Vehicle detection method, device, terminal equipment and readable storage medium

Abstract

The present application is applicable to the field of vehicle detection technology, and provides a vehicle detection method, device, terminal equipment and readable storage medium. The method includes: when detecting that the vehicle reaches a preset detection area, sending a function self-test instruction to the OBU, and receiving the function self-test result returned by the OBU; when detecting that the function self-test result is a successful detection, sending a performance test instruction to the OBU, and receiving the performance test result returned by the OBU; generating a vehicle detection result based on the function self-test result and the performance test result. The present application realizes the function self-test and performance test based on the OBU through communication between the RSU and the OBU, and obtains the corresponding vehicle detection result, thereby reducing the vehicle detection cost and detection time, and improving the vehicle detection efficiency and detection accuracy.

Description

Technical Field

[0001] The present application belongs to the field of vehicle detection technology, and in particular, relates to a vehicle detection method, apparatus, terminal device and readable storage medium. Background Art

[0002] During the vehicle production process, offline testing of the vehicle is required to ensure the normal operation of the vehicle.

[0003] During the offline vehicle inspection process, the staff usually holds the vehicle inspection terminal equipment to inspect the various operating conditions of the vehicle to determine whether the vehicle is in normal working condition. However, the above method consumes a lot of manpower and material resources, has high inspection cost, low efficiency and low inspection accuracy, and cannot meet the needs of users. Summary of the invention

[0004] The embodiments of the present application provide a vehicle detection method, apparatus, terminal device and readable storage medium, which can solve the problem that related offline vehicle detection methods require a large amount of manpower and material resources, have high detection costs, low efficiency and low detection accuracy.

[0005] In a first aspect, an embodiment of the present application provides a vehicle detection method, which is applied to an RSU, wherein the RSU is communicatively connected to an OBU;

[0006] The vehicle detection method comprises:

[0007] When it is detected that the vehicle reaches a preset detection area, a function self-test instruction is sent to the OBU, and a function self-test result returned by the OBU is received;

[0008] When it is detected that the function self-test result is a successful test, a performance test instruction is sent to the OBU, performance test data returned by the OBU is received, and a performance test result is determined based on the performance test data;

[0009] A vehicle detection result is generated based on the functional self-detection result and the performance detection result.

[0010] In a second aspect, an embodiment of the present application provides a vehicle detection method, which is applied to an OBU, wherein the OBU is communicatively connected to an RSU;

[0011] The vehicle detection method comprises:

[0012] Upon receiving a function self-test instruction, performing a test based on the function self-test instruction, obtaining a corresponding function self-test result and sending it to the RSU;

[0013] When a performance detection instruction is received, detection is performed based on the performance detection instruction, corresponding performance detection data is obtained and sent to the RSU, so that the RSU generates a performance detection result based on the performance detection data.

[0014] In a third aspect, an embodiment of the present application provides a vehicle detection device, which is applied to an RSU, and the RSU is communicatively connected with an OBU;

[0015] The vehicle detection device comprises:

[0016] The first detection module is used to send a function self-check instruction to the OBU when detecting that the vehicle reaches a preset detection area, and receive a function self-check result returned by the OBU;

[0017] A sending module, used for sending a performance test instruction to the OBU when it is detected that the function self-test result is a successful test, receiving the performance test data returned by the OBU, and determining the performance test result based on the performance test data;

[0018] A generating module is used to generate a vehicle detection result based on the functional self-test result and the performance detection result.

[0019] In a fourth aspect, an embodiment of the present application provides a vehicle detection device, which is applied to an OBU, and the OBU is communicatively connected with an RSU;

[0020] The vehicle detection device comprises:

[0021] A second detection module is used to, upon receiving a function self-test instruction, perform detection based on the function self-test instruction, obtain a corresponding function self-test result and send it to the RSU;

[0022] The third detection module is used to perform detection based on the performance detection instruction when receiving the performance detection instruction, obtain corresponding performance detection data and send it to the RSU, so that the RSU generates a performance detection result based on the performance detection data.

[0023] In the fifth aspect, an embodiment of the present application provides a terminal device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the computer program, the vehicle detection method as described in the first or second aspect above is implemented.

[0024] In a sixth aspect, an embodiment of the present application provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the vehicle detection method as described in the first or second aspect above is implemented.

[0025] In a seventh aspect, an embodiment of the present application provides a computer program product, which, when executed on a terminal device, enables the terminal device to execute the vehicle detection method described in the first or second aspect above.

[0026] Compared with the prior art, the embodiments of the present application have the following beneficial effects: through the communication between the RSU and the OBU, the functional self-test and performance test based on the OBU are realized, and the corresponding vehicle detection results are obtained, thereby reducing the vehicle detection cost and detection time, and improving the vehicle detection efficiency and detection accuracy.

[0027] It can be understood that the beneficial effects of the second to seventh aspects mentioned above can be found in the relevant description of the first aspect mentioned above, and will not be repeated here. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0029] Figure 1 is a structural schematic diagram of a vehicle detection system provided in an embodiment of the present application;

[0030] Figure 2 It is a flow chart of a vehicle detection method provided in an embodiment of the present application;

[0031] Figure 3 It is a flow chart of communication between RSU and OBU provided in an embodiment of the present application;

[0032] Figure 4 is another flow chart of the vehicle detection method provided in an embodiment of the present application;

[0033] Figure 5 is a schematic diagram of the structure of a vehicle detection device provided in an embodiment of the present application;

[0034] Figure 6 is another structural schematic diagram of the vehicle detection device provided in an embodiment of the present application;

[0035] Figure 7 It is a schematic diagram of the structure of the terminal device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0036] In the following description, specific details such as specific system structures, technologies, etc. are provided for the purpose of illustration rather than limitation, so as to provide a thorough understanding of the embodiments of the present application. However, it should be clear to those skilled in the art that the present application may also be implemented in other embodiments without these specific details. In other cases, detailed descriptions of well-known systems, devices, circuits, and methods are omitted to prevent unnecessary details from obstructing the description of the present application.

[0037] It should be understood that when used in the present specification and the appended claims, the term "comprising" indicates the presence of described features, wholes, steps, operations, elements and / or components, but does not exclude the presence or addition of one or more other features, wholes, steps, operations, elements, components and / or combinations thereof.

[0038] It should also be understood that the term “and / or” used in the specification and appended claims refers to any and all possible combinations of one or more of the associated listed items, and includes these combinations.

[0039] As used in the specification and appended claims of this application, the term "if" can be interpreted as "when" or "uponce" or "in response to determining" or "in response to detecting", depending on the context. Similarly, the phrase "if it is determined" or "if [described condition or event] is detected" can be interpreted as meaning "uponce it is determined" or "in response to determining" or "uponce [described condition or event] is detected" or "in response to detecting [described condition or event]", depending on the context.

[0040] In addition, in the description of the present application specification and the appended claims, the terms "first", "second", "third", etc. are only used to distinguish the descriptions and cannot be understood as indicating or implying relative importance.

