Communication method, apparatus, storage medium, and program

Abstract

The application provides a communication method, device, storage medium and program, the method comprises the following steps: a sending end generates a V2X message, the V2X message includes reference object indication information and position indication information, the reference object indication information is used to indicate at least one reference object, and the position indication information is used to indicate the position of a target object relative to the at least one reference object; the sending end sends the V2X message to a receiving end; and the receiving end determines target position information of the target object according to the reference object indication information and the position indication information.In the above process, the sending end transmits relative position information relative to the reference object to the receiving end through the V2X message, without deflection, and the reference object based on which the position information is indicated in the V2X message, which helps to accurately transmit position information between devices using different maps.

Description

Technical Field

[0001] This application relates to the fields of intelligent transportation technology and intelligent vehicle technology, and in particular to a communication method, device, storage medium and program. Background Technology

[0002] Currently, in intelligent transportation communication systems, vehicles can obtain road condition information or receive dynamic event information in a timely manner through vehicle-to-vehicle (V2V) communication, vehicle-to-infrastructure (V2I) communication, vehicle-to-pedestrian (V2P) communication, and vehicle-to-network (V2N) communication. These communication methods can be collectively referred to as V2X communication (where X represents anything).

[0003] During V2X communication, location information needs to be transmitted via V2X messages. For example, roadside infrastructure can transmit the location information of traffic events, traffic signs, or traffic participants to vehicles. Location information can be expressed as an absolute position after deflection calculation, but deflection calculation will cause a loss of accuracy in the location information; location information can also be expressed as a relative position with respect to a certain map element, but currently the map elements defined by different map providers have not reached a unified standard, making it difficult to accurately transmit location information between devices using different maps. Summary of the Invention

[0004] This application provides a communication method, apparatus, storage medium, and program that can improve the accuracy and compatibility of transmitting location information in V2X messages.

[0005] In a first aspect, this application provides a communication method applicable to a sending end, the communication method comprising: generating a V2X message, the V2X message including reference object indication information and location indication information, the reference object indication information being used to indicate a first at least one reference object, and the location indication information being used to indicate the position of a target object relative to the first at least one reference object; and sending the V2X message.

[0006] The reference objects include reference points and / or reference lines. Reference lines include one or more of the following: straight lines, dashed lines, and broken lines. For example, when the reference object is a reference point, it can be a point that can be determined based on map elements, such as the endpoints of stop lines, lane center lines, road center lines, lane lines, road edge lines, intersections of lane lines and stop lines, intersections of lane lines and lane lines, intersections of road edge lines and road edge lines, lane line attribute transformation points, the center point of the bounding box of traffic markings, the vertices of the bounding polygons of traffic markings, the ground projection point corresponding to the center point of the bounding box of a traffic sign, the ground projection point corresponding to the center point of the bounding box of a traffic light, etc. When the reference object is a reference line, it can be the map element itself, or a line that can be determined based on map elements. For example, a reference line can be a stop line, lane line, lane center line, road center line, road edge line, etc.

[0007] A reference object is used to provide a reference for representing the position of a target object. Specifically, the positional information of the target object can be expressed by using its relative position to the reference object.

[0008] V2X messages can be any of the following types: RSI message, RSM message, SPAT message.

[0009] In a possible implementation, the reference object indication information may indicate the identifier of each of the at least one reference object within a geographical area.

[0010] In a possible implementation, the reference object indication information is also used to indicate the identifier of the geographical area where each of the at least one reference object is located.

[0011] In a possible implementation, the reference object indication information can indicate the position of each of the at least one reference object.

[0012] In the above process, the sending end transmits relative position information to the receiving end via V2X messages, which is relative to the reference object and does not require deflection. Furthermore, the V2X messages indicate the reference object on which the position information is based, which helps to accurately transmit position information between devices using different maps.

[0013] In a possible implementation, the reference object indication information includes first reference object indication information and second reference object indication information. The first reference object indication information is used to indicate the first reference object, and the second reference object indication information is used to indicate the second reference object. The position indication information includes first position information and second position information. The first position information is used to indicate the position of the target object relative to the first reference object, and the second position information is used to indicate the position of the target object relative to the second reference object.

