Redundant communication method, apparatus and system for cooperative autonomous driving platooning

1. A vehicle, comprising a second processing device and at least two V2V devices, wherein

each of the at least two V2V devices is configured to obtain application data from an air interface respectively, and

the second processing device is configured to obtain, from the at least two V2V devices, the application data respectively, and fuse and verify the application data to obtain valid data;

the second processing device is further configured to:

perform, in response to receiving an Ethernet message corresponding to the application data from one of the at least two V2V devices in a current detection period, message identity detection on the Ethernet message to form a first detection result;

determine whether the Ethernet message is valid data or invalid data based on the first detection result.

2. The vehicle of claim 1 , wherein:

the air interfaces correspond to a plurality of frequency bands;

each of the at least two V2V devices occupies different one of the plurality of frequency bands and comprises a plurality of antennas;

the plurality of antennas of each V2V device occupy a same frequency band; and

each of the at least two V2V devices is further configured to:

receive V2X messages corresponding to the application data from the air interface corresponding to the same frequency band via a plurality of antennas; and

perform signal fusion on the V2X messages received via the plurality of antennas of the V2V device, to form application data information corresponding to the V2V device.

3. The vehicle of claim 2 , wherein the second processing device is further configured to:

control each of the at least two V2V devices to decode the application data information corresponding to the V2V device, and packetize the decoded application data information into an Ethernet message; and

receive, from each of the at least two V2V devices, the Ethernet message corresponding to the V2V device.

4. The vehicle of claim 3 , wherein the second processing device is further configured to:

determine, at an end of a current detection period, one or more V2V devices corresponding to the Ethernet message received in the current detection period, the detection period being a predetermined message communication period.

5. The vehicle of claim 4 , wherein the second processing device is further configured to:

perform, in response to receiving the Ethernet message corresponding to the application data from more than one V2V device in the current detection period, message identity detection on the Ethernet message to form a second detection result;

determine an Ethernet message to be discarded and an Ethernet message to be verified based on the second detection result; and

discard the Ethernet message to be discarded, and verify the Ethernet message to be verified to obtain valid data or invalid data.

6. The vehicle of claim 5 , wherein the second processing device is further configured to:

determine whether an identity of the Ethernet message corresponding to each V2V device as received in the current detection period is same as an expected message identity known in advance;

set a status flag corresponding to each V2V device to a first flag indicating same identity when the identity of the Ethernet message corresponding to the V2V device as received in the current detection period is same as the expected message identity known in advance; and

maintain a flag corresponding to each V2V device as an initial flag to indicate different identity when the identity of the Ethernet message corresponding to the V2V device as received in the current detection period is different from the expected message identity known in advance.

7. The vehicle of claim 6 , wherein the second processing device is further configured to:

determine whether the flag corresponding to each V2V device is the initial flag or the first flag;

determine that the Ethernet message corresponding to each V2V device as received in the current detection period is an Ethernet message to be discarded when the flag corresponding to the V2V device is the initial flag; and

determine that the Ethernet message corresponding to each V2V device as received in the current detection period is an Ethernet message to be verified when the flag corresponding to the V2V device is the first flag.

8. The vehicle of claim 6 , wherein the second processing device is further configured to:

calculate data bits in the Ethernet message to be verified corresponding to each V2V device in accordance with a predetermined algorithm to obtain a calculation result corresponding to the V2V device, the predetermined algorithm comprising addition, multiplication, MD5 message digest algorithm;

compare the calculation results;

determine the Ethernet message to be verified corresponding to each V2V device to be same, and determine the same Ethernet messages to be verified corresponding to the V2V device as valid data, when the calculation results are same; and

determine the Ethernet message to be verified corresponding to each V2V device as invalid data, when different calculation results exist in the calculation results.

9. The vehicle of claim 4 , wherein the second processing device is further configured to:

determine whether an identity of the Ethernet message corresponding to the one of the at least two V2V devices as received in the current detection period is same as an expected message identity known in advance;

set a status flag corresponding to the one of the at least two V2V devices to a first flag indicating same identity when the identity is same as the expected message identity known in advance; and

maintain a flag corresponding to the one of the at least two V2V devices as an initial flag to indicate different identity when the is different from the expected message identity known in advance.

10. The vehicle of claim 9 , wherein the second processing device is further configured to:

determine whether the flag corresponding to the one of the at least two V2V devices is the initial flag or the first flag;

determine that the Ethernet message is invalid data when the flag corresponding to the one of the at least two V2V devices is the initial flag; and

determine that the Ethernet message is valid data when the flag corresponding to the one of the at least two V2V devices is the first flag.

11. A method for redundant communication for platooning, comprising:

controlling at least two V2V devices on a vehicle to obtain application data from an air interface respectively; and

obtaining, from the at least two V2V devices, the application data respectively; and

fusing and verifying the application data to obtain valid data;

said fusing and verifying the application data to obtain the valid data comprises:

performing, in response to receiving an Ethernet message corresponding to the application data from one of the at least two V2V devices in a current detection period, message identity detection on the Ethernet message to form a first detection result;

determining whether the Ethernet message is valid data or invalid data based on the first detection result.

