V2X equipment main body identification method, vehicle-mounted device, roadside equipment and storage medium

Abstract

The present invention provides a V2X device main body identification method, which is applied to a vehicle-mounted device, including: obtaining the identity identification information of a target device main body located within a preset range around itself; comparing the identity identification information of the target device main body with a preset V2X message source database, wherein the V2X message source database pre-stores the identity identification information of at least one V2X device main body; if the identity identification information of the target device main body is stored in the V2X message source database, identifying the target device main body as a V2X device; if the identity identification information of the target device main body is not stored in the V2X message source database, identifying the target device main body as a non-V2X device. The present invention also provides a vehicle-mounted device, a roadside device and a storage medium, and the present invention relates to the field of communication technology.

Description

Technical Field

[0001] The present invention relates to the field of communication technology, and in particular to a V2X device subject identification method, a vehicle-mounted device, a roadside device and a storage medium. Background Art

[0002] With the rapid development of communication technology, wireless communication technology has also found new application scenarios, among which the most typical one is vehicle networking technology. Vehicle to Everything (V2X) technology enables communication between vehicles, vehicles and base stations, and base stations, so that vehicles can obtain a series of traffic information such as real-time road conditions, road and pedestrian information, thereby improving driving safety, reducing congestion, and improving traffic efficiency. However, the development of V2X is a gradual process, and even if most vehicles and pedestrians basically realize V2X communication capabilities in the future, there will always be non-V2X devices that cannot communicate with the outside world. Imagine if most vehicles realize V2X-based autonomous driving, they can directly use V2X to warn each other about vehicle traffic information, but pedestrians and vehicles that do not support V2X communication cannot communicate with V2X devices. Pedestrians and vehicles that do not support V2X communication will bring great safety risks to road traffic. Therefore, in the entire V2X ecosystem, how to identify and warn non-V2X devices is a technical problem that needs to be solved urgently. Summary of the invention

[0003] The present invention aims to solve one of the above-mentioned technical problems and provides a V2X device subject identification method, a vehicle-mounted device, a roadside device and a storage medium.

[0004] In a first aspect, the present invention provides a V2X device subject identification method, which is applied to a vehicle-mounted device, comprising:

[0005] Obtain the identity information of the target device subject within a preset range around itself;

[0006] Comparing the identity information of the target device subject with a preset V2X message source database, wherein the V2X message source database pre-stores the identity information of at least one V2X device subject;

[0007] If the V2X message source database stores the identity information of the target device subject, identifying the target device subject as a V2X device;

[0008] If the identity information of the target device entity is not stored in the V2X message source database, it is identified that the target device entity is a non-V2X device.

[0009] In some embodiments, the method further comprises:

[0010] Receiving an identity identification message broadcast by a first V2X device entity;

[0011] Parsing the identity identification message to obtain identity information of the first V2X device entity;

[0012] The identity information of the first V2X device entity is updated and stored in the V2X message source database.

[0013] In some embodiments, the method further comprises:

[0014] Receiving a non-V2X device subject list sent by a roadside device, wherein the non-V2X device subject list stores identity information of at least one non-V2X device subject;

[0015] Before the step of comparing the identity information of the target device body with a preset V2X message source database, the method further includes:

[0016] Comparing the identity information of the target device subject with the list of non-V2X device subjects;

[0017] If the identity information of the target device entity is stored in the non-V2X device entity list, identifying the target device entity as a non-V2X device;

[0018] If the identity information of the target device entity is not stored in the non-V2X device entity list, the step of comparing the identity information of the target device entity with the preset V2X message source database is continued.

[0019] In some embodiments, after the step of identifying that the target device body is a non-V2X device, the method further includes:

[0020] The identity information of the target device body is broadcasted so that the roadside device can update the identity information of the target device body to its own non-V2X device body list.

[0021] In some embodiments, after the step of identifying that the target device body is a non-V2X device, the method further includes:

[0022] Send out warning information or send out instructions to the control system to adjust the vehicle distance.