[0014] In the above implementation, the V2X message transmits the position of the target object relative to both the first and second reference objects. This allows the receiving end to locate the target object based on its position relative to either the first or the second reference object, or by combining both positions. This improves the flexibility and accuracy of the receiving end's processing. Furthermore, if one reference object fails, the receiving end can locate the target object based on the other reference object, ensuring the robustness of the receiving end's location processing.

[0015] In a possible implementation, the target object is an event; the location indication information includes first area information and second area information, where the first area information indicates the first geographic area where the event occurs, and the second area information indicates the second geographic area affected by the event.

[0016] In the above implementation, the location of the event is described using information from the first region and information from the second region. Compared with using coordinate points to describe the location of the event, this makes the expression of the event's location more accurate.

[0017] In a possible implementation, the V2X message may also include reference object information, which indicates the identifier of each of the second at least one reference object within a geographic area and the location of each of the second at least one reference object, wherein the second at least one reference object includes the first at least one reference object.

[0018] In the above implementation, when the sending end transmits the relative position information of the target object to the receiving end through V2X messages, it also sends the reference object information in the V2X messages. This allows the receiving end to accurately locate the reference object used by the sending end when expressing the relative position information of the target object. Then, the receiving end locates the target object based on the location of the located reference object, thereby improving the positioning accuracy of the target object.

[0019] In a possible implementation, the communication method further includes: sending reference object information, which is used to indicate the identifier of each reference object in the second at least one reference object within a geographical area, and the location of each reference object in the second at least one reference object, wherein the second at least one reference object includes the first at least one reference object.

[0020] The above implementation method is applicable to scenarios where the number of reference objects indicated by the reference object information is large, enabling the separate transmission of reference object information and V2X messages, thereby avoiding excessive air interface overhead occupied by V2X messages.

[0021] In possible implementations, both reference object information and V2X messages are periodically sent, with the sending frequency of reference object information not exceeding that of V2X messages.

[0022] In the above implementation, when the transmission frequency of the reference object information and the V2X message is the same, they can be sent in the same period, which is simple to implement. When the transmission frequency of the reference object information is lower than the transmission frequency of the V2X message, the reference object information is transmitted at a lower frequency, which can further reduce air interface overhead.

[0023] In one possible implementation, when the reference object information at the sending end is updated, the sending end can immediately send the updated reference object information. This ensures that the receiving end receives the updated reference object information in a timely manner, guaranteeing the accuracy of the target object's location result.

[0024] In a possible implementation, the second at least one reference object is the first at least one reference object. This way, by sending only information about the actual reference object used to express the relative position of the target object in the reference object information, it is possible to avoid carrying a large amount of information about invalid reference objects in the reference object information, thus reducing the overhead of the reference object information.

[0025] In possible implementations, V2X messages are periodic non-repeating messages, while reference object information is periodic repetitive messages.

[0026] In a possible implementation, the reference object information includes first reference object information and second reference object information, and the first reference object information and second reference object information are sent in separate packets; wherein, the first reference object information is used to indicate the identifier of each reference object in the third at least one reference object within the geographical area and the location of each reference object in the third at least one reference object, and the second reference object information is used to indicate the identifier of each reference object in the fourth at least one reference object within the geographical area and the location of each reference object in the fourth at least one reference object; the second at least one reference object includes the third at least one reference object and the fourth at least one reference object.

[0027] The above implementation method achieves packet-based transmission of reference object information. Packet-based transmission is suitable for scenarios with a large number of reference objects. By adopting packet-based transmission, the air interface overhead of the reference object information can be reduced.

[0028] In possible implementations, the reference object information may also indicate at least one of the following: current version information, previous version information, update status of each reference object, type of each reference object, priority of each reference object, location accuracy of each reference object, confidence level of each reference object, map elements associated with each reference object, and identifier of the geographic region. This makes the reference object information more comprehensive in its description of each reference object, thereby enabling more precise location of the reference objects.

[0029] Secondly, this application provides a communication method, comprising: receiving a V2X message, the V2X message including reference object indication information and location indication information, the reference object indication information being used to indicate a first at least one reference object, and the location indication information being used to indicate the position of a target object relative to the first at least one reference object; and determining target location information of the target object based on the reference object indication information and the location indication information.

