot be joined; the type of the vehicle that can be set to join the vehicle can only be the car, when a car receives the fleet containing the vehicle type. When the information is found, if the vehicle type is found to be consistent, it can be determined to join the fleet.

6、发现信号；6. Discover the signal;

可以对车队发现信息中增加一个发现信号，用于其他车辆的第二通信设备20在接收含有发现信号的信息时，便可以根据发现信号确定该信息属于车队发现信息，所述发现信号可以是一种设定的二进制数组，也可以是一种设定标识符，或者是一种物理层信号；对于不同的车队可以采用不同的发现信号，使得其他车辆的第二通信设备20在接收含有发现信号的车队发现信息时，可以根据发现信号确定该车队发现信息属于的车队。A discovery signal may be added to the fleet discovery information. When receiving the information containing the discovery signal, the second communication device 20 for other vehicles may determine that the information belongs to the fleet discovery information according to the discovery signal, and the discovery signal may be one. The set binary array can also be a set identifier, or a physical layer signal; different discovery signals can be used for different fleets, so that the second communication device 20 of other vehicles receives the discovery signal. When the fleet discovers the information, it can determine the fleet to which the fleet discovery information belongs based on the discovery signal.

例如，车队1可以采用0001作为发现信号，车队2采用0010作为发现信号，当其他车辆的第二通信设备20在接收发现信号为0001的信息时，可以确定该信息是车队发现信息，且是由车队1发送的；当其他车辆的第二通信设备20在接收发现信号为0010的信息时，可以确定该信息是车队发现信息，且是由车队2发送的。For example, the fleet 1 can use 0001 as the discovery signal, and the fleet 2 uses 0010 as the discovery signal. When the second communication device 20 of the other vehicle receives the information that the discovery signal is 0001, it can be determined that the information is the fleet discovery information, and is determined by The vehicle 1 transmits; when the second communication device 20 of the other vehicle receives the information that the discovery signal is 0010, it can be determined that the information is fleet discovery information and is transmitted by the fleet 2.

需要说明的是，发现车队信息中的种类可以包含上述6种信息的部分或全部，例如发现车队信息中只包含车队标识，也可以包含车队标识、车队中的头车标识，也可以包含车队标识、车队中的头车标识、加入车队的条件、发送加入车队请求的资源信息，也可以包含车队中的头车标识、加入车队的条件、发送加入车队请求的资源信息、用于发现车队发现信号，也可以包含全部信息，也即包含车队标识、车队中的头车标识、加入车队的条件、发送加入车队请求的资源信息、车队中车辆的类型、用于发现车队发现信号。It should be noted that the category in the fleet information may include part or all of the above six kinds of information. For example, the found fleet information only includes the fleet logo, and may also include the fleet logo, the head vehicle logo in the fleet, or the fleet logo. The vehicle identification in the fleet, the conditions for joining the team, the resource information sent to join the team request, may also include the vehicle identification in the fleet, the conditions for joining the team, the resource information sent to join the team request, and the discovery of the fleet discovery signal. It can also contain all the information, ie including the team logo, the head car logo in the fleet, the conditions for joining the team, the resource information sent to join the team request, the type of vehicle in the fleet, and the discovery of the fleet discovery signal.

所述位于车队中的第一通信设备10发送车队发现信息时可以采用多种方式进行发送，主要可以采用如下方式发送信息：The first communication device 10 located in the fleet may send the vehicle discovery information in multiple manners, and may mainly send the information in the following manner:

所述第一通信设备10通过多个协议层协调的方式发送所述车队发现信息；The first communication device 10 transmits the fleet discovery information in a coordinated manner by multiple protocol layers;

所述第一通信设备10通过单个协议层发送所述车队发现信息。The first communication device 10 transmits the fleet discovery information through a single protocol layer.

下面分别对上述两种方式进行介绍：The following two ways are introduced separately:

方式一，所述第一通信设备10通过多个协议层协调的方式发送所述车队发现信息；In a first mode, the first communication device 10 sends the fleet discovery information in a coordinated manner by multiple protocol layers;

协议层可以是物理层，MAC(Medium/Media Access Control，媒介访问控制)层、PDCP(Packet Data Convergence Protocol，分组数据汇聚协议)层、RRC(Radio Resource Control，指无线资源控制)层或更高层的协议层。The protocol layer may be a physical layer, a MAC (Medium/Media Access Control) layer, a PDCP (Packet Data Convergence Protocol) layer, an RRC (Radio Resource Control) layer or a higher layer. Protocol layer.

当车队发现信息中包含多种信息时，第一通信设备10可以通过多个协议层协调的方式发送所述车队发现信息，也即可以选用多种协议层发送车队发现信息中的不同种类的信息，例如，当发现车队发现信息中包含车队标识、车队中的头车标识、加入车队的条件、发送加入车队请求的资源信息、车队中车辆的类型、发现信号时，可以通过物理层发送车队标识，MAC层发送头车标识和加入车队的条件，RRC层传输发送加入车队请求的资源信息、车队中车辆的类型、发现信号；也可以通过物理层发送车队标识，MAC层发送头车标识，RRC层发送加入车队的条件、发送加入车队请求的资源信息、车队中车辆的类型、发现信号；也可以通过物理层发送车队标识和头车标识，MAC层发送加入车队的条件，RRC层传输发送加入车队请求的资源信息、车队中车辆的类型、发现信号。When the plurality of information is included in the fleet discovery information, the first communication device 10 may send the fleet discovery information in a coordinated manner by multiple protocol layers, that is, multiple protocol layers may be used to send different types of information in the fleet discovery information. For example, when it is found that the fleet discovery information includes the fleet identification, the vehicle identification in the fleet, the conditions for joining the fleet, the resource information for sending the request to join the fleet, the type of vehicle in the fleet, and the discovery signal, the fleet identification can be sent through the physical layer. The MAC layer sends the identification of the head car and the conditions of joining the team. The RRC layer transmits the resource information added to the team request, the type of the vehicle in the fleet, and the discovery signal. The team layer can also be sent through the physical layer, and the MAC layer sends the head car identifier. The layer sends the conditions for joining the team, the resource information sent to join the team request, the type of vehicle in the fleet, the discovery signal; the team logo and the head car identifier can also be sent through the physical layer, the MAC layer sends the conditions for joining the team, and the RRC layer transmits and joins. Resource information requested by the team, type of vehicle in the fleet, discovery signal

方式二，所述第一通信设备10通过单个协议层发送所述车队发现信息；In a second manner, the first communications device 10 sends the fleet discovery information through a single protocol layer;

协议层可以是物理层，MAC层、PDCP层、RRC层或者是更高层的协议层。The protocol layer may be a physical layer, a MAC layer, a PDCP layer, an RRC layer, or a higher layer protocol layer.

当车队发现信息中包含一种信息时，第一通信设备10可以通过单个协议层发送所述车队发现信息，也即可以选用单个协议层发送车队发现信息中的信息，例如，当发现车队发现信息中只包含车队标识时，可以通过物理层发送车队标识；也可以MAC层通过发送车队标识；也可以通过RRC层发送车队标识。When the fleet discovery information includes a type of information, the first communication device 10 can transmit the fleet discovery information through a single protocol layer, that is, a single protocol layer can be used to transmit information in the fleet discovery information, for example, when the fleet discovery information is found. When only the fleet ID is included, the fleet ID can be sent through the physical layer; the fleet ID can also be sent by the MAC layer; the fleet ID can also be sent through the RRC layer.

