Method for vehicle supervision based on roadside device, roadside device and vehicle

Abstract

This disclosure relates to a method for vehicle monitoring based on roadside equipment, the roadside equipment itself, and a vehicle. The method includes: receiving monitoring information from a traffic monitoring platform; broadcasting the monitoring information to vehicles surrounding the roadside equipment via C-V2X communication; receiving vehicle perception information reported by vehicles within the road segment where the roadside equipment is located; determining whether vehicles within the road segment where the roadside equipment is located comply with the requirements of the monitoring information based on the vehicle perception information and the roadside perception information from the roadside equipment; and sending a violation warning message to the vehicle if it does not comply with the requirements of the monitoring information. By combining the perception data from both the vehicle and roadside equipment for regulatory compliance determination, the accuracy and timeliness of data processing in traffic enforcement can be improved overall. Broadcasting monitoring information helps guide vehicles to adjust their driving paths in real time according to the monitoring information, reducing violations and improving traffic efficiency.

Description

Technical Field

[0001] This disclosure relates to the field of vehicle and road network monitoring technology, and in particular to a method for vehicle monitoring based on roadside equipment, the roadside equipment, and the vehicle. Background Technology

[0002] In some important locations with high pedestrian traffic, such as bus stations, train stations, airports, ports, and docks, traffic congestion often occurs due to factors such as illegal parking to pick up and drop off passengers, prolonged stagnation, or slow traffic, resulting in large-scale traffic paralysis and negatively impacting road traffic efficiency.

[0003] In realizing the concept disclosed herein, the inventors discovered at least the following technical problems in the relevant technologies: the current methods of manual on-site supervision and law enforcement or using cameras to capture images and then identify violations and the delayed enforcement methods have problems such as resistance to law enforcement and excessive enforcement. The non-on-site enforcement methods of electronic capture have problems such as delayed enforcement processing, difficulty in collecting violation data, and difficulty in achieving comprehensive supervision of some blind spots, resulting in low road traffic efficiency. Summary of the Invention

[0004] To address or at least partially address the aforementioned technical problems, embodiments of this disclosure provide a method for vehicle monitoring based on roadside equipment, the roadside equipment, and the vehicle.

[0005] In a first aspect, embodiments of this disclosure provide a method for vehicle monitoring based on roadside equipment. The method includes: receiving monitoring information from a traffic monitoring platform; broadcasting the monitoring information to vehicles surrounding the roadside equipment via C-V2X (Cellular Vehicle-to-Everything) communication; receiving vehicle perception information reported by vehicles within the road segment where the roadside equipment is located; determining, based on the vehicle perception information and the roadside perception information from the roadside equipment, whether the vehicles within the road segment where the roadside equipment is located meet the requirements of the monitoring information; and sending a violation warning message to the vehicles if they do not meet the requirements of the monitoring information.

[0006] According to embodiments of this disclosure, the aforementioned regulatory information includes: electronic fence area information and control action information of the road section where the roadside equipment is located; the aforementioned vehicle perception information includes the vehicle's own driving status; and the aforementioned roadside perception information includes the vehicle's driving status perceived by the roadside equipment. Based on the aforementioned vehicle perception information and the roadside perception information of the roadside equipment, it is determined whether vehicles within the road segment where the roadside equipment is located meet the requirements of the aforementioned regulatory information. This includes: for each vehicle within the road segment where the roadside equipment is located, determining whether the data difference rate between the vehicle's perceived self-driving state and the roadside equipment's perceived vehicle-driving state is lower than a preset threshold; if the data difference rate is lower than the preset threshold, determining the vehicle's regulated driving state based on the preset priority of the sensing subject of the driving state, with the higher priority among the self-driving state and the vehicle-driving state; based on the vehicle's regulated driving state, the electronic fence area information, and the control action information, determining whether the vehicle's current driving position is within the electronic fence area, and determining whether the vehicle's driving actions within the electronic fence area meet the requirements of the aforementioned control action information; if the vehicle's current driving position is within the electronic fence area and the vehicle's driving actions within the electronic fence area do not meet the requirements of the aforementioned control action information, then determining that the vehicle does not meet the requirements of the aforementioned regulatory information.

[0007] According to embodiments of this disclosure, the aforementioned driving state includes at least one of the following: driving position, driving heading angle, driving speed, and driving acceleration; in the aforementioned preset priority of the sensing subject, the priority of the driving position, driving heading angle, driving speed, and driving acceleration sensed by the vehicle is set to be higher than the priority of the driving position, driving heading angle, driving speed, and driving acceleration sensed by the roadside equipment.

[0008] According to embodiments of this disclosure, determining whether a vehicle in the road segment where the roadside equipment is located meets the requirements of the regulatory information based on the aforementioned vehicle perception information and the roadside perception information of the roadside equipment further includes: when the aforementioned data difference rate is greater than a preset threshold, determining the relative reliability of the current vehicle's perceived self-driving state and the roadside equipment's perceived vehicle driving state based on the vehicle driving state perceived by a trusted third party; and determining the driving state perceived by the subject with the higher relative reliability as the current vehicle's regulatory driving state.

[0009] According to embodiments of this disclosure, determining the relative reliability of the current vehicle's perceived self-driving state and the roadside device's perceived vehicle-driving state based on the vehicle's driving state perceived by a trusted third party includes: using the vehicle's perceived self-driving state as reference data, determining the degree of closeness between the current vehicle's perceived self-driving state and the roadside device's perceived vehicle-driving state and the reference data; and considering the vehicle's perceived driving state with a higher degree of closeness as having a higher degree of reliability.

[0010] According to embodiments of this disclosure, the aforementioned trusted third party includes at least one of the following: other vehicles besides the aforementioned vehicles located on the road section where the roadside equipment is located, or other roadside equipment adjacent to the aforementioned roadside equipment.

[0011] According to embodiments of this disclosure, the vehicle perception information further includes road condition information perceived by the vehicle, and the roadside perception information further includes road condition information perceived by the roadside equipment. The method further includes: determining whether the number of times violation warnings are sent to the vehicle within a preset time period exceeds a set number; if the number of warnings exceeds the set number, generating vehicle violation evidence information based on the vehicle's perceived road condition information and its own driving status, as well as the road condition information and vehicle driving status perceived by the roadside equipment; initiating a violation processing request to the traffic monitoring platform, the violation processing request carrying the vehicle violation evidence information; receiving the violation processing result from the traffic monitoring platform for the violating vehicle; and forwarding the violation processing result to the corresponding violating vehicle.

[0012] According to an embodiment of this disclosure, before determining whether a vehicle in the road segment where the roadside equipment is located meets the requirements of the regulatory information based on the vehicle perception information and the roadside perception information of the roadside equipment, the method further includes: acquiring roadside perception information; the acquisition of roadside perception information includes: collecting environmental information based on the camera device and lidar device of the roadside equipment, and using the fused data obtained as roadside perception information.

