Message screening method and device

Abstract

Embodiments of the present application provide a method and apparatus for screening messages. The method includes: obtaining a first message sent by a reference object at a second moment at a first moment, where the first message includes reference positioning information and reference motion parameters of the reference object at the second moment; obtaining target positioning information of a target object at the first moment; calculating a first distance between the target object and the reference object at the first moment based on the first moment, the second moment, the reference positioning information, the reference motion parameters, and the target positioning information; and screening the first message based on the first distance. The technical solution of the embodiments of the present application can remove redundancy from messages and improve message processing efficiency.

Description

Technical Field

[0001] This application relates to the field of computer and communication technologies, and in particular, to a method and apparatus for screening messages. Background Art

[0002] In the scenario of message screening, such as in the scenario of screening V2X messages, it is usually screened according to the standard of whether the reference vehicle (i.e., the vehicle that sends V2X messages) and the target vehicle (i.e., the vehicle that receives V2X messages) are traveling on the same road. However, how to redundant-eliminate messages, especially V2X messages, to improve message processing efficiency is a technical problem to be solved urgently. Summary of the Invention

[0003] Embodiments of this application provide a method and apparatus for screening messages, which can, at least to a certain extent, redundant-eliminate messages, especially V2X messages, to improve message processing efficiency.

[0004] Other features and advantages of this application will become apparent through the following detailed description, or be learned in part through the practice of this application.

[0005] According to one aspect of the embodiments of this application, a method for screening messages is provided, including: obtaining a first message sent by a reference object at a second moment at a first moment, where the first message includes reference positioning information and reference motion parameters of the reference object at the second moment; obtaining target positioning information of a target object at the first moment; calculating a first distance between the target object and the reference object at the first moment based on the first moment, the second moment, the reference positioning information, the reference motion parameters, and the target positioning information; and screening the first message based on the first distance.

[0006] According to one aspect of the embodiments of this application, a message screening apparatus is provided, where the apparatus includes: a first obtaining unit configured to obtain a first message sent by a reference object at a second moment at a first moment, where the first message includes reference positioning information and reference motion parameters of the reference object at the second moment; a second obtaining unit configured to obtain target positioning information of a target object at the first moment; a calculating unit configured to calculate a first distance between the target object and the reference object at the first moment based on the first moment, the second moment, the reference positioning information, the reference motion parameters, and the target positioning information; and a screening unit configured to screen the first message based on the first distance.

[0007] In some embodiments of the present application, based on the foregoing solution, the apparatus further includes: a broadcast unit, configured to broadcast a second message before obtaining, at a first moment, a first message sent by a reference object at a second moment, where the second message is used to request the reference object to send the first message.

[0008] In some embodiments of the present application, based on the foregoing solution, the calculation unit is configured to: calculate a time interval between the first moment and the second moment based on the first moment and the second moment; calculate an interval distance that the reference object moves within the time interval based on the reference motion parameter; calculate a first distance between the target object and the reference object at the first moment based on the interval distance, the reference positioning information, and the target positioning information.

[0009] In some embodiments of the present application, based on the foregoing solution, the calculation unit is configured to: calculate a second distance between the position represented by the reference positioning information and the position represented by the target positioning information; determine a motion position relationship between the target object and the reference object based on the reference positioning information and the target positioning information; when the target object is in front of the reference object, calculate a difference between the second distance and the interval distance, and use the difference value as the first distance; when the target object is behind the reference object, calculate a sum of the second distance and the interval distance, and use the sum value as the first distance.

[0010] In some embodiments of the present application, based on the foregoing solution, the screening unit is configured to: use the first message as a filtered message when the first distance is greater than a preset distance; use the first message as a screened message when the first distance is not greater than the preset distance.

[0011] In some embodiments of the present application, based on the foregoing solution, the screening unit is configured to: after using the first message as a screened message, obtain a target motion parameter of the target object at the first moment; calculate a collision risk of a collision between the target object and the reference object based on the first distance, the target motion parameter, and the reference motion parameter; adjust the target motion parameter of the target object when the collision risk exceeds a predetermined threshold.

[0012] In some embodiments of the present application, based on the foregoing solution, the screening unit is configured to: obtain the target motion parameters of the target object at the first moment; calculate a third distance between the target object and the reference object at the second moment based on the first moment, the second moment, the reference positioning information, and the target positioning information and the target motion parameters; when at least one of the first distance and the third distance is greater than a preset distance, use the first message as a filtered message; when both the first distance and the third distance are not greater than the preset distance, use the first message as a screened message.

[0013] In some embodiments of the present application, based on the foregoing solution, the reference positioning information includes at least one of the following: GPS positioning information, Beidou satellite positioning information, or two-dimensional coordinate positioning information; the target positioning information includes at least one of the following: GPS positioning information, Beidou satellite positioning information, or two-dimensional coordinate positioning information.

[0014] In some embodiments of the present application, based on the foregoing solution, the reference object includes a reference vehicle, the target object includes a target vehicle, and the first message includes a V2X message.

[0015] According to one aspect of the embodiments of the present application, there is provided a computer-readable medium having a computer program stored thereon, and when the computer program is executed by a processor, it implements the message screening method as described in the above embodiments.