当车队发现信息中包含多种信息时，第一通信设备10可以通过单个协议层发送所述车队发现信息，也即可以选用单个协议层发送车队发现信息中的不同种类的信息，例如，当发现车队发现信息中包含车队标识、车队中的头车标识、加入车队的条件、发送加入车队请求的资源信息、车队中车辆的类型、发现信号时，可以通过物理层发送车队标识，头车标识、加入车队的条件，发送加入车队请求的资源信息、车队中车辆的类型、发现信号；也可以通过MAC层发送车队标识，头车标识，加入车队的条件、发送加入车队请求的资源信息、车队中车辆的类型、发现信号；也可以通过RRC层发送车队标识、头车标识，加入车队的条件，发送加入车队请求的资源信息、车队中车辆的类型、发现信号。When the fleet discovery information includes multiple pieces of information, the first communication device 10 can transmit the fleet discovery information through a single protocol layer, that is, a single protocol layer can be used to send different types of information in the fleet discovery information, for example, when found. The team discovery information includes the team logo, the car logo in the fleet, the conditions for joining the team, the resource information sent to join the team request, the type of vehicle in the fleet, and the discovery signal. The team logo can be sent through the physical layer. Join the team's conditions, send the resource information added to the team request, the type of vehicle in the fleet, the discovery signal; also send the team logo, the head car logo, the conditions of joining the team, the resource information sent to the team request, and the team in the fleet through the MAC layer. Type of vehicle, discovery signal; can also send the team logo, the head car logo through the RRC layer, join the conditions of the team, send the resource information added to the team request, the type of vehicle in the fleet, and the discovery signal.

车辆上的第二通信设备20接收到位于车队中的第一通信设备10发送的车队发现信息；The second communication device 20 on the vehicle receives the fleet discovery information transmitted by the first communication device 10 located in the fleet;

所述第二通信设备20根据所述车队发现信息确定发现所述车队。The second communication device 20 determines to discover the fleet based on the fleet discovery information.

车辆上的第二通信设备20成功接收到车队发现信息，获取接收到的车队发现信息中的信息内容，可以确定有车队正在发送车队发现信息，也即可以确定已经发现了该车队。The second communication device 20 on the vehicle successfully receives the fleet discovery information, obtains the information content in the received fleet discovery information, and can determine that the fleet is transmitting the fleet discovery information, and can also determine that the fleet has been found.

车辆上的第二通信设备20在接收到位于车队中的第一通信设备10发送的车队发现信息后，判断是否加入到所述车队；After receiving the fleet discovery information sent by the first communication device 10 located in the fleet, the second communication device 20 on the vehicle determines whether to join the fleet;

若确定加入到所述车队后，所述第二通信设备20向所述第一通信设备10发送加入车队请求，以使所述第一通信设备10之后可以将所述第二通信设备 20所属的车辆加入到所述车队中。If it is determined to join the fleet, the second communication device 20 sends a join fleet request to the first communication device 10, so that the first communication device 10 can later belong to the second communication device 20 The vehicle is added to the fleet.

所述其他车辆上的第二通信设备20可以周期性的监听车队发现信息也可以在设定的时间监听车队发现信息，例如当其他车辆想要加入车队时，才监听车队发现信息。The second communication device 20 on the other vehicle may periodically monitor the fleet discovery information or may listen to the fleet discovery information at a set time, such as listening to the fleet discovery information when other vehicles want to join the fleet.

若第二通信设备20在接收到车队发现信息后，所述车队发现信息包含加入车队条件，所述第二通信设备20判断是否满足所述加入车队条件，如果满足，则确定加入到所述车队；否则，确定不加入到所述车队。If the second communication device 20 receives the fleet discovery information, the fleet discovery information includes joining the fleet condition, the second communication device 20 determines whether the joining fleet condition is met, and if so, determining to join the fleet Otherwise, it is determined not to join the team.

例如，当加入车队的条件包含所述第二通信设备20信号接收强度大于设定阈值和其它车辆的组织标识与车队中车辆的组织标识相同时，第二通信设备20在接收到车队发现信息时，判断第二通信设备20信号接收强度是否大于设定阈值以及其它车辆的组织标识与车队中车辆的组织标识是否相同，若第二通信设备20信号接收强度大于设定阈值以及其它车辆的组织标识与车队中车辆的组织标识不同，则所述第二通信设备20不满足所述加入车队条件，确定不加入所述车队；若第二通信设备20信号接收强度大于设定阈值以及其它车辆的组织标识与车队中车辆的组织标识相同，则所述第二通信设备20满足所述加入车队条件，确定加入所述车队。For example, when the condition of joining the fleet includes that the second communication device 20 signal reception strength is greater than a set threshold and the organization identification of the other vehicle is the same as the organization identification of the vehicle in the fleet, the second communication device 20 upon receiving the fleet discovery information Determining whether the signal receiving strength of the second communication device 20 is greater than a set threshold and whether the organization identifier of the other vehicle is the same as the organization identifier of the vehicle in the fleet, if the signal receiving strength of the second communication device 20 is greater than a set threshold and the organization identifier of the other vehicle Different from the organization identifier of the vehicle in the fleet, the second communication device 20 does not satisfy the joining fleet condition, and determines not to join the fleet; if the second communication device 20 has a signal receiving strength greater than a set threshold and other vehicle organization The identification is the same as the organization identification of the vehicle in the fleet, and the second communication device 20 satisfies the joining the fleet condition and determines to join the fleet.

若所述车队发现信息包含发送加入车队请求的资源信息，第二通信设备20在确定要加入车队时，需要发送加入车队请求时，应当在所述车队发现信息中的发送加入车队请求的资源信息指示的资源上广播所述加入车队请求。If the fleet discovery information includes resource information for sending a request to join the fleet, the second communication device 20 needs to send the information to be added to the fleet request in the fleet discovery information when it is determined to join the fleet. The incoming resource request is broadcast on the indicated resource.

发送车队发现信息的情形有多种，比如，车辆在需要组建车队时，或者在车队行驶过程中，都可以发送车队发现信息，而且发送车队发现信息的方式也可以采用多个协议层协调发送，也可以单个协议层单独发送。There are many situations in which the team can send information to the team. For example, when the vehicle needs to form a fleet, or when the team is driving, the team can send the team discovery information, and the way to send the team to discover the information can also be coordinated by multiple protocol layers. It can also be sent separately in a single protocol layer.

下面对列举几种常见的情形：Here are a few common scenarios:

第一种，组建车队时头车采用多个协议层协调发送的方式发送车队发现信息；First, when forming a fleet, the first vehicle uses multiple protocol layers to coordinate the transmission to send fleet discovery information;

在停车场里，有4辆货车，运送一批货物到相同的目的地。其中货车1希望做头车，组建一个车队。所以货车1周期性广播车队发现信息，发送周期为160ms，在物理层发送一个发现信号，发送车队标识信息(车队标识为车队1)，利用MAC层发送头车标识(头车标识为货车1)、利用RRC层发送加入车队的条件(加入车队条件为车辆的第二通信设备20的接收信号强度大于门限值)、发送加入车队请求的资源信息、车队类型(车队类型设定为货车)；In the parking lot, there are 4 trucks that carry a shipment to the same destination. Among them, the truck 1 hopes to be the first car and form a team. Therefore, the truck 1 periodically broadcasts the fleet discovery information, the transmission period is 160ms, sends a discovery signal at the physical layer, sends the fleet identification information (the fleet logo is the fleet 1), and uses the MAC layer to send the head vehicle identification (the first vehicle identification is the truck 1) And using the RRC layer to send the condition for joining the team (the received vehicle condition is that the received signal strength of the second communication device 20 of the vehicle is greater than the threshold), the resource information sent to join the team request, and the type of the fleet (the type of the vehicle is set to the truck);

其他三辆车接收到头车也即货车1发送的车队发现信息后，在判断满足加入车队的条件也即车辆的第二通信设备20的接收信号强度大于门限值后，在发送加入车队请求的资源信息指示的资源上向头车发起加入车队请求。After the other three vehicles receive the vehicle discovery information sent by the first vehicle, that is, the truck 1 , after determining that the condition for joining the team is satisfied, that is, the received signal strength of the second communication device 20 of the vehicle is greater than the threshold, the request to join the team is sent. The resource indicated by the resource information initiates a join fleet request to the first car.

第二种，组建车队时头车单独采用MAC或者RRC层发送车队发现信息；Second, when forming a fleet, the first car uses the MAC or RRC layer to send the fleet discovery information.

