Vehicle-road collaborative processing method and device, electronic device, and storage medium

Abstract

The embodiments of the present application disclose a vehicle-road collaborative processing method and device, an electronic device, and a computer-readable storage medium. The method includes: obtaining the latitude and longitude position information and absolute elevation information of traffic objects on the road through roadside facilities, and the traffic objects include at least one of road events, traffic signs, and traffic participants; according to the surrounding road network information contained in the roadside map unit deployed in the roadside facilities, the absolute elevation information of the traffic object is converted into a relative elevation representation based on the roadside map; according to the latitude and longitude position information and relative elevation representation of the traffic object, a roadside notification message is generated, and the roadside notification message is broadcast. The broadcast range of the roadside notification message covers at least multiple roads, so that vehicles on multiple roads can make decisions on their own vehicle safety warnings based on the roadside notification message. The technical solution of the embodiments of the present application can achieve more accurate vehicle safety warnings.

Description

Technical Field

[0001] The present application relates to the field of vehicle-road collaborative technology, and more specifically, to a vehicle-road collaborative processing method and device, an electronic device, and a computer-readable storage medium. Background Art

[0002] In vehicle-road collaboration applications, the three-dimensional information (including longitude, latitude and elevation) of vehicle-road collaboration participants such as vehicles and roadside facilities is crucial for the large-scale and precise application of vehicle-road collaboration. At present, the longitude and latitude information of vehicle-road collaboration participants is allowed to be provided to the outside after being processed by deflection and encryption, and the elevation information of vehicle-road collaboration participants is not allowed to be provided directly to the outside. If the vehicle cannot obtain the elevation information of other vehicle-road collaboration participants in the surrounding area, it cannot achieve accurate early warning of the vehicle itself.

[0003] Therefore, how to formulate a reasonable vehicle-road collaboration plan without allowing elevation information to be provided to the outside is a technical issue that technical personnel in this field need to continue to study. Summary of the invention

[0004] In order to solve the above-mentioned technical problems, the embodiments of the present application provide a vehicle-road collaborative processing method and device, an electronic device, and a computer-readable storage medium.

[0005] According to one aspect of an embodiment of the present application, a vehicle-road collaborative processing method is provided, comprising: obtaining latitude and longitude position information and absolute elevation information of traffic objects on a road through roadside facilities, the traffic objects including at least one of road events, traffic signs, and traffic participants; converting the absolute elevation information of the traffic object into a relative elevation representation based on a roadside map according to surrounding road network information contained in a roadside map unit deployed in the roadside facilities, the relative elevation representation being used to describe the spatial position relationship between the road where the traffic object is located and multiple roads around the roadside facilities contained in the surrounding road network information; generating a roadside notification message according to the latitude and longitude position information and the relative elevation representation of the traffic object, and broadcasting the roadside notification message, the broadcast range of the roadside notification message covering at least the multiple roads, so that vehicles on the multiple roads make decisions on their own vehicle safety warnings based on the roadside notification message.

[0006] According to one aspect of an embodiment of the present application, a vehicle-road collaborative processing device is provided, comprising: a traffic object three-dimensional information acquisition module, configured to acquire latitude and longitude position information and absolute elevation information of traffic objects on a road through roadside facilities, wherein the traffic objects include at least one of road events, traffic signs, and traffic participants; a traffic object elevation information conversion module, configured to convert the absolute elevation information of the traffic object into a relative elevation representation based on a roadside map according to surrounding road network information contained in a roadside map unit deployed in the roadside facilities, wherein the relative elevation representation is used to describe the spatial position relationship between the road where the traffic object is located and multiple roads around the roadside facilities contained in the surrounding road network information; a roadside notification message generation and broadcasting module, configured to generate a roadside notification message according to the latitude and longitude position information and the relative elevation representation of the traffic object, and broadcast the roadside notification message, wherein the broadcast range of the roadside notification message covers at least the multiple roads, so that vehicles on the multiple roads make decisions on their own vehicle safety warnings based on the roadside notification message.

[0007] According to one aspect of an embodiment of the present application, an electronic device is provided, including a processor and a memory, wherein the memory stores computer-readable instructions, and when the computer-readable instructions are executed by the processor, the vehicle-road collaborative processing method as described above is implemented.

[0008] According to one aspect of an embodiment of the present application, a computer-readable storage medium is provided, on which computer-readable instructions are stored. When the computer-readable instructions are executed by a processor of a computer, the computer executes the vehicle-road collaborative processing method as described above.

[0009] According to one aspect of an embodiment of the present application, a computer program product or a computer program is provided, the computer program product or the computer program including computer instructions, the computer instructions being stored in a computer-readable storage medium. A processor of a computer device reads the computer instructions from the computer-readable storage medium, and the processor executes the computer instructions, so that the computer device executes the vehicle-road cooperative processing method provided in the above-mentioned various optional embodiments.

[0010] In the technical solution provided in the embodiment of the present application, after the roadside facilities obtain the absolute elevation information of the traffic objects on the road, they replace the absolute elevation information of the traffic objects with the representation method of relative elevation representation, which meets the requirement of not allowing the elevation information to be directly provided to the outside. At the same time, the present application realizes the safety warning of vehicles on the road in coordination with the roadside facilities. The roadside facilities can identify traffic objects such as road events, traffic objects, and traffic participants on the road, and broadcast the latitude and longitude position information and relative elevation representation of the traffic objects, so that the vehicles in the vehicle-road cooperative application can realize more accurate vehicle safety warnings based on the relevant information of these traffic objects.

[0011] It should be understood that the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0012] 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 those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative work. In the drawings:

[0013] Figure 1 is a schematic diagram of an exemplary structure of roadside facilities;

[0014] Figure 2 This is a schematic diagram of an exemplary emergency braking warning scenario based on vehicle-road collaboration;

[0015] Figure 3 is a schematic diagram of an exemplary vehicle structure;

[0016] Figure 4 is a flow chart of a vehicle-road collaborative processing method according to an exemplary embodiment;

[0017] Figure 5 This is a flow chart of a vehicle making a safety warning decision for itself in a vehicle-road cooperative application, shown in an exemplary embodiment;

[0018] Figure 6 is a flowchart of another exemplary embodiment showing a vehicle in a vehicle-road cooperative application making a safety warning decision for the vehicle itself;

[0019] Figure 7 is a schematic diagram of exemplary road network information;

[0020] Figure 8 It is a flow chart showing an exemplary embodiment of a roadside facility generating a roadside message according to latitude and longitude position information and relative elevation representation of a traffic object;

[0021] Fig. 9 is another exemplary schematic diagram of road network information surrounding a vehicle;

[0022] Fig.10 is a block diagram of a vehicle-road collaborative processing device shown in an exemplary embodiment;

[0023] Fig.11 It is a schematic diagram of an exemplary structure of a computer system used to implement the electronic device of the embodiment of the present application. DETAILED DESCRIPTION

[0024] Here, exemplary embodiments will be described in detail, examples of which are shown in the accompanying drawings. When the following description refers to the drawings, unless otherwise indicated, the same numbers in different drawings represent the same or similar elements. The implementations described in the following exemplary embodiments do not represent all implementations consistent with the present application. Instead, they are only examples of devices and methods consistent with some aspects of the present application as detailed in the attached claims.

