Data processing method, apparatus, and related device

Abstract

The application discloses a data processing method and device and related equipment, which can be applied to the field of transportation. The method comprises the following steps: a target road-side communication device acquires a driving route of a first vehicle; map driving route information of the first vehicle is generated based on the driving route, and a map indication message carrying the map driving route information is sent to a second vehicle; the map indication message is used to instruct a terminal device in the second vehicle to execute a driving strategy based on the map driving route information when a vehicle message sent by a terminal device in the first vehicle is received, wherein the vehicle message is used to describe a driving state of the first vehicle. By using the application, the vehicle can be timely and accurately given priority to avoid, and the vehicle passing efficiency is improved.

Description

Technical Field

[0001] This application relates to the field of automotive wireless communication technology, and in particular to a data processing method, apparatus, and related equipment. Background Technology

[0002] With the development of vehicle intelligence and connectivity technologies, the importance of V2X (Vehicle to Everything) communication technology has become increasingly prominent, and it has become one of the supporting technologies for intelligent vehicles and intelligent transportation. V2X communication technology, through wireless communication between vehicles, between vehicles and roadside infrastructure, and between vehicles and pedestrians, can help vehicles achieve functions such as forward collision warning, speed limit warning, and warning and protection for vulnerable road users.

[0003] However, when a vehicle with priority passage needs (e.g., an emergency vehicle) approaches, drivers of surrounding vehicles often can only avoid it by recognizing the emergency vehicle's alarm sound. As a result, when the emergency vehicle's alarm sound is weak or not sounded, drivers of surrounding vehicles may not have enough time to avoid it, thus reducing the passage efficiency of the emergency vehicle. Summary of the Invention

[0004] This application provides a data processing method, apparatus, and related equipment that can promptly and accurately achieve vehicle priority avoidance and improve vehicle traffic efficiency.

[0005] One embodiment of this application provides a data processing method, including:

[0006] The target roadside communication equipment obtains the driving route of the first vehicle;

[0007] The map driving route information of the first vehicle is generated based on the driving route, and a map instruction message carrying the map driving route information is sent to the second vehicle. The map instruction message is used to instruct the terminal device in the second vehicle to execute a driving strategy based on the map driving route information when it receives the vehicle message sent by the terminal device in the first vehicle. The vehicle message is used to describe the driving status of the first vehicle.

[0008] One embodiment of this application provides a data processing method, including:

[0009] The terminal device in the second vehicle receives a map instruction message sent by the target roadside communication device; the map instruction message carries the map driving route information of the first vehicle; the map driving route information is generated by the target roadside communication device based on the driving route of the first vehicle;

[0010] Upon receiving a vehicle message from a terminal device in the first vehicle, the system obtains the map driving route information carried in the map instruction message and executes a driving strategy based on the map driving route information; the vehicle message is used to describe the driving status of the first vehicle.

[0011] One embodiment of this application provides a data processing apparatus, including:

[0012] The acquisition module is used to acquire the driving route of the first vehicle;

[0013] The sending module is used to generate map driving route information for the first vehicle based on the driving route, and send a map instruction message carrying the map driving route information to the second vehicle; the map instruction message is used to instruct the terminal device in the second vehicle to execute a driving strategy based on the map driving route information when it receives the vehicle message sent by the terminal device in the first vehicle; the vehicle message is used to describe the driving status of the first vehicle.

[0014] One embodiment of this application provides a data processing apparatus, including:

[0015] The receiving module is used to receive a map instruction message sent by the target roadside communication device; the map instruction message carries the map driving route information of the first vehicle; the map driving route information is generated by the target roadside communication device based on the driving route of the first vehicle;

[0016] The execution module is used to obtain the map driving route information carried in the map instruction message when it receives the vehicle message sent by the terminal device in the first vehicle, and execute the driving strategy based on the map driving route information; the vehicle message is used to describe the driving status of the first vehicle.

[0017] One embodiment of this application provides a computer device, including: a processor and a memory;

[0018] The processor is connected to a memory, which stores a computer program. When the computer program is executed by the processor, it causes the computer device to perform the method provided in the embodiments of this application.

[0019] One aspect of this application provides a computer-readable storage medium storing a computer program adapted to be loaded and executed by a processor, so that a computer device having the processor performs the method provided in this application.

[0020] One embodiment of this application provides a computer program product or computer program, which includes computer instructions stored in a computer-readable storage medium. A processor of a computer device reads the computer instructions from the computer-readable storage medium and executes the computer instructions, causing the computer device to perform the method provided in this application embodiment.

[0021] In this embodiment, the target roadside communication device can first obtain the driving route of the first vehicle, and then generate map driving route information of the first vehicle based on the driving route. Subsequently, it can send a map instruction message carrying the map driving route information to the second vehicle. This map instruction message is used to instruct the terminal device in the second vehicle to execute a driving strategy based on the map driving route information when it receives a vehicle message sent by the terminal device in the first vehicle. Therefore, this embodiment can support the target roadside communication device in sending map driving route information of the first vehicle with priority passage requirements to the second vehicle. The terminal device in the second vehicle can then determine the corresponding driving strategy based on the map driving route information. Since the map driving route information of the first vehicle is provided to the second vehicle in advance, the terminal device in the second vehicle can promptly determine whether to yield to the first vehicle based on the precise route of the first vehicle. This allows for timely and accurate vehicle priority yielding, especially in complex intersection environments such as crossroads. Furthermore, it enables effective cooperation between vehicles, thereby improving traffic efficiency. Attached Figure Description

[0022] Figure 1 This is a schematic diagram of a system architecture provided in an embodiment of this application;

[0023] Figure 2 This is a schematic diagram of a data processing scenario provided in an embodiment of this application;

[0024] Figure 3 This is a flowchart illustrating a data processing method provided in an embodiment of this application;

[0025] Figure 4 This is a schematic diagram of the structure of a map indication message provided in an embodiment of this application;

[0026] Figure 5 This is a schematic diagram of a long-distance information transmission scenario provided in an embodiment of this application;

[0027] Figure 6 This is a flowchart illustrating a data processing method provided in an embodiment of this application;

[0028] Figure 7This is a schematic diagram of the interaction flow of a data processing method provided in an embodiment of this application;

[0029] Figure 8 This is a schematic diagram of a scenario where a vehicle has priority to avoid another vehicle, provided in an embodiment of this application.

[0030] Figure 9 This is a schematic diagram of the structure of a data processing device provided in an embodiment of this application;

[0031] Figure 10 This is a schematic diagram of the structure of a data processing device provided in an embodiment of this application;

[0032] Figure 11 This is a schematic diagram of the structure of a computer device provided in an embodiment of this application;

[0033] Figure 12 This is a schematic diagram of the structure of a data processing system provided in an embodiment of this application. Detailed Implementation

[0034] The technical solutions in the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings.

[0035] The technical solutions of this application embodiment can be applied to vehicle communication systems based on various communication methods, such as V2X systems based on Dedicated Short Range Communication (DSRC), V2X systems based on cellular network communication technology (i.e., Cellular Vehicle to Everything, C-V2X), or subsequent evolved vehicle communication systems. C-V2X includes LTE-V2X (Long Term Evolution, LTE) based on 4th Generation Mobile Communication Technology (4G) and 5G-V2X (also known as NR-V2X, New Radio, NR) based on 5th Generation Mobile Communication Technology (5G). Furthermore, from a technological evolution perspective, LTE-V2X supports a smooth evolution to 5G-V2X.

[0036] Intelligent Traffic Systems (ITS), also known as Intelligent Transportation Systems, effectively integrate advanced science and technology (information technology, computer technology, data communication technology, sensor technology, electronic control technology, automatic control theory, operations research, artificial intelligence, etc.) into transportation, service control, and vehicle manufacturing. This strengthens the connection between vehicles, roads, and users, thereby forming a comprehensive transportation system that ensures safety, improves efficiency, enhances the environment, and saves energy.

[0037] Intelligent Vehicle Infrastructure Cooperative Systems (IVICS), or vehicle-road cooperative systems for short, represent a development direction for Intelligent Transportation Systems (ITS). IVICS utilizes advanced wireless communication and next-generation Internet technologies to implement comprehensive, real-time dynamic information exchange between vehicles and infrastructure. Based on the collection and fusion of dynamic traffic information across all times and spaces, it conducts active vehicle safety control and cooperative road management, fully realizing effective collaboration between people, vehicles, and roads. This ensures traffic safety, improves traffic efficiency, and ultimately forms a safe, efficient, and environmentally friendly road traffic system.

[0038] The solutions provided in this application involve technologies such as vehicle-road cooperation, which are specifically illustrated through the following embodiments:

[0039] Please see Figure 1 , Figure 1 This is a schematic diagram of a system architecture provided in an embodiment of this application. In vehicular wireless communication, such as... Figure 1 The system architecture shown may include a roadside communication equipment cluster, a terminal equipment cluster, and a management platform 10. The roadside communication equipment cluster may include one or more roadside communication devices; the number of roadside communication devices in the cluster is not limited here. For example, as... Figure 1 As shown, the roadside communication equipment cluster may specifically include roadside communication equipment 100a, ..., roadside communication equipment 100b, ..., roadside communication equipment 100m. It should be understood that communication connections may exist between the roadside communication equipment. For example, there may be a communication connection between roadside communication equipment 100a and roadside communication equipment 100b to achieve information exchange.

[0040] It is understood that the roadside communication equipment in this embodiment can be a communication device (or communication gateway) deployed on the roadside, and can have various forms (e.g., wired, wireless, etc.). The specific form of the roadside communication equipment will not be limited here. In practical applications, the roadside communication equipment can be deployed according to information such as road environment and business needs. Specifically, regarding the implementation of V2X services, the roadside communication equipment can collect information from roadside basic traffic facilities and road traffic participants (e.g., pedestrians, cyclists, vehicles, etc.), upload it to the management platform 10 via wired or wireless means, and can also distribute surrounding traffic information (e.g., via broadcast) to road traffic participants (e.g., vehicles within its signal coverage area). Roadside basic traffic facilities can include roadside units, traffic signal controllers, roadside intelligent sensing systems (including various cameras, LiDAR, millimeter-wave radar, etc.), dynamic traffic signs, electronic license plate RFID (Radio Frequency Identification) readers, parking space detectors, high-precision positioning ground-based augmentation stations, and roadside meteorological sensing stations, among other related equipment. In addition to the aforementioned business functions, roadside communication equipment can also have basic functions such as management (e.g., responsible for the authentication, management and maintenance of roadside communication equipment) and security (e.g., responsible for the security protection of the roadside communication equipment itself and the information exchange between the roadside communication equipment and other interactive objects).

[0041] Optionally, in an LTE-V2X system, the roadside communication equipment can be a V2X device, such as a roadside unit (RSU), which is a hardware unit installed on the roadside that can realize V2X communication and support V2X applications. Alternatively, it can be an environmental sensing device, such as a camera or radar sensor. This application does not limit the specific technology or specific equipment form used in the roadside communication equipment.

[0042] It is understood that, optionally, roadside communication equipment can be deployed independently on the roadside, or optionally, roadside communication equipment can be embedded in other equipment and deployed together on the roadside. For example, roadside communication equipment can be embedded in traffic light equipment, cameras or other road signs.

[0043] In such Figure 1 In the system architecture shown, the terminal device cluster can include one or more terminal devices; the number of terminal devices in the cluster is not limited here. For example, as Figure 1As shown, the terminal device cluster can specifically include terminal device 200a, terminal device 200b, ..., terminal device 200c, ..., terminal device 200n. It should be understood that the terminal devices can be configured on corresponding vehicles, so that vehicles equipped with terminal devices can communicate with other devices through their configured terminal devices, i.e., realize V2X vehicle-to-everything (V2X) communication. For example, ... Figure 1 As shown, terminal device 200a can be configured on vehicle 20a, terminal device 200b can be configured on vehicle 20b, ..., terminal device 200c can be configured on vehicle 20c, ..., terminal device 200n can be configured on vehicle 20n. It should be noted that these vehicles can be intelligent driving vehicles, assisted driving vehicles (or manually driven vehicles), or different levels of autonomous driving vehicles. The vehicle types include, but are not limited to, cars, medium-sized vehicles, large vehicles, cargo vehicles, ambulances, fire trucks, etc., and this application embodiment does not limit these types.