[0030] In the above process, the sending end transmits the relative position information of the target object with respect to the reference object to the receiving end through V2X messages. There is no need to deflect, thus avoiding deflection error and ensuring positioning accuracy.

[0031] In a possible implementation, the reference object indication information includes first reference object indication information and second reference object indication information. The first reference object indication information is used to indicate the first reference object, and the second reference object indication information is used to indicate the second reference object. The position indication information includes first position information and second position information. The first position information is used to indicate the position of the target object relative to the first reference object, and the second position information is used to indicate the position of the target object relative to the second reference object.

[0032] Optionally, the receiving end can determine the target location information of the target object based on the first reference object indication information and the first location information; or, the receiving end can determine the target location information of the target object based on the second reference object indication information and the second location information. In other words, the terminal device can locate the target object based on either the first reference object or the second reference object.

[0033] Optionally, when the receiving end determines that the first reference object is superior to the second reference object, it determines the target location information of the target object based on the first reference object indication information and the first location information.

[0034] For example, the receiver may determine that the first reference object is superior to the second reference object when at least one of the following conditions is met: the distance between the first reference object and the receiver is less than the distance between the second reference object and the receiver; the positional accuracy of the first reference object is higher than the positional accuracy of the second reference object; the confidence level of the first reference object is higher than the confidence level of the second reference object; and the priority of the first reference object is higher than the priority of the second reference object.

[0035] Optionally, the receiving end can determine the first candidate location information of the target object based on the first reference object indication information and the first location information, determine the second candidate location information of the target object based on the second reference object indication information and the second location information, and determine the target location information of the target object based on the first candidate location information and the second candidate location information. In other words, the terminal device first locates the target object based on the first reference object and the second reference object respectively, obtaining two candidate location information, and then comprehensively considers the two candidate location information to obtain the final location result of the target object. For example, coordinate calculations are performed on the two candidate location information to obtain the final location result. Thus, by locating the target object based on multiple reference objects, the positioning accuracy is improved.

[0036] In a possible implementation, the target object is an event; the location indication information includes first area information and second area information, where the first area information indicates the first geographic area where the event occurs, and the second area information indicates the second geographic area affected by the event.

[0037] In the above implementation, the location of the event is described using information from the first region and information from the second region. Compared with using coordinate points to describe the location of the event, this makes the expression of the event's location more accurate.

[0038] In a possible implementation, the V2X message may also include reference object information, which indicates the identifier of each of the second at least one reference object within a geographic area and the location of each of the second at least one reference object, wherein the second at least one reference object includes the first at least one reference object.

[0039] In the above implementation, when the sending end transmits the relative position information of the target object to the receiving end through V2X messages, it also sends the reference object information in the V2X messages. This allows the receiving end to accurately locate the reference object used by the sending end when expressing the relative position information of the target object. Then, the receiving end locates the target object based on the location of the located reference object, thereby improving the positioning accuracy of the target object.

[0040] In a possible implementation, the communication method further includes: receiving reference object information, which is used to indicate the identifier of each reference object in the second at least one reference object within a geographical area, and the location of each reference object in the second at least one reference object, wherein the second at least one reference object includes the first at least one reference object.

[0041] The above implementation method is applicable to scenarios where the number of reference objects indicated by the reference object information is large. By sending the reference object information along with the reference object information, the reference object information and V2X messages can be sent separately, thereby avoiding excessive air interface overhead occupied by V2X messages.

[0042] In possible implementations, both reference object information and V2X messages are periodically sent, with the sending frequency of reference object information not exceeding that of V2X messages.

[0043] In the above implementation, when the transmission frequency of the reference object information and the V2X message is the same, they can be sent in the same period, which is simple to implement. When the transmission frequency of the reference object information is lower than the transmission frequency of the V2X message, the reference object information is transmitted at a lower frequency, which can further reduce air interface overhead.

[0044] In a possible implementation, the second at least one reference object is the first at least one reference object. This way, by sending only information about the actual reference object used to express the relative position of the target object in the reference object information, it is possible to avoid carrying a large amount of information about invalid reference objects in the reference object information, thus reducing the overhead of the reference object information.

[0045] In possible implementations, V2X messages are periodic non-repeating messages, while reference object information is periodic repetitive messages.