[0016] According to one aspect of the embodiments of the present application, there is provided an electronic device, including: one or more processors; a storage device for storing one or more programs, and when the one or more programs are executed by the one or more processors, the one or more processors are caused to implement the message screening method as described in the above embodiments.

[0017] In the technical solution provided by some embodiments of the present application, by obtaining at the first moment a first message including reference positioning information and reference motion parameters sent by a reference object at the second moment, and the target positioning information of the target object at the first moment, the first distance between the target object and the reference object at the first moment can be calculated, and the first message can be screened according to the first distance. Since the screening of the first message is based on the distance between the reference object and the target object at the first moment, the first message sent by the reference object relatively close to the target object can be used as the screened message, so that the redundancy of the first message can be removed, and the message processing efficiency can be improved.

[0018] It should be understood that the above general description and the following detailed description are only exemplary and explanatory, and cannot limit the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] The drawings herein are incorporated into the specification and constitute a part of the specification, showing embodiments consistent with the present application, and together with the specification, are used to explain the principles of the present application. Obviously, the drawings described below are only some embodiments of the present application, and for ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work. In the drawings:

[0020] Figure 1 A schematic diagram showing an exemplary system architecture to which the technical solution of the embodiments of the present application can be applied;

[0021] Figure 2 An application scenario diagram of a method for implementing message screening according to an embodiment of the present application is shown;

[0022] Figure 3 A flowchart of a method for screening messages according to an embodiment of the present application is shown;

[0023] Figure 4 A detailed flow chart of calculating a first distance between the target object and the reference object at the first moment according to an embodiment of the present application is shown;

[0024] Figure 5 A detailed flow chart of calculating a first distance between the target object and the reference object at the first moment according to an embodiment of the present application is shown;

[0025] Figure 6 A scene demonstration diagram of calculating a first distance between a target vehicle and a reference vehicle at a first moment according to an embodiment of the present application is shown;

[0026] Figure 7 A detailed flow chart of screening the first message based on the first distance according to an embodiment of the present application is shown;

[0027] Figure 8 A flowchart of a method after taking the first message as a message obtained by screening according to an embodiment of the present application is shown;

[0028] Figure 9 A detailed flow chart of screening the first message based on the first distance according to an embodiment of the present application is shown;

[0029] Figure 10 A scene demonstration diagram showing calculation of a third distance between a target vehicle and a reference vehicle at a second moment according to an embodiment of the present application is shown;

[0030] Figure 11Shows a schematic diagram of screening vehicle V2X messages in a vehicle networking based on the cloud according to an embodiment of the present application;

[0031] Figure 12 Shows a block diagram of a message screening device according to an embodiment of the present application;

[0032] Figure 13 Shows a schematic structural diagram of a computer system of an electronic device suitable for implementing the embodiments of the present application. Detailed implementation manners

[0033] Now, example embodiments will be described more fully with reference to the accompanying drawings. However, the example embodiments can be implemented in various forms and should not be construed as limited to the examples set forth herein; rather, these embodiments are provided so that this application will be more thorough and complete, and will fully convey the concept of the example embodiments to those skilled in the art.

[0034] In addition, the described features, structures, or characteristics can be combined in any suitable manner in one or more embodiments. In the following description, numerous specific details are provided to give a thorough understanding of the embodiments of the present application. However, those skilled in the art will realize that the technical solutions of the present application can be practiced without one or more of the specific details, or other methods, components, devices, steps, etc. can be adopted. In other cases, well-known methods, devices, implementations, or operations are not shown or described in detail to avoid obscuring aspects of the present application.

[0035] The block diagrams shown in the accompanying drawings are only functional entities and do not necessarily correspond to physically independent entities. That is, these functional entities can be implemented in software form, or in one or more hardware modules or integrated circuits, or in different networks and / or processor devices and / or microcontroller devices.

[0036] The flowcharts shown in the accompanying drawings are only exemplary illustrations and do not necessarily include all the contents and operations / steps, nor do they necessarily have to be executed in the described order. For example, some operations / steps can be decomposed, while some operations / steps can be combined or partially combined, so the actual execution order may change according to the actual situation.

[0037] Figure 1 Shows a schematic diagram of an exemplary system architecture to which the technical solutions of the embodiments of the present application can be applied.

[0038] As Figure 1 shown, the system architecture may include terminal devices (such as Figure 1One or more of the smart phone 101, tablet computer 102, and portable computer 103 shown in the figure (which can also be a desktop computer, etc.), network 104, and server 105. The network 104 is used to provide a medium for the communication link between the terminal device and the server 105. The network 104 can include various connection types, such as wired communication links, wireless communication links, and so on.

[0039] It should be understood that Figure 1 the numbers of the terminal devices, networks, and servers in the figure are only illustrative. According to the implementation requirements, there can be any number of terminal devices, networks, and servers. For example, the server 105 can be a server cluster composed of multiple servers, etc.