[0025] The block diagrams shown in the accompanying drawings are merely functional entities and do not necessarily correspond to physically independent entities. That is, these functional entities may 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.

[0026] The flowcharts shown in the accompanying drawings are only exemplary and do not necessarily include all the contents and operations / steps, nor must they be executed in the order described. For example, some operations / steps can be decomposed, and some operations / steps can be combined or partially combined, so the actual execution order may change according to actual conditions.

[0027] The term "multiple" in this application refers to two or more than two. "And / or" describes the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can mean: A exists alone, A and B exist at the same time, and B exists alone. The character " / " generally indicates that the related objects are in an "or" relationship.

[0028] First of all, it needs to be explained that vehicle-road collaboration uses technologies such as wireless communication and the Internet to implement all-round dynamic real-time information interaction between vehicles and roads, and carries out vehicle active safety control and road collaborative management based on the collection and integration of dynamic traffic information in all time and space, fully realizing the effective collaboration between people, vehicles and roads, ensuring traffic safety, and improving traffic efficiency, thus forming a safe, efficient and environmentally friendly road traffic system.

[0029] In the vehicle-road cooperative system involved in the present application, roadside facilities are deployed on the side of the road to achieve road traffic safety in coordination with the roadside facilities. Figure 1 is a schematic diagram of an exemplary roadside facility structure, such as Figure 1 As shown, a roadside map unit 11 , a perception and positioning unit 12 , a roadside wireless communication unit 13 and a roadside decision unit 14 are deployed in the roadside facility 10 . Among them, the roadside map unit 11 is used to maintain the surrounding road network information of the roadside facilities, and the surrounding road network information describes the spatial position relationship between multiple roads around the roadside facilities 10; the perception and positioning unit 12 is used to perceive traffic objects on the road and obtain the latitude and longitude information and absolute elevation information of the perceived traffic objects. For example, the perception and positioning unit 12 is mainly composed of a perception module and a positioning module. The perception module can be one or more modules with perception functions such as a camera module, a radar module, etc., which are not limited here; the roadside wireless communication unit 13 is used to send various types of messages to the outside, such as RSI (Road Side Information) messages, RSM (Road Safety Message), etc. The roadside wireless communication unit 13 can adopt V2X (Vehicle to Everything, which can be understood as vehicle networking technology) communication, such as an RSU (Road Side Unit) unit; the roadside decision unit 14 is used to provide decision-making functions for the roadside facilities 10 in vehicle-road collaborative application scenarios.

[0030] In actual application scenarios, roadside facilities can have Figure 1 The embodiments of the present application do not limit the specific structure of the roadside facilities to more or fewer functional components in the structural schematic diagram. Figure 1 The structure shown. Figure 1 Each component unit shown in the figure can be implemented by hardware, software or a combination thereof.

[0031] Elevation refers to the vertical distance from a point to a reference plane, and absolute elevation refers to the vertical distance from a point to an absolute reference plane. The vertical direction can be understood as the direction of the plumb line, so absolute elevation can be understood as altitude. Since it is not allowed to directly provide absolute elevation information to the outside world, the current VIS pilot and demonstration areas mainly implement VIS based on planar road networks.

[0032] However, in multi-layer road network scenarios such as urban roads such as overpasses, viaducts, and grade separations, as well as highways, if the roadside facilities are unable to send elevation information to vehicles on the road, or the vehicles on the road cannot effectively distinguish the elevation information sent by the roadside facilities, it will lead to problems such as false vehicle warnings and incorrect decisions.

[0033] For example, Figure 2In the emergency braking warning scenario based on vehicle-road collaboration shown in the figure, vehicle V1 traveling on the upper elevated road suddenly stops. The sensing and positioning unit deployed in the roadside facilities will sense the stationary state of vehicle V1 and obtain the latitude and longitude position information and absolute elevation information of vehicle V1. The roadside wireless communication unit deployed in the roadside facilities will broadcast the latitude and longitude information of vehicle V1. Vehicle V2 will send a vehicle safety warning to the driver of vehicle V2 in combination with the latitude and longitude position information of vehicle V1. If the roadside facilities cannot send elevation information to the outside, or vehicle V2 cannot effectively distinguish the elevation information sent by the roadside facilities, vehicle V3 traveling on the lower elevated road will send a vehicle safety warning to the driver of vehicle V3 based on the latitude and longitude position information of vehicle V1, thereby causing vehicle V3 to make an incorrect decision.

[0034] It needs to be understood that Figure 2 The upper elevated road and the lower elevated road shown refer to two elevated roads with the same latitude and longitude position information but different absolute elevation information, and the absolute elevation of the upper elevated road is greater than the absolute elevation of the lower elevated road, that is, the vertical distance between the upper elevated road and the ground is greater than the vertical distance between the lower elevated road and the ground.

[0035] The actual road network situation may be Figure 2 The road network shown is more complicated. If the roadside facilities are unable to send elevation information to the outside, or the vehicles cannot effectively distinguish the elevation information sent by the roadside facilities, serious traffic accidents may easily occur.

[0036] To solve the above problems, the embodiments of the present application propose a vehicle-road collaborative processing method, a vehicle-road collaborative processing device, an electronic device and a computer-readable storage medium to improve the safety warning of vehicles in vehicle-road collaborative applications.

[0037] The vehicle mentioned in the embodiments of this application should refer to an intelligent connected vehicle equipped with a wireless communication unit, and the wireless communication unit can adopt a V2X communication method. Figure 3 In the structural diagram of an exemplary vehicle shown, the vehicle 20 is deployed with an on-board map unit 21, a positioning and navigation unit 22, a on-board wireless communication unit 23 and an on-board decision unit 24, wherein the on-board map unit 21 is used to provide map information for the vehicle 20, the positioning and navigation unit 22 is used to provide positioning and navigation functions for the vehicle 20, the on-board wireless communication unit 23 is used to communicate with roadside facilities, and the on-board decision unit 24 is used to provide decision-making functions for the vehicle 20 in vehicle-road collaborative applications, such as decisions on vehicle safety alerts.

[0038] In actual vehicle-road collaboration application scenarios, vehicles may include Figure 3 More or fewer component units may be shown. Figure 3Each component unit shown in the figure can be implemented by hardware, software or a combination thereof.

[0039] It should be noted that in the embodiments of the present application, what the roadside facilities send to the outside is the information of the relative elevation representation of the traffic object, rather than the absolute elevation information. Relative elevation usually refers to the vertical distance from a certain point to the relative base surface. The relative elevation representation mentioned in the present application is used to describe the spatial position relationship of the roads in the vertical direction at a certain latitude and longitude position information, such as the number of road layers in the vertical direction, rather than to describe the distance in the vertical direction. For example, if the relative elevation of a road in the vertical direction is represented as A, and the relative elevation of another road in the vertical direction is represented as B, if A and B are not equal, it is determined that the two roads are located in different layers, that is, they are two different roads. The following describes a vehicle-road collaborative processing method, a vehicle-road collaborative processing device, an electronic device and a computer-readable storage medium proposed in the present application through more detailed embodiments.