在停车场里，有3辆货车，运送一批货物到相同的目的地。其中货车1希望做头车，组建一个车队。所以货车1周期性广播车队发现信息，发送周期为160ms，单独利用MAC层或者RRC层发送车队标识信息(车队标识为车队1)，头车标识(头车标识为货车1)、加入车队的条件(加入车队条件为车辆的第二通信设备20的接收信号强度大于门限值)、发送加入车队请求的资源信息、车队类型(车队类型设定为货车)；In the parking lot, there are 3 trucks that carry a shipment to the same destination. Among them, the truck 1 hopes to be the first car and form a team. Therefore, the truck 1 periodically broadcasts the fleet discovery information, and the transmission period is 160 ms. The vehicle layer identification information is transmitted by the MAC layer or the RRC layer alone (the fleet logo is the fleet 1), the head vehicle logo (the head vehicle logo is the truck 1), and the conditions for joining the team. (Adding a fleet condition is that the received signal strength of the second communication device 20 of the vehicle is greater than a threshold value), transmitting resource information for joining the fleet request, and the type of the fleet (the type of the vehicle is set to a truck);

其他车辆接收到头车也即货车1发送的车队发现信息后，在判断满足加入车队的条件后，在发送加入车队请求的资源信息指示的资源上向头车发起加入车队请求。After receiving the vehicle discovery information sent by the truck 1 , that is, the other vehicle, after judging that the condition for joining the team is satisfied, the vehicle is requested to join the team on the resource indicating the resource information input to the team request.

第三种，车队行驶过程中头车发送车队发现信息；Third, the first car sends the team discovery information during the driving process;

在公路上，行驶着一个车队1，其中包含4辆车。此时头车周期性发送车队发现信息，发送周期为160ms，利用RRC层发送车队标识信息(车队标识为车队1)，头车标识(头车标识为货车1)、加入车队的条件(加入车队条件为车辆的第二通信设备20的接收信号强度大于门限值)、发送加入车队请求的资源信息、车队类型(车队类型设定为货车)；On the road, there is a fleet of 1, including 4 cars. At this time, the first car periodically sends the team discovery information, the transmission period is 160ms, the RRC layer is used to send the fleet identification information (the fleet logo is the fleet 1), the head vehicle logo (the head vehicle logo is the truck 1), and the conditions for joining the team (joining the team) The condition is that the received signal strength of the second communication device 20 of the vehicle is greater than a threshold value), the resource information sent to join the fleet request, and the type of the fleet (the type of the fleet is set to a truck);

当行驶到某个路段时，车队外有一车辆接收到了该车队的车队发现信息，在判断满足加入车队的条件后，在发送加入车队请求的资源信息指示的资源上向头车发起加入车队请求，并成功加入该车队。When driving to a certain section, a vehicle outside the fleet receives the fleet's fleet discovery information. After judging the conditions for joining the team, it sends a request to join the team on the resources indicated by the resource information sent to the team. And successfully joined the team.

若此时车队里有5辆车，已经达到车队最大允许的车辆数。此时头车周期性发送车队发现信息，发送周期为160ms，利用RRC层发送车队标识信息(车队标识为车队1)，头车标识(头车标识为货车1)、加入车队的条件(加入车队条件为车辆的不允许其他车辆加入的指示)、发送加入车队请求的资源信息、车队类型(车队类型设定为货车)，这样也可以让其他车辆无法加入车队。If there are 5 cars in the team at this time, the maximum number of vehicles allowed by the team has been reached. At this time, the first car periodically sends the team discovery information, the transmission period is 160ms, the RRC layer is used to send the fleet identification information (the fleet logo is the fleet 1), the head vehicle logo (the head vehicle logo is the truck 1), and the conditions for joining the team (joining the team) The condition is that the vehicle's instructions for not allowing other vehicles to join), the resource information sent to join the team request, and the type of fleet (the type of fleet is set to truck), which also allows other vehicles to join the fleet.

其他车辆接收到头车发送的车队发现信息后，判断出该车队无法加入，则监听其他车队信息。After receiving the fleet discovery information sent by the first vehicle, the other vehicle judges that the team cannot join, and listens to other fleet information.

所述第一通信设备10在接收到其他车辆上的第二通信设备20根据所述车队发现信息发送的加入车队请求后，可以获知其他车辆已经接收到车队发现信息，并想要加入所述车队，此时第一通信设备10确定所述其他车辆已发现所述车队。After receiving the joining request sent by the second communication device 20 on the other vehicle according to the fleet discovery information, the first communication device 10 may know that other vehicles have received the fleet discovery information and want to join the fleet. At this time, the first communication device 10 determines that the other vehicle has found the fleet.

基于同一发明构思，本发现实施例还提供了一种发现车队的第一通信设备由于该第一通信设备解决问题的原理与本发明实施例发现车队的***相似，因此该设备的实施可以参见***的实施，重复之处不再赘述。Based on the same inventive concept, the present discovery embodiment further provides a method for discovering a problem that the first communication device of the fleet is solved by the first communication device is similar to the system for discovering the fleet of the embodiment of the present invention. Therefore, the implementation of the device can be referred to the system. The implementation, repetitions will not be repeated.

如图2所示，本发明实施例发现车队的第一通信设备，该第一通信设备包括第一处理模块201和第一传输模块202：As shown in FIG. 2, the embodiment of the present invention finds a first communication device of a fleet, and the first communication device includes a first processing module 201 and a first transmission module 202:

第一处理模块201，用于确定需要其他车辆发现所述车队；a first processing module 201, configured to determine that other vehicles are required to discover the fleet;

第一传输模块202，用于发送车队发现信息，以使收到所述车队发现信息的其他车辆发现所述车队。The first transmission module 202 is configured to send fleet discovery information such that other vehicles that receive the fleet discovery information discover the fleet.

车队中的车辆上均具有第一通信设备，一个车队中包含头车及成员车辆，头车和成员车辆可以一同发送车队发现信息，也可以只有固定的车辆发送车队发现信息。对于一个车队中包含的头车，头车可以组建车队，也可以对车队中的车辆进行管理，例如，头车可以控制车队的行驶路径，行驶方向，行驶速度，可以剔除某个或某些成员车辆，也可以增加成员车辆的数目。The vehicles in the fleet have the first communication equipment. One fleet includes the head vehicle and the member vehicles. The head vehicle and the member vehicle can send the fleet discovery information together, or only the fixed vehicle can send the fleet discovery information. For a head car included in a fleet, the head car can form a fleet or manage the vehicles in the team. For example, the head car can control the team's driving path, driving direction, driving speed, and can remove some or some members. Vehicles can also increase the number of member vehicles.

车队中的第一传输模块202可以发送车队发现信息联系其他车辆共同组建车队，也可以在车队组建后继续发送车队发现信息联系其他车辆加入车队。The first transmission module 202 in the fleet may send fleet discovery information to contact other vehicles to form a fleet, or may continue to send fleet discovery information to contact other vehicles to join the fleet after the formation of the fleet.

第一传输模块202发送车队信息的方式有许多种，例如所述第一传输模块202可以周期性的广播所述车队发现信息；也可以在设定的时间广播所述车队发现信息，并且所述车队发现信息不局限于采用广播的方式进行发送，也可以只对特定的车辆发送所述车队发现信息。There are many ways for the first transmission module 202 to send the fleet information. For example, the first transmission module 202 may periodically broadcast the fleet discovery information; the fleet discovery information may also be broadcasted at a set time, and the The fleet discovery information is not limited to being transmitted by means of broadcasting, and the fleet discovery information may be transmitted only to a specific vehicle.

所述第二通信设备信号接收强度大于设定阈值；The second communication device signal receiving strength is greater than a set threshold;

车队允许其他车辆加入的指示信息。Instructions for the team to allow other vehicles to join.

需要说明的是，发现车队信息中的种类可以包含上述6种信息的部分或全部。It should be noted that the category in the fleet information may be found to include some or all of the above six types of information.

所述位于车队中的第一传输模块202发送车队发现信息时可以采用多种方式进行发送，主要可以采用如下方式发送信息：The first transmission module 202 located in the fleet may send the vehicle discovery information in multiple manners, and may mainly send the information in the following manner:

所述第一传输模块202通过多个协议层协调的方式发送所述车队发现信息；The first transmission module 202 sends the fleet discovery information in a coordinated manner by multiple protocol layers;

所述第一传输模块202通过单个协议层发送所述车队发现信息。The first transmission module 202 transmits the fleet discovery information through a single protocol layer.