[0040] It should be noted that the terms "first", "second", etc. in the description and claims of this application and the above-mentioned drawings are used to distinguish similar objects, and do not necessarily need to describe a specific order or sequence. It should be understood that the objects used in this way can be interchanged under appropriate circumstances, so that the embodiments of this application described here can be implemented in an order other than those illustrated or described.

[0041] In an embodiment of this application, as Figure 1 shown, the terminal devices can all be used as the objects described in this application (i.e., the target object or reference object). Among them, the message screening method provided by the embodiments of this application can be executed by the terminal device. That is, first, the target object (which can be a terminal device) obtains the first message sent by the reference object (which can be another terminal device) at the second moment at the first moment. The first message includes the reference positioning information and reference motion parameters of the reference object at the second moment. Then the target object obtains its own target positioning information at the first moment. Finally, the target object calculates the first distance between itself and the reference object at the first moment based on the first moment, the second moment, the reference positioning information, the reference motion parameters, and the target positioning information, and screens the first message based on the first distance.

[0042] In an embodiment of this application, the message screening method provided by the embodiments of this application can also be executed by the server 105.

[0043] In an embodiment of this application, the message screening method provided by the embodiments of this application can also be executed by a cloud server with cloud computing capabilities.

[0044] Specifically, cloud computing is a computing model that distributes computing tasks across a resource pool composed of a large number of computing devices, enabling various application systems to obtain computing power, storage space, and information services as needed. The network that provides resources is called the "cloud". The resources in the "cloud" seem to be infinitely expandable to users, and can be obtained at any time, used on demand, and expanded at any time. By establishing a cloud computing resource pool (abbreviated as a cloud platform, generally called an IaaS (Infrastructure as a Service) platform), various types of virtual resources are deployed in the resource pool for external customers to select and use. The cloud computing resource pool mainly includes: computing devices (virtualized machines containing operating systems), storage devices, and network devices.

[0045] In an embodiment of the present application, the application scenario of implementing the message screening method can be, for example, Figure 2 the screening of V2X messages sent by vehicles in a vehicle-to-everything (V2X) network as shown.

[0046] Refer to Figure 2 , which shows an application scenario diagram of the message screening method according to an embodiment of the present application.

[0047] Specifically, in some scenarios, for example, in scenarios for vehicle platooning, vehicle-road cooperation, and safety-assisted driving, each vehicle needs to know information such as the driving speed, driving position, and vehicle type of other vehicles, and this information needs to be transmitted and received through message transmission between vehicles. For example, in the road area 200 as shown in Figure 2 , there are 7 vehicles traveling, including vehicles A, B, C, D, E, F, and G. Among them, taking vehicle A as the target vehicle (target object) and the remaining vehicles as reference vehicles (reference objects) as an example. When the target vehicle A conducts V2X message interaction with the reference vehicles B, C, D, E, F, and G, the V2X messages sent by the reference vehicles B, C, D, E, F, and G can be screened by implementing the message screening method described in the present application.

[0048] The implementation details of the technical solution of the embodiment of the present application are elaborated in detail below:

[0049] According to a first aspect of the present disclosure, a message screening method is provided.

[0050] Refer to Figure 3 , which shows a flowchart of the message screening method according to an embodiment of the present application. This message screening method can be executed by a device with computing and processing capabilities, such as being executed by the server 105 shown in Figure 1 , or can also be executed by Figure 1It can be executed by the terminal device shown in the figure, or can also be executed by a cloud server with cloud computing capabilities. As Figure 3 shown, the method for screening the message at least includes steps 320 to 380:

[0051] Step 320, obtaining a first message sent by a reference object at a second moment at a first moment, where the first message includes reference positioning information and reference motion parameters of the reference object at the second moment.

[0052] Step 340, obtaining target positioning information of the target object at the first moment.

[0053] Step 360, calculating a first distance between the target object and the reference object at the first moment based on the first moment, the second moment, the reference positioning information, the reference motion parameters, and the target positioning information.

[0054] Step 380, screening the first message based on the first distance.

[0055] In an embodiment of the present application, the reference object includes a reference vehicle, the target object includes a target vehicle, and the first message includes a V2X message. Further, the method for screening the message proposed in the present application can be applied to screening V2X messages sent by vehicles in the vehicle-to-everything network.

[0056] The above implementation steps will be described in detail below:

[0057] In step 320, obtaining a first message sent by a reference object at a second moment at a first moment, where the first message includes reference positioning information and reference motion parameters of the reference object at the second moment.

[0058] Specifically, the reference positioning information may include the position coordinates of the reference object, and the position coordinates may be two-dimensional coordinates, three-dimensional coordinates, or longitude and latitude coordinates.

[0059] In an embodiment of the present application, the first message may include a timestamp, and the timestamp is used to represent the second moment when the reference object sends the first message.

[0060] In an embodiment of the present application, the reference object may include a reference vehicle, the first message may include a V2X message, and the reference positioning information may specifically include at least one of the following: GPS positioning information, Beidou satellite positioning information, or two-dimensional coordinate positioning information, etc. The reference motion parameters may include at least one of the following: parameters such as the motion speed and acceleration of the reference vehicle.