[0044] It is understood that the terminal devices in the embodiments of this application may include vehicle-mounted terminals, mobile terminals (such as smartphones, tablets, laptops, etc.), wireless communication devices, terminal devices in future 5G networks, or terminal devices in future evolved Public Land Mobile Networks (PLMNs), and may also include V2X devices, such as on-board units (OBUs) in vehicles, i.e., hardware units installed in vehicles that enable V2X communication and support V2X applications. The terminal devices may be fixed in location or mobile. The embodiments of this application do not limit the specific technology or device form used in the terminal devices.

[0045] In such Figure 1In the system architecture shown, management platform 10 refers to a platform (e.g., a V2X cloud platform) located above the roadside communication equipment cluster and terminal equipment cluster. It can view all data within its management scope (including data related to roadside communication equipment and terminal equipment) and communicate with devices within that management scope (e.g., roadside communication equipment, vehicle-mounted terminal equipment, pedestrian-used user equipment, etc.). For example, management platform 10 can view the deployment and configuration of all roadside communication equipment (e.g., roadside communication equipment 100a) within its management scope, and vehicle-mounted terminal equipment within that scope can send vehicle-related information to management platform 10. Furthermore, management platform 10 can send traffic information associated with that management scope (e.g., traffic congestion, accident situations, etc.) to vehicles within that scope (e.g., vehicle 20a). It is understood that for a V2X system, management platform 10 needs powerful and rapid data processing capabilities and a massive data storage mechanism to handle ultra-high-speed, ultra-high-throughput, high-reliability, and ultra-low-latency network data.

[0046] It is understood that the management platform in this application embodiment may consist of one or more servers, and the number of servers is not limited here. The servers may communicate with each other. These servers may be independent physical servers, server clusters or distributed systems composed of multiple physical servers, or cloud servers providing basic cloud computing services such as cloud databases, cloud services, cloud computing, cloud functions, cloud storage, network services, cloud communication, middleware services, domain name services, security services, CDN, and artificial intelligence platforms. Servers may be local or remote.

[0047] It is understandable that, such as Figure 1 The system architecture shown can be applied to business scenarios that support edge computing (such as mobile edge computing, or MEC). In this scenario, the management platform 10 can be a regional management platform, meaning that the servers it contains can be edge application servers (EAS) in edge computing; or, the management platform 10 can be a central management platform, meaning that the servers it contains can be central application servers. This application embodiment does not limit this. Edge computing refers to a platform that integrates network, computing, storage, and application core capabilities at the network edge, close to the source of objects or data, to provide edge intelligent services locally, meeting the key needs of industry digitalization in areas such as agile connectivity, real-time business, data optimization, application intelligence, security, and privacy protection.

[0048] Among them, the aforementioned V2X vehicle-to-everything (V2X) communication includes, but is not limited to, various communication scenarios such as vehicle-to-vehicle (V2V) communication, vehicle-to-infrastructure (V2I) communication, vehicle-to-pedestrian (V2P) communication, and vehicle-to-network (V2N) communication.

[0049] It is understandable that in a V2V scenario, terminal devices in different vehicles can have communication connections. For example, terminal device 200a configured on vehicle 20a and terminal device 200b configured on vehicle 20b can communicate to achieve information exchange. For instance, the terminal devices can obtain real-time information such as the speed, location, and driving conditions of surrounding vehicles. The terminal devices can also form an interactive platform, exchanging text, images, and videos in real time. Based on V2V communication, vehicles can implement forward collision warning, lane change assist, left turn assist, and cooperative adaptive cruise control, among other things.

[0050] It is understandable that in a V2I scenario, terminal devices in a vehicle can establish communication connections with roadside communication devices, allowing each terminal device to interact with the corresponding roadside communication device through this connection. For example, terminal device 200a configured on vehicle 20a has a communication connection with roadside communication device 100a. The roadside communication device can also obtain information about vehicles in the nearby area and publish various real-time information. Based on V2I communication, applications such as speed recommendations, traffic priority, road condition warnings, red light violation warnings, weather impact warnings, parking space and charging station location tracking, and non-stop toll collection can be implemented.

[0051] Understandably, in a V2P scenario, the terminal devices in the vehicle can interact with user devices used by pedestrians (such as smartphones, wearable devices, laptops, etc.). Figure 1 (Not shown in the image) A communication connection is established so that each terminal device can interact with the user equipment used by the pedestrian through this connection. Based on V2P communication, early warning and protection for vulnerable road users (e.g., pedestrians, bicycles, electric bicycles, etc.) can be achieved to reduce traffic accidents.

[0052] It is understood that in a V2N scenario, terminal devices in a vehicle can establish a communication connection with a management platform (e.g., a V2X cloud platform), allowing each terminal device to interact with the management platform via this connection (e.g., a 4G / 5G network). The management platform can then store and process the acquired data, thereby enabling information sharing between the vehicle and the cloud. V2N can employ efficient transmission technologies such as novel antenna transmission technologies, high-frequency transmission, and full-duplex transmission in C-V2X, and this application does not limit these specific applications. Based on V2N communication, services such as real-time traffic route planning, remote traffic information push, map updates, infotainment services, vehicle management, and emergency rescue can be provided.

[0053] The above-mentioned communication connection is not limited to a specific connection method. Communication between different devices can use different connection methods or the same connection method. This application embodiment does not impose any restrictions on this.

[0054] Understandable. Figure 1 The system architecture shown can be applied to 4G networks, 5G networks, and other possible future networks. This application does not specifically limit this.

[0055] It is understandable that, due to differences in signal coverage, each roadside communication device in the roadside communication equipment cluster corresponds to a coverage area. A roadside communication device can collect data related to roadside infrastructure and road users within its coverage area. For example, it can use its own onboard cameras, radar, and other sensors for detection, and can also collect information on abnormal road conditions, which can then be reported to the management platform 10. Furthermore, the roadside communication device can also distribute relevant data to roadside infrastructure and road users within its coverage area. For example, it can broadcast map data associated with the coverage area (such as intersection information, road segment information, etc.), or it can broadcast data received from the management platform 10. For example, such as... Figure 1As shown, assuming vehicles 20a and 20b are within the coverage area of ​​roadside communication device 100a, roadside communication device 100a can acquire data associated with vehicles 20a and 20b (e.g., vehicle type, location, speed, etc.), and can also push real-time information (e.g., road conditions, weather, etc.) to vehicles 20a and 20b, which is then processed by the corresponding terminal devices (i.e., terminal devices 200a and 200b). Similarly, assuming vehicle 20c is within the coverage area of ​​roadside communication device 100b, roadside communication device 100b can interact with terminal device 200c on vehicle 20c. Likewise, assuming vehicle 20n is within the coverage area of ​​roadside communication device 100m, roadside communication device 100m can interact with terminal device 200n on vehicle 20n. Furthermore, vehicles can also interact with each other through their respective configured terminal devices, such as exchanging information about their driving status. The terminal devices in the vehicles can also interact with the management platform 10, for example, the terminal devices in the vehicles can report their driving routes to the management platform 10. Therefore, this embodiment of the application can use a combination of V2V communication, V2I communication and V2N communication to quickly and safely clear the way for vehicles with priority passage needs to make way for unobstructed dedicated lanes, thereby achieving effective coordination between vehicles, improving vehicle traffic efficiency, and achieving vehicle priority over longer distances.

[0056] For ease of understanding and explanation, in the embodiments of this application, a vehicle with priority passage can be referred to as a first vehicle, and vehicles traveling near or further ahead of the first vehicle can be collectively referred to as second vehicles. For example, in situations such as... Figure 1 When vehicle 20a has a priority passage requirement, it can be designated as the first vehicle, and vehicle 20b located near it can be designated as the second vehicle. In this embodiment, the first vehicle can be an emergency vehicle such as an ambulance, fire truck, emergency rescue vehicle, or accident investigation vehicle, or a vehicle that is entitled to priority passage according to policy or law. The second vehicle can be an ordinary civilian vehicle (i.e., a vehicle without a priority passage requirement or capability). In some optional embodiments, if different vehicles have different passage priorities, the first vehicle has a higher passage priority than the second vehicle. Furthermore, this embodiment does not limit the driving methods used by the first and second vehicles; for example, both autonomous driving and manual driving methods can be used.

[0057] It is understood that the terminal equipment in the first vehicle can report its driving route to the connected management platform based on V2N communication. The management platform can then select roadside communication devices associated with the driving route from one or more deployed roadside communication devices. In this embodiment, the roadside communication devices selected by the management platform can be collectively referred to as target roadside communication devices. For example, assuming... Figure 1 The vehicle 20a shown is the first vehicle. The management platform 10 can filter out the roadside communication devices located on the driving route of the vehicle 20a as target roadside communication devices (e.g., roadside communication device 100a, ..., roadside communication device 100b, ..., roadside communication device 100m) based on the deployment information of the deployed roadside communication devices. The number of target roadside communication devices can be one or more; this embodiment does not limit the number of target roadside communication devices. It should be noted that due to the diversity of actual road environments, the deployment of roadside communication devices is very flexible. Therefore, when the roadside communication devices are densely deployed, the coverage areas of different target roadside communication devices may overlap. Vehicles located in the overlapping area can communicate with any one of the target roadside communication devices. This embodiment does not limit this; for example, vehicles in the overlapping area can choose to communicate with the nearest target roadside communication device.

[0058] It should be noted that all vehicles within the coverage area of ​​a target roadside communication device can interact with that device. Referring to the above description of the first and second vehicles, both are within the coverage area of ​​a target roadside communication device. However, the second and first vehicles may simultaneously be within the coverage area of ​​the same target roadside communication device (e.g., when the second vehicle is close to the first vehicle), or they may be within the coverage areas of different target roadside communication devices (e.g., when the second vehicle is far from the first vehicle). Therefore, when the first vehicle needs to transmit certain information to other vehicles (e.g., its route information), it can not only directly transmit information with nearby vehicles via V2V communication, but also forward the information via V2I communication from the target roadside communication device. In other words, each target roadside communication device can send the information to vehicles within its coverage area, allowing vehicles farther away from the first vehicle to receive the information.

[0059] For example, when both the first and second vehicles are equipped with onboard units (OBUs), the signal coverage range of the OBUs is limited (generally 300-500 meters). Therefore, in this scenario, the second vehicle can include vehicles located within the coverage area of ​​the OBU configured in the first vehicle. In this case, the OBUs in the first and second vehicles can communicate directly without the aid of other equipment. For example, if vehicle 20b is within the coverage area of ​​the OBU in vehicle 20a, the OBU in vehicle 20b can receive messages broadcast by the OBU in vehicle 20a. In scenarios where the OBU is outside the coverage area of ​​the first vehicle, the second vehicle can also include vehicles outside the coverage area of ​​that OBU but still within the coverage area of ​​a target roadside communication device (e.g., vehicle 20c). Here, the second vehicle cannot directly receive messages broadcast by the OBU in the first vehicle based on V2V communication; therefore, it is advisable to use the target roadside communication device for information transmission.