[0040] See also Figure 4 , Figure 4 FIG. 1 is a flow chart of a vehicle-road collaborative processing method according to an exemplary embodiment. Figure 4 As shown, the method at least includes steps S110 to S150, which are described in detail as follows:

[0041] Step S110, obtaining the latitude and longitude position information and absolute elevation information of traffic objects on the road through roadside facilities, where the traffic objects include at least one of road events, traffic signs, and traffic participants.

[0042] As mentioned above, roadside facilities are facilities deployed on the side of the road in vehicle-road cooperative applications to assist in the realization of vehicle safety warnings in vehicle-road cooperative applications. Roadside facilities are deployed with roadside map units and perception and positioning units. The roadside map unit contains the surrounding road network information of the roadside facilities. The perception and positioning unit is used to perceive traffic objects within its own perception range, locate the perceived traffic objects, and obtain the latitude and longitude position information and absolute elevation information of the traffic objects.

[0043] If the sensing and positioning unit provides sensing capabilities through a camera module or a radar module, the sensing range of the sensing and positioning unit is the image acquisition range of the camera module or the detection range of the radar module. The sensing and positioning unit can also combine multiple sensing methods to sense traffic objects on the road, which is not restricted here.

[0044] Traffic objects on the road include, but are not limited to, road events, traffic signs, and traffic participants. Road events include spilled objects on the road, icy roads, vehicles traveling the wrong way on the road, and other events that affect vehicle driving safety. Traffic signs include speed limit signs and speed measurement signs. Traffic participants include pedestrians, non-motor vehicles, motor vehicles, etc. The specific types of traffic objects can be determined according to the actual application scenarios.

[0045] This embodiment obtains the latitude and longitude position information and absolute elevation information of traffic objects on the road through roadside facilities. The purpose is to perceive the factors that affect the driving safety of vehicles on the road through roadside facilities, and obtain the position information of these factors at the same time. By broadcasting the position information of these factors, vehicles on the road can make their own vehicle safety warning decisions based on the position information of these factors, thereby improving vehicle driving safety.

[0046] Step S130, according to the surrounding road network information contained in the roadside map unit deployed in the roadside facility, the absolute elevation information of the traffic object is converted into a relative elevation representation based on the roadside map. The surrounding road network information contained in the roadside map unit is used to describe the spatial position relationship between multiple roads around the roadside facility.

[0047] Since roadside facilities are currently not allowed to directly provide absolute elevation information to the outside, this embodiment needs to convert the absolute elevation information of the traffic object obtained in step S110 into a relative elevation representation, and then provide the relative elevation representation of the traffic object to the outside to comply with the requirements of relevant laws and regulations.

[0048] This embodiment is based on the relative elevation representation of the roadside map to describe the spatial position relationship between the road where the traffic object is located and multiple roads around the roadside facilities contained in the surrounding road network information of the roadside facilities. For example, the layer relationship between the road where the traffic object is located and these multiple roads can be determined through the relative elevation representation.

[0049] Specifically, this embodiment needs to convert the absolute elevation information of the traffic object into a relative elevation representation based on the surrounding road network information contained in the roadside map unit deployed in the roadside facility. The surrounding road network information contained in the roadside map unit is used to describe the spatial position relationship between multiple roads around the roadside facility, that is, the relative elevation representation of the traffic object is obtained based on the surrounding road conditions of the roadside facility, so the relative elevation representation of the traffic object obtained is based on the relative elevation representation of the roadside map.

[0050] The roadside map unit stores the map information of the road network surrounding the roadside facilities, and maintains the latitude and longitude position information and absolute elevation information of all road sections in the surrounding road network within its coverage area. The endpoints of a road section are also called road section nodes. A road section usually has two road section nodes. The center of these two road section nodes is the road section reference point on the road section, so that the position of the road section is represented by the road section reference point.

[0051] The roadside map unit is provided with a first relative elevation representation rule, which describes a method for determining the relative elevation representation of each road according to the spatial position relationship between multiple roads around the roadside facilities. The relative elevation is usually a value that is independent of the absolute elevation, and the relative elevation representations of multiple roads are different from each other. The spatial position relationship between multiple roads can be determined according to the relative elevation representations of multiple roads.

[0052] Therefore, this embodiment can convert the absolute elevation information of the traffic object into a relative elevation representation based on the roadside map according to the first relative elevation representation rule. The details of the first relative elevation representation rule are provided by the roadside map unit and can be determined according to the actual application scenario.

[0053] Step S150, generates a roadside notification message based on the latitude and longitude position information and relative elevation representation of the traffic object, and broadcasts the roadside notification message. The broadcast range of the roadside notification message covers at least multiple roads, so that vehicles on multiple roads can make decisions on their own vehicle safety warnings based on the roadside notification message.

[0054] After obtaining the relative elevation representation of the traffic object based on the roadside map, a roadside notification message is generated according to the latitude and longitude position information and the relative elevation representation of the traffic object, and the roadside notification message is broadcast. For example, the roadside notification message can be broadcasted through a wireless communication unit deployed in the roadside facility, and the wireless communication unit can be an RSU unit.

[0055] The broadcast range of the roadside notification message at least covers a plurality of roads located around the roadside facilities, so that vehicles traveling on the roads around the roadside facilities can make decisions on their own vehicle safety warnings based on the roadside notification message.

[0056] Therefore, this embodiment realizes safety warning of vehicles on the road with the cooperation of roadside facilities. The roadside facilities can identify traffic objects such as road events, traffic objects, traffic participants on the road, and broadcast the latitude and longitude position information and relative elevation representation of the traffic objects, so that vehicles in the vehicle-road collaborative application can achieve more accurate vehicle safety warning based on the relevant information of these traffic objects.

[0057] After receiving the roadside notification message broadcast by the roadside facilities, the vehicle in the vehicle-road cooperative application can parse the longitude and latitude position information of the traffic object and the relative elevation representation based on the roadside map from the roadside notification message. By obtaining the longitude and latitude position information and absolute elevation information of the vehicle itself, the vehicle safety warning decision can be made based on the longitude and latitude position information and absolute elevation information of the vehicle, and the longitude and latitude position information and relative elevation representation of the traffic object.

[0058] Figure 5 FIG. 1 is a flowchart of an exemplary embodiment showing a vehicle in a vehicle-road cooperative application making a safety warning decision for the vehicle itself. Figure 5 As shown, the decision process includes steps S210 to S250, which are described in detail as follows:

[0059] Step S210, obtaining a conversion relationship between a relative elevation representation based on a roadside map and a relative elevation representation based on a vehicle-mounted map of the same road, wherein the relative elevation representation based on the vehicle-mounted map is obtained according to surrounding road network information contained in a vehicle-mounted map unit deployed in the vehicle.

[0060] First of all, it should be noted that the relative elevation representation of a road based on the on-board map is obtained based on the surrounding road network information contained in the on-board map unit deployed in the vehicle. The surrounding road network information is the surrounding road network information of the current vehicle, which contains the spatial position relationship between multiple roads located around the current vehicle. Therefore, the relative elevation representation based on the roadside map is used to describe the spatial position relationship between the road where the vehicle is located and the multiple roads around the vehicle. For example, the relative elevation representation can be used to determine the layer relationship between the road where the vehicle is located and these multiple roads.

