A vehicle control method and device based on roadside unit

Abstract

The present application relates to the field of autonomous driving technology, and in particular to a vehicle control method and device based on a roadside unit. The method includes: obtaining the preset driving route information of the current vehicle, the preset driving route information includes a target roadside unit sequence, and the target roadside unit sequence is a sequence formed by the roadside unit information of the roadside units passed in the preset driving route; in the driving process of the current vehicle based on the preset driving route information, obtaining the current roadside unit information of the current roadside unit passed by the current vehicle; based on the target roadside unit sequence and the current roadside unit information, performing driving trajectory detection on the current vehicle to obtain a driving trajectory detection result; and controlling the operation of the current vehicle based on the driving trajectory detection result. The present application effectively judges the safe state of driving, avoids false positioning interference caused by unstable positioning signals or positioning signals being attacked, and improves the safety of autonomous driving.

Description

Technical Field

[0001] The present application relates to the field of autonomous driving technology, and in particular to a vehicle control method and device based on a roadside unit. Background Art

[0002] The global navigation satellite system represented by GPS, GLONASS, Galileo and BeiDou can provide high-precision navigation, positioning and timing services to users around the world. It has been widely used in transportation, communications, electricity, finance and other fields, and has become one of the foundations of the modern information society.

[0003] However, due to the weak signal of satellite navigation, the open signal structure and the time-sensitive system, it is very susceptible to various interferences, which can cause the navigation device to output wrong positioning results, thus affecting the control safety of the autonomous driving vehicle. For example, deception interference is one of the most common and threatening interferences. By broadcasting false navigation signals, not only can the navigation device output wrong positioning results, but it can also output controlled positioning results according to the attacker's intention, seriously affecting the safe application of the navigation system. Therefore, it is necessary to provide a vehicle control solution to prevent the vehicle from being interfered with during the autonomous driving process, so as to improve the safety of autonomous driving. Summary of the invention

[0004] In view of the above-mentioned problems in the prior art, the present application provides a vehicle control method and device based on a roadside unit to solve the technical problem of low safety of autonomous driving in the prior art.

[0005] On the one hand, the present application provides a vehicle control method based on a roadside unit, the method comprising:

[0006] Acquire preset driving route information of the current vehicle, wherein the preset driving route information includes a target roadside unit sequence, wherein the target roadside unit sequence is a sequence formed by roadside unit information of roadside units passing through the preset driving route;

[0007] During the driving process of the current vehicle based on the preset driving route information, obtaining current roadside unit information of the current roadside unit passed by the current vehicle;

[0008] Based on the target roadside unit sequence and the current roadside unit information, performing driving trajectory detection on the current vehicle to obtain a driving trajectory detection result;

[0009] The current vehicle operation is controlled based on the driving trajectory detection result.

[0010] Furthermore, before controlling the current vehicle operation based on the driving trajectory detection result, the method further includes:

[0011] During the driving process of the current vehicle based on the preset driving route information, obtaining the roadside unit position information of the current roadside unit passed by the current vehicle and the current position information of the current vehicle when passing by the current roadside unit;

[0012] Compare the current position information with the roadside unit position information to obtain a vehicle position comparison result;

[0013] The controlling the current vehicle operation based on the driving trajectory detection result comprises:

[0014] The current vehicle operation is controlled based on the driving track detection result and the current vehicle position comparison result.

[0015] Furthermore, before controlling the current vehicle operation based on the driving trajectory detection result, the method further includes:

[0016] During the driving process of the current vehicle based on the preset driving route information, obtaining the current position information of the current vehicle;

[0017] Determine the reference roadside unit information that the current vehicle is currently passing through based on the current position information;

[0018] Compare the reference roadside unit information with the current roadside unit information to obtain a roadside information comparison result;

[0019] The controlling the current vehicle operation based on the driving trajectory detection result comprises:

[0020] The current vehicle operation is controlled based on the driving trajectory detection result and the roadside information comparison result.

[0021] Further, the performing driving trajectory detection on the current vehicle based on the target roadside unit sequence and the current roadside unit information to obtain the driving trajectory detection result includes:

[0022] Matching the current roadside unit information with the target roadside unit sequence;

[0023] In a case where the target roadside unit sequence does not match the current roadside unit information, determining that the driving trajectory detection result is a trajectory abnormality;

[0024] The controlling the current vehicle operation based on the driving trajectory detection result comprises:

[0025] When the driving trajectory detection result is an abnormal trajectory, updating the preset driving route information;

[0026] The current vehicle is controlled to travel based on the updated travel route information.

[0027] Furthermore, the method further includes: generating a location spoofing attack warning when the current vehicle position comparison result is a position inconsistency.

[0028] Further, the controlling the current vehicle operation based on the driving trajectory detection result and the current vehicle position comparison result includes:

[0029] When the current vehicle position comparison result is inconsistent with the position and / or the driving trajectory detection result is abnormal, the preset driving route information is updated;

[0030] The current vehicle is controlled to travel based on the updated travel route information.

[0031] Furthermore, the method further includes: generating a location spoofing attack warning when the roadside information comparison result is that the roadside information is inconsistent.