[0013] Secondly, embodiments of this disclosure provide a method for vehicle monitoring applied to vehicles. The method includes: periodically reporting vehicle perception information to roadside equipment within a given road segment at set time intervals; receiving monitoring information broadcast by the roadside equipment based on C-V2X communication; determining a planned driving route and planned driving behavior that conform to the monitoring information based on the monitoring information; and performing driving navigation based on the planned driving route and the planned driving behavior.

[0014] According to embodiments of this disclosure, upon receiving a violation warning message from the aforementioned roadside equipment, the system automatically controls or assists the driver in correcting the actual driving route and actual driving behavior based on the planned driving route and planned driving behavior.

[0015] Thirdly, embodiments of this disclosure provide a roadside device. The roadside device includes: a regulatory information receiving module, a C-V2X communication module, a vehicle perception information receiving module, a determination module, and a prompt information sending module. The regulatory information receiving module receives regulatory information issued by a traffic monitoring platform. The C-V2X communication module broadcasts the regulatory information to vehicles surrounding the roadside device. The vehicle perception information receiving module receives vehicle perception information reported by vehicles within the road segment where the roadside device is located. The determination module determines, based on the vehicle perception information and the roadside perception information of the roadside device, whether vehicles within the road segment where the roadside device is located comply with the requirements of the regulatory information. The prompt information sending module sends a violation prompt to the vehicle if it does not comply with the requirements of the regulatory information.

[0016] Fourthly, embodiments of this disclosure provide a vehicle. The vehicle includes a C-V2X communication module, a driving planning module, and a driving navigation module. The C-V2X communication module is used to periodically report vehicle perception information to roadside equipment within the road segment at set time intervals. The C-V2X communication module is also used to receive monitoring information broadcast by the roadside equipment. The driving planning module is used to determine a planned driving route and planned driving behavior that conform to the monitoring information based on the monitoring information. The driving navigation module is used to perform driving navigation based on the planned driving route and the planned driving behavior.

[0017] Fifthly, embodiments of this disclosure provide an electronic device. The electronic device is located on a roadside device or vehicle, and includes a processor, a communication interface, a memory, and a communication bus. The processor, communication interface, and memory communicate with each other via the communication bus. The memory stores a computer program. The processor, when executing the program stored in the memory, implements the method for vehicle monitoring based on a roadside device or a vehicle monitoring method applied to a vehicle, as described above.

[0018] Sixthly, embodiments of this disclosure provide a computer-readable storage medium. The computer-readable storage medium stores a computer program that, when executed by a processor, implements the method for vehicle monitoring based on roadside equipment or a vehicle monitoring method applied to vehicles as described above.

[0019] Some of the technical solutions provided in the embodiments of this disclosure have at least some or all of the following advantages:

[0020] A vehicle-road cooperative law enforcement scheme is proposed. By having vehicles actively report their perception information to roadside equipment, this scheme comprehensively utilizes the high-precision and relatively accurate vehicle perception data collected by the vehicles themselves, as well as the roadside perception information collected by the roadside equipment, to make regulatory compliance judgments. In scenarios involving high traffic pressure, the scheme combines the perception data from both the vehicle and roadside equipment for compliance judgments. When a vehicle happens to be parked in the blind spot of the roadside equipment or its license plate is obscured, the information reported by the vehicle itself can be used as supplementary or alternative information to the roadside perception data. This allows for accurate identification of vehicle compliance, ensuring comprehensive oversight. When a vehicle fails to meet regulatory requirements, a violation alert is sent, enabling real-time monitoring and urging vehicles to operate in compliance. This helps alleviate traffic congestion and improve traffic efficiency, enhancing the accuracy and timeliness of data processing in traffic enforcement. Furthermore, after receiving regulatory information from the traffic monitoring platform, the roadside equipment broadcasts this information to surrounding vehicles via C-V2X communication. This helps guide vehicles to adjust their routes in real-time based on the information, reducing violations and improving traffic flow. Attached Figure Description

[0021] The accompanying drawings, which are incorporated in and form a part of this specification, illustrate embodiments consistent with this disclosure and, together with the description, serve to explain the principles of this disclosure.

[0022] To more clearly illustrate the technical solutions in the embodiments of this disclosure or the prior art, the accompanying drawings used in the description of the embodiments or related technologies will be briefly introduced below. Obviously, those skilled in the art can obtain other drawings based on these drawings without creative effort.

[0023] Figure 1 The system architecture of a vehicle monitoring method applicable to embodiments of this disclosure is illustrated schematically;

[0024] Figure 2 A flowchart illustrating a method for vehicle monitoring based on roadside equipment according to an embodiment of the present disclosure is shown schematically.

[0025] Figure 3 A detailed implementation flowchart of step S240 according to an embodiment of the present disclosure is illustrated schematically;

[0026] Figure 4A flowchart illustrating a method for vehicle monitoring based on roadside equipment according to another embodiment of this disclosure is shown schematically;

[0027] Figure 5 A flowchart illustrating a method for vehicle monitoring applied to a vehicle according to an embodiment of the present disclosure is shown schematically.

[0028] Figure 6 A structural block diagram of a roadside device according to an embodiment of the present disclosure is shown schematically;

[0029] Figure 7 A structural block diagram of a vehicle according to an embodiment of the present disclosure is schematically shown; and

[0030] Figure 8 A schematic block diagram of an electronic device provided in an embodiment of the present disclosure is shown. Detailed Implementation

[0031] The current vehicle supervision methods mainly adopt the following two approaches: one is to use human control to enforce the law on-site, and the other is to use electronic cameras to capture images for off-site enforcement.

[0032] Human-based on-site enforcement has drawbacks such as the inability to enforce regulations around the clock, resistance to enforcement, and the potential for over-enforcement. Traditional electronic enforcement methods suffer from delays in processing and difficulties in collecting data on violations. During the research and development process, the inventors discovered that in high-traffic areas such as bus stations, train stations, airports, ports, and docks, some vehicles illegally park in blind spots of electronic cameras. Electronic enforcement methods cannot capture such violations and cannot effectively manage traffic or enforce regulations in real time. In some scenarios, vehicles may obscure their license plates to avoid being photographed, but current electronic enforcement methods cannot effectively address these issues. Furthermore, the inherent delays in enforcement hinder timely traffic management. Finally, weather conditions, such as fog, make data collection difficult for electronic enforcement cameras.

[0033] In view of this, embodiments of this disclosure provide a method, roadside equipment, and vehicle for vehicle monitoring based on roadside devices. By combining the perception data from both the vehicle and roadside equipment sides to determine compliance, the accuracy and timeliness of data processing in traffic enforcement can be improved overall. Broadcasting monitoring information by roadside equipment helps guide vehicles to adjust their driving paths in real time based on the monitoring information, reducing violations and improving traffic efficiency. This solution can be applied to violation monitoring in areas with high traffic pressure to improve traffic efficiency.

[0034] The method for vehicle monitoring based on roadside equipment provided in this disclosure includes: receiving monitoring information issued by a traffic monitoring platform; broadcasting the monitoring information to vehicles around the roadside equipment via C-V2X communication; receiving vehicle perception information reported by vehicles in the road segment where the roadside equipment is located; determining whether vehicles in the road segment where the roadside equipment is located meet the requirements of the monitoring information based on the vehicle perception information and the roadside perception information of the roadside equipment; and sending a violation warning message to the vehicle if the vehicle does not meet the requirements of the monitoring information.