[0046] In a possible implementation, the reference object information includes first reference object information and second reference object information, and the first reference object information and second reference object information are received in separate packets; wherein, the first reference object information is used to indicate the identifier of each reference object in the third at least one reference object within the geographical area and the location of each reference object in the third at least one reference object, and the second reference object information is used to indicate the identifier of each reference object in the fourth at least one reference object within the geographical area and the location of each reference object in the fourth at least one reference object; the second at least one reference object includes the third at least one reference object and the fourth at least one reference object.

[0047] The above implementation method achieves packet-based transmission of reference object information. Packet-based transmission is suitable for scenarios with a large number of reference objects. By adopting packet-based transmission, the air interface overhead of the reference object information can be reduced.

[0048] In possible implementations, the reference object information may also indicate at least one of the following: current version information, previous version information, update status of each reference object, type of each reference object, priority of each reference object, location accuracy of each reference object, confidence level of each reference object, map elements associated with each reference object, and identifier of the geographic region. This makes the reference object information more comprehensive in its description of each reference object, thereby enabling more precise location of the reference objects.

[0049] In a possible implementation, determining the target location information of the target object based on the reference object indication information and the location indication information includes: determining the target location information of the target object based on the reference object indication information, the location indication information, and the reference object information.

[0050] In a possible implementation, determining the target location information of the target object based on the reference object indication information, the location indication information, and the reference object information includes: determining the location of the first at least one reference object based on the reference object indication information and the reference object information; and determining the target location information of the target object based on the location of the first at least one reference object and the location indication information.

[0051] Thirdly, this application provides a communication device, comprising: a generation module for generating a V2X message, the V2X message including reference object indication information and location indication information, the reference object indication information being used to indicate a first at least one reference object, and the location indication information being used to indicate the position of a target object relative to the first at least one reference object; and a sending module for sending the V2X message.

[0052] In a possible implementation, the reference object indication information includes first reference object indication information and second reference object indication information. The first reference object indication information is used to indicate a first reference object, and the second reference object indication information is used to indicate a second reference object. The position indication information includes first position information and second position information. The first position information is used to indicate the position of the target object relative to the first reference object, and the second position information is used to indicate the position of the target object relative to the second reference object.

[0053] In a possible implementation, the target object is an event; the location indication information includes first area information and second area information, wherein the first area information is used to indicate a first geographical area where the event occurs, and the second area information is used to indicate a second geographical area affected by the event.

[0054] In a possible implementation, the V2X message may also include reference object information, which is used to indicate the identifier of each of the second at least one reference object in the geographic area and the location of each of the second at least one reference object, wherein the second at least one reference object includes the first at least one reference object.

[0055] In a possible implementation, the sending module is further configured to: send reference object information, the reference object information including reference object information, the reference object information being used to indicate the identifier of each reference object in the second at least one reference object within a geographical area, and the location of each reference object in the second at least one reference object, the second at least one reference object including the first at least one reference object.

[0056] In a possible implementation, both the reference object information and the V2X message are periodically sent messages, and the sending frequency of the reference object information is no higher than the sending frequency of the V2X message.

[0057] In a possible implementation, the second at least one reference object is the first at least one reference object.

[0058] In a possible implementation, the V2X message is a periodic non-repeating message, and the reference object information is a periodic repetitive message.

[0059] In a possible implementation, the reference object information includes first reference object information and second reference object information, and the first reference object information and the second reference object information are sent in separate packets; wherein, the first reference object information includes first reference object information, the second reference object information includes second reference object information, the first reference object information is used to indicate the identifier of each reference object in the third at least one reference object within a geographical area and the location of each reference object in the third at least one reference object, and the second reference object information is used to indicate the identifier of each reference object in the fourth at least one reference object within a geographical area and the location of each reference object in the fourth at least one reference object; the second at least one reference object includes the third at least one reference object and the fourth at least one reference object.

[0060] In a possible implementation, the reference object information may further be used to indicate at least one of the following: current version information; previous version information; update status of each reference object; type of each reference object; priority of each reference object; location accuracy of each reference object; confidence level of each reference object; map element associated with each reference object; and identifier of the geographic region.

[0061] Fourthly, this application provides a communication device, comprising: a receiving module, configured to receive a V2X message, the V2X message including reference object indication information and location indication information, the reference object indication information being used to indicate a first at least one reference object, and the location indication information being used to indicate the position of a target object relative to the first at least one reference object; and a determining module, configured to determine target location information of the target object based on the reference object indication information and the location indication information.