[0032] Further, the controlling the current vehicle operation based on the driving trajectory detection result and the roadside information comparison result includes:

[0033] When the roadside information comparison result is that the roadside information is inconsistent and / or the driving trajectory detection result is that the trajectory is abnormal, the preset driving route information is updated;

[0034] The current vehicle is controlled to travel based on the updated travel route information.

[0035] Furthermore, the method further comprises:

[0036] During the driving process of the vehicle based on the preset driving route information of the current vehicle, collecting driving road conditions;

[0037] When the driving road condition meets the preset abnormal road condition, updating the preset driving route information;

[0038] The current vehicle is controlled to travel based on the updated travel route information.

[0039] The present application also provides a vehicle control device based on a roadside unit, the device comprising:

[0040] Route acquisition module: used to acquire preset driving route information of the current vehicle, wherein the preset driving route information includes a target roadside unit sequence, wherein the target roadside unit sequence is a sequence formed by roadside unit information of roadside units passing through the preset driving route;

[0041] A roadside unit information acquisition module: used for acquiring the current roadside unit information of the current roadside unit that the current vehicle passes by during the driving process of the current vehicle based on the preset driving route information;

[0042] A driving trajectory detection result module: used to perform driving trajectory detection on the current vehicle based on the target roadside unit sequence and the current roadside unit information to obtain a driving trajectory detection result;

[0043] Operation module: used to control the current vehicle operation based on the driving trajectory detection result.

[0044] On the other hand, the present application provides an electronic device, comprising a processor and a memory, wherein the memory stores at least one instruction and at least one program, and the at least one instruction and the at least one program are loaded and executed by the processor to implement a vehicle control method based on a roadside unit as described in any one of the above items.

[0045] On the other hand, the present application provides a computer storage medium, which stores at least one instruction and at least one program, and the at least one instruction and the at least one program are loaded and executed by a processor to implement a vehicle control method based on a roadside unit as described in any one of the above items.

[0046] On the other hand, the present application provides a vehicle-mounted terminal, in which at least one instruction and at least one program are stored, and the at least one instruction and the at least one program are loaded and executed by a processor to implement a vehicle control method based on a roadside unit as described in any one of the above items.

[0047] The vehicle control method, device, equipment, vehicle-mounted terminal and storage medium provided by the present application have the following technical effects:

[0048] The present application obtains the preset driving route information of the current vehicle, and the preset driving route information includes a target roadside unit sequence. During the driving process of the current vehicle based on the preset driving route information, the current roadside unit information of the current roadside unit passed by the vehicle is obtained; based on the target roadside unit sequence and the current roadside unit information, the driving trajectory of the current vehicle is detected to obtain the driving trajectory detection result; and the vehicle operation is controlled based on the driving trajectory detection result. The present application obtains the current roadside unit information in real time during driving, and obtains the target roadside unit sequence in the preset driving route information. It can perform driving trajectory detection based on the current roadside unit information and the road test unit information in the target roadside unit sequence, and then judge the driving safety state, avoid false positioning interference caused by unstable positioning signals or attacks on the positioned signals, and improve the safety of autonomous driving. BRIEF DESCRIPTION OF THE DRAWINGS

[0049] In order to more clearly illustrate the technical solutions and advantages in the embodiments of the present invention or the prior art, the drawings required for use in the embodiments or the prior art descriptions are briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0050] Figure 1 It is a flowchart of a vehicle control method based on a roadside unit provided in an embodiment of the present application;

[0051] Figure 2 is a schematic diagram of automatic driving of a vehicle provided in an embodiment of the present application;

[0052] Figure 3 It is a flowchart of another vehicle control method based on a roadside unit provided in an embodiment of the present application;

[0053] Figure 4 It is a flowchart of another vehicle control method based on a roadside unit provided in an embodiment of the present application;

[0054] Figure 5 It is a flowchart of another vehicle control method based on a roadside unit provided in an embodiment of the present application;

[0055] Figure 6 It is a flowchart of another vehicle control method based on a roadside unit provided in an embodiment of the present application;

[0056] Figure 7 It is a schematic block diagram of the structure of a vehicle control device based on a roadside unit provided in an embodiment of the present application;

[0057] Figure 8 It is a structural schematic diagram of an electronic device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0058] The embodiments of the present application disclose a vehicle control method and device based on a roadside unit, which can determine the safe driving status, improve the safety of autonomous driving, and prevent the vehicle from being subjected to deception attacks during the autonomous driving process.

[0059] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of this application.

[0060] It should be noted that the terms "first", "second", etc. in the specification and claims of the present application and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchangeable where appropriate, so that the embodiments of the present application described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any of their variations are intended to cover non-exclusive inclusions, for example, a process, method, system, product or server that includes a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0061] The following combination Figure 1 Introducing the vehicle control method based on roadside unit disclosed in this application, please refer to Figure 1 , Figure 1 It is a flowchart of a vehicle control method based on a roadside unit provided in an embodiment of the present application. The present application provides method operation steps such as the embodiment or the flowchart, but may include more or fewer operation steps based on conventional or non-creative labor. The order of steps listed in the embodiment is only one way of executing the steps among many orders, and does not represent the only order of execution. When an actual device, system or equipment product is executed, it can be executed in the order of the method shown in the embodiment or the accompanying drawings or in parallel (for example, a parallel processor or a multi-threaded processing environment). Specifically, Figure 1 As shown, the method may include:

[0062] S101: Acquire preset driving route information of the current vehicle, the preset driving route information includes a target roadside unit sequence, and the target roadside unit sequence is a sequence formed by roadside unit information of roadside units passed in the preset driving route.