[0035] The vehicle monitoring method provided in this disclosure includes: periodically reporting vehicle perception information to roadside equipment in the road segment at set time intervals; receiving monitoring information broadcast by the roadside equipment based on C-V2X communication; determining a planned driving route and planned driving behavior that conform to the monitoring information based on the monitoring information; and performing driving navigation based on the planned driving route and the planned driving behavior.

[0036] To make the objectives, technical solutions, and advantages of the embodiments of this disclosure clearer, the technical solutions of the embodiments of this disclosure will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this disclosure. Based on the embodiments of this disclosure, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this disclosure.

[0037] Figure 1 The system architecture of a vehicle monitoring method applicable to embodiments of this disclosure is illustrated schematically.

[0038] Reference Figure 1 As shown, the system architecture 100 of the vehicle monitoring method applicable to embodiments of this disclosure includes: a traffic monitoring platform 110, roadside equipment 120, and vehicles 130. The traffic monitoring platform 110 and the roadside equipment 120 communicate via wired or wireless networks (e.g., 4G, 5G, etc.), and the roadside equipment 120 and the vehicles 130 communicate via C-V2X (cellular vehicle-to-everything technology). Figure 1In this example, two roadside devices, RSU-1 and RSU-2, and three vehicles, namely vehicle A, vehicle B, and vehicle C, are used.

[0039] C-V2X is a cellular-based V2X technology defined by 3GPP (the 3rd Generation Partnership Project, a communication technology standard primarily developing third-generation technical specifications based on the GSM core network and using UTRA (a general term for radio and network standards, with FDD for W-CDMA technology and TDD for TD-SCDMA technology) as the radio interface). It includes V2X systems based on LTE and future 5G, and is a powerful complement to DSRC (Dedicated Wireless Mobile Communication) technology. It leverages existing LTE network infrastructure to achieve information interaction between vehicles (V2V), vehicles (V2N), and vehicles (V2I) on the roadside. This technology is suitable for more complex security application scenarios, meeting low latency, high reliability, and bandwidth requirements.

[0040] The traffic monitoring platform 110 can be a server used for processing road traffic monitoring data, such as an application server or a cloud server. This traffic monitoring platform 110 sets up electronic fence area information and control action information for road segments within the road network. For example, the area within 1000 meters of a train station is an electronic fence area, and the control action information within this electronic fence area includes: prohibiting parking in specific locations; requiring a minimum speed of 45 km / h in certain road areas; and prohibiting dwell time in certain road areas from exceeding 5 minutes, etc.

[0041] Roadside Units (RSUs) 120 are devices installed on at least one side of a road. These RSUs are spaced apart along the road, for example, at preset intervals, such as every 50 to 100 meters (an exemplary interval value; other intervals are possible, and the intervals may be equal or unequal). Each RSU 120 corresponds to a control area. The control area of ​​a roadside unit can have the following relationships with its own sensing range: the control area is a subset or the entirety of the roadside unit's sensing range; or the control area and the roadside unit's sensing range overlap; the method provided in this disclosure can expand the control area of ​​the roadside unit; the control areas of two adjacent roadside units may overlap. In some embodiments, the roadside units are equipped with cameras and lidar devices.

[0042] The embodiments of this disclosure will now be described in detail with reference to the accompanying drawings.

[0043] A first exemplary embodiment of this disclosure provides a method for vehicle monitoring based on roadside devices. This method can be executed by each roadside device 120 in system architecture 100, for example, by... Figure 1 The examples RSU-1 and RSU-2 are executed separately.

[0044] Figure 2 A flowchart illustrating a method for vehicle monitoring based on roadside equipment according to an embodiment of the present disclosure is shown schematically.

[0045] Reference Figure 2 As shown, the method for vehicle monitoring based on roadside equipment provided in this embodiment includes the following steps: S210, S220, S230, S240 and S250.

[0046] In step S210, the system receives regulatory information from the traffic monitoring platform.

[0047] According to embodiments of this disclosure, the aforementioned regulatory information includes: information on the electronic fence area and control actions of the road segment where the roadside equipment is located. For example, refer to... Figure 1 As shown in the scenario, the area within 500 meters of the train station entrance is a wire fence zone. Figure 1 The grid lines in the diagram indicate the following control measures within the electronic fence area: parking is prohibited in the left lane corresponding to the entrance, and the driving speed in the right lane corresponding to the entrance must be no less than 45 km / h.

[0048] In step S220, the aforementioned regulatory information is broadcast to vehicles surrounding the roadside equipment based on C-V2X communication.

[0049] For example, if vehicles 130 are currently vehicle A, vehicle B, and vehicle C, and vehicle B is within the broadcast communication range of roadside equipment RSU-1, then roadside equipment RSU-1 broadcasts the aforementioned regulatory information to vehicle B. If vehicles A and C are within the broadcast communication range of roadside equipment RSU-2, then roadside equipment RSU-2 broadcasts the aforementioned regulatory information to both vehicles A and C.

[0050] After receiving the monitoring information from the traffic monitoring platform, the roadside equipment broadcasts the information to surrounding vehicles via C-V2X communication. This helps guide vehicles to adjust their driving routes in real time based on the monitoring information, reducing violations and improving traffic efficiency.

[0051] In step S230, vehicle perception information reported by vehicles in the road section where the aforementioned roadside equipment is located is received.

[0052] Roadside equipment will report its own vehicle perception information at preset intervals. For example, roadside equipment reports vehicle perception information every 100ms (milliseconds) (the specific value can vary).

[0053] In some embodiments, the vehicle perception information includes the vehicle's perceived driving state. The roadside perception information includes the vehicle's driving state perceived by the roadside equipment.

[0054] In other embodiments, the vehicle perception information includes the vehicle's own driving status and road condition information; the roadside perception information includes the vehicle's driving status and road condition information perceived by the roadside equipment.

[0055] The execution order of steps S220 and S230 is not limited; they can be executed sequentially or in parallel. Before a vehicle enters the electronic fence area, the electronic fence area information broadcast by the roadside equipment to the vehicle may include the absolute location information of the electronic fence area, or it may include the relative location information of the electronic fence area relative to the current vehicle. For example, in one embodiment, for vehicle B, the roadside equipment RSU-1 broadcasts to vehicle B that the electronic fence area is within 500 meters of the train station entrance (an example of absolute location information). Alternatively, in another embodiment, having already received vehicle perception information reported by the vehicle, for vehicle B, the roadside equipment RSU-1 determines the relative location information of vehicle B relative to the electronic fence area by using the current location information reported by vehicle B and the location information of the electronic fence area, and broadcasts this relative location information to vehicle B, for example, the broadcast content is: "The current vehicle is approaching the electronic fence area, and the current estimated distance is 200 meters." The above prompting methods help to inform vehicles in advance to prepare and adjust their driving status to meet the requirements of regulatory information.