[0023] In some embodiments, before the step of comparing the identity information of the target device body with a preset V2X message source database, the method further includes:

[0024] Comparing the identity information of the target device with a preset whitelist, wherein the preset whitelist stores the identity information of at least one device that does not need to be identified;

[0025] If the identity information of the target device body is not stored in the preset whitelist, the step of comparing the identity information of the target device body with the preset V2X message source database is continued.

[0026] In some embodiments, the method further comprises:

[0027] The identity identification message of the device is broadcasted at a preset period, wherein the identity identification message includes: identity identification information.

[0028] In a second aspect, the present invention provides a V2X device subject identification method, which is applied to a roadside device, comprising:

[0029] Obtain the identity information of the device subject within its jurisdiction;

[0030] Detecting whether a V2X message sent by the home device is received within a preset time period;

[0031] If it is detected that a V2X message sent by the belonging device body is received within a preset time period, the belonging device body is identified as a V2X device;

[0032] If it is detected that the V2X message sent by the home device body is not received within the preset time period, the home device body is identified as a non-V2X device.

[0033] In some embodiments, after the step of identifying that the home device body is a non-V2X device, the method further includes:

[0034] Update the identity information of the belonging device subject to the preset non-V2X device subject list.

[0035] In some embodiments, the method further comprises:

[0036] In response to at least one of the non-V2X device entities recorded in the non-V2X device entity list leaving the area under its jurisdiction, deleting the identity information of the non-V2X device entity that has left the area under its jurisdiction from the non-V2X device entity list.

[0037] In a third aspect, the present invention provides a vehicle-mounted device, comprising:

[0038] An acquisition module is used to acquire the identity information of a target device body within a preset range around itself;

[0039] a comparison and identification module, configured to compare the identity information of the target device body with a preset V2X message source database, and identify the target device body as a V2X device when the comparison shows that the identity information of the target device body is stored in the V2X message source database, and identify the target device body as a non-V2X device when the comparison shows that the identity information of the target device body is not stored in the V2X message source database;

[0040] The V2X message source database is used to pre-store the identity information of at least one V2X device entity.

[0041] In a fourth aspect, the present invention provides a roadside device, comprising:

[0042] An acquisition module is used to acquire the identity information of the belonging device subject in the area under its jurisdiction;

[0043] The detection and identification module is used to detect whether a V2X message sent by the belonging device body is received within a preset time period, and when it is detected that the V2X message sent by the belonging device body is received within the preset time period, identify the belonging device body as a V2X device; when it is detected that the V2X message sent by the belonging device body is not received within the preset time period, identify the belonging device body as a non-V2X device.

[0044] In a fifth aspect, the present invention provides a storage medium for computer-readable storage, wherein the storage medium stores one or more programs, and the one or more programs can be executed by one or more processors to implement the V2X device subject identification method described in the first aspect or the V2X device subject identification method described in the second aspect of the present invention.

[0045] The V2X device subject identification method, vehicle-mounted device, roadside device and storage medium provided by the present invention can quickly identify whether the surrounding device subject is a V2X device by collecting the identification information of the device subjects around the device in real time and comparing it with the pre-stored V2X message source, thereby being able to promptly discover possible safety hazards during driving and provide reliable driving strategy guidance for autonomous driving. BRIEF DESCRIPTION OF THE DRAWINGS

[0046] Figure 1 A schematic diagram of the structure of a V2X system according to the present invention;

[0047] Figure 2 is a flow chart of a V2X device subject identification method provided by the present invention;

[0048] Figure 3 A flowchart of another V2X device subject identification method provided by the present invention;

[0049] Figure 4 A flowchart of another V2X device subject identification method provided by the present invention;

[0050] Figure 5 A flowchart of another V2X device subject identification method provided by the present invention;

[0051] Figure 6 A flowchart of another V2X device subject identification method provided by the present invention;

[0052] Figure 7 A schematic diagram of the structure of a vehicle-mounted device provided by the present invention;

[0053] Figure 8 A schematic structural diagram of a roadside equipment provided by the present invention. DETAILED DESCRIPTION

[0054] In order to enable those skilled in the art to better understand the technical solution of the present invention, the V2X device subject identification method, vehicle-mounted device, roadside equipment and storage medium provided by the present invention are described in detail below with reference to the accompanying drawings.