[0063] Specifically, the preset driving route information may be provided by the autonomous driving operation platform, and the preset driving route information may be obtained by parsing the trajectory package of the sub-section or the entire driving section. The preset driving route information may also include the preset target travel route of the current autonomous driving vehicle. Specifically, the autonomous driving unit of the current vehicle sends a driving route request including the target starting point and the target end point to the autonomous driving operation platform, and receives the target trajectory package fed back by the autonomous driving operation platform, and obtains the target roadside unit sequence and other information after parsing. For example, please refer to Figure 2 ,After parsing the trajectory package received by the autonomous driving unit, the target roadside unit sequence obtained is 101 / 102.

[0064] S102: During the driving process of the current vehicle based on the preset driving route information, the roadside obtains the current roadside unit information of the current roadside unit that the current vehicle passes by.

[0065] Specifically, during the current vehicle driving process, the automatic driving unit exchanges information with each roadside unit passing by, and accordingly, the current roadside unit information is obtained by the current vehicle exchanging information with the roadside unit passing by. Specifically, the current roadside unit information may include a roadside unit identifier, such as a unique number or unique identification ID of the roadside unit.

[0066] S103: Based on the target RSU sequence and the current RSU information, a driving track detection is performed on the current vehicle to obtain a driving track detection result. It should be noted that the driving track detection refers to the driving track detection of the current vehicle based on the preset driving route information.

[0067] S104: Controlling the current vehicle operation based on the driving trajectory detection result.

[0068] Specifically, the current roadside unit information is obtained in real time during driving, and the target roadside unit sequence in the preset driving route information is obtained. The driving trajectory detection can be performed based on the current roadside unit information and the road test unit information in the target roadside unit sequence, and then the driving safety state can be judged, avoiding false positioning interference caused by unstable positioning signals or attacks on positioning signals, thereby improving the safety of autonomous driving.

[0069] In some embodiments, step S103 includes:

[0070] S201: Match the current roadside unit information with the target roadside unit sequence.

[0071] S202: When the target roadside unit sequence does not match the current roadside unit information, determining that the driving trajectory detection result is an abnormal trajectory.

[0072] In some embodiments, each roadside unit information in the target roadside unit sequence is matched with the current roadside unit information, and when the matching results are inconsistent, the driving trajectory detection result is determined to be an abnormal trajectory.

[0073] In some other embodiments, the current roadside unit information and historical roadside unit information passed by the roadside unit are sorted based on the time sequence to generate a passed roadside unit sequence, and the passed roadside unit sequence is compared with the target roadside unit sequence; if the sequence matches, it is determined that the current roadside unit information matches the target roadside unit sequence, and the trajectory is normal, otherwise, it is determined that the trajectory is abnormal. The time sequence here refers to the time sequence of the current vehicle passing the roadside unit, and the sequence match here refers to the consistency of the corresponding sequence segment in the passed roadside unit sequence and the target roadside unit sequence.

[0074] It should be noted that in some embodiments, if the current vehicle receives current roadside unit information sent by multiple roadside units within the information receiving range, such as in a road condition scenario where multiple roadside units are set at an intersection, the received multiple current roadside unit information is matched with the target roadside unit sequence respectively. If any of them matches the target roadside unit sequence, the trajectory is determined to be normal; or, the current roadside unit information matched with the target roadside unit is determined as the target roadside unit information, and a passing roadside unit sequence is generated based on the target roadside unit information and the historical roadside unit information for sequence matching. If the multiple current roadside unit information does not match the target roadside unit sequence, the trajectory is determined to be abnormal.

[0075] In other embodiments, the preset driving route information also includes interfering roadside unit information, and the interfering roadside unit information is the roadside unit information of the roadside units of other roads connected to the preset driving route. Accordingly, S201 can be set to: respectively match multiple current roadside unit information with the target roadside unit sequence and the interfering roadside unit information; S202 can be set to: if multiple current roadside unit information does not match the target roadside unit sequence and the interfering roadside unit information, determine that the driving trajectory detection result is an abnormal trajectory.

[0076] Specifically, if any current roadside unit information among the multiple current roadside unit information does not exist in the target roadside unit sequence and the interfering roadside unit information, it is determined that the trajectory is abnormal.

[0077] Based on some or all of the above implementations, in some embodiments, step S104 includes:

[0078] S301: When the driving trajectory detection result is that the trajectory is abnormal, the preset driving route information is updated.