[0041] References to "one embodiment" or "some embodiments" etc. described in the specification of this application mean that one or more embodiments of the present application include specific features, structures or characteristics described in conjunction with the embodiment. Therefore, the statements "in one embodiment", "in some embodiments", "in some other embodiments", "in some other embodiments", etc. that appear in different places in this specification do not necessarily refer to the same embodiment, but mean "one or more but not all embodiments", unless otherwise specifically emphasized in other ways. The terms "including", "comprising", "having" and their variations all mean "including but not limited to", unless otherwise specifically emphasized in other ways.

[0042] The vehicle detection method provided in the embodiment of the present application can be applied to terminal devices such as RSU (Road Side Unit), and the embodiment of the present application does not impose any restrictions on the specific type of the terminal device.

[0043] In recent years, although vehicle detection technology has been widely promoted and developed to a certain extent, the existing vehicle detection technology is still mainly through the staff holding the vehicle detection equipment to detect the various operating states of the vehicle, which requires a lot of manpower and material resources, and to a certain extent leads to the problem of high detection cost and low efficiency. To solve this problem, the present application proposes a vehicle detection method, a vehicle detection device, a terminal device and a computer-readable storage medium, which can perform functional self-test and performance test on the OBU based on the communication between the RSU and the OBU when the vehicle arrives at the preset detection area, thereby improving the efficiency and accuracy of vehicle detection and ensuring the normal operation of the vehicle.

[0044] To implement the technical solution proposed in this application, a vehicle detection system 100 may be constructed first. Figure 1 The vehicle detection system consists of more than one RSU101 ( Figure 1 Only one is shown in the figure), a position detection device 102, a vehicle (the vehicle is equipped with an OBU), a display device 103 and a detection device 104, and the RSU is communicatively connected with the position detection device 102, the OBU, the display device 103 and the detection device 104 respectively.

[0045] Among them, the position detection device 102 is a sensing device for detecting the vehicle position and determining whether the vehicle has reached the preset detection area, which is generally set in front of the preset detection area. RSU is a terminal device for sending detection instructions to OBU and receiving detection data and detection results returned by OBU, which is generally set in the preset detection area. OBU (On board Unit, OBU) is a microwave device that uses DSRC (Dedicated Short Range Communication) technology to communicate with RSU. Display device 103 is used to display detection results and / or prompt information. Detection equipment 104 is used to store detection data and detection results, and generates corresponding prompt information when it is detected that the detection results do not meet the preset requirements.

[0046] During the driving process of the vehicle, when the position detection device 102 detects that the vehicle has reached the preset detection area, it sends a notification message that the vehicle has arrived at the preset detection area to the RSU101; when the RSU101 determines that the vehicle has arrived at the preset detection area, it sends a detection instruction to the OBU and receives corresponding detection data and detection results; when the OBU receives the detection instruction, it executes the corresponding detection program based on the detection instruction and sends the corresponding detection data to the RSU101, and the RSU101 sends the detection data and detection results to the detection device 104, and sends the detection results to the display device 103 for display.

[0047] In order to illustrate the technical solution proposed in this application, a specific embodiment is provided below for illustration.

[0048] Embodiment 1

[0049] Figure 2 A schematic flow chart of the vehicle detection method provided in the present application is shown. As an example but not a limitation, the method can be applied to the above-mentioned RSU, and the RSU is communicatively connected with the OBU.

[0050] S101, when it is detected that a vehicle reaches a preset detection area, a function self-check instruction is sent to the OBU, and a function self-check result returned by the OBU is received.

[0051] Specifically, the RSU may include but is not limited to a controller and an antenna box (the RSU antenna box is set to be installed in front of the vehicle to be tested, specifically side-mounted or top-mounted), the antenna box is communicatively connected to the controller, and the antenna box is used to communicate with the OBU; the controller is communicatively connected to the position detection device 102 and the detection equipment 104 respectively, which is used to generate functional self-test instructions and performance detection instructions.

[0052] Specifically, when the position detection device (the position detection device 102 is installed in front of the preset detection area and can be set to be side-mounted or top-mounted) connected to the RSU in communication sends a prompt message that the vehicle has reached the preset detection area, a function self-test instruction is generated and sent to the OBU, so that the OBU performs a function test according to the function self-test instruction, and receives the function self-test result returned by the OBU. Among them, the function self-test instruction refers to a control instruction used to control the OBU to execute the corresponding function detection program. The position detection device includes but is not limited to a positioning radar, a camera, a magnetic coil detection device or an infrared detection device, which can obtain the position information of the vehicle near the preset detection area in real time, and trigger the communication between the RSU and the OBU in the vehicle when it is detected that the vehicle has reached the preset detection area.

[0053] Specifically, the function self-test instruction sent to the OBU or the function self-test result returned by the OBU is set to be in the form of a frame.

[0054] Table 1 exemplarily provides a function self-test instruction and the contents included in the function self-test result.

[0055]

[0056]

[0057] Table 1 Contents of functional self-test and content of functional self-test

[0058] S102: When it is detected that the function self-test result is a successful test, a performance test instruction is sent to the OBU, performance test data returned by the OBU is received, and a performance test result is determined based on the performance test data.

[0059] Specifically, when it is detected that the function self-test result returned by the OBU is a successful test, the working state of the OBU is determined to be a normal state, a performance test instruction is generated and sent to the OBU, so that the OBU performs a corresponding performance test based on the performance test instruction, and receives the performance test data returned by the OBU, and determines the corresponding performance test result based on the performance test data. Wherein, the performance test instruction is a control instruction for controlling the OBU to perform the corresponding performance test and radio frequency parameter calibration.

[0060] S103: Generate a vehicle detection result based on the function self-detection result and the performance detection result.

[0061] Specifically, when it is detected that the function self-test result is a successful test and the performance test result is a normal state, a test result that the vehicle is in a normal working state is generated and displayed through a display device. Otherwise, when it is detected that the function self-test result is a test failure, the detection program of the OBU is terminated, and a prompt message of the OBU functional failure is generated and displayed through a display device to prompt the user to perform a test and repair on the OBU. Alternatively, when it is detected that the performance test result is a test failure, the performance failure of the OBU is determined, the test result is sent to the test device, and the test device generates a performance failure prompt message and displays it through a display device to prompt the user to perform further tests and calibrations on the performance parameters of the OBU.

[0062] like Figure 3 As shown, in one embodiment, the RSU communicates with the OBU based on the DSRC extended protocol;

[0063] The communication process between the RSU and the OBU includes:

[0064] Send a test frame to the OBU, and receive a response frame returned by the OBU corresponding to the test frame;

[0065] Sending a test instruction to the OBU, and receiving a test result corresponding to the test instruction returned by the OBU;

[0066] A transmission request is sent to the OBU, and a transmission response corresponding to the transmission request is received from the OBU.