[0055] Example embodiments will be described more fully below with reference to the accompanying drawings, but the example embodiments may be embodied in different forms and should not be construed as limited to the embodiments set forth herein. On the contrary, the purpose of providing these embodiments is to make the present invention thorough and complete and to enable those skilled in the art to fully understand the scope of the present invention.

[0056] The terms used herein are only used to describe specific embodiments and are not intended to limit the present invention. As used herein, the singular forms "a", "an" and "the" are also intended to include the plural forms, unless the context clearly indicates otherwise. It will also be understood that when the terms "comprising" and / or "made of" are used in this specification, the presence of the features, wholes, steps, operations, elements and / or components is specified, but the presence or addition of one or more other features, wholes, steps, operations, elements, components and / or groups thereof is not excluded.

[0057] It will be understood that although the terms first, second, etc. may be used herein to describe various elements / instructions / requests, these elements / instructions / requests should not be limited to these terms. These terms are only used to distinguish one element element / instruction / request from another element element / instruction / request.

[0058] Unless otherwise defined, all terms (including technical and scientific terms) used herein have the same meaning as commonly understood by those of ordinary skill in the art. It will also be understood that terms such as those defined in commonly used dictionaries should be interpreted as having a meaning consistent with their meaning in the context of the relevant art and the present invention, and will not be interpreted as having an idealized or overly formal meaning unless explicitly defined as such herein.

[0059] The V2X device subject identification method provided by the present invention is used to distinguish whether the device subject existing in the surrounding environment is a V2X device, and is particularly suitable for smooth progress in the development of V2X technology. By distinguishing whether the device subject is a V2X device, it can provide safety strategy guidance for V2X-based autonomous driving, thereby improving traffic safety.

[0060] The V2X device subject identification method provided by the present invention is applicable to a V2X system. Figure 1 A schematic diagram of the structure of a V2X system according to the present invention is shown in FIG. Figure 1 As shown, the V2X system includes: a cloud platform 11, a roadside device 12, a vehicle-mounted device 13 and a pedestrian device 14.

[0061] Among them, the cloud platform 11 includes functions such as traffic system management, signal management, and security policy server, providing cloud management functions for the V2X system to ensure that the V2X system can carry out secure communication and various safety facilities, such as the traffic light system, can be managed through cloud signal machines to set reasonable waiting times for each traffic light on the road, ensuring reasonable traffic scheduling at intersections.

[0062] The roadside equipment 12 provides V2X and wireless connection capabilities for infrastructure, such as roadside traffic lights, cameras, various ETC devices, etc. The roadside equipment can provide V2X-based information broadcasting, such as traffic light times, intersection speed limit information, traffic congestion conditions, and can also provide vehicles with high-precision positioning and other services.

[0063] The on-board device 13 is an electronic device installed on the vehicle, usually a TBOX, TCAN or a car computer, which includes V2X equipment and non-V2X equipment, and usually has vehicle signal and information collection functions. The on-board device belonging to the V2X device can provide the vehicle with V2X connection capability and wireless Internet connection capability, wherein the Internet connection module (such as a 5G / 4G module) is an optional device. In some scenarios or settings, there may only be a V2X module and no wireless Internet (such as a 5G / 4G module) is configured. Through V2X communication, it provides or receives warning information for the owner to view, and can also provide control of some auxiliary functions of the vehicle, as well as interact and share information with the vehicle's automatic driving system, and provide information input and network connection for the automatic driving system. After entering the jurisdiction of the roadside device 12, the on-board device 13 can be identified by the roadside device 12, wherein vehicles belonging to the V2X device can communicate with the roadside device 12, but vehicles belonging to the non-V2X device cannot exchange messages with the roadside device.

[0064] Pedestrian equipment 14 refers to non-vehicle individuals in the traffic system, specifically, equipment carried by non-vehicle individuals, including V2X equipment and non-V2X equipment. Pedestrians can communicate V2X information with other vehicles through the V2X equipment they carry with them, or they can communicate V2X with other vehicles through other external V2X equipment, such as when a bicycle with V2X communication is used by an individual.