[0062] In a possible implementation, the reference object indication information includes first reference object indication information and second reference object indication information. The first reference object indication information is used to indicate a first reference object, and the second reference object indication information is used to indicate a second reference object. The position indication information includes first position information and second position information. The first position information is used to indicate the position of the target object relative to the first reference object, and the second position information is used to indicate the position of the target object relative to the second reference object.

[0063] In a possible implementation, the target object is an event; the location indication information includes first area information and second area information, wherein the first area information is used to indicate a first geographical area where the event occurs, and the second area information is used to indicate a second geographical area affected by the event.

[0064] In a possible implementation, the V2X message may also include reference object information, which indicates the identifier of each of the second at least one reference object within a geographic area and the location of each of the second at least one reference object, wherein the second at least one reference object includes the first at least one reference object.

[0065] In a possible implementation, the receiving module is further configured to: receive reference object information, the reference object information including reference object information used to indicate the identifier of each reference object in the second at least one reference object within a geographical area, and the location of each reference object in the second at least one reference object, the second at least one reference object including the first at least one reference object.

[0066] In a possible implementation, both the reference object information and the V2X message are periodically sent messages, and the sending frequency of the reference object information is no higher than the sending frequency of the V2X message.

[0067] In a possible implementation, the second at least one reference object is the first at least one reference object.

[0068] In a possible implementation, the V2X message is a periodic non-repeating message, and the reference object information is a periodic repetitive message.

[0069] In a possible implementation, the reference object information includes first reference object information and second reference object information, and the first reference object information and the second reference object information are received in separate packets; wherein, the first reference object information is used to indicate the identifier of each reference object in the third at least one reference object within a geographical area and the location of each reference object in the third at least one reference object, and the second reference object information is used to indicate the identifier of each reference object in the fourth at least one reference object within a geographical area and the location of each reference object in the fourth at least one reference object; the second at least one reference object includes the third at least one reference object and the fourth at least one reference object.

[0070] In a possible implementation, the reference object information may further be used to indicate at least one of the following: current version information; previous version information; update status of each reference object; type of each reference object; priority of each reference object; location accuracy of each reference object; confidence level of each reference object; map element associated with each reference object; and identifier of the geographic region.

[0071] In a possible implementation, the determining module is specifically used to: determine the target location information of the target object based on the reference object indication information, the location indication information, and the reference object information.

[0072] In a possible implementation, the determining module is specifically used to: determine the position of the first at least one reference object based on the reference object indication information and the reference object information; and determine the target position information of the target object based on the position of the first at least one reference object and the position indication information.

[0073] Fifthly, this application provides a communication device, including a processor and a memory, wherein the memory stores a computer program, and the processor runs the computer program to implement the method described in the first aspect or any implementation thereof, or to implement the method described in the second aspect or any implementation thereof.

[0074] The communication device described in any of the third, fourth, or fifth aspects can be a cloud device, a roadside device, or a terminal device. The cloud device may be, for example, a map server, a software module, a hardware module, a chip, or a chip system within the map server; the roadside device may be, for example, a roadside unit, a software module, a hardware module, a chip, or a chip system within the roadside unit; and the terminal device may be, for example, a vehicle, a software module, a hardware module, a chip, or a chip system within the vehicle. This application includes, but is not limited to, these embodiments.

[0075] Sixthly, this application provides a vehicle including a communication device as described in any of the third, fourth, or fifth aspects.

[0076] In a seventh aspect, this application provides a computer-readable storage medium storing a computer program that, when executed, implements the method described in the first aspect or any implementation thereof, or implements the method described in the second aspect or any implementation thereof.

[0077] Eighthly, this application provides a computer program product, the computer program product including a computer program, which, when the computer program is run, implements the method described in the first aspect or any implementation of the first aspect above, or implements the method described in the second aspect or any implementation of the second aspect above.