[0060] Based on this, in order to achieve accurate vehicle priority avoidance and expand the applicable area of ​​the vehicle priority system so that it is not limited by the coverage of the on-board unit, this application provides a roadside-assisted vehicle priority scheme. Specifically, after the management platform obtains the driving route of the first vehicle reported by the terminal device in the first vehicle, it can select the roadside communication device associated with the driving route as the target roadside communication device and send the driving route to the target roadside communication device. Furthermore, after the target roadside communication device obtains the driving route of the first vehicle, it can generate map driving route information of the first vehicle based on the driving route, and then send a map instruction message carrying the map driving route information to the second vehicle. The map route information can represent the driving route of the first vehicle within the area covered by the roadside communication equipment. When the terminal device in the second vehicle receives the vehicle message sent by the terminal device in the first vehicle, it can know the location of the first vehicle and that the distance between the first and second vehicles is already relatively close. Then, it can use the map route information to know the route that the first vehicle is about to take, and thus determine whether it is necessary to give way. In other words, the terminal device in the second vehicle can execute the corresponding driving strategy based on the map route information.

[0061] As described above, this embodiment of the application provides the second vehicle with the map route information of the first vehicle in advance. Therefore, the terminal device in the second vehicle can promptly determine whether to yield to the first vehicle based on the precise route of the first vehicle, thereby achieving timely and accurate vehicle priority avoidance. This is especially true in complex intersection environments such as crossroads, where precise vehicle priority avoidance can be achieved, while also improving traffic efficiency. Furthermore, by forwarding the map route information through the target roadside communication device, the map route information can be forwarded to vehicles farther away from the first vehicle, thereby achieving priority avoidance for vehicles at greater distances and ensuring traffic safety.

[0062] The method provided in this application can be applied to business scenarios such as emergency vehicle priority avoidance, emergency vehicle alerting, and cooperative priority / emergency vehicle passage. It is suitable for urban areas and highways, especially in environments such as intersections or other complex intersections. Specific business scenarios will not be listed one by one here. Figure 1 The system shown can specifically be an emergency vehicle priority system with roadside assistance.

[0063] For ease of understanding, please refer to the following: Figure 2 , Figure 2 This is a schematic diagram of a data processing scenario provided by an embodiment of this application. This data processing scenario mainly describes the data interaction between the target roadside communication device and the terminal device in the second vehicle. For ease of distinction, the terminal device in the first vehicle can be referred to as the first terminal device, and similarly, the terminal device in the second vehicle can be referred to as the second terminal device. For example, as... Figure 2 If the vehicle 201A shown can be used as the first vehicle, then the terminal device 20A in vehicle 201A can be used as the first terminal device, and vehicle 201A has a priority passage requirement (e.g., when performing a special task); accordingly, as Figure 2 If the vehicle 201B shown can be used as a second vehicle, then the terminal device 20B in the vehicle 201B can be used as a second terminal device.

[0064] like Figure 2 As shown, both vehicles 201A and 201B are traveling on the road, and one or more roadside communication devices can be deployed on both sides of the road. For example, the deployed roadside communication devices may include... Figure 2 The roadside communication device 20C is shown. In addition, vehicles 201A, 201B, and roadside communication device 20C are all located as shown in the diagram. Figure 2The management platform 20D shown is within its management scope. The terminal device 20A in vehicle 201A communicates with the management platform 20D; for example, the terminal device 20A can connect to the management platform 20D via a 4G or 5G network. It is understood that when vehicle 201A is performing a special task, it has a priority passage requirement. The terminal device 20A knows its own driving route (e.g., driving route 201), such as the road segments and intersections it needs to pass from its starting point (e.g., location A) to its destination (e.g., location B). In this embodiment, based on V2I communication, vehicle 201A can use the roadside communication device 20C to inform the vehicle ahead (e.g., vehicle 201B) of its driving route in the current area, so that the relevant vehicle can quickly and safely give way to vehicle 201A and clear a clear lane. Figure 2 As shown, the terminal device 20A can report the vehicle's driving route 201 to the management platform 20D through the aforementioned communication connection. Furthermore, after receiving the driving route 201 of the vehicle 201A, the management platform 20D can select the roadside communication device associated with the driving route 201 based on the location information, coverage area, and other deployment information of the deployed roadside communication devices. For example, assuming that the roadside communication device 20C is located on the driving route 201, then the roadside communication device 20C can be used as the target roadside communication device associated with the driving route 201.

[0065] Furthermore, the management platform 20D can send the driving route 201 of vehicle 201A to the roadside communication device 20C. After the roadside communication device 20C receives the driving route 201, it can generate map driving route information (e.g., map driving route information 202) of the first vehicle based on the driving route 201. The map driving route information 202 is associated with the area covered by the roadside communication device 20C and can be used to indicate the detailed route of vehicle 201A from the current time to a future period of time (within the area covered by the roadside communication device 20C), which can be specific to the intersections, road segments and lanes in the area.

[0066] Furthermore, such as Figure 2 As shown, the roadside communication device 20C can determine a map instruction message 203 to be sent to other vehicles located within the area covered by the roadside communication device 20C based on the map driving route information 202. For example, assuming that vehicles 201A and 201B are both located within the area covered by the roadside communication device 20C, the roadside communication device 20C can send the map instruction message 203 carrying the map driving route information 202 to vehicle 201B.

[0067] It is understandable that in V2X communication, map instruction messages have a unique data format, unlike the data formats of typical navigation maps and high-precision maps used in autonomous driving. This data format is suitable for V2X systems, so subsequent processing of map route information by the second terminal does not require data format conversion, thereby improving information processing efficiency and ultimately contributing to improved vehicle traffic efficiency.

[0068] It is understood that when vehicle 201B is within the signal coverage area of ​​terminal device 20A, based on V2V communication, terminal device 20B in vehicle 201B can receive vehicle message 204 sent by terminal device 20A. This vehicle message 204 can be used to describe the driving status of vehicle 201A (e.g., location, speed). Furthermore, terminal device 20B can obtain the map driving route information (i.e., map driving route information 202) carried by the received map instruction message 203, and then determine the driving strategy of vehicle 201B (e.g., driving strategy 205) based on this map driving route information 202. Finally, terminal device 20B can execute the driving strategy 205.

[0069] Optionally, if terminal device 20B detects that vehicle 201B is on the future driving route of vehicle 201A, the driving strategy 205 executed by terminal device 20B can be an avoidance strategy for vehicle 201A. This avoidance strategy can be determined by combining the driving status information carried by vehicle message 204. For example, it can change lanes to other lanes in advance to avoid the dedicated lane that vehicle 201A is about to pass through. Other avoidance strategies can also be adopted. This embodiment of the application does not limit this. Optionally, if terminal device 20B detects that vehicle 201B is not on the future driving route of vehicle 201A, the driving strategy 205 executed by terminal device 20B can be a strategy determined before receiving vehicle message 204, such as continuing to drive using the previous driving strategy.

[0070] As described above, since this application embodiment can support the target roadside communication device to provide the second terminal device with the map driving route information of the first vehicle, the second terminal device can promptly determine whether to yield to the first vehicle based on the precise route of the first vehicle. This enables timely and accurate vehicle priority yielding, especially in complex intersection environments such as crossroads. Furthermore, it allows for effective cooperation between vehicles, thereby improving traffic efficiency and enhancing traffic safety. In addition, by forwarding the map driving route information through the target roadside communication device, the information can be forwarded to vehicles farther from the first vehicle, rather than just to vehicles nearby, thus enabling priority yielding to vehicles at greater distances.

[0071] The business scenarios described in the embodiments of this application are applicable to various road environments, such as straight road sections, various types of curves, crossroads, three-way intersections, etc., and this application does not limit them.

[0072] The specific implementation methods of the roadside communication device 20C generating map route information based on the acquired driving route of the first vehicle and sending a map instruction message carrying the map route information to the second vehicle, and the specific implementation methods of the terminal device 20B executing driving strategies based on the map route information, can be found in the following: Figures 3-8 The description in the corresponding embodiments.

[0073] Please see Figure 3 , Figure 3 This is a flowchart illustrating a data processing method provided in an embodiment of this application. This data processing method can be executed by a target roadside communication device, which can be the aforementioned... Figure 1 Any one of the roadside communication devices in the corresponding embodiments, for example, roadside communication device 100a. Figure 3 As shown, the data processing method may include at least the following S101-S102:

[0074] S101, the target roadside communication equipment obtains the driving route of the first vehicle;

[0075] It is understood that when a vehicle has a priority passage requirement (e.g., an emergency vehicle performing a special task), it can inform relevant vehicles ahead (e.g., surrounding vehicles traveling nearby or other vehicles further away) of its driving route information based on V2N and V2I communication. For example, in a V2X system, a communication connection can exist between the terminal device in the first vehicle (i.e., the first terminal device) and the management platform (e.g., a V2X cloud platform). This application embodiment does not limit the specific connection method of this communication connection; for example, the first terminal device can connect to the management platform via a 4G or 5G network. To achieve remote data transmission, after establishing the communication connection, the first terminal device can report the driving route of the first vehicle to the management platform through this communication connection. Here, the driving route can be manually set by the occupants of the first vehicle (e.g., the driver) (e.g., through the interactive interface of the first terminal device), or it can be automatically set by the first terminal device based on actual road conditions. It is understood that the driving route can be a complete driving route (i.e., a complete route from the starting point to the destination) or a partial driving route, such as a portion of the route to be taken in the future, starting from the current location of the first vehicle. Furthermore, the data format of the driving route can be the data format used by general navigation maps, the data format used by high-precision maps, or other data formats. This application embodiment will not limit the content and data format of the driving route.

[0076] Furthermore, after obtaining the first vehicle's travel route through the aforementioned communication connection, the management platform can select, based on the deployment information of the roadside communication devices, roadside communication devices associated with the first vehicle's travel route from one or more deployed roadside communication devices as target roadside communication devices. The deployment information here may include, but is not limited to, the location information and coverage area of ​​one or more deployed roadside communication devices. For example, in some embodiments, the roadside communication device can be a roadside unit (RSU), and the management platform can filter multiple roadside units along the first vehicle's travel route as target roadside communication devices based on the roadside unit's geographical location, coverage area, etc.

[0077] It is understandable that when the first vehicle changes its route due to certain reasons (e.g., lane closure caused by extreme weather or traffic accidents), the first terminal device needs to update the original route in a timely manner. For example, optionally, regardless of whether the first vehicle's route changes, the first terminal device can periodically report its route to the management platform via the aforementioned communication connection so that the management platform can receive the corresponding route in a timely manner. Alternatively, when an update to the first vehicle's route is detected, the first terminal device can report the updated route to the management platform via the aforementioned communication connection. In other words, the embodiments of this application can support periodic or dynamic updates of the route (if the route changes).

[0078] Based on this, after the management platform selects the target roadside communication device, it can send the driving route of the first vehicle to the target roadside communication device, so that the target roadside communication device can obtain the driving route of the first vehicle sent by the management platform.

[0079] It is understandable that, since the management scope of the management platform is much larger than the coverage of the terminal devices and roadside communication devices, based on V2N communication, the first terminal device can send the first vehicle's driving route to multiple target roadside communication devices through the management platform. Subsequently, based on V2I communication, the information related to the driving route can be forwarded to a larger number of vehicles at greater distances through multiple target roadside communication devices, thereby enabling remote data transmission. This can help achieve vehicle priority at greater distances and expand the applicable area of ​​the vehicle priority system.

[0080] S102, generate map driving route information for the first vehicle based on the driving route, and send a map instruction message carrying the map driving route information to the second vehicle.

[0081] It is understood that in a V2X system, the target roadside communication device can transmit corresponding map data to road traffic participants (e.g., vehicles) within its signal coverage area through a specified information interaction method. This information interaction method includes, but is not limited to, broadcast (no specific recipient, all traffic participants within the communication range can receive the corresponding message), multicast (also known as multicast, multipoint broadcast or group broadcast, a specific recipient exists, a specific group of traffic participants within the communication range can receive the corresponding message), and unicast (a specific recipient exists, only a specific traffic participant within the communication range can receive the corresponding message), etc. The embodiments of this application do not limit this.