[0056] In step S240, based on the vehicle perception information and the roadside perception information of the roadside equipment, it is determined whether the vehicles in the road section where the roadside equipment is located meet the requirements of the regulatory information.

[0057] In embodiments of this disclosure, the vehicle perception information carries a vehicle identification mark and a security certificate, which is used to characterize the authenticity and reliability of the data.

[0058] When conducting supervision in areas with high traffic pressure, compliance judgments can be made by combining the perception data from both vehicle-side and roadside equipment. When a vehicle happens to be parked in the blind spot of the roadside equipment or when the vehicle's license plate is obscured, the information reported by the vehicle itself can be used as supplementary or alternative information to the roadside perception information, thereby accurately identifying whether the vehicle is compliant and ensuring the comprehensiveness of supervision.

[0059] In step S250, if the vehicle does not meet the requirements of the aforementioned regulatory information, a violation warning message is sent to the vehicle.

[0060] When a vehicle fails to meet regulatory requirements, a violation warning message is sent to the vehicle. This message can provide early warning of violations, effectively monitor the vehicle in real time, and urge the vehicle to operate in compliance with regulations. This helps to alleviate traffic pressure and improve traffic efficiency.

[0061] Based on steps S210-S250 above, a vehicle-road cooperative law enforcement scheme is proposed. By adopting a method where vehicles actively report their perception information to roadside equipment, it can comprehensively utilize the high-precision and relatively accurate vehicle perception data collected by the vehicles themselves, as well as the roadside perception information collected by the roadside equipment, to make regulatory compliance judgments. In scenarios where supervision is carried out in areas with high traffic pressure, regulatory compliance judgments are made by combining the perception data from both the vehicle and roadside equipment. When a vehicle happens to be parked in the blind spot of the roadside equipment or when the vehicle's license plate is obscured, the information reported by the vehicle itself can be used as the roadside perception information. Supplementing or replacing information allows for accurate identification of vehicle compliance, ensuring comprehensive oversight. When a vehicle fails to meet regulatory requirements, a violation alert is sent, enabling real-time monitoring and urging compliant operation. This helps alleviate traffic congestion and improve traffic efficiency, enhancing the accuracy and timeliness of data processing in traffic enforcement. Furthermore, after receiving regulatory information from the traffic monitoring platform, roadside equipment broadcasts this information to surrounding vehicles via C-V2X communication, guiding them to adjust their routes in real-time, reducing violations, and improving traffic flow.

[0062] According to embodiments of this disclosure, monitoring continues without issuing alerts when the vehicle meets the requirements of regulatory information.

[0063] Figure 3 A detailed implementation flowchart of step S240 according to an embodiment of the present disclosure is illustrated schematically.

[0064] According to some embodiments of this disclosure, the aforementioned regulatory information includes: electronic fence area information and control action information of the road section where the roadside equipment is located; the aforementioned vehicle perception information includes the vehicle's own driving status; and the aforementioned roadside perception information includes the vehicle's driving status perceived by the aforementioned roadside equipment.

[0065] In step S240 above, based on the vehicle perception information and the roadside perception information of the roadside equipment, it is determined whether the vehicles in the road section where the roadside equipment is located meet the requirements of the above-mentioned regulatory information, including the following steps: S310, S320a, S330, S340b.

[0066] In step S310, for each vehicle in the road segment where the roadside equipment is located, it is determined whether the data difference rate between the current vehicle's perceived driving state and the vehicle's perceived driving state by the roadside equipment is lower than a preset threshold.

[0067] The aforementioned data difference rate is used to characterize the differences between the data perceived by different sensing objects for the same parameter.

[0068] According to embodiments of this disclosure, the aforementioned driving state includes at least one of the following: driving position, driving heading angle, driving speed, and driving acceleration; in the aforementioned preset priority of the sensing subject, the priority of the driving position, driving heading angle, driving speed, and driving acceleration sensed by the vehicle is set to be higher than the priority of the driving position, driving heading angle, driving speed, and driving acceleration sensed by the roadside equipment.

[0069] For example, taking the driving position in a driving state as an example, other parameters can be understood in the same way. The driving position data difference rate is obtained by calculating the degree of difference between the driving position data perceived by vehicle A and the driving position data of vehicle A obtained by the roadside device RSU-1. For example, in some embodiments, the root mean square error value between the driving position data perceived by vehicle A and the driving position data of vehicle A obtained by the roadside device RSU-1 can be calculated as the data difference rate. Or in other embodiments, the ratio of the absolute value of the difference between the two driving position data to the driving position data perceived by vehicle A can also be used as the data difference rate. There are various ways to calculate the data difference rate.

[0070] The aforementioned driving position data can be obtained by the vehicle positioning unit through its own sensors, or it can be high-precision position data calculated in real time by combining its own sensors with a GNSS navigation system. For example, real-time driving position information can be obtained through RTK (Real-time Dynamic Carrier Phase Measurement and Positioning) technology. Preset thresholds, such as 10% or 5%, can be adjusted according to actual conditions.

[0071] In step S320a, if the data difference rate is lower than a preset threshold, the vehicle's current driving state is determined as the one with the higher priority between its own driving state and the vehicle's driving state, based on the preset priority of the sensing subject of the driving state.

[0072] For each parameter in the driving state (such as driving position, driving heading angle, driving speed, driving acceleration, etc.), a corresponding preset priority of perception data is set, so that the corresponding parameter monitoring result can be determined for each parameter, and the overall driving state of the current vehicle including multiple parameters can be obtained.

[0073] In step S330, based on the current vehicle's monitored driving status, the electronic fence area information, and the control action information, it is determined whether the current vehicle's driving position is within the electronic fence area, and whether the current vehicle's driving action within the electronic fence area meets the requirements of the control action information.

[0074] In step S340b, if the current vehicle's driving position is within the electronic fence area and the current vehicle's driving action within the electronic fence area does not meet the requirements of the control action information, it is determined that the current vehicle does not meet the requirements of the regulatory information.

[0075] In another branch, refer to Figure 3 As shown in step S340a of the example, if the current vehicle's driving position is within the electronic fence area and the current vehicle's driving action within the electronic fence area meets the requirements of the control action information, it is determined that the current vehicle meets the requirements of the regulatory information.

[0076] According to other embodiments of this disclosure, refer to Figure 3 As shown, in step S240 above, in addition to steps S310, S320a, S330, and S340b above, it is determined whether the vehicles in the road section where the roadside equipment is located meet the requirements of the above-mentioned regulatory information. The steps include S321b and S322b.

[0077] If the above data difference rate is greater than a preset threshold, steps S321b and S322b are executed.

[0078] In step S321b, based on the vehicle driving status of the current vehicle perceived by the trusted third party, the relative reliability of the current vehicle's own driving status and the vehicle driving status of the current vehicle perceived by the roadside equipment is determined.

[0079] According to embodiments of this disclosure, determining the relative reliability of the current vehicle's perceived self-driving state and the roadside device's perceived vehicle-driving state based on the vehicle's driving state perceived by a trusted third party includes: using the vehicle's perceived self-driving state as reference data, determining the degree of closeness between the current vehicle's perceived self-driving state and the roadside device's perceived vehicle-driving state and the reference data; and considering the vehicle's perceived driving state with a higher degree of closeness as having a higher degree of reliability.