[0061] In an embodiment of the present application, before obtaining the first message sent by the reference object at the second moment at the first moment, a second message may also be broadcast, where the second message is used to request the reference object to send the first message. Specifically, the second message may be broadcast by the target object to the surrounding reference objects.

[0062] Furthermore, when the target object broadcasts the second message to the surrounding reference objects, it may be broadcast at a fixed time interval. For example, the time interval is Δt. Then, after the target object broadcasts the second message to the surrounding reference objects at time t, it may broadcast the second message for the second time to the surrounding reference objects at time t + Δt. For example, in the application scenario of filtering vehicle V2X messages, Δt may be determined by dividing the legal safe driving distance (the safe distance between the front and rear vehicles) of the road where the vehicle is located by the highest legal speed of the road.

[0063] Continue to refer to Figure 3 , in step 340, obtain the target location information of the target object at the first moment.

[0064] Specifically, the target location information may include the position coordinates of the target object, and the position coordinates may be two-dimensional coordinates, three-dimensional coordinates, or longitude and latitude coordinates.

[0065] In an embodiment of the present application, the target object may include a target vehicle, and the target location information may specifically include at least one of the following: GPS location information, Beidou satellite location information, or two-dimensional coordinate location information, etc.

[0066] Continue to refer to Figure 3 , in step 360, based on the first moment, the second moment, the reference location information, the reference motion parameters, and the target location information, calculate the first distance between the target object and the reference object at the first moment.

[0067] In an embodiment of the present application, the calculation of the first distance between the target object and the reference object at the first moment based on the first moment, the second moment, the reference location information, the reference motion parameters, and the target location information may be implemented through the steps as Figure 4 shown.

[0068] See Figure 4 , which shows a detailed flowchart of calculating the first distance between the target object and the reference object at the first moment according to an embodiment of the present application, specifically including steps 361 to 363:

[0069] Step 361: Calculate the time interval between the first moment and the second moment based on the first moment and the second moment.

[0070] In this application, since it is first that the reference object sends the first message at the second moment and then receives the first message at the first moment, therefore, the time interval (time difference) between the first moment and the second moment is the time interval of the first message during the transmission process.

[0071] Step 362: Calculate the interval distance that the reference object moves within the time interval based on the reference motion parameter.

[0072] Specifically, in this application, within the time interval of the first message during the transmission process, the reference object is in a moving state. Therefore, the interval distance that the reference object moves within the time interval can be calculated according to the reference motion parameter of the reference object and the time interval according to the formula of the basic motion equation.

[0073] Step 363: Calculate the first distance between the target object and the reference object at the first moment based on the interval distance, the reference positioning information, and the target positioning information.

[0074] In a specific implementation of an embodiment, calculating the first distance between the target object and the reference object at the first moment based on the interval distance, the reference positioning information, and the target positioning information can be achieved through the steps as Figure 5 shown.

[0075] See Figure 5 , which shows a detailed flowchart for calculating the first distance between the target object and the reference object at the first moment according to an embodiment of the present application, specifically including steps 3631 to 3634:

[0076] Step 3631: Calculate the second distance between the position represented by the reference positioning information and the position represented by the target positioning information.

[0077] In this application, on the one hand, through the reference positioning information, the positioning coordinates (such as GPS positioning coordinates) of the position where the reference object is located at the second moment can be determined. On the other hand, through the target positioning information, the positioning coordinates (such as GPS positioning coordinates) of the position where the target object is located at the first moment can be determined. Further, the distance between the position where the reference object is located at the second moment and the position where the target object is located at the first moment, that is, the second distance, can be calculated according to the positioning coordinates of the reference object and the positioning coordinates of the target object.

[0078] Step 3632: Based on the reference positioning information and the target positioning information, determine the moving position relationship between the target object and the reference object.

[0079] In this application, there are two moving position relationships between the target object and the reference object. One is that the target object moves behind the reference object, and the other is that the target object moves in front of the reference object.

[0080] Step 3633: When the target object is in front of the reference object, calculate the difference between the second distance and the interval distance, and use the difference value as the first distance.

[0081] Step 3634: When the target object is behind the reference object, calculate the sum of the second distance and the interval distance, and use the sum value as the first distance.

[0082] For those skilled in the art, it should be understood that the first distance is used to represent the distance between the position where the reference object is located and the position where the target object is located at the first moment.

[0083] In a specific implementation of an embodiment, to enable those skilled in the art to more intuitively understand the calculation details of the first distance between the target object and the reference object at the first moment, the following will be based on the application scenario of screening vehicle V2X messages and refer to Figure 6 to explain with a specific example.

[0084] See Figure 6 , which shows a scenario demonstration diagram for calculating the first distance between a target vehicle and a reference vehicle at the first moment according to an embodiment of the present application. As Figure 6 shown, at the second moment, reference vehicle A and reference vehicle B respectively send V2X message A and V2X message B. At the first moment, target vehicle C receives the V2X message A and V2X message B.

[0085] For reference vehicle A, the moving distance from the second moment to the first moment is the interval distance A, and the distance between the position where reference vehicle A is located at the second moment and the position where the target vehicle is located at the first moment is the second distance A. Since target vehicle C moves behind reference vehicle A, the first distance A between the position where target vehicle C is located and the position where reference vehicle A is located at the first moment is: second distance A + interval distance A.