[0078] It should be understood that the third to eighth aspects of this application correspond to the technical solutions of the first or second aspects of this application, and the beneficial effects achieved by each aspect and the corresponding feasible implementation are similar, and will not be repeated here. Attached Figure Description

[0079] Figure 1 A schematic diagram illustrating an application scenario provided in an embodiment of this application;

[0080] Figure 2 A flowchart illustrating a communication method provided in an embodiment of this application;

[0081] Figure 3 A flowchart illustrating another communication method provided in an embodiment of this application;

[0082] Figure 4 A flowchart illustrating yet another communication method provided in an embodiment of this application;

[0083] Figure 5 A schematic diagram illustrating a method for sending reference object information and V2X messages as provided in the embodiments of this application;

[0084] Figure 6A schematic diagram illustrating another method of sending reference object information and V2X messages provided in the embodiments of this application;

[0085] Figure 7 A schematic diagram illustrating another method of sending reference object information and V2X messages provided in the embodiments of this application;

[0086] Figure 8 This is a schematic diagram of the field structure of an RSI message provided in an embodiment of this application;

[0087] Figure 9A This is a schematic diagram of the field structure of an RSM message provided in an embodiment of this application;

[0088] Figure 9B A schematic diagram of the field structure of another RSM message provided in an embodiment of this application;

[0089] Figure 10 This is a schematic diagram of the field structure of a SPAT message provided in an embodiment of this application;

[0090] Figure 11 A schematic diagram of reference points for the EP type provided in the embodiments of this application;

[0091] Figure 12 A schematic diagram of a CP type reference point provided in an embodiment of this application;

[0092] Figure 13 A schematic diagram of another CP type reference point provided in an embodiment of this application;

[0093] Figure 14 A schematic diagram of another type of CP reference point provided in the embodiments of this application;

[0094] Figure 15 A schematic diagram of a reference point for a PV type provided in an embodiment of this application;

[0095] Figure 16 A schematic diagram of a reference point of type LCP provided in an embodiment of this application;

[0096] Figure 17 A schematic diagram of a reference point of type TM provided in an embodiment of this application;

[0097] Figure 18 A schematic diagram of a reference point of type TS provided in an embodiment of this application;

[0098] Figure 19A This is a schematic diagram illustrating a method for organizing reference object information as provided in an embodiment of this application;

[0099] Figure 19BThis is a schematic diagram illustrating another way of organizing reference object information provided in an embodiment of this application;

[0100] Figure 19C A schematic diagram illustrating yet another method of organizing reference object information provided in this application embodiment;

[0101] Figure 20 A schematic diagram of a reference object layer provided in an embodiment of this application;

[0102] Figure 21 This is a schematic diagram of the structure of a communication device provided in an embodiment of this application;

[0103] Figure 22 This is a schematic diagram of another communication device provided in an embodiment of this application;

[0104] Figure 23 This is a schematic diagram of another communication device provided in an embodiment of this application. Detailed Implementation

[0105] To facilitate understanding of the embodiments described below, the following explanation is provided first:

[0106] First, for ease of distinction and understanding, the following definitions are made: the information generation device carries a first map, and the information usage device carries a second map. The first map and the second map may come from the same map publisher or from different map publishers; this application embodiment does not limit this. Location points on the first map used for location point matching are called a first set of location points; location points on the second map that can match the first set of location points are called a second set of location points; and location points in the second set of location points are called second at least one location point. Location points used to represent the location of a location reference point in the first map are called first at least one location point, and the first at least one location point is a subset of the first set of location points. Location points used to calculate a location reference point in the second map are called third at least one location point.

[0107] Second, the "transmission" in this application embodiment can be performed between devices, for example, between different cloud devices, between different terminal devices, or between different roadside devices. It can also be performed between a cloud device and a terminal device, between a cloud device and a roadside device, or between a terminal device and a roadside device. Furthermore, it can be performed within a device, for example, via a bus, wiring, or interface between components, modules, chips, software modules, or hardware modules within the device. For example, map transmission can be performed within the same cloud device, within the same terminal device, or within the same roadside device.

[0108] In this embodiment of the invention, "receiving" can occur between devices, for example, between different cloud devices, between different terminal devices, or between different roadside devices. It can also occur between a cloud device and a terminal device, between a cloud device and a roadside device, or between a terminal device and a roadside device. Furthermore, it can occur within a device, for example, via a bus, wiring, or interface between components, modules, chips, software modules, or hardware modules within the device. For example, receiving a map can occur within the same cloud device, within the same terminal device, or within the same roadside device.