[0079] It should be noted that when the driving trajectory detection result is an abnormal trajectory, the current vehicle may be subject to a deception attack and deviate from the preset driving route. It is necessary to stop and wait and re-plan the driving route information to update the preset driving route information so that the current vehicle is away from the attack area of ​​signal deception and interference.

[0080] S302: Control the current vehicle to travel based on the updated driving route information.

[0081] S303: When the driving trajectory detection result shows that the trajectory is normal, the current vehicle is controlled to continue driving based on the original preset driving route information.

[0082] This application ensures the safety of autonomous driving by updating the driving route information and replanning the route when the driving trajectory detection result is an abnormal trajectory.

[0083] Based on some or all of the above implementations, in some embodiments, before S104, the method further includes:

[0084] S401: During the driving process of the current vehicle based on the preset driving route information, the roadside unit position information of the current roadside unit that the current vehicle passes by and the current position information of the current vehicle when passing by the current roadside unit are obtained.

[0085] S402: Compare the current position information with the roadside unit position information to obtain a vehicle position comparison result.

[0086] Accordingly, S104 may specifically include: controlling the current vehicle operation based on the driving trajectory detection result and the current vehicle position comparison result.

[0087] Specifically, when the current vehicle position comparison result is inconsistent and / or the driving trajectory detection result is abnormal, the preset driving route information is updated, and the current vehicle is kept away from the attack area of ​​signal deception and interference by updating the preset driving route information. Then the current vehicle is controlled to travel based on the updated driving route information. If the current vehicle position comparison result is consistent and the driving trajectory detection result is normal, the current vehicle is controlled to continue traveling based on the original preset driving route information.

[0088] In some embodiments, the method further includes: generating a location spoofing attack warning when the current vehicle location comparison result is location inconsistency.

[0089] Specifically, when the current vehicle position comparison result is inconsistent with the position, it indicates that the current vehicle has suffered a spoofing attack, such as a GPS / GNSS spoofing attack, etc., and the position spoofing attack warning is used to remind the current vehicle that it is currently suffering from a spoofing attack.

[0090] It should be noted that the position inconsistency referred to here is that the position deviation between the two positions exceeds the preset deviation. It is understandable that positioning deviation may also occur when the vehicle passes through an area with weak signals during driving. The false alarm rate of spoofing attacks can be reduced by setting a preset deviation.

[0091] This application compares and processes the roadside unit position information and the current vehicle's current position information on the basis of roadside unit sequence comparison, further monitors the signal reliability during the autonomous driving process, and verifies through double comparison whether the current vehicle has suffered a deception attack during the autonomous driving process, thereby improving the safety of autonomous driving.

[0092] Based on some or all of the above implementations, in some embodiments, before S104, the method further includes:

[0093] S401: Acquire current position information of the current vehicle during the driving process of the current vehicle based on preset driving route information.

[0094] S402: Determine the reference roadside unit information that the current vehicle is currently passing through based on the current position information.

[0095] S403: Compare the reference roadside unit information with the current roadside unit information to obtain a roadside information comparison result.

[0096] Specifically, the reference roadside unit information may include roadside unit information of at least one adjacent roadside unit near the current position information, such as roadside unit numbers of multiple adjacent roadside units. Based on the current position information, a roadside unit within a preset range around the current vehicle is determined, and the roadside unit information of the determined roadside unit is determined as the reference roadside unit information.

[0097] Further, the current roadside unit information is compared with each roadside unit information in the reference roadside unit information. If there is consistent roadside unit information, the roadside information comparison result is determined to be consistent, otherwise, it is inconsistent.

[0098] Correspondingly, S104 may specifically include: controlling the current vehicle operation based on the driving trajectory detection result and the roadside information comparison result.

[0099] Specifically, when the roadside information comparison result is inconsistent with the roadside information and / or the driving trajectory detection result is abnormal, the preset driving route information is updated, and the current vehicle is kept away from the attack area of ​​signal deception and interference by updating the preset driving route information. Then the current vehicle is controlled to travel based on the updated driving route information. If the roadside information comparison result is consistent with the roadside information and the driving trajectory detection result is normal, the current vehicle is controlled to continue traveling based on the original preset driving route information.

[0100] In some embodiments, the method further includes: generating a location spoofing attack warning when the roadside information comparison result is that the roadside information is inconsistent.

[0101] Specifically, when the roadside information comparison result is inconsistent with the roadside information, it indicates that the current vehicle has suffered a spoofing attack, such as a GPS / GNSS spoofing attack, etc., and the location spoofing attack warning is used to remind the current vehicle that it is currently suffering a spoofing attack.

[0102] This application not only compares the reference roadside unit information with the current roadside unit information on the basis of roadside unit sequence comparison, but also further determines the driving safety status, thereby further monitoring the signal reliability during the autonomous driving process, and further verifies through double comparison whether the vehicle has suffered a deception attack during the autonomous driving process, thereby improving the safety of autonomous driving.

[0103] Based on some or all of the above implementations, in some embodiments, the method further includes:

[0104] S501: While the current vehicle is traveling based on preset driving route information of the current vehicle, collecting driving road conditions.

[0105] S502: When the driving road condition meets the preset abnormal road condition, the preset driving route information is updated.