[0086] For the reference vehicle B, the moving distance from the second moment to the first moment is the interval distance B, and the distance between the position of the reference vehicle B at the second moment and the position of the target vehicle at the first moment is the second distance B. Since the target vehicle C is moving in front of the reference vehicle B, the first distance B between the position of the target vehicle C and the position of the reference vehicle B at the first moment is: second distance B - interval distance B.

[0087] Those skilled in the art should understand that in the specific implementation of another embodiment, it is also possible to first calculate the positioning information of the reference object at the first moment according to the reference positioning information of the reference object at the second moment and the interval distance of the movement of the reference object, and then calculate the distance between the position of the reference object and the position of the target object at the first moment according to the positioning information of the reference object at the first moment and the target positioning information of the target object at the first moment.

[0088] Continue to refer to Figure 3 , in step 380, the first message is filtered based on the first distance.

[0089] In an embodiment of the present application, filtering the first message based on the first distance can be achieved through the steps as Figure 7 shown.

[0090] See Figure 7 , which shows a detailed flowchart of filtering the first message based on the first distance according to an embodiment of the present application, specifically including steps 381 to 382:

[0091] Step 381, when the first distance is greater than the preset distance, the first message is taken as the filtered message.

[0092] Step 382, when the first distance is not greater than the preset distance, the first message is taken as the screened message.

[0093] In the present application, the advantage of filtering the first message according to the magnitude relationship between the first distance and the preset distance is that: taking the message sent by the reference object closer to the target object as the screened message can reduce the amount of received messages. Especially for the V2X messages sent by the reference vehicle, it can filter out the worthless V2X messages sent by the reference vehicles far from the target vehicle, which is beneficial to the redundancy removal of V2X messages and further beneficial to improving the processing efficiency of V2X messages.

[0094] In the specific implementation of an embodiment, after taking the first message as the screened message, the method as Figure 8 shown can also be implemented.

[0095] See Figure 8 , which shows a flowchart of a method after the first message is obtained as the screened message according to an embodiment of the present application, specifically including steps 391 to 393:

[0096] Step 391, obtain the target motion parameters of the target object at the first moment.

[0097] Step 392, calculate the collision risk of the target object colliding with the reference object based on the first distance, the target motion parameters, and the reference motion parameters.

[0098] Step 393, when the collision risk exceeds a predetermined threshold, adjust the target motion parameters of the target object.

[0099] In the application scenario where the target object is a target vehicle and the reference object is a reference vehicle, data such as the first distance, the target motion parameters of the target vehicle, the reference motion parameters of the reference vehicle, and the vehicle types of the target vehicle and the reference vehicle can be brought into the gravitational field theory model, spring potential energy model, and Doppler effect model in the field of physics to calculate the collision intensity between the target vehicle and the reference vehicle, and then divided by the standard collision intensity (the value of the standard collision intensity can be the value when the traffic vehicle is at the collision critical point or a preset value), and finally the collision risk of the target vehicle colliding with the reference vehicle.

[0100] In an embodiment of the present application, screening the first message based on the first distance can also be achieved through steps as shown in Figure 9 shown.

[0101] See Figure 9 , which shows a detailed flowchart of screening the first message based on the first distance according to an embodiment of the present application, specifically including steps 383 to 386:

[0102] Step 383, obtain the target motion parameters of the target object at the first moment.

[0103] Step 384, calculate the third distance between the target object and the reference object at the second moment based on the first moment, the second moment, the reference positioning information, the target positioning information, and the target motion parameters.

[0104] Step 385, when at least one of the first distance and the third distance is greater than a preset distance, regard the first message as a filtered message.

[0105] Step 386, when both the first distance and the third distance are not greater than a preset distance, use the first message as the screened message.

[0106] In a specific implementation of an embodiment, to enable those skilled in the art to more intuitively understand the calculation details of the third distance between the target object and the reference object at the second moment, the following will be based on the application scenario of screening vehicle V2X messages and refer to Figure 10 to explain with a specific example.

[0107] See Figure 10 , which shows a scenario demonstration diagram of calculating the third distance between a target vehicle and a reference vehicle at the second moment according to an embodiment of the present application. As Figure 10 shown, at the second moment, reference vehicle A and reference vehicle B respectively send V2X message A and V2X message B. At the first moment, target vehicle C receives the V2X message A and V2X message B.

[0108] For target vehicle C, the moving distance from the second moment to the first moment is the interval distance C.

[0109] For reference vehicle A, the distance between the position of reference vehicle A at the second moment and the position of target vehicle C at the first moment is the second distance A. Since target vehicle C moves behind reference vehicle A, the third distance A between the position of target vehicle C and the position of reference vehicle A at the second moment is: second distance A + interval distance C.

[0110] For reference vehicle B, the distance between the position of reference vehicle B at the second moment and the position of target vehicle C at the first moment is the second distance B. Since target vehicle C moves in front of reference vehicle B, the third distance B between the position of target vehicle C and the position of reference vehicle B at the second moment is: second distance B - interval distance C.