所述第一传输模块202在接收到其他车辆上的第二通信设备根据所述车队发现信息发送的加入车队请求后，可以获知其他车辆已经接收到车队发现信息，并想要加入所述车队，此时确定所述其他车辆已发现所述车队。After receiving the joining request sent by the second communication device on the other vehicle according to the fleet discovery information, the first transmission module 202 may know that other vehicles have received the fleet discovery information and want to join the fleet. It is then determined that the other vehicle has found the fleet.

如图3所示，本发明实施例中的终端包括：总线300，处理器301、收发机302、总线接口303、存储器304、用户接口305。As shown in FIG. 3, the terminal in the embodiment of the present invention includes: a bus 300, a processor 301, a transceiver 302, a bus interface 303, a memory 304, and a user interface 305.

处理器301，用于读取存储器304中的程序，执行下列过程：The processor 301 is configured to read a program in the memory 304 and perform the following process:

用于确定需要其他车辆发现所述车队，通过收发机302发送车队发现信息，以使收到所述车队发现信息的其他车辆发现所述车队；Used to determine that other vehicles are needed to discover the fleet, and send fleet discovery information through the transceiver 302 to cause the other vehicles that received the fleet discovery information to discover the fleet;

通过收发机302接收其他车辆上的第二通信设备根据所述车队发现信息发送的加入车队请求，确定所述其他车辆已发现所述车队；Determining, by the transceiver 302, a joining vehicle request sent by the second communication device on the other vehicle according to the fleet discovery information, determining that the other vehicle has found the fleet;

收发机302，用于在处理器301的控制下接收和发送数据。The transceiver 302 is configured to receive and transmit data under the control of the processor 301.

可选的，所述处理器301通过收发机302周期性的广播所述车队发现信息。Optionally, the processor 301 periodically broadcasts the fleet discovery information through the transceiver 302.

所述车队发现信息包括下列信息中的部分或全部：The fleet discovery information includes some or all of the following information:

可选的，所述加入车队的条件包括下列条件中的部分或全部：Optionally, the condition for joining the team includes some or all of the following conditions:

所述处理器301通过收发机302可以通过如下方式发送车队发现信息：The processor 301 can send the fleet discovery information through the transceiver 302 by:

通过多个协议层协调的方式发送所述车队发现信息；Transmitting the fleet discovery information in a coordinated manner by a plurality of protocol layers;

通过单个协议层发送所述车队发现信息Sending the fleet discovery information through a single protocol layer

在图3中，总线架构(用总线300来代表)，总线300可以包括任意数量的互联的总线和桥，总线300将包括由通用处理器301代表的一个或多个处理器和存储器304代表的存储器的各种电路链接在一起。总线300还可以将诸如***设备、稳压器和功率管理电路等之类的各种其他电路链接在一起，这些都是本领域所公知的，因此，本文不再对其进行进一步描述。总线接口303在总线300和收发机302之间提供接口。收发机302可以是一个元件，也可以是多个元件，比如多个接收器和发送器，提供用于在传输介质上与各种其他装置通信的单元。例如：收发机302从其他设备接收外部数据。收发机302用于将处理器301处理后的数据发送给其他设备。取决于计算***的性质，还可以提供用户接口305，例如小键盘、显示器、扬声器、麦克风、操纵杆。In FIG. 3, a bus architecture (represented by bus 300), bus 300 may include any number of interconnected buses and bridges, and bus 300 will include one or more processors and memory 304 represented by general purpose processor 301. The various circuits of the memory are linked together. The bus 300 can also link various other circuits, such as peripherals, voltage regulators, and power management circuits, as is known in the art and, therefore, will not be further described herein. Bus interface 303 provides an interface between bus 300 and transceiver 302. Transceiver 302 can be an element or a plurality of elements, such as a plurality of receivers and transmitters, providing means for communicating with various other devices on a transmission medium. For example, transceiver 302 receives external data from other devices. The transceiver 302 is configured to transmit the processed data of the processor 301 to other devices. Depending on the nature of the computing system, a user interface 305 can also be provided, such as a keypad, display, speaker, microphone, joystick.

处理器301负责管理总线300和通常的处理，如前述所述运行通用操作***。而存储器304可以被用于存储处理器301在执行操作时所使用的数据。The processor 301 is responsible for managing the bus 300 and the usual processing, running a general purpose operating system as described above. The memory 304 can be used to store data used by the processor 301 in performing operations.

可选的，处理器301可以是CPU(中央处埋器)、ASIC(Application Specific Integrated Circuit，专用集成电路)、FPGA(Field－Programmable Gate Array，现场可编程门阵列)或CPLD(Complex Programmable Logic Device，复杂可编程逻辑器件)。Optionally, the processor 301 can be a CPU (Central Embedded Device), an ASIC (Application Specific Integrated Circuit), an FPGA (Field-Programmable Gate Array), or a CPLD (Complex Programmable Logic Device). , complex programmable logic devices).

基于同一发明构思，本发现实施例还提供了一种发现车队的第二通信设备由于该第二通信设备解决问题的原理与本发明实施例发现车队的***相似，因此该设备的实施可以参见***的实施，重复之处不再赘述。Based on the same inventive concept, the present discovery embodiment further provides a second communication device for discovering a fleet. The principle of solving the problem by the second communication device is similar to the system for discovering the fleet of the embodiment of the present invention. Therefore, the implementation of the device can be referred to the system. The implementation, repetitions will not be repeated.

如图4所示，本发明实施例发现车队的第二通信设备，该第一通信设备包括第二传输模块401和第二处理模块402：As shown in FIG. 4, the embodiment of the present invention finds a second communication device of the fleet, and the first communication device includes a second transmission module 401 and a second processing module 402:

第二传输模块401，用于接收到位于车队中的第一通信设备发送的车队发现信息；a second transmission module 401, configured to receive fleet discovery information sent by the first communication device located in the fleet;

第二处理模块402，用于根据所述车队发现信息确定发现所述车队。The second processing module 402 is configured to determine to discover the fleet according to the fleet discovery information.

车辆上的第二传输模块401接收到位于车队中的第一通信设备发送的车队发现信息；The second transmission module 401 on the vehicle receives the fleet discovery information sent by the first communication device located in the fleet;

所述第二处理模块402根据所述车队发现信息确定发现所述车队。The second processing module 402 determines to discover the fleet based on the fleet discovery information.

车辆上的第二传输模块401成功接收到车队发现信息，获取接收到的车队发现信息中的信息内容，可以确定有车队正在发送车队发现信息，也即可以确定已经发现了该车队。The second transmission module 401 on the vehicle successfully receives the fleet discovery information, obtains the information content in the received fleet discovery information, and can determine that the fleet is transmitting the fleet discovery information, and can also determine that the fleet has been found.

车辆上的第二传输模块401在接收到位于车队中的第一通信设备发送的车队发现信息后，第二处理模块402判断是否加入到所述车队；After receiving the fleet discovery information sent by the first communication device located in the fleet, the second processing module 401 determines whether to join the fleet;

若第二处理模块402确定加入到所述车队后，所述第二传输模块401所述第一通信设备发送加入车队请求，以使所述第一通信设备将所述第二通信设备所属的车辆加入到所述车队中。If the second processing module 402 determines to join the fleet, the first communication device of the second transmission module 401 sends a join fleet request, so that the first communication device will belong to the vehicle to which the second communication device belongs. Join the team.

所述其他车辆上的第二传输模块401可以周期性的监听车队发现信息也可以在设定的时间监听车队发现信息，例如当其他车辆想要加入车队时，才监听车队发现信息。The second transmission module 401 on the other vehicle may periodically monitor the fleet discovery information and may also monitor the fleet discovery information at a set time, such as listening to the fleet discovery information when other vehicles want to join the fleet.

若第二传输模块401在接收到车队发现信息后，所述车队发现信息包含加入车队条件，所述第二处理模块402判断是否满足所述加入车队条件，如果满足，则第二处理模块402确定加入到所述车队；否则，第二处理模块402确定不加入到所述车队。If the second transmission module 401 receives the fleet discovery information, the fleet discovery information includes joining the fleet condition, the second processing module 402 determines whether the joining fleet condition is met, and if so, the second processing module 402 determines Joining the fleet; otherwise, the second processing module 402 determines not to join the fleet.