[0082] For example, the message layer datasets listed later in this application embodiment can be defined using the ASN.1 standard (Abstract Syntax Notation One) or other descriptive methods, following a nested logic of "Message Frame - Message Body - Data Frame (DF) - Data Element (DE)". The encoding and decoding methods for dataset interaction can follow the Unaligned Packed Encoding Rules (UPER) or other encoding rules. Here, the message layer dataset mainly consists of a message frame format, five basic message bodies, and corresponding data frames and data elements. It can be understood that a message frame is a unified packaging format for a single application layer message and is the sole object of data encoding and decoding. Message frames are composed of different types of message bodies and support extensions. The five basic message bodies here can specifically include the vehicle basic safety message (i.e., BSM message), MAP message, roadside information message (RSI), roadside safety message (RSM), and signal phase and timing message (SPAT).

[0083] It is understood that, in this embodiment of the application, the target roadside communication device can transmit map data of a local area (i.e., the area covered by the target roadside communication device) by sending MAP messages (e.g., broadcasting). This map data can include intersection information, road segment information, lane information, and the connection relationships between roads within the local area. A single MAP message can contain map data for multiple intersections or areas. Traffic light information at intersections is defined in detail in SPAT messages. SPAT messages can contain the current status information of one or more traffic lights at intersections. Combined with MAP messages, real-time phase information of the traffic lights ahead can be provided to vehicles. For ease of understanding, please refer to Table 1, which indicates the syntax (Msg_MAP) of a MAP message provided in this embodiment of the application. This MAP message can be defined using the ASN.1 standard.

[0084] Table 1

[0085]

[0086] The semantics of the syntax shown in Table 1 above are as follows: `msgCnt` is the MAP message count field, used to indicate the number of the currently sent MAP message; its data type is defined by the data element `MsgCount`. `timeStamp` is the message timestamp field, used to indicate the total number of minutes that have elapsed in the current year (UTC time, i.e., Universal Time Coordinated); its data type is defined by the data element `MinuteOfTheYear`. `nodes` is the map node list, used to indicate the multiple map nodes contained in the MAP message; its data type is defined by the data frame `NodeList`. Information marked "OPTIONAL" is optional.

[0087] It is understood that in this embodiment, map nodes are the most basic component of a map, and map nodes and road segments connecting them can form a road network. A map node can be an intersection or the endpoint of a road segment. On the map, two sequential map nodes can define a directed road segment. For example, the main structure of the map data in this embodiment can be a nested structure. For instance, the map data for a region can be defined by a list of map nodes, which can include at least two map nodes. Each map node has corresponding node data, which may include a map node identifier (nodeid), node center location, and optionally, directed road segments entering that map node. Each directed road segment can further have corresponding road segment data, which may include an upstream node identifier (upstreamNodeId), a list of lanes included in the directed road segment, or other information. It is understandable that in the node data of a map node, the set of upstream road segments (inLinks) connected to that node all take that map node as the downstream node, and the road segments originating from that map node belong to the data of the downstream node of that road segment. In other words, the direction of a directed road segment can be represented by the upstream node identifier upstreamNodeId pointing to the map node identifier nodeid.

[0088] Based on this, after receiving the driving route of the first vehicle, each target roadside communication device can combine map data associated with its covered area to inform the second vehicles in that area about the first vehicle's map driving route information. The map data here is obtained by the target roadside communication device through processing data detected by its own sensors (such as cameras and radar) of the surrounding area. This map data has a unique data format suitable for V2X systems and differs from the data formats of typical navigation maps and high-precision maps used in autonomous driving.

[0089] This application embodiment can support the target roadside communication device to transmit map driving route information in multiple ways, as follows:

[0090] Since the target roadside communication device can transmit map data of the surrounding area through MAP messages, optionally, in some embodiments, the target roadside communication device can directly expand the fields in the road segment data contained in the MAP message. For example, it can add a field for "whether there is an emergency vehicle" (i.e., a vehicle driving status field). When the field is "yes", it can indicate that there will be an emergency vehicle in the current directional road segment; when the field is "no", it can indicate that there will be no emergency vehicle in the current directional road segment.

[0091] Based on this, for example, the target roadside communication device can first acquire map data associated with the area covered by the target roadside communication device. This map data may include road segment data for one or more directed road segments within the area. This embodiment of the application does not limit the number of directed road segments. Further, a vehicle driving status field can be added to the road segment data of each directed road segment. Subsequently, the status value of each vehicle driving status field can be set based on the driving route of the first vehicle. The vehicle driving status field here can be a Boolean field or other types of fields; this embodiment of the application does not limit this. The road segment data in this embodiment of the application is used to describe a directed road segment. In a V2X system, a road from one map node to another adjacent map node can be called a directed road segment. Its attributes (i.e., road segment data) may include the directed road segment name, upstream node identifier, speed limit set, road segment width, and the set of lanes and traffic signs included in the directed road segment, etc. For ease of understanding, please refer to Table 2, which indicates the syntax (DF_LINK) of a road segment data provided in the embodiments of this application. This road segment data can be defined using the ASN.1 standard:

[0092] Table 2

[0093]

[0094]

[0095] The semantics of the syntax shown in Table 2 above are as follows: `name` indicates the name of the directed road segment. `upstreamNodeId` is the identifier of the upstream node, i.e., the identifier of the upstream node corresponding to the map node identified by `nodeid`. The direction of this directed road segment is from `upstreamNodeId` to `nodeid`. `speedLimits` indicates the speed limit of the directed road segment. `linkWidth` indicates the width of the directed road segment. `points` refers to the list of intermediate points on the directed road segment. `movements` describes the connection relationship between the directed road segment and downstream road segments. `lanes` refers to the list of lanes contained in the directed road segment. `emergencyVeh` is the vehicle driving status field, which is an extended field newly added to the original road segment data in this application embodiment, used to indicate whether there are vehicles with priority passage needs (e.g., emergency vehicles or special vehicles) on the directed road segment.

[0096] The specific process of setting the status value of each vehicle driving status field based on the first vehicle's driving route can be as follows: The target roadside communication device can use the road segment data associated with the driving route from one or more directed road segments as the first road segment data. Correspondingly, it can use the road segment data other than the first road segment data from one or more directed road segments as the second road segment data. Further, the target roadside communication device can set the status value of the vehicle driving status field added to the first road segment data to a first status value (e.g., set to "1"). This first status value can be used to indicate that the directed road segment corresponding to the first road segment data belongs to the first vehicle's driving route; that is, the first vehicle will exist in the directed road segment corresponding to the first road segment data. Similarly, the target roadside communication device can set the status value of the vehicle driving status field added to the second road segment data to a second status value (e.g., set to "0"). This second status value can be used to indicate that the directed road segment corresponding to the second road segment data does not belong to the first vehicle's driving route; that is, the first vehicle will not exist in the directed road segment corresponding to the second road segment data.

[0097] For example, suppose the map data above contains M directed road segments, where M is a positive integer greater than 1. These M directed road segments specifically include directed road segments R1, R2, ..., RM. If the first vehicle's route indicates that it needs to pass through directed road segments R2, R3, R5, and R7, then the target roadside communication device can use the road segment data corresponding to directed road segments R2, R3, R5, and R7 as the first road segment number. According to the data, the road segment data corresponding to other directed road segments in the M directed road segments are used as the second road segment data. Therefore, the vehicle driving status fields related to directed road segments R2, R3, R5 and R7 can be set to the first status value, and the vehicle driving status fields related to other directed road segments can be set to the second status value. This is equivalent to marking the status of each directed road segment in the area covered by the target roadside communication equipment, so as to quickly identify the driving route of the first vehicle in the area.

[0098] Furthermore, the target roadside communication device can determine the map route information of the first vehicle based on the road segment data to which the vehicle driving status field with the set status value belongs. It can be understood that, in this embodiment, the road segment data to which the vehicle driving status field with the first status value belongs (i.e., the first road segment data) can be used as the map route information of the first vehicle within the area covered by the target roadside communication device. For example, by viewing the road segment data associated with the vehicle driving status field identified as having the first status value (e.g., "1"), the directional road segment that the first vehicle is about to pass through can be quickly determined. Subsequently, the target roadside communication device can determine the map instruction message based on the map data with added map route information, and then send the map instruction message to the second vehicle through a specified information interaction method. This information interaction method includes, but is not limited to, broadcast, multicast, and unicast methods. This embodiment does not limit this; for example, the map instruction message can be broadcast to the second vehicle. Referring to the description of the MAP message in Table 1 above, the map instruction message here, in addition to carrying map route information, can also include the map instruction message number, and optionally, the message timestamp, etc.

[0099] It is understandable that by expanding the fields of road segment data, the interaction of map driving route information can be smoothly integrated into the MAP message interaction process without the need for additional interaction processes. This allows the expanded MAP messages to be compatible with the existing V2X system.

[0100] For easier understanding, please refer to Figure 4 , Figure 4 This is a schematic diagram illustrating the structure of a map indication message provided in an embodiment of this application. For example... Figure 4 The main structure of the map indication message shown is a nested structure, where solid boxes indicate required items and dashed boxes indicate optional items. For example... Figure 4 As shown, a map indication message may include a message timestamp (timeStamp), a map indication message count (msgCnt, i.e., the map indication message number), and a map node list (nodes). The map node list may include at least two map nodes, and each map node (Node) has corresponding node data. The node data may include the map node name (name), map node identifier (nodeid), node center location (refPOS, including latitude, longitude and elevation), and directed road segments (inLinks) leading to the map node. Each directed link can further include corresponding link data, which may include the link name, upstream node identifier, speed limit, link width, list of lanes, and emergency vehicle status (emergencyVeh in Table 2 above). The lane list can further include at least one lane, and each lane can also have corresponding lane data, such as lane width and lane ID, which will not be elaborated further here. Figure 4 As shown, the newly added emergency vehicle driving status in this embodiment is optional. It is understood that the map guidance message may also include... Figure 4 Other content not shown in the map (such as a list of intermediate points on directed road segments) will not be listed here. In addition, the map indication messages can be further expanded.

[0101] It is understandable that the above-described method of transmitting map route information breaks the structure of the original MAP message, modifying the original MAP message, which is mostly static information, into a map indication message that contains both static and dynamic information. Therefore, this method may involve compatibility issues in message decoding for older devices, but these can be resolved. Based on this, the embodiments of this application provide a more flexible method for transmitting map route information. Optionally, in some embodiments, a new message body can be introduced to send map route information, and the map route information transmitted by this new message body can use the nodeid and link expression method used in the MAP message, that is, a link can be represented by a set of nodeid and upstreamNodeId. Therefore, when the target roadside communication device sends the route information related to the first vehicle, it can transmit the relevant nodeid and upstreamNodeId. Subsequently, the second terminal device receives these identifiers and compares them with the MAP message to obtain the route that the first vehicle will pass through in the current area.

[0102] For example, the target roadside communication device can first acquire map data associated with the area covered by the target roadside communication device. As mentioned above, the area covered by the target roadside communication device can include at least two map nodes and corresponding directed road segments, which are represented by different nodeids and upstreamNodeIds in the map data. That is, the map data can include node data of at least two map nodes. This application embodiment will not limit the number of map nodes. The specific content of the node data can be found above. Figure 4 The descriptions in the corresponding embodiments will not be repeated here. Further, the target roadside communication device can obtain map nodes associated with the first vehicle's travel route from at least two map nodes, using these as target map nodes. The node data of the target map nodes can then be used as the map travel route information of the first vehicle, which is associated with the area covered by the target roadside communication device. For example, assuming the map data contains N map nodes, where N is a positive integer greater than 1, and the N map nodes specifically include map node A1, map node A2, ..., map node AN, if the first vehicle's travel route indicates that the first vehicle needs to pass through map nodes A2, A3, A5, and A6, then the target roadside communication device can use map nodes A2, A3, A5, and A6 as target map nodes, thereby obtaining the node data of map nodes A2, A3, A5, and A6 to obtain the corresponding map travel route information. It is understandable that the map driving route information here has the same data format as the map data (i.e., V2X MAP format, as mentioned above). Figure 1 The data format used in the MAP message shown means that multiple consecutive nodeids and upstreamNodeIds can be used to represent the driving route of the first vehicle.