[0111] In the present application, the advantage of using the message sent by the reference object whose first distance and third distance are both not greater than the preset distance as the screened message is that it can further reduce the amount of received messages, which is beneficial to message redundancy removal, and thus beneficial to improving the message processing efficiency.

[0112] In an embodiment of the present application, in the application scenario of screening vehicle V2X messages, a cloud vehicle system can also be built by integrating an automotive cloud, a regional cloud, and an edge cloud to participate in the process of screening vehicle V2X messages, such as Figure 11, which shows a schematic diagram of screening vehicle V2X messages in a vehicle networking based on the cloud according to an embodiment of the present application. The system consists of a cloud and a vehicle networking. Among them, all the computing functions of this solution can be implemented on the automotive cloud. An in-vehicle GPS is installed inside the vehicle, and the vehicle can obtain its own GPS position in real time and upload it to the automotive cloud in real time.

[0113] Specifically, it can be that the automotive cloud obtains the V2X message sent by a reference vehicle at a second moment at a first moment. The V2X message includes the reference positioning information and reference motion parameters of the reference vehicle at the second moment. The automotive cloud also obtains the target positioning information of a target vehicle at the first moment. Based on the first moment, the second moment, the reference positioning information, the reference motion parameters, and the target positioning information, the automotive cloud calculates a first distance between the target vehicle and the reference vehicle at the first moment, and screens the V2X message based on the first distance.

[0114] In the technical solutions provided in some embodiments of the present application, by obtaining a first message including reference positioning information and reference motion parameters sent by a reference object at a second moment at a first moment, and the target positioning information of a target object at the first moment, a first distance between the target object and the reference object at the first moment can be calculated, and the first message can be screened according to the first distance. Since the screening of the first message is based on the distance between the reference object and the target object at the first moment, the first message sent by the reference object relatively close to the target object can be used as the screened message, so that the redundancy of the first message can be removed, and thus the message processing efficiency can be improved.

[0115] The following introduces the device embodiments of the present application, which can be used to execute the message screening method in the above embodiments of the present application. For the details not disclosed in the device embodiments of the present application, please refer to the embodiments of the message screening method in the above of the present application.

[0116] Figure 12 Shows a block diagram of a message screening device according to an embodiment of the present application.

[0117] Referring to Figure 12 As shown, a message screening device 1200 according to an embodiment of the present application includes: a first acquisition unit 1201, a second acquisition unit 1202, a calculation unit 1203, and a screening unit 1204.

[0118] Among them, the first acquisition unit 1201 is configured to acquire a first message sent by a reference object at a second moment at a first moment, where the first message includes reference positioning information and reference motion parameters of the reference object at the second moment; a second acquisition unit 1202 is configured to acquire target positioning information of a target object at the first moment; a calculation unit 1203 is configured to calculate a first distance between the target object and the reference object at the first moment based on the first moment, the second moment, the reference positioning information, the reference motion parameters, and the target positioning information; a screening unit 1204 is configured to screen the first message based on the first distance.

[0119] In some embodiments of the present application, based on the foregoing solution, the apparatus further includes: a broadcast unit configured to broadcast a second message before acquiring the first message sent by the reference object at the second moment at the first moment, where the second message is used to request the reference object to send the first message.

[0120] In some embodiments of the present application, based on the foregoing solution, the calculation unit 1203 is configured to: calculate a time interval between the first moment and the second moment based on the first moment and the second moment; calculate an interval distance that the reference object moves within the time interval based on the reference motion parameters; calculate the first distance between the target object and the reference object at the first moment based on the interval distance, the reference positioning information, and the target positioning information.

[0121] In some embodiments of the present application, based on the foregoing solution, the calculation unit 1203 is configured to: calculate a second distance between the position represented by the reference positioning information and the position represented by the target positioning information; determine a motion position relationship between the target object and the reference object based on the reference positioning information and the target positioning information; when the target object is in front of the reference object, calculate a difference between the second distance and the interval distance, and use the difference as the first distance; when the target object is behind the reference object, calculate a sum of the second distance and the interval distance, and use the sum as the first distance.

[0122] In some embodiments of the present application, based on the foregoing solution, the screening unit 1204 is configured to: use the first message as a filtered message when the first distance is greater than a preset distance; use the first message as a screened message when the first distance is not greater than the preset distance.

[0123] In some embodiments of the present application, based on the foregoing solution, the screening unit 1204 is configured to: after taking the first message as the screened message, obtain the target motion parameters of the target object at the first moment; based on the first distance, the target motion parameters, and the reference motion parameters, calculate the collision risk of the target object colliding with the reference object; when the collision risk exceeds a predetermined threshold, adjust the target motion parameters of the target object.

[0124] In some embodiments of the present application, based on the foregoing solution, the screening unit 1204 is configured to: obtain the target motion parameters of the target object at the first moment; based on the first moment, the second moment, the reference positioning information, the target positioning information, and the target motion parameters, calculate a third distance between the target object and the reference object at the second moment; when at least one of the first distance and the third distance is greater than a preset distance, take the first message as the filtered message; when both the first distance and the third distance are not greater than the preset distance, take the first message as the screened message.