若所述车队发现信息包含发送加入车队请求的资源信息，第二处理模块402在确定要加入车队时，第二处理模块402需要在所述车队发现信息中的发送加入车队请求的资源信息指示的资源上广播所述加入车队请求。If the fleet discovery information includes resource information for sending a request to join the fleet, the second processing module 402, when determining to join the fleet, the second processing module 402 needs to send the information in the fleet discovery information to the resource information indicated by the team request. The resource broadcasts the join team request.

实施中，第一通信设备也可能需要加入车队。第二通信设备也可能需要发现车队，所以第一通信设备和第二通信设备的功能可以合在一个实体中(即第一通信设备和第二通信设备的模块在一个实体中)，根据需要选择使用第一通信设备的功能或第二通信设备的功能。即第一处理模块201、第一传输模块202、第二传输模块401和第二处理模块402可以合在一个实体中；也可以第一处理模块201和第二处理模块402合成一个处理模块，第一传输模块202和第二传输模块401合成一个传输模块，并且合在一个实体中。In implementation, the first communication device may also need to join the fleet. The second communication device may also need to discover the fleet, so the functions of the first communication device and the second communication device may be combined in one entity (ie, the modules of the first communication device and the second communication device are in one entity), and are selected according to requirements. The function of the first communication device or the function of the second communication device is used. That is, the first processing module 201, the first transmission module 202, the second transmission module 401, and the second processing module 402 may be combined in one entity; or the first processing module 201 and the second processing module 402 may be combined into one processing module, A transmission module 202 and a second transmission module 401 synthesize a transmission module and are combined in one entity.

如图5所示，本发明实施例中的终端包括：总线500，处理器501、收发机502、总线接口503、存储器504、用户接口505。As shown in FIG. 5, the terminal in the embodiment of the present invention includes: a bus 500, a processor 501, a transceiver 502, a bus interface 503, a memory 504, and a user interface 505.

处理器501，用于读取存储器504中的程序，执行下列过程：The processor 501 is configured to read a program in the memory 504 and perform the following process:

通过收发机502接收位于车队中的第一通信设备发送的车队发现信息，处理器501根据所述车队发现信息确定发现所述车队，若确定加入到所述车队后，通过收发机502向所述第一通信设备发送加入车队请求；Receiving, by the transceiver 502, fleet discovery information transmitted by the first communication device located in the fleet, the processor 501 determines to find the fleet based on the fleet discovery information, and if determined to join the fleet, passes the transceiver 502 to the The first communication device sends a join fleet request;

若所述车队发现信息包含加入车队条件，所述处理器501判断是否满足所述加入车队条件，如果满足，则确定加入到所述车队；否则，确定不加入到所述车队。If the fleet discovery information includes a join fleet condition, the processor 501 determines whether the join fleet condition is met, and if so, determines to join the fleet; otherwise, determines not to join the fleet.

收发机502，用于在处理器501的控制下接收和发送数据。The transceiver 502 is configured to receive and transmit data under the control of the processor 501.

可选的，所述处理器501通过收发机502周期性的监听所述车队发现信息Optionally, the processor 501 periodically monitors the fleet discovery information through the transceiver 502.

其它车辆组织标识与车队中车辆组织标识相同；Other vehicle organization logos are the same as vehicle organization logos in the fleet;

可选的，若所述车队发现信息包含发送加入车队请求的资源信息，所述处理器501通过收发机502在所述车队发现信息中的发送加入车队请求的资源信息指示的资源上广播所述加入车队请求。Optionally, if the fleet discovery information includes resource information for sending a request to join the fleet, the processor 501 broadcasts, by the transceiver 502, the resource indicated by the resource information added to the fleet request in the fleet discovery information. Join the team request.

在图5中，总线架构(用总线500来代表)，总线500可以包括任意数量的互联的总线和桥，总线500将包括由通用处理器501代表的一个或多个处理器和存储器504代表的存储器的各种电路链接在一起。总线500还可以将诸如***设备、稳压器和功率管理电路等之类的各种其他电路链接在一起，这些都是本领域所公知的，因此，本文不再对其进行进一步描述。总线接口503在总线500和收发机502之间提供接口。收发机502可以是一个元件，也可以是多个元件，比如多个接收器和发送器，提供用于在传输介质上与各种其他装置通信的单元。例如：收发机502从其他设备接收外部数据。收发机502用于将处理器501处理后的数据发送给其他设备。取决于计算***的性质，还可以提供用户接口505，例如小键盘、显示器、扬声器、麦克风、操纵杆。In FIG. 5, a bus architecture (represented by bus 500), bus 500 may include any number of interconnected buses and bridges, and bus 500 will include one or more processors and memory 504 represented by general purpose processor 501. The various circuits of the memory are linked together. The bus 500 can also link various other circuits, such as peripherals, voltage regulators, and power management circuits, as is known in the art, and therefore, will not be further described herein. Bus interface 503 provides an interface between bus 500 and transceiver 502. Transceiver 502 can be an element or a plurality of elements, such as multiple receivers and transmitters, providing means for communicating with various other devices on a transmission medium. For example, transceiver 502 receives external data from other devices. The transceiver 502 is configured to send the processed data of the processor 501 to other devices. Depending on the nature of the computing system, a user interface 505 can also be provided, such as a keypad, display, speaker, microphone, joystick.

处理器501负责管理总线500和通常的处理，如前述所述运行通用操作***。而存储器504可以被用于存储处理器501在执行操作时所使用的数据。The processor 501 is responsible for managing the bus 500 and the usual processing, running a general purpose operating system as described above. The memory 504 can be used to store data used by the processor 501 when performing operations.

可选的，处理器501可以是CPU、ASIC、FPGA或CPLD。Optionally, the processor 501 can be a CPU, an ASIC, an FPGA, or a CPLD.

在实施中，第一通信设备也可能需要加入车队。第二通信设备也可能需要发现车队，所以第一通信设备和第二通信设备的功能可以合在一个实体中(即第一通信设备和第二通信设备的模块在一个实体中)，根据需要选择使用第一通信设备的功能或第二通信设备的功能。即处理器501、收发机502、处理器301和收发机302可以合在一个实体中；也可以处理器501和处理器301合成一个处理器，收发机502和收发机302合成一个收发机，并且合在一个实体中。In implementation, the first communication device may also need to join the fleet. The second communication device may also need to discover the fleet, so the functions of the first communication device and the second communication device may be combined in one entity (ie, the modules of the first communication device and the second communication device are in one entity), and are selected according to requirements. The function of the first communication device or the function of the second communication device is used. That is, the processor 501, the transceiver 502, the processor 301, and the transceiver 302 may be combined in one entity; the processor 501 and the processor 301 may synthesize one processor, and the transceiver 502 and the transceiver 302 may synthesize one transceiver, and Combined in one entity.

基于同一发明构思，本发现实施例还提供了一种发现车队的方法由于该方法解决问题的原理与本发明实施例发现车队的***相似，因此该方法的实施可以参见***的实施，重复之处不再赘述。Based on the same inventive concept, the present discovery embodiment also provides a method for discovering a fleet. The principle of solving the problem is similar to the system for discovering the fleet of the embodiment of the present invention. Therefore, the implementation of the method can be referred to the implementation of the system, and the repetition is performed. No longer.

如图6所示，本发明实施例发现车队的方法，该方法包括：As shown in FIG. 6, a method for discovering a fleet of the present invention includes:

步骤601：位于车队中的第一通信设备确定需要其他车辆发现所述车队；Step 601: The first communication device located in the fleet determines that other vehicles are needed to discover the fleet;

步骤602：第一通信设备发送车队发现信息，以使收到所述车队发现信息的其他车辆发现所述车队。Step 602: The first communication device sends the fleet discovery information to cause the other vehicles that received the fleet discovery information to discover the fleet.

车队中的第一通信设备可以发送车队发现信息联系其他车辆共同组建车队，也可以在车队组建后继续发送车队发现信息联系其他车辆加入车队。The first communication device in the fleet can send fleet discovery information to contact other vehicles to form a fleet, or continue to send fleet discovery information to contact other vehicles to join the fleet after the team is formed.