[0103] Furthermore, the target roadside communication device can generate a corresponding map instruction message (i.e., a new message body independent of the MAP message) based on the map driving route information. This map instruction message can then be sent to the second vehicle through a specified information exchange method. This information exchange method includes, but is not limited to, broadcast, multicast, and unicast methods. This embodiment does not limit the specific method used; for example, the map instruction message can be broadcast to the second vehicle. It is understood that the map instruction message generated using this method, in addition to carrying the map driving route information in V2X MAP format, can also include the map instruction message number. Optionally, it can also include information such as the message timestamp. Its specific structure can be found above. Figure 4 The descriptions in the corresponding embodiments will not be repeated here.

[0104] As mentioned above, since the map driving route information adopts a data format suitable for V2X systems, it is equivalent to the target roadside communication device converting the driving route of the first vehicle into a data format. Therefore, it can avoid the second terminal device from converting the data format again, thereby enabling efficient data interaction between the target roadside communication device and the second terminal device, improving information processing efficiency, and thus improving the cooperation efficiency between vehicles.

[0105] It should be noted that when the terminal device in the second vehicle receives the vehicle message sent by the terminal device in the first vehicle, it can execute a corresponding driving strategy based on the obtained map driving route information. Here, the vehicle message describes the driving status of the first vehicle. For details, please refer to the following... Figure 6 The corresponding implementation examples.

[0106] It is understandable that when the first vehicle's route is updated, the target roadside communication device can receive the updated route reported by the first terminal device, and then update the original map route information based on the updated route to obtain updated map route information. Subsequently, it can send an updated map instruction message carrying this updated map route information to the second vehicle. The specific implementation methods can be found in the two examples above, and will not be elaborated here. Alternatively, when map data associated with the area covered by the target roadside communication device is updated (for example, a closed road section has just been opened), the target roadside communication device can recalculate the corresponding updated map route information based on the updated map data and the first vehicle's route, and then send an updated map instruction message carrying this updated map route information to the second vehicle.

[0107] It is understood that in the specific embodiments of this application, data related to vehicle driving status information, driving route, map driving route information, etc. are involved. When the above embodiments of this application are applied to specific products or technologies, user permission or consent is required, and the collection, use and processing of related data must comply with the relevant laws, regulations and standards of the relevant countries and regions.

[0108] For ease of understanding, please refer to the following: Figure 5 , Figure 5 This is a schematic diagram of a long-distance information transmission scenario provided by an embodiment of this application. In some embodiments, the second vehicle can also be a host vehicle (HV), that is, a target vehicle equipped with terminal equipment (e.g., an on-board unit) and running an application; correspondingly, the first vehicle can be a remote vehicle (RV), that is, a background vehicle that cooperates with the host vehicle to broadcast V2X messages at regular intervals. Figure 5The scenario illustrates a one-way straight-ahead road segment equipped with roadside communication devices, such as roadside communication device 50B and roadside communication device 50C. This road segment falls under the management scope of management platform 50A. Several vehicles are also traveling on this road segment, including vehicle RV, vehicle HV1, vehicle HV2, and vehicle HV3. Vehicle RV is the vehicle with priority passage (i.e., the first vehicle), while vehicles HV1, HV2, and HV3 are vehicles traveling in front of vehicle RV (i.e., the second vehicles). In this scenario, assuming vehicle RV needs to pass through this one-way straight-ahead road segment, the terminal device in vehicle RV (i.e., the first terminal device) can report its travel route A to management platform 50A. Management platform 50A can then distribute this travel route A to the roadside communication devices on that route A (i.e., the target roadside communication devices), including roadside communication devices 50B and 50C. Furthermore, roadside communication device 50B can generate map route information B1 associated with the area covered by roadside communication device 50B based on the driving route A. This map route information B1 can then be sent to a second vehicle within its coverage area, such as vehicle HV1. The terminal device in vehicle HV1 can then determine whether to yield to vehicle RV based on the map route information B1. Similarly, roadside communication device 50C can generate map route information B2 associated with the area covered by roadside communication device 50C based on the driving route A. This map route information B2 can then be sent to a second vehicle within its coverage area, such as vehicles HV2 and HV3. The terminal devices in vehicles HV2 and HV3 can then determine whether to yield to vehicle RV based on the map route information B2, respectively.

[0109] Therefore, after the first terminal device sends its vehicle's driving route to the management platform via V2N communication, the management platform can notify multiple roadside communication devices (i.e., target roadside communication devices) along that route. These target roadside communication devices then forward the map driving route information generated based on that route to the second vehicle via V2I communication. This ensures that a larger number of vehicles at greater distances can receive the map driving route information, unaffected by the signal coverage of V2V communication. This allows the second vehicle to more promptly and quickly clear a clear lane, enabling the first vehicle to pass through the relevant road segment quickly. This ensures both the second vehicle's reaction time and the smooth flow of traffic, ultimately improving traffic efficiency. In practical applications, multiple roadside communication devices can be deployed to achieve long-distance, rapid distribution of map driving route information. Furthermore, since this embodiment provides the map driving route information of the first vehicle, the terminal device in the second vehicle can determine whether to yield to the first vehicle in various intersection environments based on the first vehicle's precise route, thus enabling timely and accurate vehicle priority yielding.

[0110] Please see Figure 6 , Figure 6 This is a flowchart illustrating a data processing method provided in an embodiment of this application. This data processing method can be executed by a second terminal device, which can be the aforementioned... Figure 1 The terminal device in any vehicle in the corresponding embodiment, for example, terminal device 200b. Figure 6 As shown, the data processing method may include at least the following S201-S202:

[0111] S201, The terminal equipment in the second vehicle receives a map instruction message sent by the target roadside communication equipment;

[0112] It is understandable, considering the above. Figure 3 In the corresponding embodiment, the second terminal device can receive a map instruction message sent by the target roadside communication device. This map instruction message carries map route information of the first vehicle. This map route information is generated by the target roadside communication device based on the first vehicle's route, and it is associated with the area covered by the target roadside communication device. The specific process by which the target roadside communication device generates the map route information and sends the map instruction message can be found above. Figure 3 The corresponding implementation examples will not be described in detail here.

[0113] S202, upon receiving a vehicle message sent by a terminal device in the first vehicle, the system obtains the map driving route information carried in the map instruction message and executes a driving strategy based on the map driving route information.

[0114] It is understandable that when the second terminal device receives the vehicle message sent by the terminal device in the first vehicle, it can further obtain the map driving route information carried in the map instruction message, and can determine the driving route relationship between the second vehicle and the first vehicle based on the map driving route information, and then execute the corresponding driving strategy based on the driving route relationship.

[0115] It should be noted that in a V2X system, vehicle messages can be transmitted using V2V communication, with a transmission distance typically between 400 and 500 meters. Therefore, if the second terminal device receives the vehicle message, it indicates that the distance between the first and second vehicles is relatively short. In this case, the second terminal device will check the map route information and determine the relationship between the second and first vehicles. Conversely, if the second terminal device does not receive the vehicle message, it indicates that the distance between the first and second vehicles is still relatively long, and in this case, the second terminal device does not need to check the map route information.

[0116] It is understood that the vehicle messages in this application embodiment are used to describe the driving status of the first vehicle. In the V2X system, both the HV and RV can have LTE-V2X OBUs, and can specify a frequency (e.g., 10Hz) to externally publish (e.g., via broadcast) the vehicle's driving status information, including but not limited to location, speed, and heading angle. Furthermore, the RV can further indicate whether it is an emergency vehicle. For ease of understanding, please refer to Table 3, which indicates the content of an emergency vehicle interaction data provided in this application embodiment:

[0117] Table 3

[0118]

[0119]

[0120] The data shown in Table 3 above can be added to the Basic Safety Message (BSM) for transmission. Based on this, the vehicle message in this embodiment can be a Basic Safety Message. Alternatively, since the Basic Safety Message supports extensions, for example, an indication field related to emergency vehicles (e.g., indicating the driving route information of emergency vehicles) can be added to the Basic Safety Message. Therefore, the vehicle message in this embodiment can also be an extended Basic Safety Message. Furthermore, it can also be other messages that can be used to characterize the driving status of the first vehicle (e.g., a new message body different from the BSM message), which this application does not limit.

[0121] For ease of understanding, please also refer to Table 4, which indicates the syntax (Msg_BSM) of a vehicle basic safety message provided in the embodiments of this application. This vehicle basic safety message can be defined using the ASN.1 standard:

[0122] Table 4

[0123]

[0124]

[0125] The semantics of the syntax shown in Table 4 above are as follows: msgCnt is the BSM message count field, used to indicate the number of the currently sent BSM message. id is the vehicle identification field, used to indicate the temporary vehicle ID. secMark is the message timestamp field, which can indicate the millisecond level within 1 minute. timeConfidence is used to characterize the confidence level of time accuracy. pos is the vehicle position field, used to indicate the three-dimensional position coordinates of the vehicle, including latitude, longitude, and elevation. posAccuracy is used to characterize the accuracy of the positioning system itself. posConfidence is used to characterize the overall accuracy of the vehicle position (longitude, latitude, and elevation). transmission is the gear field, used to indicate the vehicle's gear status (e.g., neutral, stop, drive, reverse, etc.). speed is the vehicle speed field, used to indicate the vehicle's speed. heading is used to indicate the vehicle's heading angle. angle is used to indicate the vehicle's steering wheel angle (e.g., right is positive, left is negative). motionCfd is used to describe the accuracy of the vehicle's operating state (including speed accuracy, heading accuracy, and steering wheel angle accuracy). `accelSet` represents the vehicle's four-axis acceleration, including longitudinal vehicle acceleration, lateral vehicle acceleration, vertical vehicle acceleration, and vehicle yaw rate (DE_YawRate). `brakes` indicates the vehicle's braking system status. `size` indicates the vehicle's dimensions. `vehicleClass` represents the vehicle's basic type and its extended types. `safetyExt` is a collection of vehicle safety assistance information. `emergencyExt` is a collection of information on the current status of emergency vehicles; that is, the indications of emergency vehicles can be reflected in the `emergencyExt` field.

[0126] In combination with the above Figure 3 The descriptions related to the transmission method of map driving route information in the corresponding embodiments indicate that when the target roadside communication device uses different methods to transmit map driving route information, the information processing process performed by the second terminal device will also be different.

[0127] Optionally, when the received map indication message is obtained by the target roadside communication device expanding the road segment data in the MAP message, the second terminal device can parse the map indication message to obtain the road segment data of one or more directed road segments contained in the map indication message. Each of the one or more directed road segments is located within the area covered by the target roadside communication device, and each directed road segment's data can contain a vehicle driving status field (i.e., the aforementioned emergencyVeh field). Further, the second terminal device can search for a vehicle driving status field with a first status value among the one or more vehicle driving status fields, and can determine the road segment data to which the found vehicle driving status field belongs as the map driving route information of the first vehicle. For example, referring to Table 2 above, the second terminal device can view the field value of the emergencyVeh field in each road segment data in the map indication message, thereby determining the road segment data containing the emergencyVeh field with a field value of the first status value (e.g., "1") as the corresponding map driving route information.

[0128] Furthermore, the second terminal device can use one or more directed road segments associated with the map's driving route information as target directed road segments, and then determine the target driving route of the first vehicle within the area covered by the target roadside communication equipment based on the target directed road segments. For example, in conjunction with the above... Figure 3 The example given assumes that the area covered by the target roadside communication device includes directed road segments R1, R2, ..., RM. The vehicle driving status field in the road segment data corresponding to directed road segments R2, R3, R5, and R7 all contains the first status value. Therefore, the second terminal device can use the route formed by directed road segments R2, R3, R5, and R7 as the target driving route for the first vehicle within that area. Ultimately, the second terminal device can determine the driving route relationship between the second and first vehicles based on this target driving route.