[0109] Third, the use of prefixes such as "first" and "second" in the embodiments of this application is merely for the purpose of distinguishing and describing different things belonging to the same name category, and does not constrain the order or quantity of things. For example, "first information" and "second information" are simply information with different content or purposes, and there is no temporal or priority relationship between them. First information may be one or more pieces of information, and second information may also be one or more pieces of information.

[0110] Fourth, in the embodiments of this application, "at least one" refers to one or more, and "more than one" refers to two or more. "And / or" describes the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A alone, A and B simultaneously, or B alone, where A and B can be singular or plural. The character " / " generally indicates that the preceding and following related objects are in an "or" relationship. "At least one of the following" or similar expressions refer to any combination of these items, including any combination of single or plural items. For example, at least one of a, b, or c can represent: a; b; c; a and b; a and c; b and c; or a and b and c. Here, a, b, and c can be single or multiple.

[0111] Fifth, in the embodiments of this application, "when," "if," and "if" all refer to the device making corresponding processing under certain objective circumstances, and are not limited to a time, nor do they require the device to make a judgment action when it is implemented, nor do they mean that there are other limitations.

[0112] Sixth, the term "simultaneously" in the embodiments of this application can be understood as at the same point in time, within a period of time, or within the same cycle. The specific meaning can be understood in conjunction with the context.

[0113] Seventh, in the embodiments of this application, the words "exemplary" or "for example" are used to indicate that they are examples, illustrations, or descriptions. Any embodiment or design that is described as "exemplary" or "for example" in this application should not be construed as being more preferred or advantageous than other embodiments or design options. Specifically, the use of the words "exemplary" or "for example" is intended to present the relevant concepts in a specific manner.

[0114] First, combined Figure 1 The possible application scenarios of the embodiments of this application are introduced.

[0115] Figure 1 This is a schematic diagram illustrating an application scenario provided in an embodiment of this application. Figure 1 The example scenario is a V2X scenario. For example... Figure 1 As shown, a V2X scenario may include: vehicles 101, roadside infrastructure 102, pedestrians 103, and cloud networks 104.

[0116] V2X is a technology that enables vehicles to communicate with the outside world. Here, V represents a vehicle, and X represents a vehicle, pedestrian, roadside infrastructure, or cloud network, etc. Specifically, V2X communication can include: vehicle-to-vehicle (V2V) communication, vehicle-to-infrastructure (V2I) communication, vehicle-to-pedestrian (V2P) communication, and vehicle-to-network (V2N) communication.

[0117] With the development of network technology and intelligent vehicle technology, the functions that vehicles can achieve through V2X communication are becoming increasingly diverse. For example, vehicles can obtain various information services through V2I and V2N communication, including but not limited to traffic light information, nearby vehicle information, vehicle navigation information, emergency rescue information, and entertainment service information. Vehicles can obtain real-time information such as the speed, location, and driving conditions of surrounding vehicles and pedestrian activities through V2V and V2P communication, and implement collision warning functions through intelligent algorithms to avoid traffic accidents. Vehicles can also achieve functions such as speed guidance through V2I communication to improve traffic efficiency.

[0118] In V2V communication, the communicating electronic devices can reside on two vehicles, such as handheld devices or in-vehicle devices belonging to vehicle users. In V2I communication, the communicating electronic devices can reside on a vehicle and roadside infrastructure; for example, one electronic device could be a handheld device or in-vehicle device belonging to a vehicle user, and the other could be a roadside unit (RSU). An RSU can be understood as a facility entity supporting V2X applications and can interact with other V2X-enabled electronic devices. In V2P communication, the communicating electronic devices can reside on vehicles and pedestrians. In V2N communication, the communicating electronic devices can reside on vehicles and servers. In summary, this application does not limit the form of the electronic devices, and the forms of the communicating electronic devices can be the same or different.

[0119] Maps are closely related to vehicle driving, especially high-definition maps, which serve as a crucial input for intelligent driving functions. The accuracy and effectiveness of high-definition map data directly impact driving safety. Therefore, electronic devices in V2X communication networks are equipped with high-definition maps. A high-definition map is a digital map with high resolution and real-time data updates. It is both part of the perception system and a vital component of system decision-making, possessing multiple functions such as high-precision positioning, assisted environmental perception, planning, and decision-making. Compared to traditional navigation maps, high-definition maps offer more than just high-precision coordinates; they also include detailed data such as road shape, lane information, heading, and curvature. Furthermore, when applied in conjunction with big data and artificial intelligence, high-definition maps can provide real-time data-driven decision support, making vehicles more intelligent and safer.