[0065] Figure 2 A flowchart of a V2X device subject identification method provided by the present invention. The method is based on Figure 1 The vehicle-mounted device 13 is implemented in the method, comprising:

[0066] Step S101: Acquire the identity information of the target device body within a preset range around itself.

[0067] When the vehicle is driving, it collects the identity information of the target device body within a preset range around itself in real time. Specifically, the vehicle can collect the information of the vehicles and pedestrians in front, behind, left and right of it. In actual applications, the collection can be based on a variety of methods. In this embodiment, when collecting the identity information of the surrounding vehicles, the vehicle can be scanned, sensed and obtained through various sensors carried by the vehicle. For example, the license plate information of the vehicles in front and behind can be photographed by its own camera, and then the license plate information is analyzed to extract the license plate number of the vehicle from the license plate information, and the license plate number is used as the identity information of the target device body. In addition, other sensors can be used to obtain the QR code information of the shared vehicle to obtain the identity information of the single vehicle. When extracting the identity information of the target device body that is not a vehicle device, the situation of the surrounding pedestrians can be perceived by using short-range communication technologies such as cameras or Bluetooth. In this embodiment, the SSID of the surrounding devices can be scanned based on WIFI, and the SSID can be used as the identity information of the pedestrians.

[0068] In this embodiment, after the identity information of the surrounding target device bodies is collected, the identity information of each target device body is structured and stored in a preset peripheral device database, so that the target device body can be subsequently marked as a V2X device in the database.

[0069] Step S102: compare the identity information of the target device with the preset V2X message source database.

[0070] The V2X message source database is a pre-set database, which stores the identity information of at least one V2X device subject. The identity information of the at least one V2X device subject is the identity information of the device subject that performs V2X communication with the device and is obtained by the device within a certain period of time before the current moment.

[0071] Specifically, when it is compared that the V2X message source database stores the identity information of the target device subject, it means that the target device subject is a V2X device, and step S103 is executed at this time; when it is compared that the V2X message source database does not store the identity information of the target device subject, it means that the target device subject is a non-V2X device, and step S104 is executed at this time.

[0072] Step S103: Identify that the target device is a V2X device.

[0073] Step S104: Identify that the target device is a non-V2X device.

[0074] In this embodiment, after the target device body is identified as a V2X device, the target device body is marked in the surrounding device database, that is, when the target device body is a V2X device, the target device body is marked as a V2X device in the surrounding device database; when the target device body is a non-V2X device, the target device body is marked as a non-V2X device in the surrounding device database.

[0075] The V2X device subject identification method provided by the present invention enables the on-board device to quickly determine whether the device subject in the surrounding area is a V2X device by collecting the identity information of the device subject in the surrounding area in real time and comparing it with the identity information of the V2X device stored in advance, thereby being able to promptly discover the potential safety hazards in the driving process, and providing reliable driving strategy guidance for autonomous driving.

[0076] In the present invention, an identity identification message is defined for a device body with a V2X communication function, and the identity identification message is used to identify the device body with a V2X communication function. Specifically, the identity identification message should at least include: the identity identification information of the device; in addition, it may also include: the identity identification information of neighboring devices, the direction of the device, the coordinates of the device, and the speed of the device, among which the identity identification information of the neighboring devices may specifically include: the identity identification information of the device in front, the identity identification information of the device behind, and the identity identification information of surrounding pedestrians.

[0077] In the present invention, the device body with V2X communication function will broadcast its own identity identification message according to a preset period. After receiving the identity identification message, other V2X devices determine that the device body sending the identity identification message is a V2X device.

[0078] In some embodiments, the information in the V2X message source database in the above step S102 of the present invention can be obtained based on the following method: receiving an identity identification message broadcast by a first V2X device body, parsing the identity identification message to obtain the identity identification information of the first V2X device body, and updating and storing the identity identification information of the first V2X device body in the V2X message source database. The first V2X device body is a V2X device within the V2X communication range around the device.