[0061] The function of the vehicle-mounted map unit is similar to that of the roadside map unit, but there are differences. For example, the representation method of relative elevation in the vehicle-mounted map unit may be different from the representation method of relative elevation in the roadside map unit. For example, the vehicle-mounted map unit is provided with a second relative elevation representation rule, which describes the method of obtaining the relative elevation representation of each road according to the spatial position relationship between multiple roads around the vehicle. The second relative elevation representation rule may be different from the first relative elevation representation rule provided in the roadside map unit.

[0062] Therefore, this embodiment needs to obtain the conversion relationship between the relative elevation representation of the same road based on the roadside map and the relative elevation representation based on the vehicle-mounted map, so that the vehicle-mounted map unit and the roadside map unit have a unified understanding of the relative elevation representation of the same road based on this conversion relationship, so as to ensure the accuracy of subsequent vehicle safety warning decisions.

[0063] In some embodiments, the conversion relationship between the relative elevation representation based on the roadside map and the relative elevation representation based on the vehicle map of the same road is obtained from the vehicle map server, which is used to provide map data services for the vehicle map unit deployed in the vehicle, and the vehicle map server communicates with the roadside map unit and the vehicle map unit respectively, and this conversion relationship is maintained in the vehicle map. For example, when the relative elevation representation based on the roadside map of one or more roads in the roadside map unit changes, the vehicle map server updates the conversion relationship corresponding to these roads accordingly, and synchronously updates the updated conversion relationship to the vehicle map unit. Among them, the vehicle map server can be a cloud server.

[0064] Step S230, converting the relative elevation representation of the traffic object into a relative elevation representation based on the vehicle map according to the conversion relationship, and determining the approximate absolute elevation information of the traffic object based on the relative elevation representation obtained by the conversion.

[0065] According to the conversion relationship obtained in step S210, this embodiment can convert the relative elevation representation of the traffic object based on the roadside map into a relative elevation representation based on the vehicle map, and then determine the approximate absolute elevation information of the traffic object based on the relative elevation representation obtained by the conversion according to the understanding of the relative elevation representation by the vehicle map unit.

[0066] Exemplarily, the on-board map unit can determine the road layer number corresponding to the road where the traffic object is located in the vehicle's surrounding road network information based on the relative elevation representation obtained by conversion, and the approximate absolute elevation information of the traffic object can be determined based on the road layer number and the map data corresponding to the vehicle's surrounding road network information. It should be understood that the approximate absolute elevation information obtained in this embodiment based on the road layer number of the target vehicle, combined with the map data of the road layer in the on-board single-road unit, is a value that is close to the real absolute elevation information of the vehicle.

[0067] Step S250, based on the latitude and longitude position information and absolute elevation information of the vehicle, and the latitude and longitude position information and approximate absolute elevation information of the traffic object, decide whether to issue a safety warning for the own vehicle.

[0068] In different vehicle-road collaborative application scenarios, the decision logic for whether to issue a safety warning for the vehicle itself may be different based on the vehicle's latitude and longitude position information and absolute elevation information, as well as the latitude and longitude position information and approximate absolute elevation information of the traffic object.

[0069] For example, Figure 2In the emergency brake warning scenario shown, after vehicle V2 receives the roadside notification message broadcast by the roadside facility, it determines that vehicle V2 and vehicle V1 are traveling on the same road based on its own absolute elevation information and the approximate absolute elevation information of vehicle V1, and further generates a safety reminder message based on the latitude and longitude position information of vehicle V2 and the latitude and longitude position information of vehicle V1, for example, through the safety reminder message, it warns the driver of vehicle V2 of the distance between vehicle V2 and vehicle V1, whether braking measures need to be taken, etc. Vehicle V3 can recognize that vehicle V1 is located on a different level of road, and the stationary state of vehicle V1 does not affect the safety of vehicle V3, so no safety warning will be issued for vehicle V3.

[0070] For example, in a speeding warning scenario based on vehicle-road collaboration, if the traffic object obtained by the roadside facility is a speed limit sign, after the roadside facility broadcasts the latitude and longitude position information and relative elevation representation of the speed limit sign, vehicles on the roads around the roadside facility can judge whether the speed limit sign is located on the vehicle's current road based on the relative elevation representation of the speed limit sign. If so, the distance between the two is further obtained based on the vehicle's latitude and longitude position information and the latitude and longitude position information of the speed limit sign, so as to issue a vehicle safety warning based on the distance; if not, there is no need to issue a safety warning for the vehicle itself.

[0071] It can be seen that this embodiment compares the three-dimensional position information (x1, yl, z1) of the vehicle with the three-dimensional position information (x2, y2, z2) of the traffic object to decide whether to issue a safety warning for the vehicle itself, which can achieve accurate warning of the vehicle. Among them, z1 represents the absolute elevation information of the vehicle, and z2 represents the approximate absolute elevation information of the traffic object. The absolute elevation information of the vehicle can be obtained through the navigation and positioning unit deployed by the vehicle itself.

[0072] Figure 6 FIG. 1 is a flowchart of another exemplary embodiment showing a vehicle in a vehicle-road cooperative application making a safety warning decision for the vehicle itself. Figure 6 As shown, the decision process includes steps S310 to S350, which are described in detail as follows:

[0073] Step S310, according to the surrounding road network information contained in the vehicle-mounted map unit deployed in the vehicle, the absolute elevation information of the vehicle is converted into a relative elevation representation based on the vehicle-mounted map.

[0074] In this embodiment, the vehicle in the vehicle-road collaborative application converts the absolute elevation information of the vehicle into a relative elevation representation based on the on-board map according to the surrounding road network information contained in the on-board map unit deployed in the vehicle. This can be achieved according to the aforementioned second relative elevation representation rule. The details of the second relative elevation representation rule can be determined according to the actual application scenario and are not restricted here.

[0075] It should be noted that the relative elevation representation of the vehicle based on the on-board map is specifically the relative elevation representation of the road where the vehicle is located. That is, after determining the relative elevation representation of each road based on the on-board map according to the spatial position relationship between multiple roads around the vehicle, the relative elevation representation of the road where the vehicle is located based on the on-board map is used as the relative elevation representation of the vehicle based on the on-board map.

[0076] Step S330, obtaining a conversion relationship between a relative elevation representation based on a roadside map and a relative elevation representation based on a vehicle-mounted map for the same road, and converting the relative elevation representation based on the vehicle-mounted map of the vehicle into a relative elevation representation based on the roadside map according to the conversion relationship.

[0077] The purpose of this embodiment of obtaining the conversion relationship between the relative elevation representation of the same road based on the roadside map and the relative elevation representation based on the vehicle-mounted map is also to enable the vehicle-mounted map unit and the roadside map unit to have a unified understanding of the relative elevation representation of the same road based on this conversion relationship, so as to ensure the accuracy of subsequent vehicle safety warning decisions.

[0078] Based on the acquired conversion relationship, the vehicle can convert the relative elevation representation of the vehicle based on the on-board map into a relative elevation representation based on the roadside map. The relative elevation representation of the vehicle obtained by the conversion has a consistent relative elevation expression with the relative elevation representation of the traffic object contained in the roadside notification message, that is, both are relative elevation representations based on the roadside map.

[0079] Step S350, based on the latitude and longitude position information of the vehicle and the relative elevation representation based on the roadside map, as well as the latitude and longitude position information and relative elevation representation of the traffic object, decide whether to issue a safety warning for the own vehicle.