[0106] S503: Control the current vehicle to travel based on the updated driving route information.

[0107] The present application updates the preset driving route information by collecting driving road conditions in real time, thereby preventing traffic jams caused by traffic accidents within the preset driving route while the vehicle is driving along the preset route.

[0108] The following describes the above-mentioned vehicle control method based on the roadside unit in an actual application scenario. In a specific embodiment, please refer to Figure 3 , methods include:

[0109] S11: Acquire preset driving route information of the current vehicle, where the preset driving route information includes a target roadside unit sequence.

[0110] S12: During the driving process of the current vehicle based on the preset driving route information, current roadside unit information of the current roadside unit that the current vehicle passes by is obtained.

[0111] S13: Acquire the roadside unit position information of the current roadside unit that the current vehicle passes through and the current position information of the current vehicle when passing through the current roadside unit.

[0112] S14: Match the current RSU information with the target RSU sequence. If the target RSU sequence does not match the current RSU information, execute step S17; if there is RSU information matching the current RSU information in the target RSU sequence, execute step S15.

[0113] S15: Compare the current position information with the roadside unit position information to obtain the current vehicle position comparison result. If the current vehicle position comparison result is inconsistent, execute step S16. If the current vehicle position comparison result is consistent, execute step S19.

[0114] S16: Generate a location spoofing attack warning.

[0115] S17: Update the preset driving route information.

[0116] S18: Control the current vehicle to travel based on the updated driving route information.

[0117] S19: Control the current vehicle to continue driving based on the preset driving route information.

[0118] In another specific embodiment, please refer to Figure 4 , methods include:

[0119] S31: Acquire preset driving route information of the current vehicle, where the preset driving route information includes a target roadside unit sequence.

[0120] S32: During the driving process of the current vehicle based on the preset driving route information, current roadside unit information of the current roadside unit that the current vehicle passes by is obtained.

[0121] S33: Acquire the current position information of the current vehicle.

[0122] S34: Match the current RSU information with the target RSU sequence. If the target RSU sequence does not match the current RSU information, execute step S37. If there is RSU information matching the current RSU information in the target RSU sequence, execute step S35.

[0123] S35: Determine the reference roadside unit information that the current vehicle is currently passing through based on the current position information.

[0124] S36: Compare the reference roadside unit information with the current roadside unit information to obtain a roadside information comparison result. If the roadside information comparison result is that the roadside information is inconsistent, execute step S37. If the roadside information comparison result is that the roadside information is consistent, execute step S40.

[0125] S37: Generate a location spoofing attack warning.

[0126] S38: Update the preset driving route information.

[0127] S39: Control the current vehicle to travel based on the updated travel route information.

[0128] S40: Control the current vehicle to continue driving based on the preset driving route information.

[0129] In another specific embodiment, please refer to Figure 5 , methods include:

[0130] S51: Acquire preset driving route information of the current vehicle, where the preset driving route information includes a target roadside unit sequence.

[0131] S52: During the driving process of the current vehicle based on the preset driving route information, obtain the current roadside unit information of the current roadside unit that the current vehicle passes through, the roadside unit position information of the current roadside unit that the current vehicle passes through, and the current position information of the current vehicle when passing through the current roadside unit.

[0132] S53: Match the current roadside unit information with the target roadside unit sequence, and compare the current position information with the roadside unit position information. If the matching result is mismatch and / or the comparison result is inconsistent position, execute step S54; otherwise, execute step S57.

[0133] S54: Generate a location spoofing attack warning.

[0134] S55: Update the preset driving route information.

[0135] S56: Control the current vehicle to travel based on the updated travel route information.

[0136] S57: Control the current vehicle to continue driving based on the preset driving route information.

[0137] In another specific embodiment, please refer to Figure 6 , methods include:

[0138] S61: Acquire preset driving route information of the current vehicle, where the preset driving route information includes a target roadside unit sequence.

[0139] S62: During the driving process of the current vehicle based on the preset driving route information, current roadside unit information of the current roadside unit that the current vehicle passes by and current position information of the current vehicle are obtained.

[0140] S63: Determine the reference roadside unit information that the current vehicle is currently passing through based on the current position information.

[0141] S64: Match the current roadside unit information with the target roadside unit sequence, and compare the reference roadside unit information with the current roadside unit information. If the matching result is a mismatch and / or the comparison result is a position inconsistency, execute step S65; otherwise, execute step S68.

[0142] S65: Generate a location spoofing attack warning.

[0143] S66: Update the preset driving route information.

[0144] S67: Control the current vehicle to travel based on the updated driving route information.

[0145] S68: Control the current vehicle to continue driving based on the preset driving route information.