[0067] Specifically, the RSU mainly communicates with the OBU in the vehicle based on the DSRC extended protocol. The corresponding communication process includes: the RSU sends a test frame BST to the OBU in broadcast form, and receives a response frame VST corresponding to the test frame returned by the OBU; then the RSU sends a test instruction to the OBU, and receives a test result corresponding to the test instruction returned by the OBU; finally, the RSU sends a transmission request (TransferChannel.rq) to the OBU, and receives a transmission response (TransferChannel.rs) corresponding to the transmission request returned by the OBU.

[0068] In one embodiment, the performance detection instruction includes a radio frequency performance detection instruction;

[0069] The sending of the performance detection instruction to the OBU, receiving the performance detection data returned by the OBU, and determining the performance detection result based on the performance detection data include:

[0070] Sending a radio frequency performance detection instruction to the OBU, and obtaining radio frequency performance detection data returned by the OBU;

[0071] Determine the sensitivity and transmit power of the OBU based on the radio frequency performance detection data;

[0072] comparing the sensitivity with a preset sensitivity range, and the transmit power with a preset transmit power range;

[0073] When it is detected that the sensitivity is not within the preset sensitivity range, adjusting the sensitivity based on the preset sensitivity range until the sensitivity is within the preset sensitivity range;

[0074] When it is detected that the transmit power is not within the preset transmit power range, the transmit power is adjusted based on the preset transmit power range until the transmit power is within the preset transmit power range, and a corresponding RF performance detection result is generated based on the sensitivity and the transmit power.

[0075] Specifically, the radio frequency performance detection instruction includes a plurality of power wake-up data frames, sleep frames and power test frames. When it is detected that the function self-test result is a successful detection, a wake-up data frame at the first power is sent to the OBU with a preset duration, and a test response frame returned by the OBU is received when the OBU is awakened. If the test response frame is not received, the first power is enhanced, and the enhanced wake-up data frame at the first power is sent to the OBU with a preset duration, and the transmission power of the wake-up data frame is continuously enhanced until the test response frame is received, and the transmission power at this time is recorded as the first target power B1. Among them, the preset duration can be specifically set according to actual needs, for example, the preset duration is set to 5s.

[0076] Specifically, when receiving the test response frame, a sleep frame is sent to the OBU to put the OBU into a sleep state, and the sequence of the wake-up data frame at the first target power, the wake-up data frame at the second power, and the wake-up data frame at the third power is set to be sent to the OBU one by one with a preset interval duration (the third power is greater than the second power, and the second power is greater than the first target power), until the test response frame is received, the transmission power at this time is recorded as the second target power B2, and the operation of transmitting the wake-up data frame at different powers to the OBU is returned to obtain multiple target powers B1, B2, B3...Bn. The average value of the multiple target powers is determined, and based on the corresponding table of the transmission power and the receiving sensitivity, the sensitivity corresponding to the above average value is obtained as the sensitivity value of the OBU. When it is detected that the above sensitivity value is less than the minimum value of the preset sensitivity range, a sensitivity enhancement instruction is sent to enhance the above sensitivity until the above sensitivity is greater than or equal to the minimum value of the preset sensitivity range; when it is detected that the above sensitivity value is greater than the maximum value of the preset sensitivity range, a sensitivity reduction instruction is sent to reduce the above sensitivity until the above sensitivity is less than the maximum value of the preset sensitivity range. When receiving the wake-up calibration completion frame returned by the OBU, the wake-up data frame is sent again to confirm that the sensitivity of the OBU is within the preset sensitivity range.

[0077] Specifically, after confirming that the sensitivity of the OBU is within the preset sensitivity range, a power test frame is sent to the OBU with a preset duration, and a response signal (including but not limited to a single peak signal, an all-0 signal, an all-1 signal and / or a PN9 signal) periodically returned by the OBU is received, and the strength RSSI equal to the above response signal is detected, and the transmission power D corresponding to the response signal is determined by taking an average value or based on a comparison table of the preset response signal and the transmission frequency. When it is detected that the above transmission power value is less than the minimum value of the preset transmission power range, a transmission power enhancement instruction is sent to enhance the above transmission power until the above transmission power is greater than or equal to the minimum value of the preset transmission power range; when it is detected that the above transmission power value is greater than the maximum value of the preset transmission power range, a transmission power reduction instruction is sent to reduce the above transmission power until the above transmission power is less than the maximum value of the preset transmission power range, and when the transmission power modification confirmation instruction returned by the OBU is received, a power test frame is sent again, and after confirming that the transmission power of the OBU is within the preset transmission power range, it is determined that the radio frequency parameters meet the corresponding preset parameter range, and the corresponding radio frequency performance detection result is generated as a detection success. Otherwise, the corresponding radio frequency performance detection result is generated as a detection failure.

[0078] Table 2 exemplarily provides a radio frequency performance detection instruction and the contents included in the radio frequency performance detection result.

[0079]

[0080] Table 2 Contents of RF performance test instructions and RF performance test results

[0081] In one embodiment, the performance detection instruction includes a Bluetooth performance detection instruction;

[0082] The sending of the performance detection instruction to the OBU and receiving the performance detection result returned by the OBU include:

[0083] Sending a Bluetooth performance detection instruction to the OBU;

[0084] When the Bluetooth device of the OBU is detected to be started, a pairing connection is established with the Bluetooth device, and Bluetooth test data sent by the Bluetooth device is received;

[0085] Generate corresponding Bluetooth performance detection results based on the Bluetooth test data.

[0086] Specifically, when it is detected that the function self-test result is a successful detection, a Bluetooth performance detection instruction is sent to the OBU. After detecting that the OBU is started and the Bluetooth device is initialized, a pairing connection relationship with the Bluetooth device is established, and the Bluetooth test data sent by the Bluetooth device is received. When it is detected that the Bluetooth test data is the same as the preset detection data, a corresponding Bluetooth performance detection result is generated as a successful detection. Otherwise, when it is detected that the test data is different from the preset detection data, a corresponding Bluetooth performance detection result is generated as a detection failure.

[0087] It is understandable that when it is detected that a pairing connection relationship cannot be established with a Bluetooth device, a corresponding Bluetooth performance test result is also generated as a test failure. The preset test data can be specifically set according to actual needs.

[0088] Specifically, the Bluetooth performance detection instruction sent to the OBU, or the Bluetooth test response data (such as Bluetooth test data) returned by the OBU is set to be in the form of a frame.

[0089] Table 3 exemplarily provides a Bluetooth performance detection instruction and the contents included in the Bluetooth test response data.

[0090]

[0091] Table 3 Contents of the Bluetooth test command sent by the RSU and the content of the Bluetooth test response data returned by the OBU

[0092] In one embodiment, when the vehicle is detected to reach the preset detection area, a function self-check instruction is sent to the OBU, and after the function self-check result returned by the OBU is received, the method includes:

[0093] When it is detected that the function self-test result includes that the operating voltage is normal, the chip circuit is normal, and the communication interface is normal, it is determined that the function self-test result is a successful detection.