[0129] Understandably, in this scenario, by viewing the status value of each vehicle's driving status field, the second terminal device can quickly and timely distinguish which road segments in the current area are the segments where the first vehicle is about to travel, thereby achieving accurate and efficient vehicle priority avoidance.

[0130] Optionally, when the received map instruction message is a new message body independent of the MAP message generated by the target roadside communication device based on map driving route information, the second terminal device can parse the map instruction message to obtain the map driving route information carried in the map instruction message. Unlike the MAP message, which contains map data related to the entire area covered by the target roadside communication device, the map driving route information here may contain node data of target map nodes. Target map nodes refer to map nodes within the area associated with the driving route of the first vehicle. Since this map driving route information is in V2X MAP format, using different nodeids and upstreamNodeIds to represent related map nodes and directed road segments, and the second terminal device needs to combine map data in the same V2X MAP format to accurately understand the driving route of the first vehicle, the second terminal device can obtain the map data sent by the target roadside communication device (e.g., sent via broadcast), and then determine the driving route relationship between the second vehicle and the first vehicle based on this map data and the map driving route information. For example, the second terminal device can search for a map node associated with the map driving route information in at least two map nodes contained in the map data, and then determine the target driving route of the first vehicle in the area covered by the target roadside communication device in the map data based on the found map node. Subsequently, the driving route relationship between the second vehicle and the first vehicle can be determined based on the target driving route.

[0131] It is understandable that in this scenario, for the second terminal device, both the MAP message and the map indication message are sent by the target roadside communication device. The map indication message is generated by referencing the map data (including multiple nodeids and upstreamNodeIds) in the MAP message. Therefore, the second terminal device can definitely find the corresponding map node in the map data carried in the MAP message. Furthermore, the map route information here uses the V2X MAP format suitable for V2X systems. Therefore, the second terminal device does not need to convert the data format of the map route information to quickly obtain the corresponding target route, thereby improving information processing efficiency and ultimately enhancing the collaboration efficiency between vehicles.

[0132] It is understood that the target driving route in this application embodiment can be the route that the first vehicle will take from its current position within the area covered by the target roadside communication equipment (i.e., the area indicated by the map data above) in the future.

[0133] It is understood that after determining the target driving route, the second terminal device can determine the driving route relationship between the second vehicle and the first vehicle based on the target driving route. In the embodiments of this application, the driving route relationship can include two types: either the second vehicle is located on the target driving route, or the second vehicle is not on the target driving route.

[0134] Optionally, when the driving route relationship indicates that the second vehicle is on the target driving route, the second terminal device can obtain the driving status information (e.g., position, speed, heading angle, etc.) of the first vehicle from the vehicle messages sent by the first terminal device. Based on this driving status information, it can determine the arrival time of the first vehicle and the distance between the first and second vehicles. Based on the arrival time and distance, a driving strategy for the first vehicle can be determined and then executed. Here, the arrival time refers to the time when the first and second vehicles overlap. This application does not limit the specific algorithms for determining the arrival time, vehicle distance, and driving strategy; these can be determined by the developers based on actual circumstances. For example, the second terminal device can determine the distance between the first and second vehicles based on their positions. Based on this distance, the speed of the first vehicle, the speed of the second vehicle, or other information, it can predict the time when the first and second vehicles overlap (i.e., the arrival time). The second terminal device can then assist the second vehicle in avoiding the collision in advance. Alternatively, the second terminal device can predict, based on the current distance between the first and second vehicles and their speeds, that the distance between the first and second vehicles will reach a set distance threshold at a certain moment, thereby assisting the second vehicle in taking a detour in advance.

[0135] It is understandable that, in scenarios where the second vehicle is a driver-assisted vehicle, the second terminal device can play a voice-activated obstacle avoidance prompt message generated based on the arrival time and vehicle distance mentioned above, to guide the driver to perform corresponding operations (e.g., operating the brake pedal, steering wheel, accelerator pedal, etc.) and safely and timely leave the dedicated lane reserved for the first vehicle. For example, the corresponding voice-activated obstacle avoidance prompt message can be played when the vehicle distance between the first and second vehicles reaches a distance threshold. Optionally, in scenarios where the second vehicle is an autonomous vehicle, the second terminal device can control the second vehicle to perform obstacle avoidance maneuvers on the first vehicle. For example, the second terminal device can combine the route planning decisions of the second vehicle to perform obstacle avoidance maneuvers on the first vehicle.

[0136] In this embodiment, the driving strategy used to avoid the first vehicle can also be called an avoidance strategy. This avoidance strategy can be flexibly formulated according to actual circumstances, and this embodiment will not limit the specific content of the avoidance strategy. For example, a second vehicle located on the target driving route can change to another lane (i.e., lane change) to clear a dedicated lane for the first vehicle. Subsequently, it can continue to avoid the first vehicle by stopping, slowing down, or moving slightly away from the target driving route, ensuring that it does not enter the cleared dedicated lane before the first vehicle passes, until the first vehicle has passed. It is understood that after the first vehicle passes the dedicated lane cleared by the second vehicle, the avoidance strategy becomes ineffective, thus releasing the road in time to ensure that subsequent vehicles can pass normally.

[0137] Optionally, when the route relationship indicates that the second vehicle is not on the target route, the second terminal device can continue driving based on the driving strategy, which is determined before receiving the vehicle message. Furthermore, the second terminal device can optionally determine whether the second vehicle intends to change lanes onto the target route based on its route planning decisions. If it does, the second terminal device can play a voice warning message to prompt the driver of the second vehicle to temporarily abandon the lane-changing intention until the first vehicle passes.

[0138] As described above, the second terminal device can obtain the map route information of the first vehicle sent by the target roadside communication device. Thus, even in complex intersection environments such as crossroads, the second terminal device can jointly determine whether to yield to the first vehicle based on its precise route and driving status, thereby achieving precise vehicle priority yielding. Furthermore, the second terminal device can assist the second vehicle in quickly providing the first vehicle with a dedicated lane for safe and efficient arrival at its destination, maintaining yielding until the first vehicle passes through the dedicated lane, and promptly releasing the lane after the first vehicle has passed. This enables effective cooperation between vehicles, thereby improving traffic efficiency. By forwarding the map route information through the target roadside communication device, the map route information can be forwarded to vehicles farther away from the first vehicle, enabling priority yielding to vehicles at greater distances and ensuring traffic safety.

[0139] Please see Figure 7 , Figure 7 This is a schematic diagram of the interaction flow of a data processing method provided in an embodiment of this application. This data processing method can be implemented by a target roadside communication device (e.g., the one described above). Figure 1 The roadside communication device 100a shown), and the second terminal device (for example, the one mentioned above) Figure 1 The terminal device 200b shown) and the management platform (e.g., the one mentioned above) Figure 1 The management platform 10 shown is used in conjunction with this. Figure 7 As shown, the data processing method may include at least:

[0140] S301, The management platform obtains the driving route reported by the terminal device in the first vehicle;

[0141] For details on the implementation of S301, please refer to the above. Figure 3 The S101 in the corresponding embodiment will not be described again here.

[0142] S302, the management platform selects a roadside communication device associated with the driving route from one or more deployed roadside communication devices as the target roadside communication device;

[0143] For details on the implementation of S302, please refer to the above. Figure 3 The S101 in the corresponding embodiment will not be described again here.

[0144] S303, the management platform sends the driving route of the first vehicle to the target roadside communication equipment;

[0145] For details on the implementation of S303, please refer to the above. Figure 3 The S101 in the corresponding embodiment will not be described again here.

[0146] S304, The target roadside communication device acquires map data associated with the area covered by the target roadside communication device;

[0147] For details on the implementation of S304, please refer to the above. Figure 3 The S102 in the corresponding embodiment will not be described again here.

[0148] S305, the target roadside communication device generates map driving route information of the first vehicle based on map data and driving route, and determines map instruction messages based on map driving route information;

[0149] For details on the implementation of S305, please refer to the above. Figure 3 The S102 in the corresponding embodiment will not be described again here.

[0150] S306, The target roadside communication device sends a map instruction message carrying map driving route information to the second terminal device;

[0151] For details on the implementation of S306, please refer to the above. Figure 3 The S102 in the corresponding embodiment will not be described again here.

[0152] S307, when the second terminal device receives the vehicle message sent by the first terminal device, it obtains the map driving route information carried in the map instruction message;

[0153] For details on the implementation of S307, please refer to the above. Figure 6 The corresponding embodiment of S202 will not be described again here.

[0154] S308, the second terminal device determines the driving route relationship between the second vehicle and the first vehicle based on map driving route information;

[0155] For details on the implementation of S308, please refer to the above. Figure 6 The corresponding embodiment of S202 will not be described again here.

[0156] S309, the second terminal device executes the driving strategy based on the driving route relationship.

[0157] For details on the implementation of S309, please refer to the above. Figure 6 The steps of S202 in the corresponding embodiment will not be described again here. Furthermore, the beneficial effects of using the same method will also not be described again.

[0158] For ease of understanding, please refer to the following: Figure 8 , Figure 8 This is a schematic diagram of a scenario where a vehicle has priority to avoid another vehicle, as provided in an embodiment of this application. Figure 8 The diagram illustrates an intersection area equipped with roadside communication devices, such as roadside communication device 80C. This area falls within the coverage area of ​​roadside communication device 80C and is also under the management of management platform 80A. Several vehicles are traveling in this area, including vehicles 801D, 801E, and 801F. Vehicle 801D has priority (i.e., the first vehicle), while vehicles 801E and 801F are within the signal coverage area of ​​roadside communication device 80C (i.e., the second vehicles). Each vehicle is equipped with a terminal device; for example, vehicle 801D has terminal device 80D (the first terminal device), vehicle 801E has terminal device 80E (the second terminal device), and vehicle 801F has terminal device 80F (the second terminal device).

[0159] like Figure 8 As shown, before entering the intersection area, vehicle 801D can establish a communication connection with management platform 80A via access device 80B. This communication connection allows the platform to record the vehicle 801D's travel route (e.g., route C). Figure 8(Represented by gray arrows) is sent to the management platform 80A. The access device 80B is primarily responsible for the access and management of terminal devices on the wireless side. For example, it can be a base station NodeB, an evolved NodeB (eNodeB), a base station (gNodeB, gNB) in a 5G mobile communication system, a base station in a future mobile communication system, or an access node in a Wireless Fidelity (WiFi) system. It can also be a wireless controller in a Cloud Radio Access Network (CRAN) scenario, or a relay station, access point, vehicle-mounted equipment, wearable devices, and network equipment in future 5G networks or future evolved PLMN (Public Land Mobile Network) networks. This application embodiment does not limit the specific technology or device form used by the access device.

[0160] Furthermore, the management platform 80A can filter out the roadside communication devices on the driving route C, such as roadside communication device 80C, based on the deployment information of the roadside communication devices, and then send the driving route C to the roadside communication device 80C. Subsequently, the roadside communication device 80C can obtain map data (e.g., map data D) associated with the intersection area, and then generate map driving route information (e.g., map driving route information E) in V2X MAP format associated with the intersection area based on the driving route C and map data D. Then, it can broadcast a map instruction message F carrying the map driving route information E.

[0161] Furthermore, since both vehicles 801E and 801F are within the communication range of the roadside communication device 80C, both terminal devices 80E and 80F can receive the map instruction message F. In addition, terminal device 80D can broadcast vehicle messages G to transmit its own driving status. When vehicle 801D reaches a certain position in the intersection area, both vehicles 801E and 801F enter the communication range of terminal device 80D. At this time, both terminal devices 80E and 80F can receive the vehicle message G and then view the map driving route information E carried by the map instruction message F. Subsequently, both terminal devices 80E and 80F can determine the target driving route of vehicle 801D in the intersection area based on the map driving route information E. For example, the target driving route could be driving route 800.