[0146] The embodiment of the present application also provides a vehicle control device based on a roadside unit, as follows Figure 7 The present application embodiment provides a vehicle control device based on a roadside unit, referring to Figure 7 As shown in , the device may include:

[0147] Route acquisition module 11: used to acquire preset driving route information of the current vehicle, the preset driving route information includes a target roadside unit sequence, and the target roadside unit sequence is a sequence formed by roadside unit information of roadside units passing through the preset driving route;

[0148] The roadside unit information acquisition module 12 is used to acquire the current roadside unit information of the current roadside unit that the current vehicle passes by during the driving process of the current vehicle based on the preset driving route information;

[0149] The driving trajectory detection result module 13 is used to detect the driving trajectory of the current vehicle based on the target roadside unit sequence and the current roadside unit information to obtain the driving trajectory detection result;

[0150] The operation module 14 is used to control the current vehicle operation based on the driving trajectory detection result.

[0151] In some embodiments, the apparatus further comprises:

[0152] Position information acquisition module: used to obtain the roadside unit position information of the current roadside unit that the current vehicle passes through and the current position information of the current vehicle when passing through the current roadside unit during the driving process of the current vehicle based on the preset driving route information.

[0153] Position comparison module: used to compare the current position information with the roadside unit position information to obtain the vehicle position comparison result.

[0154] The operation module 14 is also used to control the current vehicle operation based on the driving track detection result and the current vehicle position comparison result.

[0155] In some embodiments, the apparatus further comprises:

[0156] The position information acquisition module is also used to acquire the current position information of the current vehicle during the driving process of the current vehicle based on the preset driving route information.

[0157] Reference roadside unit information determination module: used to determine the reference roadside unit information that the current vehicle is currently passing through based on the current position information.

[0158] Reference roadside unit information comparison module: used to compare the reference roadside unit information with the current roadside unit information to obtain a roadside information comparison result.

[0159] The operation module 14 is also used to control the current vehicle operation based on the driving trajectory detection result and the roadside information comparison result.

[0160] In some embodiments, the driving trajectory detection module 13 further includes:

[0161] Roadside unit information matching module: used to match the current roadside unit information with the target roadside unit sequence.

[0162] Driving trajectory detection result determination module: used to determine that the driving trajectory detection result is an abnormal trajectory when the target roadside unit sequence does not match the current roadside unit information.

[0163] The operation module 14 also includes:

[0164] Update module: used to update the preset driving route information when the driving trajectory detection result is an abnormal trajectory.

[0165] Driving module: used to control the current vehicle to drive based on the updated driving route information.

[0166] In some embodiments, the apparatus further comprises:

[0167] Warning module: used to generate a location spoofing attack warning when the current vehicle position comparison result is inconsistent.

[0168] The warning module is also used to generate a location spoofing attack warning when the roadside information comparison result is that the roadside information is inconsistent.

[0169] In some embodiments, the update module is also used to update the preset driving route information when the current vehicle position comparison result is inconsistent with the position and / or the driving trajectory detection result is abnormal trajectory.

[0170] In some embodiments, the update module is also used to update the preset driving route information when the roadside information comparison result is that the roadside information is inconsistent and / or the driving trajectory detection result is that the trajectory is abnormal.

[0171] In some embodiments, the apparatus further comprises:

[0172] Road condition collection module: used to collect the driving road condition when the current vehicle is driving based on the preset driving route information of the vehicle;

[0173] The updating module is also used to update the preset driving route information when the driving road condition meets the preset abnormal road condition;

[0174] The driving module is also used to control the current vehicle to drive based on the updated driving route information.

[0175] Regarding the control device in the above embodiment, the specific manner in which each module performs operations has been described in detail in the embodiment of the method, and will not be elaborated here.

[0176] The device embodiments and method embodiments in this application are based on similar implementation methods.

[0177] On the other hand, the present application provides an electronic device, comprising a processor and a memory, wherein the memory stores at least one instruction and at least one program, and the at least one instruction and the at least one program are loaded and executed by the processor to implement a vehicle control method based on a roadside unit as described in any one of the above items.

[0178] Further, Figure 8 The hardware structure diagram of an electronic device for implementing the vehicle control method based on the roadside unit provided in the embodiment of the present application is shown. The electronic device can participate in or include the device provided in the embodiment of the present application. Figure 8 As shown, the electronic device 1 may include one or more (902a, 902b, ..., 902n are used to illustrate) processors 902 (the processor 902 may include but is not limited to a processing device such as a microprocessor MCU or a programmable logic device FPGA), a memory 904 for storing data, and a transmission device 906 for communication functions. In addition, it may also include: a display, an input / output interface (I / O interface), a universal serial bus (USB) port (which may be included as one of the ports of the I / O interface), a network interface, a power supply and / or a camera. It can be understood by those skilled in the art that Figure 8 The structure shown is only for illustration and does not limit the structure of the above electronic device. Figure 8 More or fewer components as shown, or with Figure 8 Different configurations are shown.

[0179] It should be noted that the one or more processors 902 and / or other data processing circuits described above may generally be referred to herein as "data processing circuits". The data processing circuit may be embodied in whole or in part as software, hardware, firmware, or any other combination thereof. In addition, the data processing circuit may be a single independent processing module, or may be incorporated in whole or in part into any of the other components in the electronic device 1 (or mobile device). As involved in the embodiments of the present application, the data processing circuit acts as a processor control (e.g., selection of a variable resistor terminal path connected to an interface).