[0094] Specifically, the functional self-test operation of the OBU includes detecting whether the working voltage is within a preset working voltage range, detecting whether the chip circuit state is in a normal state, and detecting whether the working state of the communication interface is in a normal working state. Correspondingly, when it is detected that the functional self-test results include that the working voltage, the chip circuit state, and the communication interface are all normal, the functional self-test result is determined to be a successful test; otherwise, the functional self-test result is determined to be a failed test.

[0095] This embodiment implements OBU-based functional self-test and performance test through communication between RSU and OBU, and obtains corresponding vehicle test results, thereby reducing the test cost and test time, and improving the test efficiency and test accuracy.

[0096] Embodiment 2

[0097] Figure 4 A schematic flow chart of the vehicle detection method provided in the present application is shown. As an example but not a limitation, the method can be applied to the above-mentioned OBU, and the OBU is communicatively connected with the RSU.

[0098] S201. When receiving a function self-test instruction, perform a test based on the function self-test instruction, obtain a corresponding function self-test result, and send it to the RSU.

[0099] Specifically, when receiving the function self-test instruction sent by the RSU, a function self-test operation is performed based on the function self-test instruction, and the corresponding function self-test result is obtained and sent to the RSU. The function self-test operation includes detecting whether the working voltage is within the preset working voltage range, detecting whether the chip circuit state is in a normal state, and detecting whether the working state of the communication interface is in a normal working state.

[0100] S202: When receiving a performance detection instruction, perform detection based on the performance detection instruction, obtain corresponding performance detection data, and send the data to the RSU, so that the RSU generates a performance detection result based on the performance detection data.

[0101] Specifically, when receiving the performance detection instruction sent by the RSU, a performance detection operation is performed based on the performance detection instruction, and corresponding performance detection data is obtained and sent to the RSU, so that the RSU generates a corresponding performance detection result based on the performance detection data. Among them, the performance detection instruction includes but is not limited to a radio frequency performance detection instruction and a Bluetooth performance detection instruction. Among them, the radio frequency performance detection instruction is an instruction sent by the RSU for controlling the OBU to detect radio frequency parameters and perform radio frequency parameter calibration; the Bluetooth performance detection instruction is an instruction sent by the RSU for controlling the OBU to perform Bluetooth function detection.

[0102] In one embodiment, upon receiving the function self-test instruction, performing detection based on the function self-test instruction, obtaining a corresponding function self-test result and sending it to the RSU includes:

[0103] Obtaining an operating voltage, and detecting whether the operating voltage is within a preset operating voltage range;

[0104] When it is detected that the operating voltage is within a preset operating voltage range, obtaining a chip circuit state;

[0105] When it is detected that the chip circuit state is in a normal state, detecting the working state of the communication interface;

[0106] When it is detected that the working state of the communication interface is in a normal working state, a corresponding function self-test result is generated.

[0107] Specifically, the working voltage at the current moment is obtained, and the working voltage is compared with a preset working voltage range (including a maximum working voltage and a minimum working voltage) to determine whether the working voltage is within the preset working voltage range; when it is detected that the working voltage is greater than or equal to the minimum working voltage and less than the maximum working voltage, the working voltage is determined to be within the preset working voltage range and the chip circuit state is obtained; when it is detected that the chip circuit state is that the line is intact and undamaged, and the voltage and current are working stably, the chip circuit state is determined to be normal and the working state of the communication interface is detected; when it is detected that the data transmission of the communication interface is normal, the working state of the communication interface is determined to be in a normal working state, and a corresponding functional self-test result is generated as a successful detection; otherwise, when it is detected that the working voltage is not within the preset working voltage range, the chip circuit state is that the line is damaged, the chip circuit voltage and current are working unstable, and the data transmission of the communication interface is abnormal, one or more of the following is generated, a corresponding functional self-test result is generated as a failed detection.

[0108] In one embodiment, the performance detection instruction includes a radio frequency performance detection instruction;

[0109] When receiving the performance detection instruction, performing detection based on the performance detection instruction, obtaining corresponding performance detection data and sending the data to the RSU, so that the RSU generates a performance detection result based on the performance detection data, including:

[0110] Upon receiving the radio frequency performance detection instruction, determining sensitivity and transmit power based on the performance detection instruction and sending them to the RSU;

[0111] Adjust the sensitivity based on the sensitivity adjustment instruction sent by the RSU until the sensitivity is within a preset sensitivity range, and send the sensitivity to the RSU;

[0112] The transmit power is adjusted based on the transmit power adjustment instruction sent by the RSU until the transmit power is within a preset transmit power range, and the transmit power is sent to the RSU so that the RSU generates a corresponding RF performance detection result based on the sensitivity and the transmit power.

[0113] Specifically, the performance detection instructions include but are not limited to RF performance detection instructions; RF performance detection instructions include but are not limited to multiple power wake-up data frames, sleep frames and power test frames. Sensitivity adjustment instructions include but are not limited to sensitivity enhancement instructions and sensitivity reduction instructions, and transmit power adjustment instructions include but are not limited to transmit power enhancement instructions and transmit power reduction instructions; upon receiving the RF performance detection instruction sent by the RSU, the sensitivity and transmit power at the current moment are determined based on the wake-up data frames, power test frames and other data frames included in the RF performance detection instruction, and sent to the RSU; upon receiving the sensitivity enhancement instruction sent by the RSU, the sensitivity is enhanced until the sensitivity is within the preset sensitivity range, and the adjusted sensitivity is sent to the RSU; or, upon receiving the sensitivity reduction instruction sent by the RSU, the sensitivity is reduced until the sensitivity is within the preset sensitivity range, and the adjusted sensitivity is sent to the RSU.

[0114] Specifically, when receiving a transmit power enhancement instruction sent by the RSU, the transmit power is enhanced until the transmit power is within the preset transmit power range, and the adjusted transmit power is sent to the RSU, or when receiving a transmit power reduction instruction sent by the RSU, the transmit power is reduced until the transmit power is within the preset transmit power range, and the adjusted transmit power is sent to the RSU. It can be understood that the specific process of performing performance detection based on the RF performance detection instruction can refer to the relevant description of Example 1, which will not be repeated here.

[0115] As an example and not limitation, the performance detection data sent to the RSU includes, but is not limited to, the adjusted sensitivity and the adjusted transmit power.

[0116] In one embodiment, the performance detection instruction includes a Bluetooth performance detection instruction;

[0117] When receiving the performance detection instruction, performing detection based on the performance detection instruction, obtaining corresponding performance detection data and sending the data to the RSU, so that the RSU generates a performance detection result based on the performance detection data, including:

[0118] Upon receiving the Bluetooth performance detection instruction, starting the Bluetooth device and initializing it;

[0119] Establish a pairing connection with the RSU and send Bluetooth test data, so that the RSU generates a corresponding Bluetooth performance detection result based on the Bluetooth test data.