[0162] Furthermore, terminal device 80E can determine the driving route relationship H1 between vehicle 801E and vehicle 801D based on driving route 800, and then determine driving strategy J1 based on this driving route relationship H1. Similarly, terminal device 80F can determine the driving route relationship H2 between vehicle 801F and vehicle 801D based on driving route 800, and then determine driving strategy J2 based on this driving route relationship H2. For example... Figure 8 As shown, assuming that the driving route relationship H1 indicates that vehicle 801E is on driving route 800, terminal device 80E can prioritize avoiding vehicle 801D based on driving strategy J1. Similarly, driving route relationship H2 indicates that vehicle 801F is not on driving route 800, so terminal device 80F can execute driving strategy J2 without prioritizing avoiding vehicle 801D. Here, driving strategy J2 can be the strategy determined by terminal device 80F before receiving vehicle message G.

[0163] in, Figure 8 The specific implementation process of the corresponding embodiments can be found in the above description. Figure 3 and Figure 6 The descriptions in the corresponding embodiments will not be repeated here.

[0164] It is understandable that, in addition to the above Figure 8 The described intersection area and Figure 5 The method described in this application embodiment can also be applied to other road environments, such as two-way multi-lane road sections, various types of curves, three-way intersections, or other special roads, which will not be elaborated here.

[0165] It is understood that differentiated driving services can also be provided in the future based on the methods provided in the embodiments of this application. For example, a corresponding traffic priority can be set for each vehicle, and vehicles with low traffic priority (e.g., the second vehicle mentioned above) need to give way to vehicles with high traffic priority (e.g., the first vehicle mentioned above).

[0166] Please see Figure 9 This is a schematic diagram of the structure of a data processing apparatus provided in an embodiment of this application. The data processing apparatus can be a computer program (including program code) running on a computer device; for example, the data processing apparatus is an application software. The apparatus can be used to execute corresponding steps in the data processing method provided in the embodiment of this application. The data processing apparatus can run in a target roadside communication device. Figure 9 As shown, the data processing device 1 may include: an acquisition module 11 and a transmission module 12;

[0167] The acquisition module 11 is used to acquire the driving route of the first vehicle;

[0168] The target roadside communication device is a roadside communication device selected by the management platform from one or more deployed roadside communication devices and associated with the driving route; the terminal device in the first vehicle has a communication connection with the management platform, and the terminal device in the first vehicle is used to report the driving route of the first vehicle to the management platform through the communication connection;

[0169] The acquisition module 11 is specifically used to acquire the driving route of the first vehicle issued by the management platform;

[0170] The sending module 12 is used to generate map driving route information of the first vehicle based on the driving route, and send a map instruction message carrying the map driving route information to the second vehicle; the map instruction message is used to instruct the terminal device in the second vehicle to execute a driving strategy based on the map driving route information when it receives the vehicle message sent by the terminal device in the first vehicle; the vehicle message is used to describe the driving status of the first vehicle.

[0171] The sending module 12 may include: a first acquisition unit 121, a route addition unit 122, a first broadcast unit 123, a second acquisition unit 124, a node acquisition unit 125, an information determination unit 126, and a second broadcast unit 127.

[0172] The first acquisition unit 121 is used to acquire map data associated with the area covered by the target roadside communication device; the map data includes road segment data of one or more oriented road segments;

[0173] The route addition unit 122 is used to add a vehicle driving status field to the road segment data of each directed road segment, set the status value of each vehicle driving status field based on the driving route, and determine the map driving route information of the first vehicle based on the road segment data to which the vehicle driving status field with the set status value belongs.

[0174] The route addition unit 122 may include: a road segment division subunit 1221, a first setting subunit 1222, and a second setting subunit 1223;

[0175] The road segment division subunit 1221 is used to take the road segment data associated with the driving route from the road segment data of one or more directed road segments as the first road segment data, and take the road segment data other than the first road segment data from the road segment data of one or more directed road segments as the second road segment data.

[0176] The first setting subunit 1222 is used to set the status value of the vehicle driving status field added in the first road segment data to a first status value; the first status value is used to indicate that the directional road segment corresponding to the first road segment data belongs to the driving route;

[0177] The second setting subunit 1223 is used to set the status value of the vehicle driving status field added in the second road segment data to a second status value; the second status value is used to indicate that the directional road segment corresponding to the second road segment data does not belong to the driving route.

[0178] The specific functional implementation methods of the road segment division subunit 1221, the first setting subunit 1222, and the second setting subunit 1223 can be found above. Figure 3 The S102 in the corresponding embodiment will not be described again here.

[0179] The first broadcast unit 123 is used to determine a map instruction message based on map data with added map driving route information, and broadcast the map instruction message to the second vehicle.

[0180] The second acquisition unit 124 is used to acquire map data associated with the area covered by the target roadside communication device; the map data includes node data of at least two map nodes;

[0181] The node acquisition unit 125 is used to acquire a map node associated with the driving route from at least two map nodes, and use it as the target map node;

[0182] The information determination unit 126 is used to use the node data of the target map node as the map driving route information of the first vehicle; the map driving route information has the same data format as the map data;

[0183] The second broadcast unit 127 is used to generate a map instruction message based on the map driving route information and broadcast the map instruction message to the second vehicle.

[0184] The specific functional implementation methods of the first acquisition unit 121, route addition unit 122, first broadcast unit 123, second acquisition unit 124, node acquisition unit 125, information determination unit 126, and second broadcast unit 127 can be found above. Figure 3 The S102 in the corresponding embodiment will not be described again here.

[0185] The specific functional implementation methods of the acquisition module 11 and the sending module 12 can be found in the above description. Figure 3 The steps S101-S102 in the corresponding embodiments will not be described again here. Furthermore, the beneficial effects of using the same method will also not be described again.

[0186] Please see Figure 10This is a schematic diagram of the structure of a data processing apparatus provided in an embodiment of this application. The data processing apparatus can be a computer program (including program code) running on a computer device; for example, the data processing apparatus is an application software. The apparatus can be used to execute corresponding steps in the data processing method provided in the embodiment of this application. The data processing apparatus can run on a terminal device in a second vehicle. Figure 10 As shown, the data processing device 2 may include: a receiving module 21 and an execution module 22;

[0187] The receiving module 21 is used to receive a map indication message sent by the target roadside communication device; the map indication message carries the map driving route information of the first vehicle; the map driving route information is generated by the target roadside communication device based on the driving route of the first vehicle;

[0188] The execution module 22 is used to obtain the map driving route information carried in the map instruction message when it receives the vehicle message sent by the terminal device in the first vehicle, and execute the driving strategy based on the map driving route information; the vehicle message is used to describe the driving status of the first vehicle.

[0189] The execution module 22 may include: a relationship determination unit 221 and a strategy execution unit 222;

[0190] The relationship determination unit 221 is used to obtain the map driving route information carried in the map instruction message when it receives the vehicle message broadcast by the terminal device in the first vehicle, and determine the driving route relationship between the second vehicle and the first vehicle based on the map driving route information.

[0191] The relationship determination unit 221 may include: a first parsing subunit 2211, a road segment search subunit 2212, a first route determination subunit 2213, a first relationship determination subunit 2214, a second parsing subunit 2215, a second route determination subunit 2216, and a second relationship determination subunit 2217.

[0192] The first parsing subunit 2211 is used to parse the map indication message to obtain the road segment data of one or more directional road segments contained in the map indication message; the one or more directional road segments are located in the area covered by the target roadside communication equipment; the road segment data of each directional road segment contains a vehicle driving status field.

[0193] The road segment search subunit 2212 is used to search for a vehicle driving status field with a first status value in one or more vehicle driving status fields, and to determine the road segment data to which the searched vehicle driving status field belongs as map driving route information.

[0194] The first route determination subunit 2213 is used to take the directed road segment associated with the map driving route information from one or more directed road segments as the target directed road segment, and determine the target driving route of the first vehicle in the area covered by the target roadside communication equipment based on the target directed road segment.

[0195] The first relationship determination subunit 2214 is used to determine the driving route relationship between the second vehicle and the first vehicle based on the target driving route;

[0196] The second parsing subunit 2215 is used to parse the map instruction message to obtain the map driving route information carried in the map instruction message; the map driving route information includes the node data of the target map node, which refers to the map node associated with the driving route;

[0197] The second route determination subunit 2216 is used to acquire map data sent by the target roadside communication device, search for a map node associated with the map driving route information among at least two map nodes contained in the map data, and determine the target driving route of the first vehicle in the area covered by the target roadside communication device based on the found map node.

[0198] The second relationship determination subunit 2217 is used to determine the driving route relationship between the second vehicle and the first vehicle based on the target driving route.

[0199] The specific functional implementation methods of the first parsing subunit 2211, the road segment search subunit 2212, the first route determination subunit 2213, the first relation determination subunit 2214, the second parsing subunit 2215, the second route determination subunit 2216, and the second relation determination subunit 2217 can be found above. Figure 6 The corresponding embodiment of S202 will not be described again here.

[0200] Strategy execution unit 222 is used to execute driving strategies based on driving route relationships;

[0201] The strategy execution unit 222 may include: a status acquisition subunit 2221, a first execution subunit 2222, and a second execution subunit 2223;

[0202] The status acquisition subunit 2221 is used to acquire the driving status information of the first vehicle from the vehicle message when the driving route relationship indicates that the second vehicle is located on the target driving route;

[0203] The first execution subunit 2222 is used to determine the arrival time of the first vehicle and the distance between the first vehicle and the second vehicle based on the driving status information, determine the driving strategy for the first vehicle based on the arrival time and the distance between the vehicles, and execute the driving strategy; the arrival time refers to the time when the first vehicle and the second vehicle overlap.

[0204] The first execution subunit 2222 is specifically used to play a voice avoidance prompt message generated based on the arrival time and vehicle distance, or to control the second vehicle to perform vehicle avoidance processing on the first vehicle;

[0205] The second execution subunit 2223 is used to continue driving based on a driving strategy when the driving route relationship indicates that the second vehicle is not on the target driving route; the driving strategy is determined before receiving the vehicle message.

[0206] The specific functional implementation methods of the status acquisition subunit 2221, the first execution subunit 2222, and the second execution subunit 2223 can be found above. Figure 6 The corresponding embodiment of S202 will not be described again here.

[0207] The specific functional implementation methods of the relationship determination unit 221 and the strategy execution unit 222 can be found in the above description. Figure 6 The corresponding embodiment of S202 will not be described again here.

[0208] The specific functional implementation methods of the receiving module 21 and the execution module 22 can be found in the above description. Figure 6 The steps S201-S202 in the corresponding embodiments will not be described again here. Furthermore, the beneficial effects of using the same method will also not be described again.

[0209] Please see Figure 11 This is a schematic diagram of the structure of a computer device provided in an embodiment of this application. Figure 11As shown, the computer device 1000 may include a processor 1001, a network interface 1004, and a memory 1005. Furthermore, the computer device 1000 may also include a user interface 1003 and at least one communication bus 1002. The communication bus 1002 is used to enable communication between these components. The user interface 1003 may include a display screen and a keyboard; optionally, the user interface 1003 may also include a standard wired interface or a wireless interface. The network interface 1004 may optionally include a standard wired interface or a wireless interface (such as a Wi-Fi interface). The memory 1005 may be high-speed RAM or non-volatile memory, such as at least one disk storage device. Optionally, the memory 1005 may also be at least one storage device located remotely from the processor 1001. Figure 11 As shown, the memory 1005, which is a computer-readable storage medium, may include an operating system, a network communication module, a user interface module, and a device control application.