[0080] After obtaining the vehicle's own relative elevation representation based on the roadside map, by comparing the vehicle's relative elevation representation based on the roadside map with the traffic object's relative elevation representation based on the roadside map, it can be determined whether the traffic object and the vehicle are located on the same road; and based on the latitude and longitude position information of the vehicle and the traffic object, the interval distance between the vehicle and the traffic object can be obtained. In this way, combined with the actual vehicle-road collaborative application scenario, a decision can be made whether to issue a safety warning for its own vehicle.

[0081] This embodiment compares the three-dimensional position information (x1, y1, Δz1) of the vehicle with the three-dimensional position information (x2, y2, Δz2) of the traffic object to decide whether to issue a safety warning for the vehicle itself, so as to achieve accurate warning of the vehicle. Δz1 represents the relative elevation of the vehicle based on the roadside map, and Δz2 represents the relative elevation of the traffic object based on the roadside map.

[0082] It should be noted that it is not possible to simply decide not to issue a safety warning for a vehicle just because the relative elevation representation or absolute elevation information of the vehicle and the traffic object is not equal. The actual road network information is also needed for judgment. Figure 7 In the road network information shown, the roadside facilities sense that there is a non-motor vehicle M1 on the upper elevated road in a slow-moving state, so they broadcast a roadside notification message containing the latitude and longitude location information of the non-motor vehicle and the relative elevation representation based on the roadside map. After receiving the roadside notification message, vehicle M2 can recognize that vehicle M2 and non-motor vehicle M1 are traveling on lanes at different levels. However, since vehicle V2 will continue to travel along the lane where vehicle V1 is located, and the non-motor vehicle V1 is traveling at a low speed, it will still affect the driving safety of vehicle M2. If it is simply determined that no safety warning is issued for vehicle M2, it will also lead to decision-making errors.

[0083] Based on this problem, in other embodiments, if it is determined that the relative elevation representation of the vehicle is different from the relative elevation representation of the traffic object, the vehicle information of the own vehicle is obtained, and according to the latitude and longitude position information and vehicle information of the own vehicle, as well as the latitude and longitude position information of the traffic object, a decision is made whether to issue a safety warning for the own vehicle. The vehicle information is used to describe the driving characteristics of the vehicle, such as the speed and heading of the vehicle.

[0084] In summary, it can be seen that under the condition that vehicles and roadside facilities in vehicle-road collaborative applications have a consistent understanding of relative elevation representation, accurate vehicle warning can be achieved through the relative elevation representation that the roadside facilities interact with vehicles in real time, which is very suitable for multi-layer road network scenarios with grade-separated roads.

[0085] In another exemplary embodiment, Figure 8 As shown, the process of generating a roadside message according to the latitude and longitude position information and relative elevation representation of a traffic object by a roadside facility may include steps S410 to S450, which are described in detail as follows:

[0086] Step S410, determines the latitude and longitude position information and absolute elevation information of a section reference point on the road section where the roadside facility is located based on the surrounding road network information of the roadside facility, and converts the absolute elevation information of the section reference point into a relative elevation representation based on a roadside map. The section reference point is used to characterize the position of the section where the roadside facility is located.

[0087] First of all, it should be noted that the roadside map unit and the vehicle-mounted map unit maintain the latitude and longitude position information and absolute elevation information of all road sections in the surrounding road network within their coverage area, that is, the roads in the surrounding road network are composed of corresponding road sections. The endpoints of a road section are also called road section nodes. A road section usually has two road section nodes. The center of these two road section nodes is the road section reference point on the road section, so that the position of the road section is represented by the road section reference point.

[0088] For example, Fig. 9 The exemplary vehicle surrounding road network information shown includes a road formed by connecting the road segment endpoints (x1, y1, 0) and (x2, y2, 0), a road formed by connecting the road segment endpoints (x3, y3, 1) and (x5, y5, 1), and a road formed by connecting the road segment endpoints (x3, y3, 2) and (x4, y4, 2). The last element in the coordinates of the road segment endpoint represents the relative elevation representation of the corresponding road segment.

[0089] This embodiment determines the latitude and longitude position information and absolute elevation information of a section reference point on the road section where the roadside facility is located based on the surrounding road network information of the roadside facility, and converts the absolute elevation information of the section reference point into a relative elevation representation based on a roadside map. The purpose is to accurately locate the position of the section where the roadside facility is located through the section reference point.

[0090] Step S430, calculating the relative position offset of the longitude and latitude position information of the traffic object relative to the longitude and latitude position information of the road section reference point, and calculating the relative elevation offset of the relative elevation representation of the traffic object relative to the relative elevation representation of the road section reference point.

[0091] If the longitude and latitude position information of the section reference point is represented as (x0, y0), and the relative elevation of the section reference point based on the roadside map is represented as Δz0, the three-dimensional position information of the section reference point can be represented as (x0, y0, Δz0). If the longitude and latitude position information of the traffic object is represented as (x1, y1), and the relative elevation of the traffic object based on the roadside map is represented as Δz1, the three-dimensional position information of the traffic object can be represented as (x1, y1, Δz1). Based on this, the relative position offset of the longitude and latitude position information of the traffic object relative to the longitude and latitude position information of the section reference point is represented as (x1-x0, y1-y0, Δz1-Δz0).

[0092] Step S450, carrying the relative position offset, the relative elevation offset, the longitude and latitude position information of the road section reference point and the relative elevation representation in the roadside notification message to obtain the roadside notification message to be broadcast.

[0093] This embodiment carries the relative position offset, relative elevation offset, longitude and latitude position information of the road section reference point and relative elevation representation in the roadside notification message, instead of directly providing the longitude and latitude position information of the traffic object and the relative elevation representation based on the roadside map to the outside, which can save the resource overhead required for sending messages to the outside.

[0094] In some embodiments, the roadside facility also determines the message type of the roadside notification message according to the vehicle-road collaboration application scenario, and then generates a roadside notification message that matches the message type, so as to carry the relative position offset, relative elevation offset, longitude and latitude position information of the road section reference point, and relative elevation representation in the generated roadside notification message. The message types of the roadside notification message include, for example, roadside information (RSI) or basic safety message (RSM). Roadside information is usually used in scenarios such as road construction, speed limit signs, speeding warnings, and bus lane warnings. Basic safety messages are usually used to identify vehicle accidents, vehicle anomalies, foreign objects intrusion, and other scenarios.

[0095] When a vehicle on a road surrounding a roadside facility receives a roadside notification message broadcast by the roadside facility, it obtains the latitude and longitude position information and relative elevation information of the section reference point on the road section where the roadside facility is located from the roadside notification message, as well as the relative position offset of the latitude and longitude position information of the traffic object relative to the latitude and longitude position information of the section reference point, and the relative elevation offset of the relative elevation representation of the traffic object relative to the relative elevation representation of the section reference point, and then restores the latitude and longitude position information of the traffic object based on the latitude and longitude position information of the section reference point and the relative elevation representation of the traffic object based on the relative elevation information of the section reference point and the relative elevation offset. Subsequently, the decision of the vehicle safety warning can be made based on the latitude and longitude position information of the traffic object and the relative elevation representation based on the roadside map.