[0120] Specifically, the performance detection instructions include but are not limited to Bluetooth performance detection instructions; when the Bluetooth performance detection instructions sent by the RSU are received, the Bluetooth device is started and initialized; a pairing connection with the RSU is established, and Bluetooth test data is sent, so that the RSU generates corresponding Bluetooth performance detection results based on the Bluetooth test data.

[0121] In one embodiment, the OBU communicates with the RSU based on a DSRC extended protocol;

[0122] The communication process between the OBU and the RSU includes:

[0123] Upon receiving the test frame sent by the RSU, returning a response frame corresponding to the test frame;

[0124] Upon receiving the test instruction sent by the RSU, returning the test result corresponding to the test instruction;

[0125] When receiving the transmission request sent by the RSU, a transmission response corresponding to the transmission request is returned.

[0126] Specifically, the specific communication process between the OBU and the RSU can refer to the relevant description of the first embodiment, which will not be repeated here.

[0127] This embodiment implements OBU-based functional self-test and performance test through communication between RSU and OBU, and obtains corresponding vehicle test results, thereby reducing the test cost and test time, and improving the test efficiency and test accuracy.

[0128] It should be understood that the size of the serial numbers of the steps in the above embodiments does not mean the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of the present application.

[0129] Embodiment 3

[0130] Corresponding to the vehicle detection method described in the first embodiment above, Figure 5 A structural block diagram of a vehicle detection device provided in an embodiment of the present application is shown. The vehicle detection device is applied to an RSU. For ease of explanation, only the parts related to the embodiment of the present application are shown.

[0131] Reference Figure 5 , the vehicle detection device 200 comprises:

[0132] The first detection module is used to send a function self-check instruction to the OBU when detecting that the vehicle reaches a preset detection area, and receive a function self-check result returned by the OBU;

[0133] A sending module, used for sending a performance test instruction to the OBU when it is detected that the function self-test result is a successful test, receiving the performance test data returned by the OBU, and determining the performance test result based on the performance test data;

[0134] The generating module 203 is used to generate a vehicle detection result based on the functional self-detection result and the performance detection result.

[0135] In one embodiment, the performance detection instruction includes a radio frequency performance detection instruction;

[0136] The sending module comprises:

[0137] A first sending unit is used to send a radio frequency performance detection instruction to the OBU to obtain radio frequency performance detection data returned by the OBU;

[0138] A first determining unit, used to determine the sensitivity and transmit power of the OBU based on the radio frequency performance detection data;

[0139] A comparison unit, used for comparing the sensitivity with a preset sensitivity range, and the transmission power with a preset transmission power range;

[0140] A first detection unit, configured to adjust the sensitivity based on the preset sensitivity range until the sensitivity is within the preset sensitivity range when detecting that the sensitivity is not within the preset sensitivity range;

[0141] The second detection unit is used to adjust the transmit power based on the preset transmit power range until the transmit power is within the preset transmit power range when it is detected that the transmit power is not within the preset transmit power range, and generate a corresponding RF performance detection result based on the sensitivity and the transmit power.

[0142] In one embodiment, the performance detection instruction includes a Bluetooth performance detection instruction;

[0143] The sending module comprises:

[0144] A second sending unit, used for sending a Bluetooth performance detection instruction to the OBU;

[0145] An establishing unit, used for establishing a pairing connection with the Bluetooth device when detecting that the Bluetooth device of the OBU is started, and receiving Bluetooth test data sent by the Bluetooth device;

[0146] A generating unit is used to generate a corresponding Bluetooth performance detection result based on the Bluetooth test data.

[0147] In one embodiment, the RSU communicates with the OBU based on a DSRC extended protocol;

[0148] The communication process between the RSU and the OBU includes:

[0149] Send a test frame to the OBU, and receive a response frame returned by the OBU corresponding to the test frame;

[0150] Sending a test instruction to the OBU, and receiving a test result corresponding to the test instruction returned by the OBU;

[0151] A transmission request is sent to the OBU, and a transmission response corresponding to the transmission request is received from the OBU.

[0152] In one embodiment, the vehicle detection device further includes:

[0153] The third detection module is used to determine that the function self-test result is a successful detection when it is detected that the function self-test result includes that the working voltage is normal, the chip circuit is normal, and the communication interface is normal.

[0154] This embodiment implements OBU-based functional self-test and performance test through communication between RSU and OBU, and obtains corresponding vehicle test results, thereby reducing the test cost and test time, and improving the test efficiency and test accuracy.

[0155] Embodiment 4

[0156] Corresponding to the vehicle detection method described in the second embodiment above, Figure 6 A structural block diagram of a vehicle detection device provided in an embodiment of the present application is shown. The vehicle detection device is applied to an OBU. For ease of explanation, only the parts related to the embodiment of the present application are shown.

[0157] Reference Figure 6 , the vehicle detection device 300 comprises:

[0158] The second detection module 301 is used to perform detection based on the function self-test instruction when receiving the function self-test instruction, obtain the corresponding function self-test result and send it to the RSU;

[0159] The third detection module 302 is used to perform detection based on the performance detection instruction when receiving the performance detection instruction, obtain corresponding performance detection data and send it to the RSU, so that the RSU generates a performance detection result based on the performance detection data.

[0160] In one embodiment, the performance detection instruction includes a radio frequency performance detection instruction;

[0161] The second detection module includes:

[0162] A second determining unit is used to determine the sensitivity and the transmit power based on the performance detection instruction when receiving the radio frequency performance detection instruction and send them to the RSU;

[0163] A first adjustment unit, configured to adjust the sensitivity based on a sensitivity adjustment instruction sent by the RSU until the sensitivity is within a preset sensitivity range, and send the sensitivity to the RSU;

[0164] The second adjustment unit is used to adjust the transmit power based on the transmit power adjustment instruction sent by the RSU until the transmit power is within a preset transmit power range, and send the transmit power to the RSU so that the RSU generates a corresponding RF performance detection result based on the sensitivity and the transmit power.

[0165] In one embodiment, the performance detection instruction includes a Bluetooth performance detection instruction;

[0166] The second detection module includes:

[0167] A starting unit, used to start and initialize the Bluetooth device when receiving the Bluetooth performance detection instruction;

[0168] The Bluetooth detection unit is used to establish a pairing connection with the RSU and send Bluetooth test data so that the RSU generates a corresponding Bluetooth performance detection result based on the Bluetooth test data.

[0169] In one embodiment, the first detection module includes:

[0170] An acquisition unit, used for acquiring an operating voltage and detecting whether the operating voltage is within a preset operating voltage range;

[0171] A third detection unit, configured to obtain a chip circuit state when detecting that the operating voltage is within a preset operating voltage range;

[0172] A fourth detection unit, configured to detect a working state of the communication interface when detecting that the chip circuit state is in a normal state;

[0173] The fifth detection unit is used to generate a corresponding function self-test result when it is detected that the working state of the communication interface is in a normal working state.