[0180] The memory 904 can be used to store software programs and modules of application software, such as program instructions / data storage devices corresponding to the method in the embodiment of the present application. The processor 902 executes various functional applications and data processing by running the software programs and modules stored in the memory 904, that is, to implement the above-mentioned vehicle control method based on the roadside unit. The memory 904 may include a high-speed random access memory, and may also include a non-volatile memory, such as one or more magnetic storage devices, flash memory, or other non-volatile solid-state memory. In some examples, the memory 904 may further include a memory remotely arranged relative to the processor 902, and these remote memories may be connected to the electronic device 1 via a network. Examples of the above-mentioned network include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network, and combinations thereof.

[0181] The transmission device 906 is used to receive or send data via a network. The specific example of the above network may include a wireless network provided by a communication provider of the electronic device 1. In one example, the transmission device 906 includes a network adapter (Network Interface Controller, NIC), which can be connected to other network devices through a base station so as to communicate with the Internet. In one example, the transmission device 906 can be a radio frequency (RF) module, which is used to communicate with the Internet wirelessly.

[0182] The display may be, for example, a touch screen liquid crystal display (LCD) which may enable a user to interact with a user interface of the electronic device 1 (or mobile device).

[0183] In the embodiment of the present application, the memory can be used to store software programs and modules, and the processor executes various functional applications and data processing by running the software programs and modules stored in the memory. The memory may mainly include a program storage area and a data storage area, wherein the program storage area may store an operating system, application programs required for functions, etc.; the data storage area may store data created according to the use of the device, etc. In addition, the memory may include a high-speed random access memory, and may also include a non-volatile memory, such as at least one disk storage device, a flash memory device, or other volatile solid-state storage device. Accordingly, the memory may also include a memory controller to provide the processor with access to the memory.

[0184] On the other hand, the present application provides a computer storage medium, which stores at least one instruction and at least one program, and the at least one instruction and the at least one program are loaded and executed by a processor to implement a vehicle control method based on a roadside unit as described in any one of the above items.

[0185] Optionally, in this embodiment, the storage medium may be located in at least one of the multiple network servers of the computer network. Optionally, in this embodiment, the storage medium may include, but is not limited to, various media that can store program codes, such as a USB flash drive, a read-only memory (ROM), a random access memory (RAM), a mobile hard disk, a magnetic disk, or an optical disk.

[0186] On the other hand, the present application provides a vehicle-mounted terminal, which stores at least one instruction and at least one program, and the at least one instruction and the at least one program are loaded and executed by a processor to implement a vehicle control method based on a roadside unit as described in any one of the above items.

[0187] The vehicle control method, device, electronic device and computer storage medium based on a roadside unit provided by the present application have the following technical effects:

[0188] The current roadside unit information can be obtained in real time during driving, and the target roadside unit sequence in the preset driving route information can be obtained. The driving trajectory can be detected based on the current roadside unit information and the road test unit information in the target roadside unit sequence, and then the driving safety status can be judged, avoiding false positioning interference caused by unstable positioning signals or attacks on the positioning signals, thereby improving the safety of autonomous driving.

[0189] The present application simultaneously obtains the roadside unit position information of the current roadside unit passed by the vehicle and the current position information of the vehicle when passing through the current roadside unit based on the comparison between the current roadside unit information passed by the vehicle during driving and the target roadside unit sequence in the vehicle's preset driving route information; compares and processes the current position information with the roadside unit position information to further monitor the signal reliability during the autonomous driving process, and further verifies through double comparison whether the vehicle has suffered a deception attack during the autonomous driving process, thereby improving the safety of autonomous driving.

[0190] This application compares the current roadside unit information passed by during driving with the target roadside unit sequence in the vehicle's preset driving route information, and simultaneously obtains the vehicle's current location information, determines the reference roadside unit information currently passed by the vehicle based on the current location information, and compares the reference roadside unit information with the current roadside unit information. In this way, the signal reliability during the autonomous driving process is further monitored, and through double comparison, whether the vehicle has suffered a deception attack during the autonomous driving process is further verified, thereby improving the safety of autonomous driving.

[0191] It should be noted that the above-mentioned sequence of the embodiments of the present application is for description only and does not represent the advantages and disadvantages of the embodiments. The above-mentioned specific embodiments of the present application are described. Other embodiments are within the scope of the appended claims. In some cases, the actions or steps recorded in the claims can be performed in an order different from that in the embodiments and still achieve the desired results. In addition, the processes depicted in the drawings do not necessarily require the specific order or continuous order shown to achieve the desired results. In some embodiments, multitasking and parallel processing are also possible or may be advantageous.

[0192] Each embodiment in this application is described in a progressive manner, and the same or similar parts between the embodiments can be referred to each other, and each embodiment focuses on the differences from other embodiments. In particular, for the device and equipment embodiments, since they are basically similar to the method embodiments, the description is relatively simple, and the relevant parts can be referred to the partial description of the method embodiments.

[0193] A person skilled in the art will understand that all or part of the steps to implement the above embodiments may be accomplished by hardware or by instructing related hardware through a program. The above program may be stored in a computer-readable storage medium, and the above storage medium may be a read-only memory, a disk or an optical disk, etc.