[0125] In some embodiments of the present application, based on the foregoing solution, the reference positioning information includes at least one of the following: GPS positioning information, Beidou satellite positioning information, or two-dimensional coordinate positioning information; the target positioning information includes at least one of the following: GPS positioning information, Beidou satellite positioning information, or two-dimensional coordinate positioning information.

[0126] In some embodiments of the present application, based on the foregoing solution, the reference object includes a reference vehicle, the target object includes a target vehicle, and the first message includes a V2X message.

[0127] Figure 13 The structural schematic diagram of a computer system of an electronic device suitable for implementing the embodiments of the present application is shown.

[0128] It should be noted that Figure 13 The computer system 1300 of the electronic device shown is only an example and should not impose any limitations on the functions and usage scope of the embodiments of the present application.

[0129] Such as Figure 13As shown, the computer system 1300 includes a Central Processing Unit (CPU) 1301, which can perform various appropriate actions and processes according to the program stored in the Read-Only Memory (ROM) 1302 or the program loaded from the storage section 1308 into the Random Access Memory (RAM) 1303, such as executing the methods described in the above embodiments. In the RAM 1303, various programs and data required for system operation are also stored. The CPU 1301, ROM 1302, and RAM 1303 are connected to each other via a bus 1304. An Input / Output (I / O) interface 1305 is also connected to the bus 1304.

[0130] The following components are connected to the I / O interface 1305: an input section 1306 including a keyboard, a mouse, etc.; an output section 1307 including, for example, a Cathode Ray Tube (CRT), a Liquid Crystal Display (LCD), etc. and a speaker, etc.; a storage section 1308 including a hard disk, etc.; and a communication section 1309 including a network interface card such as a LAN (Local Area Network) card, a modem, etc. The communication section 1309 performs communication processing via a network such as the Internet. A drive 1310 is also connected to the I / O interface 1305 as needed. A removable medium 1311, such as a magnetic disk, an optical disk, a magneto-optical disk, a semiconductor memory, etc., is installed on the drive 1310 as needed so that the computer program read from it can be installed into the storage section 1308 as needed.

[0131] Specifically, according to the embodiments of the present application, the processes described above with reference to the flowcharts can be implemented as computer software programs. For example, the embodiments of the present application include a computer program product, which includes a computer program carried on a computer-readable medium, and the computer program contains program codes for executing the methods shown in the flowcharts. In such an embodiment, the computer program can be downloaded and installed from the network via the communication section 1309, and / or installed from the removable medium 1311. When the computer program is executed by the Central Processing Unit (CPU) 1301, various functions defined in the system of the present application are executed.

[0132] It should be noted that the computer-readable medium shown in the embodiments of the present application can be a computer-readable signal medium, a computer-readable storage medium, or any combination of the two. A computer-readable storage medium can be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination of the above. More specific examples of a computer-readable storage medium can include, but are not limited to: an electrical connection with one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM), a flash memory, an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above. In the present application, a computer-readable storage medium can be any tangible medium that contains or stores a program, and this program can be used by or in combination with an instruction execution system, apparatus, or device. In the present application, a computer-readable signal medium can include a data signal propagated in a baseband or as part of a carrier wave, in which computer-readable program code is carried. Such a propagated data signal can take various forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination of the above. A computer-readable signal medium can also be any computer-readable medium other than a computer-readable storage medium, and this computer-readable medium can send, propagate, or transmit a program for use by or in combination with an instruction execution system, apparatus, or device. The program code contained on a computer-readable medium can be transmitted using any appropriate medium, including but not limited to: wireless, wired, etc., or any suitable combination of the above.

[0133] The flowcharts and block diagrams in the accompanying drawings illustrate the possible architectures, functions, and operations of systems, methods, and computer program products according to various embodiments of the present application. Among them, each block in the flowchart or block diagram can represent a module, a program segment, or a part of code, and the above module, program segment, or part of code contains one or more executable instructions for implementing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the blocks may occur in a different order than that marked in the accompanying drawings. For example, two consecutive blocks shown can actually be executed substantially in parallel, and they can sometimes be executed in the reverse order, depending on the functions involved. It should also be noted that each block in the block diagram or flowchart, as well as the combination of blocks in the block diagram or flowchart, can be implemented by a dedicated hardware-based system for performing the specified functions or operations, or can be implemented by a combination of dedicated hardware and computer instructions.

[0134] The units involved in the embodiments described in this application can be implemented in software or in hardware, and the described units can also be provided in a processor. Among them, the names of these units do not constitute a limitation to the unit itself in some cases.

[0135] As another aspect, this application also provides a computer-readable medium, which can be included in the electronic device described in the above embodiments; or can exist alone without being assembled into the electronic device. The above computer-readable medium carries one or more programs, and when the above one or more programs are executed by an electronic device, the electronic device implements the method described in the above embodiments.

[0136] It should be noted that although several modules or units of a device for action execution are mentioned in the above detailed description, this division is not mandatory. In fact, according to the embodiments of this application, the features and functions of two or more of the above-mentioned modules or units can be embodied in one module or unit. Conversely, the features and functions of one module or unit described above can be further divided and embodied by multiple modules or units.