[0174] In one embodiment, the OBU communicates with the RSU based on a DSRC extended protocol;

[0175] The communication process between the OBU and the RSU includes:

[0176] Upon receiving the test frame sent by the RSU, returning a response frame corresponding to the test frame;

[0177] Upon receiving the test instruction sent by the RSU, returning the test result corresponding to the test instruction;

[0178] When receiving the transmission request sent by the RSU, a transmission response corresponding to the transmission request is returned.

[0179] This embodiment realizes OBU-based function self-test and performance test through communication between RSU and OBU, and obtains corresponding vehicle test results, thereby reducing the test cost and test time, and improving the test efficiency and test accuracy.

[0180] It should be noted that the information interaction, execution process, etc. between the above-mentioned devices / units are based on the same concept as the method embodiment of the present application. Their specific functions and technical effects can be found in the method embodiment part and will not be repeated here.

[0181] Embodiment 5

[0182] Figure 7 This is a schematic diagram of the structure of the terminal device provided in this embodiment. Figure 7 As shown, the terminal device 7 of this embodiment includes: at least one processor 70 ( Figure 7 Only one is shown), a memory 71, and a computer program 72 stored in the memory 71 and executable on the at least one processor 70, wherein the processor 70 implements the steps of any of the above-mentioned vehicle detection method embodiments when executing the computer program 72.

[0183] The terminal device 7 may be a computing device such as a desktop computer, a notebook, a PDA, or a cloud server. The terminal device may include, but is not limited to, a processor 70 and a memory 71. Those skilled in the art will appreciate that Figure 7 It is only an example of the terminal device 7 and does not constitute a limitation on the terminal device 7. It may include more or fewer components than shown in the figure, or a combination of certain components, or different components. For example, it may also include input and output devices, network access devices, etc.

[0184] The processor 70 may be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field-programmable gate arrays (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general-purpose processor may be a microprocessor or any conventional processor, etc.

[0185] In some embodiments, the memory 71 may be an internal storage unit of the terminal device 7, such as a hard disk or memory of the terminal device 7. In other embodiments, the memory 71 may also be an external storage device of the terminal device 7, such as a plug-in hard disk, a smart memory card (Smart Media Card, SMC), a secure digital card (Secure Digital, SD), a flash card (Flash Card), etc. equipped on the terminal device 7. Further, the memory 71 may also include both an internal storage unit of the terminal device 7 and an external storage device. The memory 71 is used to store an operating system, an application program, a boot loader (BootLoader), data, and other programs, such as the program code of the computer program, etc. The memory 71 may also be used to temporarily store data that has been output or is to be output.

[0186] The technicians in the relevant field can clearly understand that for the convenience and simplicity of description, only the division of the above-mentioned functional units and modules is used as an example for illustration. In practical applications, the above-mentioned function allocation can be completed by different functional units and modules as needed, that is, the internal structure of the device can be divided into different functional units or modules to complete all or part of the functions described above. The functional units and modules in the embodiment can be integrated in a processing unit, or each unit can exist physically separately, or two or more units can be integrated in one unit. The above-mentioned integrated unit can be implemented in the form of hardware or in the form of software functional units. In addition, the specific names of the functional units and modules are only for the convenience of distinguishing each other, and are not used to limit the scope of protection of this application. The specific working process of the units and modules in the above-mentioned system can refer to the corresponding process in the aforementioned method embodiment, which will not be repeated here.

[0187] An embodiment of the present application further provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the steps in the above-mentioned method embodiments can be implemented.

[0188] An embodiment of the present application provides a computer program product. When the computer program product runs on a mobile terminal, the mobile terminal can implement the steps in the above-mentioned method embodiments when executing the computer program product.

[0189] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the present application implements all or part of the processes in the above-mentioned embodiment method, which can be completed by instructing the relevant hardware through a computer program. The computer program can be stored in a computer-readable storage medium, and the computer program can implement the steps of the above-mentioned various method embodiments when executed by the processor. Among them, the computer program includes computer program code, and the computer program code can be in source code form, object code form, executable file or some intermediate form. The computer-readable medium can at least include: any entity or device that can carry the computer program code to the camera / terminal device, recording medium, computer memory, read-only memory (ROM, Read-Only Memory), random access memory (RAM, RandomAccess Memory), electric carrier signal, telecommunication signal and software distribution medium. For example, a USB flash drive, a mobile hard disk, a magnetic disk or an optical disk. In some jurisdictions, according to legislation and patent practice, computer-readable media cannot be electric carrier signals and telecommunication signals.

[0190] In the above embodiments, the description of each embodiment has its own emphasis. For parts that are not described or recorded in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0191] Those of ordinary skill in the art will appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of this application.

[0192] In the embodiments provided in the present application, it should be understood that the disclosed devices / network equipment and methods can be implemented in other ways. For example, the device / network equipment embodiments described above are merely schematic. For example, the division of the modules or units is only a logical function division. There may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0193] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0194] The embodiments described above are only used to illustrate the technical solutions of the present application, rather than to limit them. Although the present application has been described in detail with reference to the aforementioned embodiments, a person skilled in the art should understand that the technical solutions described in the aforementioned embodiments may still be modified, or some of the technical features may be replaced by equivalents. Such modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present application, and should all be included in the protection scope of the present application.