[0080] According to embodiments of this disclosure, the aforementioned trusted third party includes at least one of the following: other vehicles besides the aforementioned vehicles located on the road section where the roadside equipment is located, or other roadside equipment adjacent to the aforementioned roadside equipment.

[0081] In step S321b, the driving state perceived by the subject with a relatively high degree of reliability is determined as the current driving state of the vehicle.

[0082] The above steps S321b and S322b are parallel execution branches of step S320a, and the current vehicle monitoring driving status obtained from both branches is used to execute the subsequent step S330.

[0083] The aforementioned vehicle perception information includes not only the vehicle's own driving status but also the road condition information perceived by the vehicle. The aforementioned roadside perception information includes not only the vehicle's driving status perceived by the roadside equipment but also the road condition information perceived by the roadside equipment.

[0084] In certain special scenarios, such as a malfunction in a component of vehicle A causing a significant deviation in one or more parameters of the vehicle's reported driving status, the following situation arises: the data difference rate between the driving status of vehicle A perceived by the roadside unit (RSU-2) and the driving status perceived by vehicle A itself exceeds a preset threshold. The RSU-2 can determine the authenticity and accuracy of the data reported by vehicle C (another vehicle than vehicle A) based on the safety certificate carried in the data reported by vehicle C within its own road segment; therefore, vehicle C can be considered a trusted third party. By using the road condition information from vehicle C's (trusted third party) perception information, the driving status of vehicle A (e.g., the driving position and speed of vehicle A perceived from vehicle C's perspective) is obtained as baseline data. The vehicle driving status perceived by the RSU-2 and vehicle A, respectively, that which is closer to the baseline data indicates higher reliability. The driving status perceived by the more reliable entity can be used as the monitored driving status of vehicle A.

[0085] Figure 4 A flowchart illustrating a method for vehicle monitoring based on roadside equipment according to another embodiment of this disclosure is shown schematically.

[0086] The aforementioned vehicle perception information includes the vehicle's own driving status and road condition information, while the aforementioned roadside perception information includes the vehicle's driving status and road condition information perceived by the aforementioned roadside equipment.

[0087] According to another embodiment of this disclosure, in addition to the steps S210, S220, S230, S240, and S250 described above, the method further includes the following steps: S410, S420, S430, S440, and S450. For the sake of simplicity, only... Figure 4 The diagram illustrates steps S410 to S450. It can be understood that steps S410 to S450 and steps S210 to S250 are executed independently, and after step S250 occurs, the number of prompts for the vehicle begins to accumulate.

[0088] In step S410, it is determined whether the number of times the violation warning message is sent to the above-mentioned vehicle within the preset time period exceeds the set number.

[0089] In step S420, if the number of prompts exceeds the set number, vehicle violation evidence information is generated based on the road condition information perceived by the vehicle and its own driving status, as well as the road condition information perceived by the roadside equipment and the vehicle's driving status.

[0090] For example, if a vehicle receives more than three warnings within 10 minutes, it will be considered a violation if the vehicle fails to correct its improper behavior after being warned.

[0091] In the embodiments of this disclosure, vehicle violation evidence information is generated based on vehicle perception information and roadside perception information. For example, in one embodiment, vehicle violation evidence is generated by fusing vehicle perception information and roadside perception information. The fusing method may be as follows: when the data from both the vehicle and the roadside equipment are accurate, for data of the type of vehicle driving status, high-priority driving status data is determined as evidence based on the preset priority of the sensing subject; for data of the type of road condition information, the overlapping area data of the road condition data sensed by the vehicle and the roadside equipment are weighted and fused, and the non-overlapping area data is spliced ​​and combined.

[0092] For example, regarding road condition information, if the difference between the road condition data perceived by vehicles and roadside equipment for the same area is less than a preset value, the data portions of the road condition information perceived by vehicles and roadside equipment for that same area are weighted and fused. The data portions of the road condition information perceived by vehicles and roadside equipment other than that same area are directly spliced ​​and combined to obtain the road condition information for evidence. Furthermore, the vehicle driving status for evidence and the road condition information for evidence are fused into an image to obtain vehicle violation evidence information. For example, the above violation evidence information may be in the form of images, animated images, or videos.

[0093] In other embodiments, under special circumstances, due to the failure of components in the vehicle or a component of a roadside device, the difference between the road condition data perceived by the vehicle and the roadside device for the same area may be greater than a preset value. In this case, the relative reliability of the vehicle and the roadside device is determined based on the road condition information perceived by a trusted third party or the vehicle's driving status. The road condition information perceived by the subject with a higher relative reliability is used as evidence, or the road condition information perceived by the subject with a higher relative reliability is fused with the road condition information perceived by a trusted third party and used as evidence.

[0094] The aforementioned trusted third party includes at least one of the following: other vehicles besides the aforementioned vehicle located on the road segment where the roadside equipment is located, or other roadside equipment adjacent to the aforementioned roadside equipment. Here, "adjacent" means that the sensing range of the roadside equipment covers the target vehicle, the target vehicle is a vehicle whose data accuracy is disputed, and the difference between the sensing data of the target vehicle and the sensing data of the roadside equipment exceeds a set threshold.

[0095] In step S430, a violation processing request is sent to the aforementioned traffic monitoring platform, and the violation processing request carries the aforementioned vehicle violation evidence information.

[0096] In step S440, the violation processing results for the offending vehicles are received from the traffic monitoring platform.

[0097] In step S450, the above violation processing result is forwarded to the corresponding violating vehicle.

[0098] Based on the above steps S410 to S450, evidence collection and violation processing can be carried out in real time when multiple prompts have no effect. This allows vehicles to perceive regulatory measures and results in real time, which helps each vehicle to take corrective measures as soon as possible after receiving violation prompts and avoid subsequent violation penalty costs.

[0099] Based on the above embodiments, in some embodiments, the method further includes the following step: acquiring roadside sensing information. This step is used to acquire roadside sensing information so that it can be utilized in steps S240 and S420.

[0100] The acquisition of roadside perception information includes: collecting environmental information based on the camera device and lidar device of the aforementioned roadside equipment, and using the fused data as roadside perception information.

[0101] In this embodiment, environmental information is collected by a camera device and a lidar device based on roadside equipment. The resulting roadside perception information is a fusion of the information collected by the camera device and the lidar device, which can adapt to various weather conditions (such as foggy weather) and ensure the accuracy and precision of data collection.