第一通信设备发送车队信息的方式有许多种，例如所述第一通信设备可以周期性的广播所述车队发现信息；也可以在设定的时间广播所述车队发现信息，并且所述车队发现信息不局限于采用广播的方式进行发送，也可以只对特定的车辆发送所述车队发现信息。There are many ways for the first communication device to send the fleet information, for example, the first communication device can periodically broadcast the fleet discovery information; the fleet discovery information can also be broadcasted at a set time, and the fleet discovery The information is not limited to being transmitted by means of broadcasting, and the fleet discovery information may be transmitted only to a specific vehicle.

所述位于车队中的第一通信设备发送车队发现信息时可以采用多种方式进行发送，主要可以采用如下方式发送信息：The first communication device located in the fleet may send the vehicle discovery information in multiple manners, and may mainly send the information in the following manner:

所述第一通信设备通过多个协议层协调的方式发送所述车队发现信息；The first communication device sends the fleet discovery information in a coordinated manner by multiple protocol layers;

所述第一通信设备通过单个协议层发送所述车队发现信息。The first communication device transmits the fleet discovery information through a single protocol layer.

所述第一通信设备在接收到其他车辆上的第二通信设备根据所述车队发现信息发送的加入车队请求后，可以获知其他车辆已经接收到车队发现信息，并想要加入所述车队，此时第一通信设备确定所述其他车辆已发现所述车队。After receiving the joining team request sent by the second communication device on the other vehicle according to the fleet discovery information, the first communication device may know that other vehicles have received the fleet discovery information and want to join the fleet. The first communication device determines that the other vehicle has found the fleet.

如图7所示，本本发明实施例发现车队的方法，该方法包括：As shown in FIG. 7, a method for discovering a fleet of the present invention includes:

步骤701：车辆上的第二通信设备接收到位于车队中的第一通信设备发送的车队发现信息；Step 701: The second communication device on the vehicle receives the fleet discovery information sent by the first communication device located in the fleet;

步骤702：第二通信设备根据所述车队发现信息确定发现所述车队。Step 702: The second communication device determines to discover the fleet according to the fleet discovery information.

车队标识、车队中的头车标识、加入车队的条件、发送加入车队请求的资源信息、车队中车辆的类型、用于发现车队的发现信号。The team logo, the head car logo in the fleet, the conditions for joining the team, the resource information sent to join the team request, the type of vehicle in the fleet, and the discovery signal used to discover the team.

所述加入车队的条件包括下列条件中的部分或全部：The conditions for joining the fleet include some or all of the following conditions:

本发明实施例加入车队的条件有多种，上述三种仅是举例说明凡是可以限定加入车队的条件均属于本发明实施例。There are various conditions for joining the fleet in the embodiment of the present invention. The above three are merely examples to illustrate that all conditions that can be limited to join the fleet belong to the embodiment of the present invention.

需要说明的是，发现车队信息中的种类可以包含上述6种信息的部分或全部。例如发现车队信息中只包含车队标识，也可以包含车队标识、车队中的头车标识，也可以包含车队标识、车队中的头车标识、加入车队的条件、发送加入车队请求的资源信息，也可以包含车队中的头车标识、加入车队的条件、发送加入车队请求的资源信息、用于发现车队发现信号，也可以包含全部信息，也即包含车队标识、车队中的头车标识、加入车队的条件、发送加入车队请求的资源信息、车队中车辆的类型、用于发现车队发现信号。It should be noted that the category in the fleet information may be found to include some or all of the above six types of information. For example, it is found that the fleet information only includes the fleet logo, and may also include the fleet logo, the head vehicle logo in the fleet, the fleet logo, the head vehicle logo in the fleet, the conditions for joining the team, and the resource information for sending the request to join the team. It can include the head car logo in the team, the conditions for joining the team, the resource information sent to join the team request, the team discovery signal, or all the information, including the team logo, the car logo in the fleet, and the joining team. The conditions, the resource information sent to join the team request, the type of vehicle in the fleet, and the discovery of the fleet discovery signal.

车辆上的第二通信设备成功接收到车队发现信息，获取接收到的车队发现信息中的信息内容，可以确定有车队正在发送车队发现信息，也即可以确定已经发现了该车队。The second communication device on the vehicle successfully receives the fleet discovery information, obtains the information content in the received fleet discovery information, and can determine that the fleet is sending the fleet discovery information, and can also determine that the fleet has been found.

车辆上的第二通信设备在接收到位于车队中的第一通信设备发送的车队发现信息后，判断是否加入到所述车队；After receiving the fleet discovery information sent by the first communication device located in the fleet, the second communication device on the vehicle determines whether to join the fleet;

若确定加入到所述车队后，所述第二通信设备向所述第一通信设备发送加入车队请求，以使所述第一通信设备将所述第二通信设备所属的车辆加入到所述车队中。After determining to join the fleet, the second communication device sends a join fleet request to the first communication device to cause the first communication device to join a vehicle to which the second communication device belongs to the fleet in.

所述其他车辆上的第二通信设备可以周期性的监听车队发现信息也可以在设定的时间监听车队发现信息，例如当其他车辆想要加入车队时，才监听车队发现信息。The second communication device on the other vehicle may periodically monitor the fleet discovery information or may listen to the fleet discovery information at a set time, such as listening to the fleet discovery information when other vehicles want to join the fleet.

若第二通信设备在接收到车队发现信息后，所述车队发现信息包含加入车队条件，所述第二通信设备判断是否满足所述加入车队条件，如果满足，则确定加入到所述车队；否则，确定不加入到所述车队。If the second communication device receives the fleet discovery information, the fleet discovery information includes joining the fleet condition, the second communication device determines whether the joining fleet condition is met, and if satisfied, determining to join the fleet; otherwise, determining to join the fleet; otherwise , make sure not to join the team.

若所述车队发现信息包含发送加入车队请求的资源信息，第二通信设备在确定要加入车队时，需要发送加入车队请求时，应当在所述车队发现信息中的发送加入车队请求的资源信息指示的资源上广播所述加入车队请求。If the fleet discovery information includes resource information for sending a request to join the fleet, the second communication device, when determining to join the fleet, needs to send a resource request indication to be added to the fleet request in the fleet discovery information when the request to join the fleet is required to be sent. The resources on the broadcast are described in the join team request.

以车队发现信息包含有车队标识、车队中的头车标识、加入车队的条件、发送加入车队请求的资源信息、车队中车辆的类型、用于发现车队的发现信号为例，如图8所示，本发明实施例提供了发现车队的过程流程图，包括下列步骤：The fleet discovery information includes the team logo, the head car logo in the fleet, the conditions for joining the team, the resource information sent to join the team request, the type of vehicle in the fleet, and the discovery signal used to discover the fleet, as shown in Figure 8. The embodiment of the present invention provides a process flow diagram for discovering a fleet, including the following steps:

步骤801：其他车辆上的第二通信设备周期性的监听车队发现信息；Step 801: The second communication device on the other vehicle periodically monitors the fleet discovery information.

步骤802：车队中的第一通信设备确定需要其他车辆发现所述车队；Step 802: The first communication device in the fleet determines that other vehicles are needed to discover the fleet;

步骤803：第一通信设备发送车队发现信息；Step 803: The first communication device sends the fleet discovery information.

步骤804：第二通信设备接收到第一通信设备发送的车队发现信息；Step 804: The second communication device receives the fleet discovery information sent by the first communications device.

步骤805：第二通信设备根据所述车队发现信息确定发现所述车队；Step 805: The second communication device determines to find the fleet according to the fleet discovery information.

步骤806：第二通信设备判断是否满足加入车队条件；Step 806: The second communication device determines whether the condition of joining the team is satisfied.

步骤807：第二通信设备确定满足加入车队条件，确定加入所述车队；Step 807: The second communications device determines that the joining fleet condition is met, and determines to join the fleet;

步骤808：第二通信设备在发送加入车队请求的资源信息指示的资源上向所述第一通信设备发送加入车队请求；Step 808: The second communications device sends a join fleet request to the first communications device on the resource that is sent by the resource information that is added to the fleet request.

步骤809：第一通信设备接收到加入车队请求；Step 809: The first communication device receives the join team request;

步骤810：第一通信设备确定所述其他车辆已发现所述车队。Step 810: The first communications device determines that the other vehicle has discovered the fleet.