Claims

1. A vehicle detection method, characterized in that: Applied to RSU, the RSU is communicatively connected with OBU; The vehicle detection method comprises: When it is detected that the vehicle reaches a preset detection area, a function self-test instruction is sent to the OBU, and a function self-test result returned by the OBU is received; When it is detected that the function self-test result is a successful test, a performance test instruction is sent to the OBU, performance test data returned by the OBU is received, and a performance test result is determined based on the performance test data; Generating a vehicle detection result based on the function self-test result and the performance detection result, including: when it is detected that the function self-test result is a detection success and the performance detection result is a normal state, generating a detection result that the vehicle is in a normal working state and displaying it through a display device; otherwise, when it is detected that the function self-test result is a detection failure, terminating the detection program of the OBU, generating prompt information of the OBU function failure, and displaying it through a display device; or, when it is detected that the performance detection result is a detection failure, determining that the OBU has a performance failure, sending the detection result to a detection device, generating performance failure prompt information through the detection device and displaying it through the display device; The performance detection instruction includes a radio frequency performance detection instruction; The sending of the performance detection instruction to the OBU, receiving the performance detection data returned by the OBU, and determining the performance detection result based on the performance detection data include: Sending a radio frequency performance detection instruction to the OBU, and obtaining radio frequency performance detection data returned by the OBU; Determine the sensitivity and transmit power of the OBU based on the radio frequency performance detection data; comparing the sensitivity with a preset sensitivity range, and the transmit power with a preset transmit power range; When it is detected that the sensitivity is not within the preset sensitivity range, adjusting the sensitivity based on the preset sensitivity range until the sensitivity is within the preset sensitivity range; When it is detected that the transmit power is not within the preset transmit power range, adjusting the transmit power based on the preset transmit power range until the transmit power is within the preset transmit power range, and generating a corresponding radio frequency performance detection result based on the sensitivity and the transmit power; Wherein, the radio frequency performance detection instruction includes a plurality of power wake-up data frames, a sleep frame and a power test frame. When it is detected that the function self-test result is a successful detection, a wake-up data frame under a first power is sent to the OBU with a preset duration, and a test response frame returned by the OBU is received when the OBU is awakened. If the test response frame is not received, the first power is enhanced, and the enhanced wake-up data frame under the first power is sent to the OBU with a preset duration, and the transmission power of the wake-up data frame is continuously enhanced until the test response frame is received, and the transmission power at this time is recorded as the first target power; When receiving the test response frame, a sleep frame is sent to the OBU to put the OBU into a sleep state, and a wake-up data frame at a preset interval length, a wake-up data frame at a first target power, a wake-up data frame at a second power, and a wake-up data frame at a third power are set and sent to the OBU one by one until the test response frame is received, and the transmission power at this time is recorded as the second target power, and the operation of transmitting the wake-up data frame at different powers to the OBU is returned to obtain multiple target powers, and the average value of the multiple target powers is determined. Based on a correspondence table between transmission power and receiving sensitivity, a sensitivity corresponding to the average value is obtained as the sensitivity value of the OBU, wherein the third power is greater than the second power, and the second power is greater than the first target power.

2. The vehicle detection method according to claim 1, characterized in that: The performance detection instruction includes a Bluetooth performance detection instruction; The sending of the performance detection instruction to the OBU, receiving the performance detection data returned by the OBU, and determining the performance detection result based on the performance detection data include: Sending a Bluetooth performance detection instruction to the OBU; When the Bluetooth device of the OBU is detected to be started, a pairing connection is established with the Bluetooth device, and Bluetooth test data sent by the Bluetooth device is received; Generate corresponding Bluetooth performance detection results based on the Bluetooth test data.

3. The vehicle detection method according to claim 1, characterized in that: The RSU and OBU communicate based on the DSRC extended protocol; The communication process between the RSU and the OBU includes: Send a test frame to the OBU, and receive a response frame returned by the OBU corresponding to the test frame; Sending a test instruction to the OBU, and receiving a test result corresponding to the test instruction returned by the OBU; A transmission request is sent to the OBU, and a transmission response corresponding to the transmission request is received from the OBU.

4. The vehicle detection method according to claim 1, characterized in that: When the vehicle is detected to reach the preset detection area, a function self-check instruction is sent to the OBU, and after the function self-check result returned by the OBU is received, the method includes: When it is detected that the function self-test result includes that the operating voltage is normal, the chip circuit is normal, and the communication interface is normal, it is determined that the function self-test result is a detection success.

5. A vehicle detection method, characterized in that: Applied to OBU, the OBU is communicatively connected with RSU; The vehicle detection method comprises: Upon receiving a function self-test instruction, performing a test based on the function self-test instruction, obtaining a corresponding function self-test result and sending it to the RSU; Upon receiving a performance detection instruction, performing detection based on the performance detection instruction, obtaining corresponding performance detection data and sending the data to the RSU, so that the RSU generates a performance detection result based on the performance detection data; The RSU generates a vehicle detection result based on the function self-test result and the performance detection result, including: when it is detected that the function self-test result is a detection success and the performance detection result is a normal state, a detection result that the vehicle is in a normal working state is generated and displayed through a display device; otherwise, when it is detected that the function self-test result is a detection failure, the detection program of the OBU is terminated, and prompt information of the OBU function failure is generated and displayed through a display device; or, when it is detected that the performance detection result is a detection failure, the performance failure of the OBU is determined, the detection result is sent to the detection device, and the performance failure prompt information is generated by the detection device and displayed through the display device; The performance detection instruction includes a radio frequency performance detection instruction; When receiving the performance detection instruction, performing detection based on the performance detection instruction, obtaining corresponding performance detection data and sending the data to the RSU, so that the RSU generates a performance detection result based on the performance detection data, including: Upon receiving the radio frequency performance detection instruction, determining sensitivity and transmit power based on the performance detection instruction and sending them to the RSU; Adjust the sensitivity based on the sensitivity adjustment instruction sent by the RSU until the sensitivity is within a preset sensitivity range, and send the sensitivity to the RSU; Adjust the transmit power based on the transmit power adjustment instruction sent by the RSU until the transmit power is within a preset transmit power range, and send the transmit power to the RSU, so that the RSU generates a corresponding radio frequency performance detection result based on the sensitivity and the transmit power; Wherein, the radio frequency performance detection instruction includes a plurality of power wake-up data frames, a sleep frame and a power test frame. When the RSU detects that the function self-test result is a successful detection, the wake-up data frame at the first power is sent to the OBU with a preset duration, and the test response frame returned by the OBU is received when the OBU is awakened. If the test response frame is not received, the first power is enhanced, and the wake-up data frame at the enhanced first power is sent to the OBU with a preset duration, and the transmission power of the wake-up data frame is continuously enhanced until the test response frame is received, and the transmission power at this time is recorded as the first target power; When receiving the test response frame, the RSU sends a sleep frame to the OBU to put the OBU into a sleep state, sets an interval with a preset duration, and sends wake-up data frames at the first target power, the second power, and the third power in order to the OBU one by one until the test response frame is received, records the transmission power at this time as the second target power, returns to execute the operation of transmitting wake-up data frames at different powers to the OBU, obtains multiple target powers, determines the average value of the multiple target powers, and obtains the sensitivity corresponding to the average value based on the correspondence table of transmission power and receiving sensitivity, as the sensitivity value of the OBU, wherein the third power is greater than the second power, and the second power is greater than the first target power.

6. The vehicle detection method according to claim 5, characterized in that: The performance detection instruction includes a Bluetooth performance detection instruction; When receiving the performance detection instruction, performing detection based on the performance detection instruction, obtaining corresponding performance detection data and sending the data to the RSU, so that the RSU generates a performance detection result based on the performance detection data, including: Upon receiving the Bluetooth performance detection instruction, starting the Bluetooth device and initializing it; Establish a pairing connection with the RSU and send Bluetooth test data, so that the RSU generates a corresponding Bluetooth performance detection result based on the Bluetooth test data.

7. The vehicle detection method according to claim 5, characterized in that: When receiving the function self-test instruction, performing detection based on the function self-test instruction, obtaining a corresponding function self-test result and sending it to the RSU, including: Obtaining an operating voltage, and detecting whether the operating voltage is within a preset operating voltage range; When it is detected that the operating voltage is within a preset operating voltage range, obtaining a chip circuit state; When it is detected that the chip circuit state is in a normal state, detecting the working state of the communication interface; When it is detected that the working state of the communication interface is in a normal working state, a corresponding function self-test result is generated.