12. The method of claim 11 , wherein:

the air interfaces correspond to a plurality of frequency bands;

each of the at least two V2V devices occupies different one of the plurality of frequency bands and comprises a plurality of antennas;

the plurality of antennas of each V2V device occupy a same frequency band; and

said controlling the at least two V2V devices on the vehicle to obtain the application data from the air interface comprises:

controlling the at least two V2V devices to receive V2X messages corresponding to the application data from air interfaces corresponding to different frequency bands via a plurality of antennas of each V2V device; and

controlling each of the at least two V2V devices to perform signal fusion on the V2X messages received via the plurality of antennas of the V2V device, to form application data information corresponding to the V2V device.

13. The method of claim 12 , wherein said obtaining, from the at least two V2V devices, the application data respectively comprises:

controlling each of the at least two V2V devices to decode the application data information corresponding to the V2V device, and packetize the decoded application data information into an Ethernet message; and

receiving, from each of the at least two V2V devices, the Ethernet message corresponding to the V2V device via a router or a switch.

14. The method of claim 13 , wherein said fusing and verifying the application data to obtain the valid data comprises:

determining, at an end of a current detection period, one or more V2V devices corresponding to the Ethernet message received in the current detection period, the detection period being a predetermined message communication period;

performing, in response to receiving the Ethernet message corresponding to the application data from more than one V2V in the current detection period, message identity detection on the Ethernet message to form a second detection result;

determining an Ethernet message to be discarded and an Ethernet message to be verified based on the second detection result; and

discarding the Ethernet message to be discarded, and verifying the Ethernet message to be verified to obtain valid data or invalid data.

15. The method of claim 11 , wherein said performing the message identity detection on the Ethernet message to form the first detection result comprises:

determining whether an identity of the Ethernet message is same as an expected message identity known in advance;

setting a status flag corresponding to the one of the at least two V2V devices to a first flag indicating same identity when the identity of the Ethernet message is same as the expected message identity known in advance; and

maintaining a flag corresponding to the one of the at least two V2V devices as an initial flag to indicate different identity when the identity of the Ethernet message is different from the expected message identity known in advance, and

said determining whether the Ethernet message is valid data or invalid data based on the first detection result comprises:

determining whether the flag corresponding to the one of the at least two V2V devices is the initial flag or the first flag;

determining that the Ethernet message is invalid data when the flag corresponding to the one of the at least two V2V devices is the initial flag; and

determining that the Ethernet message is valid data when the flag corresponding to the one of the at least two V2V devices is the first flag.

16. A non-transitory computer readable storage medium, having a computer program stored thereon, the program comprising code configured to perform a method for redundant communication for platooning, comprising:

controlling at least two V2V devices on a vehicle to obtain application data from an air interface respectively; and

obtaining, from the at least two V2V devices, the application data respectively; and

fusing and verifying the application data to obtain valid data;

said fusing and verifying the application data to obtain the valid data comprises:

performing, in response to receiving an Ethernet message corresponding to the application data from one of the at least two V2V devices in a current detection period, message identity detection on the Ethernet message to form a first detection result;

determining whether the Ethernet message is valid data or invalid data based on the first detection result.

17. The non-transitory computer readable storage medium of claim 16 , wherein

the air interfaces correspond to a plurality of frequency bands;

each of the at least two V2V devices occupies different one of the plurality of frequency bands and comprises a plurality of antennas;

the plurality of antennas of each V2V device occupy a same frequency band; and

said controlling the at least two V2V devices on the vehicle to obtain the application data from the air interface comprises:

controlling the at least two V2V devices to receive V2X messages corresponding to the application data from air interfaces corresponding to different frequency bands via a plurality of antennas of each V2V device; and

controlling each of the at least two V2V devices to perform signal fusion on the V2X messages received via the plurality of antennas of the V2V device, to form application data information corresponding to the V2V device.

18. The non-transitory computer readable storage medium of claim 17 , wherein said obtaining, from the at least two V2V devices, the application data respectively comprises:

controlling each of the at least two V2V devices to decode the application data information corresponding to the V2V device, and packetize the decoded application data information into an Ethernet message; and

receiving, from each of the at least two V2V devices, the Ethernet message corresponding to the V2V device via a router or a switch.

19. The non-transitory computer readable storage medium of claim 18 , wherein said fusing and verifying the application data to obtain the valid data comprises:

determining, at an end of a current detection period, one or more V2V devices corresponding to the Ethernet message received in the current detection period, the detection period being a predetermined message communication period;

performing, in response to receiving the Ethernet message corresponding to the application data from more than one V2V in the current detection period, message identity detection on the Ethernet message to form a second detection result;

determining an Ethernet message to be discarded and an Ethernet message to be verified based on the second detection result; and

discarding the Ethernet message to be discarded, and verifying the Ethernet message to be verified to obtain valid data or invalid data.

20. The non-transitory computer readable storage medium of claim 16 , wherein said performing the message identity detection on the Ethernet message to form the first detection result comprises:

determining whether an identity of the Ethernet message is same as an expected message identity known in advance;

setting a status flag corresponding to the one of the at least two V2V devices to a first flag indicating same identity when the identity of the Ethernet message is same as the expected message identity known in advance; and

maintaining a flag corresponding to the one of the at least two V2V devices as an initial flag to indicate different identity when the identity of the Ethernet message is different from the expected message identity known in advance, and

said determining whether the Ethernet message is valid data or invalid data based on the first detection result comprises:

determining whether the flag corresponding to the one of the at least two V2V devices is the initial flag or the first flag;

determining that the Ethernet message is invalid data when the flag corresponding to the one of the at least two V2V devices is the initial flag; and

determining that the Ethernet message is valid data when the flag corresponding to the one of the at least two V2V devices is the first flag.