以上参照示出根据本申请实施例的方法、装置(***)和/或计算机程序产品的框图和/或流程图描述本申请。应理解，可以通过计算机程序指令来实现框图和/或流程图示图的一个块以及框图和/或流程图示图的块的组合。可以将这些计算机程序指令提供给通用计算机、专用计算机的处理器和/或其它可编程数据处理装置，以产生机器，使得经由计算机处理器和/或其它可编程数据处理装置执行的指令创建用于实现框图和/或流程图块中所指定的功能/动作的方法。The present application has been described above with reference to block diagrams and/or flowchart illustrations of a method, apparatus (system) and/or computer program product according to embodiments of the present application. It will be understood that one block of the block diagrams and/or flowchart illustrations and combinations of blocks of the block diagrams and/or flowchart illustrations can be implemented by computer program instructions. These computer program instructions may be provided to a general purpose computer, a processor of a special purpose computer, and/or other programmable data processing apparatus to produce a machine such that instructions for execution via a computer processor and/or other programmable data processing apparatus are created for A method of implementing the functions/actions specified in the block diagrams and/or flowchart blocks.

相应地，还可以用硬件和/或软件(包括固件、驻留软件、微码等)来实施本申请。更进一步地，本申请可以采取计算机可使用或计算机可读存储介质上的计算机程序产品的形式，其具有在介质中实现的计算机可使用或计算机可读程序代码，以由指令执行***来使用或结合指令执行***而使用。在本申请上下文中，计算机可使用或计算机可读介质可以是任意介质，其可以包含、存储、通信、传输、或传送程序，以由指令执行***、装置或设备使用，或结合指令执行***、装置或设备使用。Accordingly, the application can also be implemented in hardware and/or software (including firmware, resident software, microcode, etc.). Still further, the application can take the form of a computer program product on a computer usable or computer readable storage medium having computer usable or computer readable program code embodied in a medium for use by an instruction execution system or Used in conjunction with the instruction execution system. In the context of the present application, a computer usable or computer readable medium can be any medium that can contain, store, communicate, communicate, or transport a program for use by an instruction execution system, apparatus or device, or in conjunction with an instruction execution system, Used by the device or device.

显然，本领域的技术人员可以对本发明进行各种改动和变型而不脱离本发明的精神和范围。这样，倘若本发明的这些修改和变型属于本发明权利要求及其等同技术的范围之内，则本发明也意图包含这些改动和变型在内。It is apparent that those skilled in the art can make various modifications and variations to the invention without departing from the spirit and scope of the invention. Thus, it is intended that the present invention cover the modifications and modifications of the invention

Claims

一种发现车队的方法，其特征在于，该方法包括：A method of discovering a fleet is characterized in that the method comprises:

位于车队中的第一通信设备确定需要其他车辆发现所述车队；The first communication device located in the fleet determines that other vehicles are required to discover the fleet;

所述第一通信设备发送车队发现信息，以使接收到所述车队发现信息的其他车辆发现所述车队。The first communication device transmits fleet discovery information such that other vehicles that receive the fleet discovery information discover the fleet.
如权利要求1所述的方法，其特征在于，所述第一通信设备发送车队发现信息之后，还包括：The method of claim 1, wherein after the first communication device sends the fleet discovery information, the method further includes:

所述第一通信设备在接收到其他车辆上的第二通信设备根据所述车队发现信息发送的加入车队请求后，确定所述其他车辆已发现所述车队。The first communication device determines that the other vehicle has found the fleet after receiving the join fleet request sent by the second communication device on the other vehicle according to the fleet discovery information.
如权利要求1所述的方法，其特征在于，所述第一通信设备位于所述车队头车中。The method of claim 1 wherein said first communication device is located in said fleet head vehicle.
如权利要求1所述的方法，其特征在于，所述位于车队中的第一通信设备发送车队发现信息，包括：The method of claim 1 wherein said first communication device located in the fleet transmits fleet discovery information, comprising:

所述第一通信设备周期性的广播所述车队发现信息。The first communication device periodically broadcasts the fleet discovery information.
如权利要求1所述的方法，其特征在于，所述车队发现信息包括下列信息中的部分或全部：The method of claim 1 wherein said fleet discovery information comprises some or all of the following information:

车队标识、车队中的头车标识、加入车队的条件、发送加入车队请求的资源信息、车队中车辆的类型、用于发现车队的发现信号。The team logo, the head car logo in the fleet, the conditions for joining the team, the resource information sent to join the team request, the type of vehicle in the fleet, and the discovery signal used to discover the fleet.
如权利要求5所述的方法，其特征在于，所述加入车队的条件包括下列条件中的部分或全部：The method of claim 5 wherein said condition of joining the fleet comprises some or all of the following conditions:

所述第二通信设备信号接收强度大于设定阈值；The second communication device signal receiving strength is greater than a set threshold;

其它车辆的组织标识与所述车队中车辆的组织标识相同；The organization identification of other vehicles is the same as the organization identification of the vehicles in the fleet;

所述车队允许其他车辆加入的指示信息。The fleet allows instructions for other vehicles to join.
如权利要求1～6任一所述的方法，其特征在于，所述位于车队中的第一通信设备发送车队发现信息，包括：The method according to any one of claims 1 to 6, wherein the first communication device located in the fleet sends the fleet discovery information, including:

所述第一通信设备通过多个协议层协调的方式发送所述车队发现信息；或，Transmitting, by the first communications device, the fleet discovery information by a plurality of protocol layer coordination manners; or

所述第一通信设备通过单个协议层发送所述车队发现信息。The first communication device transmits the fleet discovery information through a single protocol layer.
一种发现车队的方法，其特征在于，该方法包括：A method of discovering a fleet is characterized in that the method comprises:

车辆上的第二通信设备接收到位于车队中的第一通信设备发送的车队发现信息；The second communication device on the vehicle receives the fleet discovery information transmitted by the first communication device located in the fleet;

所述第二通信设备根据所述车队发现信息确定发现所述车队。The second communication device determines to discover the fleet based on the fleet discovery information.
如权利要求8所述的方法，其特征在于，所述第二通信设备根据所述车队发现信息确定发现所述车队之后，还包括：The method of claim 8, wherein the determining, by the second communication device, after the discovery of the fleet based on the fleet discovery information, further comprises:

所述第二通信设备根据所述车队发现信息判断是否加入到所述车队；Determining, by the second communication device, whether to join the fleet according to the fleet discovery information;

若确定加入到所述车队后，所述第二通信设备向所述第一通信设备发送加入车队请求。If it is determined to join the fleet, the second communication device sends a join fleet request to the first communication device.
如权利要求8所述的方法，其特征在于，所述其他车辆上的第二通信设备接收到位于车队中的第一通信设备发送的车队发现信息之前，还包括：The method of claim 8, wherein before the second communication device on the other vehicle receives the fleet discovery information sent by the first communication device in the fleet, the method further includes:

所述其他车辆上的第二通信设备周期性的监听车队发现信息。The second communication device on the other vehicle periodically listens for fleet discovery information.
如权利要求9所述的方法，其特征在于，所述车队发现信息包括下列信息中的部分或全部：The method of claim 9 wherein said fleet discovery information comprises some or all of the following information:

车队标识、车队中的头车标识、加入车队的条件、发送加入车队请求的资源信息、车队中车辆的类型、用于发现车队的发现信号。The team logo, the head car logo in the fleet, the conditions for joining the team, the resource information sent to join the team request, the type of vehicle in the fleet, and the discovery signal used to discover the fleet.
如权利要求11所述的方法，其特征在于，所述第二通信设备判断是否加入到所述车队，包括：The method of claim 11, wherein the second communication device determines whether to join the fleet, including:

若所述车队发现信息包含加入车队条件，所述第二通信设备判断是否满足所述加入车队条件，如果满足，则确定加入所述车队；否则，确定不加入所述车队。If the fleet discovery information includes a joining fleet condition, the second communications device determines whether the joining fleet condition is met, and if so, determines to join the fleet; otherwise, determines not to join the fleet.
如权利要求11或12所述的方法，其特征在于，所述加入车队的条件包括下列条件中的部分或全部：The method of claim 11 or 12, wherein the condition of joining the fleet comprises some or all of the following conditions:

所述第二通信设备信号接收强度大于设定阈值；The second communication device signal receiving strength is greater than a set threshold;