[0096] See also Fig.10 , Fig.10 FIG. 1 is a block diagram of a vehicle-road collaborative processing device shown in an exemplary embodiment. Fig.10 As shown, the device comprises:

[0097] The traffic object three-dimensional information acquisition module 510 is configured to acquire the latitude and longitude position information and absolute elevation information of the traffic objects on the road through the roadside facilities, and the traffic objects include at least one of road events, traffic signs, and traffic participants; the traffic object elevation information conversion module 530 is configured to convert the absolute elevation information of the traffic object into a relative elevation representation based on the roadside map according to the surrounding road network information contained in the roadside map unit deployed in the roadside facilities, and the relative elevation representation based on the roadside map is used to describe the spatial position relationship between the road where the traffic object is located and the multiple roads around the roadside facilities contained in the surrounding road network information; the roadside notification message generation and broadcasting module 550 is configured to generate a roadside notification message according to the latitude and longitude position information and the relative elevation representation of the traffic object, and broadcast the roadside notification message, and the broadcast range of the roadside notification message covers at least multiple roads, so that vehicles on multiple roads can make decisions on their own vehicle safety warnings based on the roadside notification message.

[0098] The device provided in this embodiment realizes safety warning of vehicles on the road with the cooperation of roadside facilities. The roadside facilities can identify traffic objects such as road events, traffic objects, traffic participants on the road, and broadcast the latitude and longitude position information and relative elevation representation of the traffic objects, so that vehicles in the vehicle-road collaborative application can achieve more accurate vehicle safety warnings based on the relevant information of these traffic objects.

[0099] In another exemplary embodiment, the apparatus further comprises:

[0100] The vehicle three-dimensional information acquisition module is configured to obtain the vehicle's latitude and longitude position information and absolute elevation information; the vehicle safety warning decision module is configured to make a vehicle safety warning decision based on the vehicle's latitude and longitude position information and absolute elevation information, as well as the latitude and longitude position information and relative elevation representation of the traffic objects contained in the roadside notification message.

[0101] In another exemplary embodiment, the vehicle safety warning decision module includes:

[0102] The conversion relationship acquisition unit is configured to obtain the conversion relationship between the relative elevation representation based on the roadside map and the relative elevation representation based on the vehicle map of the same road, the relative elevation representation based on the vehicle map is obtained according to the surrounding road network information contained in the vehicle map unit deployed in the vehicle; the approximate absolute elevation acquisition unit is configured to convert the relative elevation representation of the traffic object into the relative elevation representation based on the vehicle map according to the conversion relationship, and determine the approximate absolute elevation information of the traffic object based on the relative elevation representation obtained by the conversion; the safety warning decision unit is configured to decide whether to issue a safety warning for its own vehicle based on the latitude and longitude position information and absolute elevation information of the vehicle, and the latitude and longitude position information and approximate absolute elevation information of the traffic object.

[0103] In another exemplary embodiment, the approximate absolute altitude acquisition unit includes:

[0104] The road layer determination subunit is configured to determine the road layer corresponding to the road where the traffic object is located in the vehicle's surrounding road network information based on the relative elevation representation obtained by conversion; the approximate absolute elevation determination subunit is configured to determine the approximate absolute elevation information of the traffic object based on the road layer and the map data corresponding to the vehicle's surrounding road network information.

[0105] In another exemplary embodiment, the vehicle safety warning decision module includes:

[0106] The elevation information conversion unit is configured to convert the absolute elevation information of the vehicle into a relative elevation representation based on the vehicle-mounted map according to the surrounding road network information contained in the vehicle-mounted map unit deployed in the vehicle; the conversion relationship acquisition and use unit is configured to obtain the conversion relationship between the relative elevation representation based on the roadside map and the relative elevation representation based on the vehicle-mounted map of the same road, and convert the relative elevation representation based on the vehicle-mounted map into the relative elevation representation based on the roadside map according to the conversion relationship; the safety warning decision unit is configured to decide whether to issue a safety warning for the own vehicle according to the latitude and longitude position information of the vehicle and the relative elevation representation based on the roadside map, as well as the latitude and longitude position information and the relative elevation representation of the traffic object.

[0107] In another exemplary embodiment, the security warning decision unit includes:

[0108] The form feature acquisition subunit is configured to obtain the driving characteristics of the vehicle if it is determined that the relative elevation representation of the traffic object is different from the relative elevation representation of the vehicle based on the roadside map, and the driving characteristics include at least one of the vehicle speed and the vehicle heading; the decision subunit is configured to decide whether to issue a safety warning for the current vehicle based on the latitude and longitude position information of the vehicle and the driving characteristics, as well as the latitude and longitude position information of the traffic object.

[0109] In another exemplary embodiment, the conversion relationship is obtained from an on-vehicle map server, which is used to provide map data services for the vehicle and maintain the conversion relationship based on communication with roadside facilities.

[0110] In another exemplary embodiment, the apparatus further comprises:

[0111] The relative offset acquisition module is configured to obtain the longitude and latitude position information and relative elevation information of the section reference point on the section where the roadside facility is located from the roadside notification message, as well as the relative position offset of the longitude and latitude position information of the traffic object relative to the longitude and latitude position information of the section reference point, and the relative elevation offset of the relative elevation representation of the traffic object relative to the relative elevation representation of the section reference point; the relative offset restoration module is configured to restore the longitude and latitude position information of the traffic object based on the longitude and latitude position information and relative position offset of the section reference point, and restore the relative elevation representation of the traffic object based on the relative elevation information and relative elevation offset of the section reference point.

[0112] In another exemplary embodiment, the roadside notification message generation and broadcasting module 550 includes:

[0113] A reference information acquisition unit is configured to determine the latitude and longitude position information and absolute elevation information of a section reference point on the section where the roadside facility is located based on the surrounding road network information, and convert the absolute elevation information of the section reference point into a relative elevation representation based on a roadside map, wherein the section reference point is used to characterize the position of the section where the roadside facility is located; an offset calculation unit is configured to calculate the relative position offset of the latitude and longitude position information of the traffic object relative to the latitude and longitude position information of the section reference point, and to calculate the relative elevation offset of the relative elevation representation of the traffic object relative to the relative elevation representation of the section reference point; a message generation unit is configured to carry the relative position offset, the relative elevation offset, the latitude and longitude position information and the relative elevation representation of the section reference point in a roadside notification message to obtain the roadside notification message to be broadcast.

[0114] In another exemplary embodiment, the roadside notification message generation and broadcasting module 550 further includes:

[0115] A message type determination unit is configured to determine the message type of a roadside notification message according to a vehicle-road cooperative application scenario, and the message type includes roadside information or basic safety messages; a message generation unit is configured to generate a roadside notification message that matches the message type, so as to carry the relative position offset, relative elevation offset, longitude and latitude position information of the road section reference point, and relative elevation representation in the generated roadside notification message.