[0137] Through the description of the above embodiments, those skilled in the art can easily understand that the example embodiments described herein can be implemented by software or by a combination of software and necessary hardware. Therefore, the technical solutions according to the embodiments of this application can be embodied in the form of a software product, which can be stored in a non-volatile storage medium (which can be a CD-ROM, a USB flash drive, a mobile hard disk, etc.) or on a network, including several instructions to enable a computing device (which can be a personal computer, a server, a touch terminal, or a network device, etc.) to execute the method according to the embodiments of this application.

[0138] After considering the specification and practicing the embodiments disclosed herein, those skilled in the art will readily conceive of other embodiments of this application. This application is intended to cover any variations, uses, or adaptations of this application, which follow the general principles of this application and include known common knowledge or conventional technical means in the technical field not disclosed in this application.

[0139] It should be understood that this application is not limited to the exact structures described above and shown in the drawings, and various modifications and changes can be made without departing from its scope. The scope of this application is only limited by the appended claims.

Claims

1. A method for screening messages, characterized in that, The method includes: During the movement of the target object and the surrounding reference objects, at a first moment, obtain a first message sent by the reference object at a second moment, where the first message includes the reference positioning information and reference movement parameters of the reference object at the second moment; Obtain the target positioning information of the target object at the first moment; Based on the first moment and the second moment, calculate the time interval between the first moment and the second moment; based on the reference movement parameters, calculate the interval distance that the reference object moves within the time interval; calculate the second distance between the position represented by the reference positioning information and the position represented by the target positioning information; based on the reference positioning information and the target positioning information, determine the movement position relationship between the target object and the reference object; when the target object is in front of the reference object, calculate the difference between the second distance and the interval distance, and use the difference value as the first distance between the target object and the reference object at the first moment; when the target object is behind the reference object, calculate the sum of the second distance and the interval distance, and use the sum value as the first distance; Screen the first message based on the first distance.

2. The method according to claim 1, wherein Before obtaining the first message sent by the reference object at the second moment at the first moment, the method further includes: Broadcast a second message, where the second message is used to request the reference object to send the first message.

3. The method according to claim 1, wherein The screening the first message based on the first distance includes: When the first distance is greater than a preset distance, use the first message as the filtered message; When the first distance is not greater than the preset distance, use the first message as the screened message.

4. The method according to claim 3, characterized in that, After using the first message as the screened message, the method further includes: Obtain the target movement parameters of the target object at the first moment; Based on the first distance, the target movement parameters, and the reference movement parameters, calculate the collision risk of the target object and the reference object colliding; When the collision risk exceeds a predetermined threshold, adjust the target movement parameters of the target object.

5. The method according to claim 1, characterized in that, The screening the first message based on the first distance includes: Obtain the target movement parameters of the target object at the first moment; Based on the first moment, the second moment, the reference positioning information, and the target positioning information and the target movement parameters, calculate the third distance between the target object and the reference object at the second moment; When at least one of the first distance and the third distance is greater than the preset distance, use the first message as the filtered message; When both the first distance and the third distance are not greater than the preset distance, use the first message as the screened message.

6. The method according to any one of claims 1 to 5, characterized in that The reference positioning information includes at least one of the following: GPS positioning information, Beidou satellite positioning information, or two-dimensional coordinate positioning information; The target positioning information includes at least one of the following: GPS positioning information, Beidou satellite positioning information, or two-dimensional coordinate positioning information.

7. The method according to any one of claims 1 to 5, characterized in that The reference object includes a reference vehicle, the target object includes a target vehicle, and the first message includes a V2X message.

8. A message screening device, characterized in that, Including: A first acquisition unit, configured to acquire, during the movement of the target object and surrounding reference objects, a first message sent by the reference object at a second moment at a first moment, where the first message includes the reference positioning information and reference motion parameters of the reference object at the second moment; A second acquisition unit, configured to acquire the target positioning information of the target object at the first moment; A calculation unit, configured to calculate a time interval between the first moment and the second moment based on the first moment and the second moment; Based on the reference motion parameters, calculate an interval distance that the reference object moves within the time interval; Calculate a second distance between the position represented by the reference positioning information and the position represented by the target positioning information; Based on the reference positioning information and the target positioning information, determine a motion position relationship between the target object and the reference object; When the target object is in front of the reference object, calculate a difference between the second distance and the interval distance, and use the difference as a first distance between the target object and the reference object at the first moment; when the target object is behind the reference object, calculate a sum of the second distance and the interval distance, and use the sum as the first distance; A screening unit, configured to screen the first message based on the first distance.

9. A computer-readable medium, on which a computer program is stored, and when the computer program is executed by a processor, the method according to any one of claims 1 to 7 is implemented.

10. An electronic device, comprising: One or more processors; A storage device, configured to store one or more programs, and when the one or more programs are executed by the one or more processors, the one or more processors implement the method according to any one of claims 1 to 7.

11. A computer program product, which includes a computer program carried on a computer-readable medium, and the computer program includes program codes for executing the method according to any one of claims 1 to 7.

Images