其它车辆组织标识与所述车队中车辆组织标识相同；Other vehicle organization identifiers are the same as vehicle organization identifiers in the fleet;

所述车队允许其他车辆加入的指示信息。The fleet allows instructions for other vehicles to join.
如权利要求11所述的方法，其特征在于，若所述车队发现信息包含发送加入车队请求的资源信息，所述第二通信设备向所述第一通信设备发送加入车队请求，包括：The method of claim 11, wherein if the fleet discovery information includes resource information for transmitting a request to join the fleet, the second communication device transmitting the join fleet request to the first communication device, including:

所述第二通信设备在所述车队发现信息中的发送加入车队请求的资源信息指示的资源上发送所述加入车队请求。The second communication device transmits the join fleet request on the resource indicated in the fleet discovery information and added to the resource information requested by the fleet.
一种终端，其特征在于，包括：A terminal, comprising:

处理器，用于读取存储器中的程序，执行下列过程：A processor for reading a program in the memory, performing the following process:

用于确定需要其他车辆发现所述车队，通过收发机发送车队发现信息，以使收到所述车队发现信息的其他车辆发现所述车队；Used to determine that other vehicles are required to discover the fleet, and send fleet discovery information through the transceiver to cause other vehicles that receive the fleet discovery information to discover the fleet;

收发机，用于在处理器的控制下接收和发送数据。A transceiver for receiving and transmitting data under the control of a processor.
如权利要求15所述的终端，其特征在于，发送车队发现信息之后，还包括：The terminal according to claim 15, wherein after transmitting the fleet discovery information, the method further comprises:

在接收到其他车辆上的通信设备根据所述车队发现信息发送的加入车队请求后，确定所述其他车辆已发现所述车队。After receiving the joining fleet request sent by the communication device on the other vehicle based on the fleet discovery information, it is determined that the other vehicle has found the fleet.
如权利要求15所述的终端，其特征在于，所述终端位于所述车队头车中。The terminal of claim 15 wherein said terminal is located in said fleet leader vehicle.
如权利要求15所述的终端，其特征在于，发送车队发现信息，包括：The terminal according to claim 15, wherein the sending of the fleet discovery information comprises:

周期性的广播所述车队发现信息。The fleet discovery information is periodically broadcast.
如权利要求15所述的终端，其特征在于，所述车队发现信息包括下列信息中的部分或全部：The terminal of claim 15 wherein said fleet discovery information comprises some or all of the following information:

车队标识、车队中的头车标识、加入车队的条件、发送加入车队请求的资源信息、车队中车辆的类型、用于发现车队的发现信号。The team logo, the head car logo in the fleet, the conditions for joining the team, the resource information sent to join the team request, the type of vehicle in the fleet, and the discovery signal used to discover the fleet.
如权利要求19所述的终端，其特征在于，所述加入车队的条件包括下列条件中的部分或全部：The terminal of claim 19 wherein said condition of joining the fleet comprises some or all of the following conditions:

信号接收强度大于设定阈值；The signal receiving strength is greater than a set threshold;

其它车辆的组织标识与所述车队中车辆的组织标识相同；The organization identification of other vehicles is the same as the organization identification of the vehicles in the fleet;

所述车队允许其他车辆加入的指示信息。The fleet allows instructions for other vehicles to join.
如权利要求15～20任一所述的终端，其特征在于，发送车队发现信息，包括：The terminal according to any one of claims 15 to 20, wherein the sending of the fleet discovery information comprises:

通过多个协议层协调的方式发送所述车队发现信息；或，Sending the fleet discovery information in a coordinated manner by multiple protocol layers; or,

通过单个协议层发送所述车队发现信息。The fleet discovery information is sent through a single protocol layer.
一种终端，其特征在于，包括：A terminal, comprising:

处理器，用于读取存储器中的程序，执行下列过程：A processor for reading a program in the memory, performing the following process:

通过收发机接收车队发现信息，处理器根据所述车队发现信息确定发现所述车队；Receiving fleet discovery information through the transceiver, the processor determining to discover the fleet based on the fleet discovery information;

收发机，用于在处理器的控制下接收和发送数据。A transceiver for receiving and transmitting data under the control of a processor.
如权利要求22所述的终端，其特征在于，根据所述车队发现信息确定发现所述车队之后，还包括：The terminal according to claim 22, wherein after determining the discovery of the fleet based on the fleet discovery information, the method further comprises:

根据所述车队发现信息判断是否加入到所述车队；Determining whether to join the fleet based on the fleet discovery information;

若确定加入到所述车队后，发送加入车队请求。If it is determined to join the fleet, a request to join the team is sent.
如权利要求22所述的终端，其特征在于，接收车队发现信息之前，还包括：The terminal according to claim 22, further comprising: before receiving the fleet discovery information, the method further comprising:

周期性的监听车队发现信息。Periodically monitor the team to find information.
如权利要求23所述的终端，其特征在于，所述车队发现信息包括下列信息中的部分或全部：The terminal of claim 23, wherein the fleet discovery information comprises some or all of the following information:

车队标识、车队中的头车标识、加入车队的条件、发送加入车队请求的资源信息、车队中车辆的类型、用于发现车队的发现信号。The team logo, the head car logo in the fleet, the conditions for joining the team, the resource information sent to join the team request, the type of vehicle in the fleet, and the discovery signal used to discover the fleet.
如权利要求25所述的终端，其特征在于，判断是否加入到所述车队，包括：The terminal of claim 25, wherein determining whether to join the fleet comprises:

若所述车队发现信息包含加入车队条件，判断是否满足所述加入车队条件，如果满足，则确定加入所述车队；否则，确定不加入所述车队。If the fleet discovery information includes joining the fleet condition, determining whether the joining fleet condition is met, if yes, determining to join the fleet; otherwise, determining not to join the fleet.
如权利要求25或26所述的终端，其特征在于，所述加入车队的条件包括下列条件中的部分或全部：The terminal according to claim 25 or 26, wherein the condition of joining the fleet includes some or all of the following conditions:

信号接收强度大于设定阈值；The signal receiving strength is greater than a set threshold;

其它车辆组织标识与所述车队中车辆组织标识相同；Other vehicle organization identifiers are the same as vehicle organization identifiers in the fleet;

所述车队允许其他车辆加入的指示信息。The fleet allows instructions for other vehicles to join.
如权利要求25所述的终端，其特征在于，若所述车队发现信息包含发送加入车队请求的资源信息，发送加入车队请求，包括：The terminal according to claim 25, wherein if the fleet discovery information includes resource information for transmitting a request to join the fleet, sending the request to join the fleet includes:

在所述车队发现信息中的发送加入车队请求的资源信息指示的资源上发送所述加入车队请求。The joining fleet request is sent on the resource indicated in the fleet discovery information by the resource information sent to join the fleet request.
一种发现车队的第一通信设备，其特征在于，该第一通信设备包括：A first communication device for discovering a fleet, characterized in that the first communication device comprises:

第一处理模块，用于确定需要其他车辆发现所述车队；a first processing module, configured to determine that other vehicles are required to discover the fleet;

第一传输模块，用于发送车队发现信息，以使接收到所述车队发现信息的其他车辆发现所述车队。The first transmission module is configured to send fleet discovery information such that other vehicles that receive the fleet discovery information discover the fleet.
一种发现车队的第二通信设备，其特征在于，该第二通信设备包括：A second communication device for discovering a fleet, characterized in that the second communication device comprises:

第二传输模块，用于接收到位于车队中的第一通信设备发送的车队发现信息；a second transmission module, configured to receive fleet discovery information sent by the first communication device located in the fleet;

第二处理模块，用于根据所述车队发现信息确定发现所述车队。And a second processing module, configured to determine, according to the fleet discovery information, the discovery of the fleet.
一种计算机可读存储介质，其特征在于，所述计算机可读存储介质存储有执行权利要求1至7任一所述方法的计算机程序。A computer readable storage medium storing a computer program for performing the method of any one of claims 1 to 7.
一种计算机可读存储介质，其特征在于，所述计算机可读存储介质存储有执行权利要求8至14任一所述方法的计算机程序。A computer readable storage medium, characterized in that the computer readable storage medium stores a computer program for performing the method of any one of claims 8 to 14.