[0079] Figure 3 Another V2X device subject identification method provided by the present invention is as follows: Figure 3 As shown, this method Figure 2 Based on the method shown, it also includes:

[0080] Step S100: Receive a list of non-V2X device entities sent by a roadside device.

[0081] In the present invention, in the V2X system, the roadside device also maintains a non-V2X device subject list, which stores the identity information of at least one non-V2X device subject, and the identity information of the at least one non-V2X device subject refers to the identity information of the non-V2X device subject that may currently exist in the area under the jurisdiction of the roadside device. The roadside device broadcasts the non-V2X device subject list maintained by itself at a certain time interval, and when a vehicle enters its jurisdiction area, it receives the non-V2X device subject list, so as to refer to the non-V2X device subject list to judge whether the determined target device subject is a V2X device.

[0082] In this embodiment, based on the above step S100, before step S102, the following steps are further included:

[0083] Step S102a: compare the identity information of the target device subject with the list of non-V2X device subjects.

[0084] In this embodiment, when this device receives a list of non-V2X device entities sent by a roadside device during driving, after collecting the identity information of the target device entity, it first determines whether the target device entity is a V2X device based on the received list of non-V2X device entities. When it is determined that the target device entity does not exist in the received list of non-V2X device entities, it performs a real-time judgment based on its own preset V2X message source database, thereby improving the efficiency of judgment.

[0085] Specifically, in step S102a, when it is found that the identity information of the target device subject is stored in the non-V2X device subject list, step S104 is executed, that is, the target device subject is determined to be a non-V2X device, and when it is found that the identity information of the target device subject is not stored in the non-V2X device subject list, step S102 is continued to be executed to perform real-time judgment.

[0086] In some embodiments, after the device identifies that the main body of the target device around it is a non-V2X device, it can take certain measures to intervene in the driving state of the device, for example, issuing an alarm message, that is, notifying the early warning system of the device to issue an early warning reminder, which can be specifically reminded through screen prompts or vibrations. The alarm message is used to notify the driver that there are non-V2X devices around, and to pay attention to keeping a safe distance. For another example, an instruction to adjust the distance can be issued, that is, in the automatic driving state, the vehicle can directly control the vehicle control system to issue an instruction to adjust the distance to ensure the reliability of automatic driving.

[0087] In addition, in some embodiments, after the device identifies that the surrounding target device body is a non-V2X device, the device may also broadcast the identity information of the target device body so that the roadside device can update the identity information of the target device body to its own non-V2X device body list.

[0088] Figure 4 A flowchart of another V2X device subject identification method provided by the present invention is as follows: Figure 4 As shown, in this embodiment Figure 2 Based on the embodiment shown, before step S102, the method further includes:

[0089] Step S102b: compare the identity information of the target device subject with the preset whitelist.

[0090] In this embodiment, a whitelist is pre-set in the vehicle equipment, and the whitelist stores the identity information of at least one device that does not need to be identified. For example, if a passenger in the vehicle carries a V2X device, the V2X device cannot pose a safety hazard to the vehicle's driving and should therefore be added to the whitelist.

[0091] In step S102b, if it is found that the identity information of the target device body is not stored in the preset whitelist, it means that the current target device body needs to be identified and processed. At this time, step S102 should be executed to identify the target device body. If it is found that the identity information of the target device body is stored in the preset whitelist, it means that the target device body cannot pose a threat to the driving of this device, and no identification processing is required. At this time, the process should be terminated.

[0092] It should be noted that in the above-mentioned embodiment of the present invention, when the vehicle-mounted device receives the non-V2X device entity list sent by the roadside device and is also provided with a whitelist, after collecting the identity identification information of the surrounding target device entities, the vehicle-mounted device will first use the whitelist to verify the target device entity, and then identify and process the target device entity based on the non-V2X device entity list sent by the roadside device, and finally identify and process the target device entity based on its own preset V2X message source database. Based on this processing order, the target device entity can be quickly and accurately identified and processed.

[0093] Figure 5 Another V2X device main body identification method provided by the present invention is based on Figure 1 The roadside equipment 12 in the embodiment is used as the execution subject, such as Figure 5 As shown, the method includes:

[0094] Step S201: Acquire the identity information of the main body of the device within the area under its jurisdiction.