[0194] The above are only preferred embodiments of the present application and are not intended to limit the present application. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present application should be included in the protection scope of the present application.

Claims

1. A vehicle control method based on a roadside unit, characterized in that: The method comprises: Acquire preset driving route information of the current vehicle, wherein the preset driving route information includes a target roadside unit sequence, wherein the target roadside unit sequence is a sequence formed by roadside unit information of roadside units passing through the preset driving route; During the driving process of the current vehicle based on the preset driving route information, obtaining current roadside unit information of the current roadside unit passed by the current vehicle; Based on the target roadside unit sequence and the current roadside unit information, performing driving trajectory detection on the current vehicle to obtain a driving trajectory detection result; Controlling the current vehicle operation based on the driving trajectory detection result; The performing driving trajectory detection on the current vehicle based on the target roadside unit sequence and the current roadside unit information to obtain the driving trajectory detection result includes: Matching the current roadside unit information with the target roadside unit sequence; In a case where the target roadside unit sequence does not match the current roadside unit information, determining that the driving trajectory detection result is a trajectory abnormality; The controlling the current vehicle operation based on the driving trajectory detection result comprises: When the driving trajectory detection result is an abnormal trajectory, updating the preset driving route information; The current vehicle is controlled to travel based on the updated travel route information.

2. The vehicle control method based on the roadside unit according to claim 1, characterized in that: Before controlling the current vehicle operation based on the driving trajectory detection result, the method further includes: During the driving process of the current vehicle based on the preset driving route information, obtaining the roadside unit position information of the current roadside unit passed by the current vehicle and the current position information of the current vehicle when passing by the current roadside unit; Compare the current position information with the roadside unit position information to obtain a vehicle position comparison result; The controlling the current vehicle operation based on the driving trajectory detection result comprises: The current vehicle operation is controlled based on the driving track detection result and the current vehicle position comparison result.

3. The vehicle control method based on the roadside unit according to claim 1, characterized in that: Before controlling the current vehicle operation based on the driving trajectory detection result, the method further includes: During the driving process of the current vehicle based on the preset driving route information, obtaining the current position information of the current vehicle; Determine the reference roadside unit information that the current vehicle is currently passing through based on the current position information; Compare the reference roadside unit information with the current roadside unit information to obtain a roadside information comparison result; The controlling the current vehicle operation based on the driving trajectory detection result comprises: The current vehicle operation is controlled based on the driving trajectory detection result and the roadside information comparison result.

4. The vehicle control method based on the roadside unit according to claim 2, characterized in that: The method further includes generating a location spoofing attack warning when the current vehicle location comparison result is location inconsistency.

5. The vehicle control method based on the roadside unit according to claim 2, characterized in that: The controlling the current vehicle operation based on the driving trajectory detection result and the current vehicle position comparison result comprises: When the current vehicle position comparison result is inconsistent with the position and / or the driving trajectory detection result is abnormal, updating the preset driving route information; The current vehicle is controlled to travel based on the updated travel route information.

6. The vehicle control method based on the roadside unit according to claim 3, characterized in that: The method further includes: generating a location spoofing attack warning when the roadside information comparison result is that the roadside information is inconsistent.

7. The vehicle control method based on the roadside unit according to claim 3, characterized in that: The controlling the current vehicle operation based on the driving trajectory detection result and the roadside information comparison result comprises: When the roadside information comparison result is that the roadside information is inconsistent and / or the driving trajectory detection result is that the trajectory is abnormal, the preset driving route information is updated; The current vehicle is controlled to travel based on the updated travel route information.

8. The vehicle control method based on the roadside unit according to claim 1, characterized in that: The method further comprises: During the driving process of the vehicle based on the preset driving route information of the current vehicle, collecting driving road conditions; When the driving road condition meets the preset abnormal road condition, updating the preset driving route information; The current vehicle is controlled to travel based on the updated travel route information.

9. A vehicle control device based on a roadside unit, characterized in that: The device comprises: Route acquisition module: used to acquire preset driving route information of the current vehicle, wherein the preset driving route information includes a target roadside unit sequence, wherein the target roadside unit sequence is a sequence formed by roadside unit information of roadside units passing through the preset driving route; A roadside unit information acquisition module: used for acquiring the current roadside unit information of the current roadside unit that the current vehicle passes by during the driving process of the current vehicle based on the preset driving route information; A driving trajectory detection result module: used to perform driving trajectory detection on the current vehicle based on the target roadside unit sequence and the current roadside unit information to obtain a driving trajectory detection result; An operation module: used for controlling the operation of the current vehicle based on the driving trajectory detection result; The driving trajectory detection result module includes: A roadside unit information matching module, used for matching the current roadside unit information with the target roadside unit sequence; A driving trajectory detection result determination module, configured to determine that the driving trajectory detection result is a trajectory abnormality when the target roadside unit sequence does not match the current roadside unit information; The operation module includes: An updating module, configured to update the preset driving route information when the driving trajectory detection result is an abnormal trajectory; A driving module is used to control the current vehicle to drive based on the updated driving route information.

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