[0102] In a specific implementation scenario, C-V2X communication technology enables information exchange between roadside and vehicle-side devices. The traffic monitoring platform sends electronic fence area information and control action information to the RSU devices on the corresponding road segment. Vehicles about to enter or already in the electronic fence area receive warnings and control action information from the onboard system, preparing to take appropriate vehicle actions based on the control action information. The roadside equipment monitors vehicles within the electronic fence area. If a vehicle violates regulations, a violation warning is sent to the onboard system, allowing the system to visually inform the driver through sound, light, or vibration, or to communicate with the autonomous driving system via a signal. If the warning is ineffective, the roadside equipment collects evidence and reports it to the traffic monitoring platform for appropriate violation processing, such as points deduction or fines. The roadside equipment simultaneously forwards the violation processing result to the offending vehicle. Alternatively, the traffic monitoring platform can send the violation processing result to electronic devices linked to the vehicle owner's account via network communication.

[0103] A second exemplary embodiment of this disclosure provides a method for vehicle monitoring applied to vehicles.

[0104] Figure 5 A flowchart illustrating a method for vehicle monitoring applied to a vehicle according to an embodiment of the present disclosure is shown schematically.

[0105] Reference Figure 5 As shown, the vehicle monitoring method for vehicles provided in this disclosure includes the following steps: S510, S520, S530 and S540.

[0106] In step S510, at set time intervals, vehicle perception information is periodically reported to the roadside equipment in the relevant road section.

[0107] Vehicle perception information includes: the vehicle's current driving status and road condition information.

[0108] In step S520, regulatory information broadcast by roadside equipment is received based on C-V2X communication.

[0109] The monitoring information includes: information on the electronic fence area of ​​the road segment where the roadside equipment is located, and information on control actions. The electronic fence area information broadcast by the roadside equipment to vehicles may include the absolute location information of the electronic fence area, or the relative location information of the electronic fence area with respect to the current vehicle. For specific examples, please refer to the detailed description of the first embodiment, which will not be repeated here.

[0110] In step S530, the planned driving route and planned driving behavior that conform to the above regulatory information are determined based on the above regulatory information.

[0111] For example, the regulatory information might state that the area within 500 meters of the train station entrance is an electronic fence zone, and parking is prohibited in the left-hand lane corresponding to the train station entrance. Based on this information, vehicles will determine a planned route and driving behavior that comply with the regulatory requirements. For instance, the planned route might be to drive in the left-hand lane at the train station entrance, and the planned driving behavior might be to drive normally in the left-hand lane without stopping.

[0112] In step S540, driving navigation is performed based on the planned driving route and the planned driving behavior.

[0113] According to embodiments of this disclosure, the vehicle monitoring method applied to vehicles further includes the following steps: upon receiving a violation driving warning message from the roadside equipment, automatically controlling and correcting the actual driving route and actual driving behavior based on the planned driving route and planned driving behavior, for example, by adopting the execution logic in autonomous driving mode; or assisting the driver in correcting the actual driving route and actual driving behavior based on the planned driving route and planned driving behavior, for example, by adopting the execution logic in manual driving mode.

[0114] Based on the above steps S510-S540, a vehicle-road cooperative law enforcement scheme is proposed. By adopting the method of vehicles actively reporting their perception information to roadside equipment, it can comprehensively utilize the high-precision and relatively accurate vehicle perception data collected by the vehicles themselves and the roadside perception information collected by the roadside equipment to make regulatory compliance judgments. The information reported by the vehicles themselves is used as supplementary or alternative information to the roadside perception information, thereby accurately identifying whether the vehicles are compliant, thus ensuring the comprehensiveness of supervision. When a vehicle does not meet the requirements of the regulatory information, the vehicle will receive a violation warning in a timely manner, which helps the vehicle to immediately rectify the violation and adjust its driving path in real time according to the regulatory information, reducing violations, helping to alleviate traffic pressure and improve traffic efficiency. Overall, it can improve the accuracy and timeliness of data processing in traffic law enforcement.

[0115] A third exemplary embodiment of this disclosure provides a roadside device.

[0116] Figure 6 A structural block diagram of a roadside device according to an embodiment of the present disclosure is shown schematically.

[0117] Reference Figure 6 As shown, the roadside equipment 600 provided in this embodiment includes: a monitoring information receiving module 601, a C-V2X communication module 602, a vehicle perception information receiving module 603, a determination module 604, and a prompt information sending module 605.

[0118] The aforementioned regulatory information receiving module 601 is used to receive regulatory information issued by the traffic supervision platform.

[0119] The aforementioned C-V2X communication module 602 is used to broadcast the aforementioned regulatory information to vehicles around the aforementioned roadside equipment.

[0120] The vehicle perception information receiving module 603 is used to receive vehicle perception information reported by vehicles in the road section where the roadside equipment is located.

[0121] The aforementioned determining module 604 is used to determine, based on the aforementioned vehicle perception information and the aforementioned roadside perception information of the roadside equipment, whether the vehicles in the road section where the aforementioned roadside equipment is located meet the requirements of the aforementioned regulatory information.

[0122] The aforementioned notification message sending module 605 is used to send a violation notification message to the aforementioned vehicle when the vehicle does not meet the requirements of the aforementioned regulatory information.

[0123] According to embodiments of this disclosure, in addition to the monitoring information receiving module 601, C-V2X communication module 602, vehicle perception information receiving module 603, determination module 604, and prompt information sending module 605, the roadside device 600 also includes: a counting module, a violation evidence generation module, a request initiation module, a result receiving module, and a forwarding module.

[0124] The aforementioned counting module is used to determine whether the number of times violation warning messages are sent to the aforementioned vehicles within a preset time period exceeds the set number.

[0125] The aforementioned violation evidence generation module is used to generate vehicle violation evidence information based on the road condition information perceived by the vehicle and its own driving status, as well as the road condition information perceived by the roadside equipment and the vehicle's driving status, when the number of prompts exceeds a set number.

[0126] The aforementioned request initiation module is used to send a violation processing request to the aforementioned traffic supervision platform. The violation processing request carries the aforementioned vehicle violation evidence information.

[0127] The aforementioned result receiving module is used to receive the violation processing results for the offending vehicles from the aforementioned traffic supervision platform.

[0128] The aforementioned forwarding module is used to forward the violation processing results to the corresponding violating vehicle.

[0129] A fourth exemplary embodiment of this disclosure provides a vehicle. The vehicle can be a conventional vehicle or an autonomous vehicle. An autonomous vehicle refers to a vehicle that supports autonomous driving functions and allows switching between autonomous driving and manual driving modes.

[0130] Figure 7 A structural block diagram of a vehicle according to an embodiment of the present disclosure is shown schematically.

[0131] Reference Figure 7 As shown, the vehicle 700 provided in this embodiment includes: a C-V2X communication module 701, a driving planning module 702, and a driving navigation module 703.

[0132] The aforementioned C-V2X communication module 701 is used to periodically report vehicle perception information to roadside equipment within the road segment at set time intervals. The C-V2X communication module 701 is also used to receive monitoring information broadcast by roadside equipment.

[0133] The aforementioned driving planning module 702 is used to determine the planned driving route and planned driving behavior that conform to the aforementioned regulatory information based on the aforementioned regulatory information.

[0134] The aforementioned driving navigation module 703 is used to provide driving navigation based on the planned driving route and the planned driving behavior.

[0135] According to embodiments of this disclosure, in addition to the C-V2X communication module 701, the driving planning module 702, and the driving navigation module 703, the vehicle 700 also includes a correction module.