[0095] In this embodiment, when the device body enters the area under the jurisdiction of the roadside device, the roadside device can scan and sense the device body through sensors and other devices. For example, for vehicles entering the area under its jurisdiction, the vehicle license plate information can be photographed by a camera, and the license plate number can be extracted as the vehicle's identity information. For pedestrian devices, WIFI can be used to scan the SSID of the device it carries as the identity information of the pedestrian device, and so on.

[0096] In this embodiment, the roadside equipment may store the acquired identity information of the belonging equipment subject within the jurisdiction in a structured manner into a preset belonging equipment database to facilitate subsequent identification.

[0097] Step S202: Detect whether a V2X message sent by the home device is received within a preset time period.

[0098] In actual applications, when the device body entering the area under the jurisdiction of the roadside device is a V2X device, the V2X device will communicate with the roadside device based on V2X communication, while non-V2X devices cannot communicate with the roadside device. Based on this, the roadside device can determine whether the belonging device body is a V2X device by detecting whether it has received the V2X message sent by the belonging device body determined in step S201 within a preset time period. It should be noted that in this embodiment, the V2X message includes not only the identity recognition message broadcast by the V2X device, but also other interactive messages containing various communication data between the V2X device and the roadside device based on V2X communication.

[0099] Specifically, in step S202, when it is detected that a V2X message sent by the belonging device body is received within a preset time period, it means that the belonging device body can communicate based on V2X, and step S203 is executed at this time. When it is detected that the V2X message sent by the belonging device body is not received within the preset time period, it means that the belonging device body cannot communicate based on V2X, and step S204 is executed at this time.

[0100] Step S203: Identify that the main body of the home device is a V2X device.

[0101] Step S204: Identify that the main body of the home device is a non-V2X device.

[0102] In this embodiment, after the identification of the belonging device body is completed, the belonging device can be identified in the belonging device database. Specifically, when the belonging device body is identified as a V2X device, it is identified as a V2X device. When the belonging device body is identified as a non-V2X device, it is identified as a non-V2X device.

[0103] In the V2X device identification method provided in this embodiment, the roadside device collects the identity identification information of the belonging device body within the jurisdiction, and after detecting that it has received the V2X message sent by the belonging device body within a preset time period, it determines the belonging device body as a V2X device, and after detecting that it has not received the V2X message sent by the belonging device body within the preset time period, it determines the belonging device body as a non-V2X device, thereby being able to quickly identify possible safety hazards in the jurisdiction, and further provide reliable driving strategy guidance for autonomous driving in the jurisdiction.

[0104] Figure 6 A flowchart of another V2X device subject identification method provided by the present invention is as follows: Figure 6 As shown, in this embodiment Figure 5 Based on the embodiment shown, after step S204, the method further includes:

[0105] Step S205: Update the identity information of the belonging device subject to the preset non-V2X device subject list.

[0106] In this embodiment, after the roadside device determines that the main body of the belonging device is a non-V2X device, the identity identification information of the main body of the belonging device is updated to a preset non-V2X device main body list, so that the roadside device can broadcast the non-V2X device main body list, so that the main devices in the jurisdiction can refer to the non-V2X device main body list to identify and process the surrounding target device main bodies.

[0107] In some embodiments, when the roadside device detects that a device body within its jurisdiction has left the jurisdiction, the roadside device detects whether the identity information of the device body has been recorded in the non-V2X device body list. When it is detected that the identity information of the device body has been recorded in the non-V2X device body list, after the device body leaves, the identity information of the device body is deleted from the non-V2X device body list to complete the maintenance of the maintained non-V2X device body list.

[0108] In addition, in the present invention, after determining the non-V2X device entity list, the roadside device also uploads the non-V2X device entity list to the cloud platform, so that the cloud platform can further analyze the safety level of the device entities recorded in the non-V2X device entity list, such as violation records, driving habits, etc., thereby further providing a data basis for the security of the entire V2X system.