[0116] In another exemplary embodiment, a perception and positioning unit and a vehicle-mounted wireless communication unit are also deployed in the roadside facilities; the traffic object three-dimensional information acquisition module 510 includes:

[0117] A traffic object sensing unit is configured to sense traffic objects on the road where the roadside facilities are located through the sensing and positioning unit, and obtain the latitude and longitude position information and absolute elevation information of the sensed traffic objects; a sensing information sending unit is configured to send the latitude and longitude position information and absolute elevation information of the sensed traffic objects to the on-board wireless communication unit and the roadside map unit respectively, so that the roadside map unit converts the absolute elevation information of the traffic objects into a relative elevation representation based on the roadside map, and enables the on-board wireless communication unit to generate a roadside notification message according to the latitude and longitude position information and the relative elevation representation of the traffic objects, and broadcast the roadside notification message.

[0118] It should be noted that the device provided in the above embodiment and the method provided in the above embodiment belong to the same concept, wherein the specific manner in which each module and unit performs the operation has been described in detail in the method embodiment and will not be repeated here.

[0119] Fig.11 A schematic diagram of the structure of a computer system suitable for implementing an electronic device of an embodiment of the present application is shown.

[0120] It should be noted that Fig.11 The computer system 1600 of the electronic device shown is only an example and should not bring any limitation to the functions and scope of use of the embodiments of the present application.

[0121] like Fig.11 As shown, the computer system 1600 includes a central processing unit (CPU) 1601, which can perform various appropriate actions and processes according to the program stored in the read-only memory (ROM) 1602 or the program loaded from the storage part 1608 to the random access memory (RAM) 1603, such as executing the method described in the above embodiment. In RAM 1603, various programs and data required for system operation are also stored. CPU 1601, ROM 1602 and RAM 1603 are connected to each other through bus 1604. Input / output (I / O) interface 1605 is also connected to bus 1604.

[0122] The following components are connected to the I / O interface 1605: an input section 1606 including a keyboard, a mouse, etc.; an output section 1607 including a cathode ray tube (CRT), a liquid crystal display (LCD), etc., and a speaker, etc.; a storage section 1608 including a hard disk, etc.; and a communication section 1609 including a network interface card such as a LAN (Local Area Network) card, a modem, etc. The communication section 1609 performs communication processing via a network such as the Internet. A drive 1610 is also connected to the I / O interface 1605 as needed. A removable medium 1611, such as a magnetic disk, an optical disk, a magneto-optical disk, a semiconductor memory, etc., is installed on the drive 1610 as needed so that a computer program read therefrom is installed into the storage section 1608 as needed.

[0123] In particular, according to an embodiment of the present application, the process described above with reference to the flowchart can be implemented as a computer software program. For example, an embodiment of the present application includes a computer program product, which includes a computer program carried on a computer-readable medium, and the computer program includes a computer program for executing the method shown in the flowchart. In such an embodiment, the computer program can be downloaded and installed from a network through a communication section 1609, and / or installed from a removable medium 1611. When the computer program is executed by a central processing unit (CPU) 1601, various functions defined in the system of the present application are executed.

[0124] It should be noted that the computer-readable medium shown in the embodiment of the present application can be a computer-readable signal medium or a computer-readable storage medium or any combination of the above two. The computer-readable storage medium can be, for example, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, device or device, or any combination of the above. More specific examples of computer-readable storage media 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 disk 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 containing or storing a program, which can be used by an instruction execution system, device or device or used in combination with it. In the present application, a computer-readable signal medium can include a data signal propagated in a baseband or as a part of a carrier wave, wherein a computer-readable computer program is carried. Such propagated data signals may take a variety of forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination of the above. Computer-readable signal media may also be any computer-readable medium other than computer-readable storage media, which may send, propagate, or transmit programs for use by or in conjunction with an instruction execution system, apparatus, or device. The computer program contained on the computer-readable medium may be transmitted using any appropriate medium, including but not limited to: wireless, wired, etc., or any suitable combination of the above.

[0125] The flowchart and block diagram in the accompanying drawings illustrate the possible architecture, functions and operations of the system, method and computer program product according to various embodiments of the present application. Wherein, each box in the flowchart or block diagram can represent a module, a program segment, or a part of the code, and the above-mentioned module, program segment, or a part of the code contains one or more executable instructions for realizing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the box can also occur in a different order from the order marked in the accompanying drawings. For example, two boxes represented in succession can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each box in the block diagram or flowchart, and the combination of boxes in the block diagram or flowchart can be implemented with a dedicated hardware-based system that performs a specified function or operation, or can be implemented with a combination of dedicated hardware and computer instructions.

[0126] The units involved in the embodiments described in this application may be implemented by software or hardware, and the units described may also be set in a processor. The names of these units do not, in some cases, constitute limitations on the units themselves.

[0127] Another aspect of the present application further provides a computer-readable storage medium on which a computer program is stored, and when the computer program is executed by a processor, the vehicle-road collaborative processing method as described above is implemented. The computer-readable storage medium may be included in the electronic device described in the above embodiment, or may exist independently without being assembled into the electronic device.

[0128] Another aspect of the present application further provides a computer program product or a 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 the processor executes the computer instructions, so that the computer device executes the vehicle-road cooperative processing method provided in each of the above embodiments.

[0129] The above content is only a preferred exemplary embodiment of the present application and is not intended to limit the implementation scheme of the present application. A person skilled in the art can easily make corresponding changes or modifications based on the main concept and spirit of the present application. Therefore, the scope of protection of the present application shall be based on the scope of protection required by the claims.

Claims

1. A vehicle-road collaborative processing method, It is characterized in that The method comprises: Acquire latitude and longitude position information and absolute elevation information of traffic objects on the road through roadside facilities; wherein the traffic objects represent factors that affect vehicle driving safety on the road, including at least one of road events, traffic signs, and traffic participants; According to the surrounding road network information contained in the roadside map unit deployed in the roadside facility, the absolute elevation information of the traffic object is converted into a relative elevation representation based on the roadside map, wherein the relative elevation representation based on the roadside map is used to describe the spatial position relationship between the road where the traffic object is located and a plurality of roads around the roadside facility contained in the surrounding road network information; A roadside notification message is generated based on the latitude and longitude position information and relative elevation representation of the traffic object, and the roadside notification message is broadcast. The broadcast range of the roadside notification message covers at least the multiple roads, so that vehicles on the multiple roads can make decisions on their own vehicle safety warnings based on the roadside notification message.

2. The method according to claim 1, It is characterized in that The vehicles on the multiple roads make decisions on their own vehicle safety warnings based on the roadside notification message, including: Obtain the latitude and longitude position information and absolute altitude information of the vehicle; The vehicle safety warning decision is made based on the latitude and longitude position information and absolute elevation information of the vehicle, and the latitude and longitude position information and relative elevation representation of the traffic object contained in the roadside notification message.

3. The method according to claim 2, It is characterized in that The method of making a safety warning decision for the vehicle according to the latitude and longitude position information and absolute elevation information of the vehicle and the latitude and longitude position information and relative elevation representation of the traffic object contained in the roadside notification message includes: Obtaining a conversion relationship between a relative elevation representation based on a roadside map and a relative elevation representation based on a vehicle-mounted map of the same road, wherein the relative elevation representation based on the vehicle-mounted map is obtained according to surrounding road network information contained in a vehicle-mounted map unit deployed in the vehicle; Converting the relative elevation representation of the traffic object into a relative elevation representation based on a vehicle-mounted map according to the conversion relationship, and determining the approximate absolute elevation information of the traffic object based on the relative elevation representation obtained by the conversion; A decision is made whether to issue a safety warning for the own vehicle based on the latitude and longitude position information and absolute elevation information of the vehicle, and the latitude and longitude position information and approximate absolute elevation information of the traffic object.