[0136] The aforementioned correction module is used to automatically control and correct, or assist the driver in correcting, the actual driving route and actual driving behavior when receiving a violation warning message from the aforementioned roadside equipment, based on the planned driving route and planned driving behavior.

[0137] Any plurality of the modules included in the roadside equipment 600 or vehicle 700 may be combined into a single module, or any one of the modules may be split into multiple modules. Alternatively, at least a portion of the functionality of one or more of these modules may be combined with at least a portion of the functionality of other modules and implemented in a single module. At least one of the modules included in the roadside equipment 600 or vehicle 700 may be at least partially implemented as hardware circuitry, such as a field-programmable gate array (FPGA), a programmable logic array (PLA), a system-on-a-chip, a system-on-a-substrate, a system-on-package, an application-specific integrated circuit (ASIC), or any other reasonable means of integrating or packaging circuitry, or implemented in software, hardware, or firmware, or in any suitable combination of any of these three methods. Alternatively, at least one of the modules included in the roadside equipment 600 or vehicle 700 may be at least partially implemented as a computer program module, which, when run, can perform corresponding functions.

[0138] The fifth exemplary embodiment of this disclosure provides an electronic device.

[0139] Figure 8 A schematic block diagram of an electronic device provided in an embodiment of the present disclosure is shown.

[0140] Reference Figure 8 As shown, the electronic device 800 provided in this embodiment is located on a roadside device or vehicle. The electronic device 800 includes a processor 801, a communication interface 802, a memory 803, and a communication bus 804. The processor 801, the communication interface 802, and the memory 803 communicate with each other through the communication bus 804. The memory 803 is used to store computer programs. When the processor 801 executes the program stored in the memory, it implements the method for vehicle monitoring based on roadside devices or the method for vehicle monitoring applied to vehicles as described above.

[0141] A sixth exemplary embodiment of this disclosure also provides a computer-readable storage medium. The computer-readable storage medium stores a computer program that, when executed by a processor, implements the method for vehicle monitoring based on roadside equipment or a vehicle monitoring method applied to vehicles as described above.

[0142] The computer-readable storage medium may be included in the device / apparatus described in the above embodiments; or it may exist independently and not assembled into the device / apparatus. The computer-readable storage medium carries one or more programs that, when executed, implement the method according to the embodiments of this disclosure.

[0143] According to embodiments of this disclosure, the computer-readable storage medium can be a non-volatile computer-readable storage medium, such as including, but not limited to: portable computer disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination thereof. In this disclosure, the computer-readable storage medium can be any tangible medium that contains or stores a program that can be used by or in conjunction with an instruction execution system, apparatus, or device.

[0144] It should be noted that, in this document, relational terms such as "first" and "second" are used merely to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element. Without technical obstacles, the various embodiments and features of the embodiments described in this disclosure can be combined and incorporated into new embodiments.

[0145] The above description is merely a specific embodiment of this disclosure, enabling those skilled in the art to understand or implement it. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of this disclosure. Therefore, this disclosure is not to be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features claimed herein.

Claims

1. A method for vehicle supervision based on a roadside device, characterized in that, The roadside device has a corresponding management area, and the management area is a subset or the whole of the sensing range of the roadside device, or the management area has an intersection with the sensing range of the roadside device; the method comprises: receiving the management information issued by the traffic management platform; broadcasting the management information to vehicles around the roadside device based on C-V2X communication; receiving vehicle sensing information reported by vehicles in the road section where the roadside device is located; the vehicle sensing information comprises vehicle-sensed self driving state and road condition information; determining whether the vehicles in the road section where the roadside device is located meet the requirements of the management information according to the vehicle sensing information and roadside sensing information of the roadside device, wherein the roadside sensing information comprises vehicle driving state and road condition information sensed by the roadside device; wherein, for each vehicle in the road section where the roadside device is located, it is determined whether the data difference rate between the current vehicle-sensed self driving state and the vehicle driving state sensed by the roadside device for the current vehicle is lower than a preset threshold; in the case that the data difference rate is greater than the preset threshold, the relative reliability degree of the current vehicle-sensed self driving state and the vehicle driving state sensed by the roadside device for the current vehicle is determined according to the vehicle driving state of the current vehicle sensed by a trusted third party; the driving state sensed by the subject with high relative reliability degree is determined as the management driving state of the current vehicle; whether the current vehicle meets the requirements of the management information is determined according to the management driving state; in the case that the vehicle does not meet the requirements of the management information, sending a violation driving prompt information to the vehicle; determining whether the number of prompt times of sending the violation driving prompt information to the vehicle within a preset time period exceeds a set number of times; in the case that the number of prompt times exceeds the set number of times, generating vehicle violation evidence information according to the road condition information and self driving state sensed by the vehicle and the road condition information and vehicle driving state sensed by the roadside device; wherein, in the case that the data difference rate is greater than the preset threshold, the road condition information sensed by the subject with higher relative reliability degree and the road condition information sensed by the trusted third party are fused as evidence road condition information.

2. The method of claim 1, wherein, The management information comprises electronic fence area information and management action information of the road section where the roadside device is located; determining whether the vehicles in the road section where the roadside device is located meet the requirements of the management information according to the vehicle sensing information and roadside sensing information of the roadside device, further comprises: in the case that the data difference rate is lower than the preset threshold, determining the management driving state of the current vehicle as the one with higher priority between the self driving state and the vehicle driving state according to the preset priority of the sensing subject of the driving state; wherein, determining whether the current vehicle meets the requirements of the management information according to the management driving state comprises: According to the current vehicle's regulatory driving state, the electronic fence area information, and the control action information, it is determined whether the current vehicle's driving position is located in the electronic fence area, and whether the current vehicle's driving action in the electronic fence area meets the requirements of the control action information; In the case that the current vehicle's driving position is located in the electronic fence area and the current vehicle's driving action in the electronic fence area does not meet the requirements of the control action information, it is determined that the current vehicle does not meet the requirements of the regulatory information.

3. The method of claim 1, wherein, According to the vehicle driving state of the current vehicle perceived by the trusted third party, the relative reliability degrees of the self-perceived driving state of the current vehicle and the vehicle driving state of the current vehicle perceived by the roadside device are determined, including: Taking the vehicle driving state of the current vehicle perceived by the trusted third party as the reference data, the closeness degrees of the self-perceived driving state of the current vehicle and the vehicle driving state of the current vehicle perceived by the roadside device relative to the reference data are determined; The vehicle driving state perceived by the subject with higher closeness degree is considered to have higher reliability degree.

4. The method according to claim 1 or 3, characterized in that, The trusted third party includes at least one of the following: other vehicles in the road section where the roadside device is located except the vehicle, or other roadside devices adjacent to the roadside device.

5. The method of claim 2, wherein, The method further includes: Initiating a violation processing request to the traffic regulatory platform, the violation processing request carrying the vehicle violation evidence information; Receiving the violation processing result for the violating vehicle fed back by the traffic regulatory platform; and Forwarding the violation processing result to the corresponding violating vehicle.