[0109] Figure 7 A schematic diagram of the structure of a vehicle-mounted device provided by the present invention, which is used to implement the present invention Figure 1 The V2X device subject identification method shown in FIG. Figure 7As shown, the vehicle-mounted device includes: an acquisition module 21, a comparison and identification module 22 and a V2X message source database 23.

[0110] Among them, the acquisition module 21 is used to obtain the identity information of the target device body located within a preset range around itself; the comparison and identification module 22 is used to compare the identity information of the target device body with the preset V2X message source database, and when it is compared that the identity information of the target device body is stored in the V2X message source database, the target device body is identified as a V2X device; when it is compared that the identity information of the target device body is not stored in the V2X message source database, the target device body is identified as a non-V2X device; the V2X message source database 23 is used to pre-store the identity information of at least one V2X device body.

[0111] Figure 8 A schematic diagram of the structure of a roadside device provided by the present invention, which is used to implement the present invention Figure 5 The V2X device subject identification method shown in FIG. Figure 8 As shown, the roadside equipment includes: an acquisition module 31 and a detection and identification module 32.

[0112] Among them, the acquisition module 31 is used to obtain the identity information of the belonging device body located in the area under its jurisdiction; the detection and identification module 32 is used to detect whether the V2X message sent by the belonging device body is received within the preset time period, and when it is detected that the V2X message sent by the belonging device body is received within the preset time period, the belonging device body is identified as a V2X device; when it is detected that the V2X message sent by the belonging device body is not received within the preset time period, the belonging device body is identified as a non-V2X device.

[0113] The present invention also provides a storage medium for computer-readable storage, wherein the storage medium stores one or more programs, and the one or more programs can be executed by one or more processors to implement the V2X device subject identification method of the present invention with the vehicle-mounted device as the execution subject or the V2X device subject identification method of the present invention with the roadside device as the execution subject.

[0114] It will be appreciated by those skilled in the art that all or some of the steps, systems, and functional modules / units in the methods disclosed above may be implemented as software, firmware, hardware, and appropriate combinations thereof. In hardware implementations, the division between the functional modules / units mentioned in the above description does not necessarily correspond to the division of physical components; for example, a physical component may have multiple functions, or a function or step may be performed by several physical components in cooperation. Some or all physical components may be implemented as software executed by a processor, such as a central processing unit, a digital signal processor, or a microprocessor, or implemented as hardware, or implemented as an integrated circuit, such as an application-specific integrated circuit. Such software may be distributed on a computer-readable medium, which may include a computer storage medium (or non-transitory medium) and a communication medium (or temporary medium). As known to those skilled in the art, the term computer storage medium includes volatile and non-volatile, removable and non-removable media implemented in any method or technology for storing information (such as computer-readable instructions, data structures, program modules, or other data). Computer storage media include, but are not limited to, RAM, ROM, EEPROM, flash memory or other memory technology, CD-ROM, digital versatile disks (DVD) or other optical disk storage, magnetic cassettes, magnetic tapes, magnetic disk storage or other magnetic storage devices, or any other medium that can be used to store the desired information and can be accessed by a computer. In addition, it is well known to those of ordinary skill in the art that communication media typically contain computer-readable instructions, data structures, program modules, or other data in a modulated data signal such as a carrier wave or other transport mechanism, and may include any information delivery media.

[0115] Example embodiments have been disclosed herein, and although specific terms are employed, they are used and should be interpreted only in a general illustrative sense and not for limiting purposes. In some instances, it will be apparent to those skilled in the art that, unless otherwise expressly stated, features, characteristics, and / or elements described in conjunction with a particular embodiment may be used alone or in combination with features, characteristics, and / or elements described in conjunction with other embodiments. Therefore, it will be understood by those skilled in the art that various changes in form and detail may be made without departing from the scope of the invention as set forth in the appended claims.

Claims

1. A V2X device subject identification method is applied to a vehicle-mounted device, wherein: include: Obtain the identity information of the target device subject within a preset range around itself; Comparing the identity information of the target device subject with a preset V2X message source database, wherein the V2X message source database pre-stores the identity information of at least one V2X device subject; If the V2X message source database stores the identity information of the target device subject, identifying the target device subject as a V2X device; If the identity information of the target device entity is not stored in the V2X message source database, it is identified that the target device entity is a non-V2X device.