[0210] In such Figure 11 In the computer device 1000 shown, the network interface 1004 provides network communication functionality; the user interface 1003 is mainly used to provide an input interface for the user; and the processor 1001 can be used to call the device control application stored in the memory 1005 to execute the aforementioned... Figure 3 , Figure 6 , Figure 7 The description of the data processing method in any corresponding embodiment will not be repeated here. Furthermore, the beneficial effects of using the same method will also not be repeated.

[0211] Furthermore, it should be noted that this application embodiment also provides a computer-readable storage medium, which stores a computer program executed by the aforementioned data processing apparatus 1 and data processing apparatus 2. The computer program includes program instructions, and when the processor executes the program instructions, it can execute the aforementioned... Figure 3 , Figure 6 , Figure 7 The description of the data processing method in any corresponding embodiment is already provided, and therefore will not be repeated here. Furthermore, the beneficial effects of using the same method will also not be repeated. For technical details not disclosed in the computer-readable storage medium embodiments related to this application, please refer to the description of the method embodiments of this application.

[0212] The aforementioned computer-readable storage medium can be an internal storage unit of the data processing apparatus or computer device provided in any of the foregoing embodiments, such as a hard disk or memory of the computer device. The computer-readable storage medium can also be an external storage device of the computer device, such as a plug-in hard disk, smart media card (SMC), secure digital (SD) card, flash card, etc., provided on the computer device. Furthermore, the computer-readable storage medium can include both internal and external storage units of the computer device. The computer-readable storage medium is used to store the computer program and other programs and data required by the computer device. The computer-readable storage medium can also be used to temporarily store data that has been output or will be output.

[0213] Furthermore, it should be noted that this application also provides a computer program product or computer program, which includes computer instructions stored in a computer-readable storage medium. The processor of a computer device reads the computer instructions from the computer-readable storage medium and executes the computer instructions, causing the computer device to perform the aforementioned... Figure 3 , Figure 6 , Figure 7 The method is provided in any of the corresponding embodiments. Furthermore, the beneficial effects of using the same method will not be repeated here. For technical details not disclosed in the computer program products or computer program embodiments involved in this application, please refer to the description of the method embodiments of this application.

[0214] For further details, please see Figure 12 , Figure 12 This is a schematic diagram of the structure of a data processing system provided in an embodiment of this application. The data processing system 3 may include a data processing device 1a and a data processing device 2a. The data processing device 1a may be the one described above. Figure 9 Regarding the data processing device 1 in the corresponding embodiment, it can be understood that the data processing device 1a can be integrated into the above-mentioned... Figure 2 The roadside communication device 20C in the corresponding embodiment will not be described in detail here. The data processing device 2a can be the one described above. Figure 10 Regarding the data processing device 2 in the corresponding embodiment, it can be understood that the data processing device 2a can be integrated into the above-mentioned... Figure 2 The terminal device 20B in the corresponding embodiment will not be described again here. Furthermore, the beneficial effects of using the same method will also not be described again. For technical details not disclosed in the embodiments of the data processing system involved in this application, please refer to the description of the method embodiments of this application.

[0215] The terms "first," "second," etc., in the specification, claims, and drawings of this application are used to distinguish different objects, not to describe a specific order. Furthermore, the term "comprising," and any variations thereof, are intended to cover non-exclusive inclusion. For example, a process, method, apparatus, product, or device that includes a series of steps or units is not limited to the listed steps or modules, but may optionally include steps or modules not listed, or may optionally include other step units inherent to these processes, methods, apparatuses, products, or devices.

[0216] Those skilled in the art will recognize that the units and algorithm steps of the various examples described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, computer software, or a combination of both. To clearly illustrate the interchangeability of hardware and software, the components and steps of the various examples have been generally described in terms of functionality in the foregoing description. Whether these functions are implemented in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementations should not be considered beyond the scope of this application.

Claims

1. A data processing method, characterized in that, include: The target roadside communication equipment obtains the driving route of the first vehicle; Based on the driving route, generate map driving route information for the first vehicle, and send a map instruction message carrying the map driving route information to the second vehicle; The map instruction message is used to instruct the terminal device in the second vehicle to obtain the position and speed of the first vehicle from the vehicle message when the second vehicle is on the target driving route and when it receives a vehicle message sent by the terminal device in the first vehicle. Based on the position and speed of the first vehicle, the speed of the first vehicle, and the position of the second vehicle, when the distance between the first vehicle and the second vehicle reaches a set distance threshold, the message instructs the second vehicle to stop, slow down, or move away from the target driving route to avoid the first vehicle. The target driving route is the route the first vehicle will take within the area covered by the target roadside communication device in the future, starting from its current position.

2. The method according to claim 1, characterized in that, The target roadside communication device is a roadside communication device selected by the management platform from one or more deployed roadside communication devices and associated with the driving route; the terminal device in the first vehicle has a communication connection with the management platform, and the terminal device in the first vehicle is used to report the driving route of the first vehicle to the management platform through the communication connection; The target roadside communication device acquires the driving route of the first vehicle, including: The target roadside communication device acquires the driving route of the first vehicle issued by the management platform.

3. The method according to claim 1, characterized in that, The step of generating map route information for the first vehicle based on the driving route, and sending a map instruction message carrying the map route information to the second vehicle, includes: Acquire map data associated with the area covered by the target roadside communication device; the map data includes road segment data of one or more oriented road segments; A vehicle driving status field is added to the road segment data of each directed road segment. The status value of each vehicle driving status field is set based on the driving route. The map driving route information of the first vehicle is determined based on the road segment data to which the vehicle driving status field with the set status value belongs. Based on the map data with the added map driving route information, a map instruction message is determined and broadcast to the second vehicle.

4. The method according to claim 3, characterized in that, The step of setting the status value of each vehicle's driving status field based on the driving route includes: The road segment data associated with the driving route in the road segment data of the one or more directional road segments is taken as the first road segment data, and the road segment data other than the first road segment data in the road segment data of the one or more directional road segments is taken as the second road segment data. Set the status value of the vehicle driving status field added to the first road segment data to a first status value; the first status value is used to indicate that the directed road segment corresponding to the first road segment data belongs to the driving route. Set the status value of the vehicle driving status field added to the second road segment data to a second status value; the second status value is used to indicate that the directional road segment corresponding to the second road segment data does not belong to the driving route.

5. The method according to claim 1, characterized in that, The step of generating map route information for the first vehicle based on the driving route, and sending a map instruction message carrying the map route information to the second vehicle, includes: Acquire map data associated with the area covered by the target roadside communication device; the map data includes node data of at least two map nodes; Obtain the map node associated with the driving route from the at least two map nodes, and use it as the target map node; The node data of the target map node is used as the map driving route information of the first vehicle; the map driving route information has the same data format as the map data; A map instruction message is generated based on the map driving route information, and the map instruction message is broadcast to the second vehicle.

6. A data processing method, characterized in that, include: The terminal equipment in the second vehicle receives map instruction messages sent by the target roadside communication equipment; The map instruction message carries the map driving route information of the first vehicle; The map driving route information is generated by the target roadside communication device based on the driving route of the first vehicle; When a vehicle message is received from a terminal device in the first vehicle, the map driving route information carried in the map indication message is obtained. When the map driving route information indicates that the second vehicle is on the target driving route, the position and speed of the first vehicle are obtained from the vehicle message. The target driving route is the route that the first vehicle will take from its current position to the area covered by the target roadside communication device in the future. Based on the position and speed of the first vehicle, and the speed and position of the second vehicle, determine the moment when the distance between the first vehicle and the second vehicle reaches a set distance threshold, and at that moment, control the second vehicle to stop, decelerate, or move away from the target driving route to avoid the first vehicle.

7. The method according to claim 6, characterized in that, The step of obtaining the map driving route information carried in the map indication message when receiving a vehicle message sent by the terminal device in the first vehicle includes: Upon receiving a vehicle message broadcast by a terminal device in the first vehicle, the system obtains the map driving route information carried in the map instruction message and determines the driving route relationship between the second vehicle and the first vehicle based on the map driving route information.

8. The method according to claim 7, characterized in that, The step of obtaining the map driving route information carried in the map instruction message and determining the driving route relationship between the second vehicle and the first vehicle based on the map driving route information includes: The map indication message is parsed to obtain road segment data of one or more directional road segments contained in the map indication message; the one or more directional road segments are located in the area covered by the target roadside communication device; the road segment data of each directional road segment includes a vehicle driving status field; Search for a vehicle driving status field with a first status value among one or more vehicle driving status fields, and determine the road segment data to which the found vehicle driving status field belongs as the map driving route information; The directed road segment associated with the map driving route information among the one or more directed road segments is taken as the target directed road segment, and the target driving route of the first vehicle in the area covered by the target roadside communication equipment is determined based on the target directed road segment. The driving route relationship between the second vehicle and the first vehicle is determined based on the target driving route.

9. The method according to claim 7, characterized in that, The step of obtaining the map driving route information carried in the map instruction message and determining the driving route relationship between the second vehicle and the first vehicle based on the map driving route information includes: The map instruction message is parsed to obtain the map driving route information carried in the map instruction message; the map driving route information includes node data of the target map node, and the target map node refers to the map node associated with the driving route; The map data sent by the target roadside communication device is obtained, and a map node associated with the map driving route information is found among at least two map nodes contained in the map data. Based on the found map node, the target driving route of the first vehicle in the area covered by the target roadside communication device is determined in the map data. The driving route relationship between the second vehicle and the first vehicle is determined based on the target driving route.

10. The method according to claim 8 or 9, characterized in that, The method further includes: When the driving route relationship indicates that the second vehicle is not on the target driving route, the vehicle continues to drive based on the driving strategy; the driving strategy is determined before the vehicle message is received.

11. A data processing apparatus, characterized in that, include: The acquisition module is used to acquire the driving route of the first vehicle; The sending module is used to generate map driving route information of the first vehicle based on the driving route, and send a map instruction message carrying the map driving route information to the second vehicle; The map instruction message is used to instruct the terminal device in the second vehicle to obtain the position and speed of the first vehicle from the vehicle message when the second vehicle is on the target driving route and when it receives the vehicle message sent by the terminal device in the first vehicle. Based on the position and speed of the first vehicle, the speed of the first vehicle, and the position of the second vehicle, when the distance between the first vehicle and the second vehicle reaches a set distance threshold, the message instructs the second vehicle to stop, decelerate, or move away from the target driving route to avoid the first vehicle. The target driving route is the route the first vehicle will take within the area covered by the target roadside communication equipment in the future, starting from its current position.

12. A data processing apparatus, characterized in that, include: The receiving module is used to receive map indication messages sent by the target roadside communication equipment; The map instruction message carries the map driving route information of the first vehicle; The map driving route information is generated by the target roadside communication device based on the driving route of the first vehicle; The execution module is configured to, upon receiving a vehicle message sent by a terminal device in the first vehicle, obtain the map driving route information carried in the map indication message, and when the map driving route information indicates that the second vehicle is located on the target driving route, obtain the position and speed of the first vehicle from the vehicle message, wherein the target driving route is the route that the first vehicle will take from its current position within the area covered by the target roadside communication device in the future; determine the moment when the distance between the first vehicle and the second vehicle reaches a set distance threshold based on the position and speed of the first vehicle, and the speed and position of the second vehicle, and control the second vehicle to stop, decelerate, or move away from the target driving route at that moment to avoid the first vehicle.

13. A computer device, characterized in that, include: Processor and memory; The processor is connected to the memory, wherein the memory is used to store a computer program, and the processor is used to invoke the computer program to cause the computer device to perform the method according to any one of claims 1-10.

14. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program adapted to be loaded and executed by a processor to cause a computer device having the processor to perform the method according to any one of claims 1-10.

15. A computer program product, characterized in that, The computer program product includes computer instructions stored in a computer-readable storage medium, the computer instructions being adapted to be read and executed by a processor to cause a computer device having the processor to perform the method of any one of claims 1-10.

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