4. The method according to claim 3, It is characterized in that Determining the approximate absolute elevation information of the traffic object based on the relative elevation representation obtained by conversion includes: Determine the road layer number corresponding to the road where the traffic object is located in the surrounding road network information of the vehicle according to the relative elevation representation obtained by conversion; The approximate absolute elevation information of the traffic object is determined according to the map data corresponding to the road layer number and the surrounding road network information of the vehicle.

5. The method according to claim 2, It is characterized in that The method of making a safety warning decision for the vehicle according to the latitude and longitude position information and absolute elevation information of the vehicle and the latitude and longitude position information and relative elevation representation of the traffic object contained in the roadside notification message includes: According to the surrounding road network information contained in the on-board map unit deployed in the vehicle, the absolute elevation information of the vehicle is converted into a relative elevation representation based on the on-board map; Acquire a conversion relationship between a relative elevation representation based on a roadside map and a relative elevation representation based on a vehicle-mounted map of the same road, and convert the relative elevation representation based on the vehicle-mounted map of the vehicle into a relative elevation representation based on the roadside map according to the conversion relationship; Based on the latitude and longitude position information of the vehicle and the relative elevation representation based on the roadside map, as well as the latitude and longitude position information and the relative elevation representation of the traffic object, a decision is made whether to issue a safety warning for the own vehicle.

6. The method according to claim 5, It is characterized in that The decision of whether to issue a safety warning for the vehicle itself based on the latitude and longitude position information of the vehicle and the relative elevation representation based on the roadside map, as well as the latitude and longitude position information and the relative elevation representation of the traffic object, includes: If it is determined that the relative elevation representation of the traffic object is different from the relative elevation representation of the vehicle based on the roadside map, obtaining a driving characteristic of the vehicle, wherein the driving characteristic includes at least one of a vehicle speed and a vehicle heading; A decision is made whether to issue a safety warning for the current vehicle based on the latitude and longitude position information and driving characteristics of the vehicle and the latitude and longitude position information of the traffic object.

7. The method according to claim 3 or 5, It is characterized in that The conversion relationship is obtained from an on-vehicle map server, which is used to provide map data services for the vehicle and maintain the conversion relationship based on communication with the roadside facility.

8. The method according to claim 2, It is characterized in that The method further comprises: Acquire, from the roadside notification message, the latitude and longitude position information and relative elevation information of a section reference point on the road section where the roadside facility is located, as well as the relative position offset of the latitude and longitude position information of the traffic object relative to the latitude and longitude position information of the section reference point, and the relative elevation offset of the relative elevation representation of the traffic object relative to the relative elevation representation of the section reference point; The longitude and latitude position information of the traffic object is restored based on the longitude and latitude position information of the road section reference point and the relative position offset, and the relative elevation representation of the traffic object is restored based on the relative elevation information of the road section reference point and the relative elevation offset.

9. The method according to claim 1, It is characterized in that The generating of a roadside notification message according to the latitude and longitude position information and the relative elevation representation of the traffic object comprises: Determine the latitude and longitude position information and absolute elevation information of a section reference point on the section where the roadside facility is located according to the surrounding road network information, and convert the absolute elevation information of the section reference point into a relative elevation representation based on a roadside map, wherein the section reference point is used to characterize the position of the section where the roadside facility is located; Calculating the relative position offset of the latitude and longitude position information of the traffic object relative to the latitude and longitude position information of the road section reference point, and calculating the relative elevation offset of the relative elevation representation of the traffic object relative to the relative elevation representation of the road section reference point; The relative position offset, the relative elevation offset, the longitude and latitude position information of the road section reference point and the relative elevation representation are carried in a roadside notification message to obtain a roadside notification message to be broadcast.

10. The method according to claim 9, It is characterized in that Before carrying the relative position offset, the relative elevation offset, the longitude and latitude position information of the road section reference point and the relative elevation representation in a roadside notification message to obtain the roadside notification message to be broadcast, the method further includes: Determine the message type of the roadside notification message according to the vehicle-road collaboration application scenario, where the message type includes roadside information or basic safety message; A roadside notification message matching the message type is generated to carry the relative position offset, the relative elevation offset, the longitude and latitude position information of the road section reference point and the relative elevation representation in the generated roadside notification message.

11. The method according to claim 1, It is characterized in that The roadside facilities are also equipped with a sensing and positioning unit and a vehicle-mounted wireless communication unit; the method of obtaining the latitude and longitude position information and absolute elevation information of traffic objects on the road through the roadside facilities includes: The sensing and positioning unit senses the traffic objects on the road where the roadside facilities are located, and obtains the latitude and longitude position information and absolute elevation information of the sensed traffic objects; The latitude and longitude position information and absolute elevation information of the sensed traffic object are respectively sent to the on-board wireless communication unit and the roadside map unit, so that the roadside map unit converts the absolute elevation information of the traffic object into a relative elevation representation based on a roadside map, and the on-board wireless communication unit generates a roadside notification message according to the latitude and longitude position information and the relative elevation representation of the traffic object, and broadcasts the roadside notification message.

12. A vehicle-road collaborative processing device, It is characterized in that The device comprises: A traffic object three-dimensional information acquisition module is configured to acquire latitude and longitude position information and absolute elevation information of traffic objects on the road through roadside facilities; wherein the traffic objects represent factors that affect vehicle driving safety on the road, including at least one of road events, traffic signs, and traffic participants; A traffic object elevation information conversion module is configured to convert the absolute elevation information of the traffic object into a relative elevation representation based on a roadside map according to the surrounding road network information contained in the roadside map unit deployed in the roadside facility, wherein the relative elevation representation based on the roadside map is used to describe the spatial position relationship between the road where the traffic object is located and a plurality of roads around the roadside facility contained in the surrounding road network information; The roadside notification message generation and broadcast module is configured to generate a roadside notification message based on the latitude and longitude position information and relative elevation representation of the traffic object, and broadcast the roadside notification message. The broadcast range of the roadside notification message covers at least the multiple roads, so that vehicles on the multiple roads can make decisions on their own vehicle safety warnings based on the roadside notification message.

13. The device according to claim 12, It is characterized in that The device also includes: A vehicle three-dimensional information acquisition module configured to acquire latitude and longitude position information and absolute elevation information of the vehicle; The vehicle safety warning decision module is configured to make a vehicle safety warning decision based on the latitude and longitude position information and absolute elevation information of the vehicle, and the latitude and longitude position information and relative elevation representation of the traffic object contained in the roadside notification message.

14. An electronic device, It is characterized in that include: a memory storing computer-readable instructions; A processor reads the computer-readable instructions stored in the memory to execute the method according to any one of claims 1 to 11.

15. A computer-readable storage medium, It is characterized in that Computer-readable instructions are stored thereon, and when the computer-readable instructions are executed by a processor of a computer, the computer is caused to execute the method according to any one of claims 1 to 11.

16. A computer program product, It is characterized in that comprising 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 the processor executes the computer instructions, so that the computer device executes the method according to any one of claims 1 to 11.

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