2. The method according to claim 1, wherein: The method further comprises: Receiving an identity identification message broadcast by a first V2X device entity; Parsing the identity identification message to obtain identity information of the first V2X device entity; The identity information of the first V2X device entity is updated and stored in the V2X message source database.

3. The method according to claim 1, wherein: The method further comprises: Receiving a non-V2X device subject list sent by a roadside device, wherein the non-V2X device subject list stores identity information of at least one non-V2X device subject; Before the step of comparing the identity information of the target device body with a preset V2X message source database, the method further includes: Comparing the identity information of the target device subject with the list of non-V2X device subjects; If the identity information of the target device entity is stored in the non-V2X device entity list, identifying the target device entity as a non-V2X device; If the identity information of the target device entity is not stored in the non-V2X device entity list, the step of comparing the identity information of the target device entity with the preset V2X message source database is continued.

4. The method according to any one of claims 1 to 3, wherein: After the step of identifying that the target device body is a non-V2X device, the method further includes: The identity information of the target device body is broadcasted so that the roadside device can update the identity information of the target device body to its own non-V2X device body list.

5. The method according to any one of claims 1 to 3, wherein: After the step of identifying that the target device body is a non-V2X device, the method further includes: Send out warning information or send out instructions to the control system to adjust the vehicle distance.

6. The method according to claim 1, wherein: Before the step of comparing the identity information of the target device body with a preset V2X message source database, the method further includes: Comparing the identity information of the target device with a preset whitelist, wherein the preset whitelist stores the identity information of at least one device that does not need to be identified; If the identity information of the target device body is not stored in the preset whitelist, the step of comparing the identity information of the target device body with the preset V2X message source database is continued.

7. The method according to claim 1, wherein: The method further comprises: The identity identification message of the device is broadcasted at a preset period, wherein the identity identification message includes: identity identification information.

8. A V2X device subject identification method, applied to roadside equipment, wherein: include: Obtain the identity information of the device subject within its jurisdiction; Detecting whether a V2X message sent by the home device is received within a preset time period; If it is detected that a V2X message sent by the belonging device body is received within a preset time period, the belonging device body is identified as a V2X device; If it is detected that the V2X message sent by the home device body is not received within the preset time period, the home device body is identified as a non-V2X device.

9. The method according to claim 8, wherein: After the step of identifying that the home device body is a non-V2X device, the method further includes: Update the identity information of the belonging device subject to the preset non-V2X device subject list.

10. The method according to claim 9, wherein: The method further comprises: In response to at least one of the non-V2X device entities recorded in the non-V2X device entity list leaving the area under its jurisdiction, deleting the identity information of the non-V2X device entity that has left the area under its jurisdiction from the non-V2X device entity list.

11. A vehicle-mounted device, wherein: include: An acquisition module is used to acquire the identity information of a target device body within a preset range around itself; a comparison and identification module, configured to compare the identity information of the target device body with a preset V2X message source database, and identify the target device body as a V2X device when the comparison shows that the identity information of the target device body is stored in the V2X message source database, and identify the target device body as a non-V2X device when the comparison shows that the identity information of the target device body is not stored in the V2X message source database; The V2X message source database is used to pre-store the identity information of at least one V2X device entity.

12. A roadside device, wherein: include: An acquisition module is used to acquire the identity information of the belonging device subject in the area under its jurisdiction; The detection and identification module is used to detect whether a V2X message sent by the belonging device body is received within a preset time period, and when it is detected that the V2X message sent by the belonging device body is received within the preset time period, identify the belonging device body as a V2X device; when it is detected that the V2X message sent by the belonging device body is not received within the preset time period, identify the belonging device body as a non-V2X device.

13. A storage medium for computer-readable storage, wherein: The storage medium stores one or more programs, and the one or more programs can be executed by one or more processors to implement the V2X device subject identification method as described in any one of claims 1 to 7 or the V2X device subject identification method as described in any one of claims 8 to 10.

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