6. The method of claim 1, wherein, Before determining whether the vehicle in the road section where the roadside device is located meets the requirements of the regulatory information according to the vehicle perception information and the roadside perception information of the roadside device, the method further includes: acquiring roadside perception information; The acquiring roadside perception information includes: Collecting environmental information based on the camera and the laser radar of the roadside device, and obtaining fusion data as the roadside perception information.

7. A method for vehicle supervision applied to a vehicle, characterized by, It includes: Periodically report vehicle perception information to a roadside device in a road segment within a set time interval, so that the roadside device determines whether a vehicle in the road segment where the roadside device is located meets the requirements of the regulatory information according to the vehicle perception information and the roadside perception information of the roadside device; wherein the roadside device has a corresponding control area, and the control area is a subset or the whole of the perception range of the roadside device, or there is an intersection between the control area and the perception range of the roadside device; the roadside device determines whether the vehicle in the road segment meets the requirements of the regulatory information by: for each vehicle in the road segment where the roadside device is located, determining whether the data difference rate between the current vehicle perception of the self driving state and the vehicle driving state of the current vehicle perceived by the roadside device is lower than a preset threshold; in the case that the data difference rate is greater than the preset threshold, determining the relative reliability degree of the self driving state perceived by the current vehicle and the vehicle driving state of the current vehicle perceived by the roadside device according to the vehicle driving state of the current vehicle perceived by the trusted third party; determining the driving state perceived by the subject with high relative reliability degree as the regulatory driving state of the current vehicle; determining whether the current vehicle meets the requirements of the regulatory information according to the regulatory driving state; receiving the regulatory information broadcast by the roadside device based on C-V2X communication; determining a planned driving route and a planned driving behavior that meet the regulatory information according to the regulatory information; driving navigation according to the planned driving route and the planned driving behavior; in the case of receiving the illegal driving prompt information sent by the roadside device, automatically correcting or assisting the driving personnel to correct the actual driving route and the actual driving behavior according to the planned driving route and the planned driving behavior; in the case that the number of prompts of the illegal driving prompt information exceeds a set number of times, the roadside device is used to: generate vehicle illegal evidence information according to the road condition information and the self driving state perceived by the vehicle and the road condition information and the vehicle driving state perceived by the roadside device; wherein, in the case that the data difference rate is greater than the preset threshold, the road condition information perceived by the subject with higher relative reliability degree is fused with the road condition information perceived by the trusted third party as the evidence road condition information.

8. A roadside device, characterized by The roadside device has a corresponding control area, and the control area is a subset or the whole of the perception range of the roadside device, or there is an intersection between the control area and the perception range of the roadside device; The roadside device comprises: a regulatory information receiving module for receiving regulatory information issued by a traffic regulatory platform; a C-V2X communication module for broadcasting the regulatory information to vehicles around the roadside device; a vehicle perception information receiving module for receiving vehicle perception information reported by a vehicle in a road segment where the roadside device is located; the vehicle perception information includes self driving state and road condition information perceived by the vehicle; determining, according to the vehicle perception information and roadside perception information of the roadside device, whether a vehicle in a road segment where the roadside device is located meets a requirement of the supervision information, wherein the roadside perception information includes vehicle driving states perceived by the roadside device and road condition information; and the determining includes: determining, for each vehicle in the road segment where the roadside device is located, whether a data difference rate between a self driving state perceived by the current vehicle and a vehicle driving state of the current vehicle perceived by the roadside device is lower than a preset threshold; in a case where the data difference rate is greater than the preset threshold, determining a relative reliability degree of the self driving state perceived by the current vehicle and the vehicle driving state of the current vehicle perceived by the roadside device according to a vehicle driving state of the current vehicle perceived by a trusted third party; determining a driving state perceived by a subject with a higher relative reliability degree as a supervision driving state of the current vehicle; and determining whether the current vehicle meets the requirement of the supervision information according to the supervision driving state; a prompt information sending module configured to send, in a case where the vehicle does not meet the requirement of the supervision information, a violation driving prompt information to the vehicle; a counting module configured to determine whether a prompt number of sending the violation driving prompt information to the vehicle in a preset time period exceeds a set number; a violation evidence generating module configured to, in a case where the prompt number exceeds the set number, generate vehicle violation evidence information according to road condition information and a self driving state perceived by the vehicle and road condition information and a vehicle driving state perceived by the roadside device; and the generating includes: in a case where the data difference rate is greater than the preset threshold, fusing road condition information perceived by a subject with a higher relative reliability degree and road condition information perceived by a trusted third party as evidence road condition information.

9. A vehicle characterized by comprising: including: The C-V2X communication module is configured to periodically report vehicle perception information to a roadside device in a road segment within a set time interval, so that the roadside device determines whether a vehicle in the road segment where the roadside device is located meets a requirement of supervision information according to the vehicle perception information and roadside perception information of the roadside device; the roadside device has a corresponding management area, the management area is a subset or the whole set of the perception range of the roadside device, or the management area has an intersection with the perception range of the roadside device; the roadside device determines whether the vehicle in the road segment meets the requirement of the supervision information by: determining, for each vehicle in the road segment where the roadside device is located, whether a data difference rate between a current vehicle perception self-driving state and a vehicle driving state of the current vehicle perceived by the roadside device is lower than a preset threshold; in a case where the data difference rate is greater than the preset threshold, determining a relative reliability degree of the current vehicle perception self-driving state and the vehicle driving state of the current vehicle perceived by the roadside device according to a vehicle driving state of the current vehicle perceived by a trusted third party; determining a management driving state of the current vehicle according to a subject perception driving state with a high relative reliability degree; and determining whether the current vehicle meets the requirement of the supervision information according to the management driving state. The C-V2X communication module is further configured to receive the supervision information broadcast by the roadside device. The driving planning module is configured to determine a planned driving route and a planned driving behavior meeting the supervision information according to the supervision information. The driving navigation module is configured to perform driving navigation according to the planned driving route and the planned driving behavior. The correction module is configured to automatically control correction or assist a driving personnel to correct an actual driving route and an actual driving behavior according to the planned driving route and the planned driving behavior in a case where a violation driving prompt information sent by the roadside device is received; in a case where a prompt number of the violation driving prompt information exceeds a set number, the roadside device is configured to generate vehicle violation evidence information according to road condition information and a self-driving state perceived by the vehicle and road condition information and a vehicle driving state perceived by the roadside device; wherein, in a case where the data difference rate is greater than the preset threshold, the road condition information perceived by a subject with a higher relative reliability degree is fused with road condition information perceived by a trusted third party to serve as evidence road condition information.

10. An electronic device, comprising: The electronic device is located on a roadside device or a vehicle, and includes a processor, a communication interface, a memory and a communication bus, wherein the processor, the communication interface and the memory complete mutual communication through the communication bus. The memory is configured to store a computer program. The processor is configured to execute the program stored on the memory to implement the method in any one of claims 1-7.

11. A computer readable storage medium having stored thereon a computer program, characterized in that, The computer program is executed by the processor to implement the method in any one of claims 1-7.

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