8. The vehicle detection method according to claim 5, characterized in that: The OBU communicates with the RSU based on a DSRC extended protocol; The communication process between the OBU and the RSU includes: Upon receiving the test frame sent by the RSU, returning a response frame corresponding to the test frame; Upon receiving the test instruction sent by the RSU, returning the test result corresponding to the test instruction; When receiving the transmission request sent by the RSU, a transmission response corresponding to the transmission request is returned.

9. A vehicle detection device, characterized in that: Applied to RSU, the RSU is communicatively connected with OBU; The vehicle detection device comprises: The first detection module is used to send a function self-check instruction to the OBU when detecting that the vehicle reaches a preset detection area, and receive a function self-check result returned by the OBU; A sending module, used for sending a performance test instruction to the OBU when it is detected that the function self-test result is a successful test, receiving the performance test data returned by the OBU, and determining the performance test result based on the performance test data; A generating module, for generating a vehicle detection result based on the function self-test result and the performance detection result, including: when it is detected that the function self-test result is a detection success and the performance detection result is a normal state, generating a detection result that the vehicle is in a normal working state and displaying it through a display device; otherwise, when it is detected that the function self-test result is a detection failure, terminating the detection program of the OBU, generating prompt information of the OBU function failure, and displaying it through a display device; or, when it is detected that the performance detection result is a detection failure, determining that the OBU has a performance failure, sending the detection result to a detection device, generating performance failure prompt information through the detection device, and displaying it through the display device; The performance detection instruction includes a radio frequency performance detection instruction; The sending module comprises: A first sending unit is used to send a radio frequency performance detection instruction to the OBU to obtain radio frequency performance detection data returned by the OBU; A first determining unit, used to determine the sensitivity and transmit power of the OBU based on the radio frequency performance detection data; A comparison unit, used for comparing the sensitivity with a preset sensitivity range, and the transmission power with a preset transmission power range; A first detection unit, configured to adjust the sensitivity based on the preset sensitivity range until the sensitivity is within the preset sensitivity range when detecting that the sensitivity is not within the preset sensitivity range; A second detection unit is configured to, when detecting that the transmit power is not within the preset transmit power range, adjust the transmit power based on the preset transmit power range until the transmit power is within the preset transmit power range, and generate a corresponding radio frequency performance detection result based on the sensitivity and the transmit power; Wherein, the radio frequency performance detection instruction includes a plurality of power wake-up data frames, a sleep frame and a power test frame. When it is detected that the function self-test result is a successful detection, a wake-up data frame under a first power is sent to the OBU with a preset duration, and a test response frame returned by the OBU is received when the OBU is awakened. If the test response frame is not received, the first power is enhanced, and the enhanced wake-up data frame under the first power is sent to the OBU with a preset duration, and the transmission power of the wake-up data frame is continuously enhanced until the test response frame is received, and the transmission power at this time is recorded as the first target power; When receiving the test response frame, a sleep frame is sent to the OBU to put the OBU into a sleep state, and a wake-up data frame at a preset interval length, a wake-up data frame at a first target power, a wake-up data frame at a second power, and a wake-up data frame at a third power are set and sent to the OBU one by one until the test response frame is received, and the transmission power at this time is recorded as the second target power, and the operation of transmitting the wake-up data frame at different powers to the OBU is returned to obtain multiple target powers, and the average value of the multiple target powers is determined. Based on a correspondence table between transmission power and receiving sensitivity, a sensitivity corresponding to the average value is obtained as the sensitivity value of the OBU, wherein the third power is greater than the second power, and the second power is greater than the first target power.

10. A vehicle detection device, characterized in that: Applied to OBU, the OBU is communicatively connected with RSU; The vehicle detection device comprises: A second detection module is used to, upon receiving a function self-test instruction, perform detection based on the function self-test instruction, obtain a corresponding function self-test result and send it to the RSU; A third detection module is used to, upon receiving a performance detection instruction, perform detection based on the performance detection instruction, obtain corresponding performance detection data and send the data to the RSU, so that the RSU generates a performance detection result based on the performance detection data; The device is also used for: The RSU generates a vehicle detection result based on the function self-test result and the performance detection result, including: when it is detected that the function self-test result is a detection success and the performance detection result is a normal state, a detection result that the vehicle is in a normal working state is generated and displayed through a display device; otherwise, when it is detected that the function self-test result is a detection failure, the detection program of the OBU is terminated, and prompt information of the OBU function failure is generated and displayed through a display device; or, when it is detected that the performance detection result is a detection failure, the performance failure of the OBU is determined, the detection result is sent to the detection device, and the performance failure prompt information is generated by the detection device and displayed through the display device; The performance detection instruction includes a radio frequency performance detection instruction; The second detection module includes: A second determining unit is used to determine the sensitivity and the transmit power based on the performance detection instruction when receiving the radio frequency performance detection instruction and send them to the RSU; A first adjustment unit, configured to adjust the sensitivity based on a sensitivity adjustment instruction sent by the RSU until the sensitivity is within a preset sensitivity range, and send the sensitivity to the RSU; A second adjustment unit, configured to adjust the transmit power based on the transmit power adjustment instruction sent by the RSU until the transmit power is within a preset transmit power range, and send the transmit power to the RSU, so that the RSU generates a corresponding radio frequency performance detection result based on the sensitivity and the transmit power; Wherein, the radio frequency performance detection instruction includes a plurality of power wake-up data frames, a sleep frame and a power test frame. When the RSU detects that the function self-test result is a successful detection, the wake-up data frame at the first power is sent to the OBU with a preset duration, and the test response frame returned by the OBU is received when the OBU is awakened. If the test response frame is not received, the first power is enhanced, and the wake-up data frame at the enhanced first power is sent to the OBU with a preset duration, and the transmission power of the wake-up data frame is continuously enhanced until the test response frame is received, and the transmission power at this time is recorded as the first target power; When receiving the test response frame, the RSU sends a sleep frame to the OBU to put the OBU into a sleep state, sets an interval with a preset duration, and sends wake-up data frames at the first target power, the second power, and the third power in order to the OBU one by one until the test response frame is received, records the transmission power at this time as the second target power, returns to execute the operation of transmitting wake-up data frames at different powers to the OBU, obtains multiple target powers, determines the average value of the multiple target powers, and obtains the sensitivity corresponding to the average value based on the correspondence table of transmission power and receiving sensitivity, as the sensitivity value of the OBU, wherein the third power is greater than the second power, and the second power is greater than the first target power.

11. A terminal device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that: When the processor executes the computer program, the method according to any one of claims 1 to 4 or 5 to 8 is implemented.

12. A computer-readable storage medium storing a computer program, characterized in that: When the computer program is executed by a processor, the method according to any one of claims 1 to 4 or 5 to 8 is implemented.

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