[0120] During V2X communication, terminal devices, roadside devices, and cloud devices may need to exchange location information. The following examples illustrate several scenarios where location information needs to be exchanged.

[0121] Example Scenario 1: Location information needs to be transmitted between roadside equipment and terminal equipment. For example, the roadside equipment sends surrounding environmental information to the terminal equipment, including but not limited to: surrounding vehicle movement information, traffic event information, traffic sign information, traffic light status information, etc. When sending the above surrounding environmental information, it is necessary to express detailed and high-precision location information for each dynamic piece of information.

[0122] Example Scenario 2: Location information needs to be transmitted between cloud devices and terminal devices. For example, the cloud device sends current road traffic flow information, congestion information, traffic sign information, traffic light information, etc., to the terminal device.

[0123] Example Scenario 3: Terminal devices need to transmit location information to each other. For example, a terminal device sends its own location information to other terminal devices, or sends the location information of a target object it perceives.

[0124] Example Scenario 4: Location information needs to be transmitted between roadside devices and cloud devices. For example, roadside devices send surrounding environmental information to cloud devices, including but not limited to: road maintenance information, traffic event information, congestion information, etc.

[0125] In the above scenarios, the terminal device can be an in-vehicle terminal device or a user terminal device.

[0126] In the above scenarios, location information can be transmitted via V2X messages. For ease of description, subsequent examples will only use the first example scenario. The implementation methods for other scenarios are similar and will not be illustrated further.

[0127] When location information needs to be transmitted between roadside equipment and terminal equipment, it can be transmitted through the following V2X messages: roadside information (RSI), road safety message (RSM), and signal phase timing (SPAT) messages. The following is an introduction to these various V2X messages.

[0128] RSI (Roadside Information System) refers to traffic event and signage information transmitted from roadside equipment to terminal equipment. RSI conveys road-related warnings or alerts, such as road construction, speed limit reminders, speeding warnings, and public lane warnings.

[0129] RSM refers to real-time status information of surrounding traffic participants sent by roadside equipment to terminal equipment. For example, roadside equipment with sensing and detection capabilities (such as sensors such as cameras) can perceive the real-time status information of surrounding traffic participants, organize this information into the format defined by RSM messages, and send it to the terminal equipment. Therefore, by sending RSM messages from roadside equipment to terminal equipment, vehicles can detect their surrounding environment.

[0130] SPAT refers to the traffic light status information sent by roadside equipment to terminal equipment. For example, the roadside equipment may integrate traffic lights, or it may be able to sense the status information of traffic lights. By sending SPAR messages from the roadside equipment to the terminal equipment, the vehicle is provided with real-time traffic light phase information.

[0131] Some solutions typically use absolute coordinates (such as latitude and longitude) to express location information. However, relevant standards prohibit the direct transmission of absolute coordinates. Therefore, when transmitting location information via V2X messages, the absolute coordinates need to be randomly deflected before transmission. This introduces errors into the location information received by the receiver, resulting in lower positioning accuracy.

[0132] To address at least one of the aforementioned technical problems, this application provides a communication method in which the sending end, when transmitting the location information of a target object via a V2X message, can include reference object indication information and location indication information in the V2X message. The reference object indication information indicates at least one reference object, and the location indication information indicates the position of the target object relative to the at least one reference object. In this way, the receiving end can locate the position of the target object based on the reference object indication information and the location indication information. In the above process, relative position information is transmitted between the sending end and the receiving end, thereby avoiding deflection errors and ensuring positioning accuracy.

[0133] The technical solutions of this application will be described in detail below with specific embodiments. The following specific embodiments can be combined with each other, and the same or similar concepts or processes may not be described again in some embodiments.

[0134] Figure 2 This is a flowchart illustrating a communication method provided in an embodiment of this application. Figure 2 As shown, the method in this embodiment includes:

[0135] S201: The sending end generates a V2X message, which includes reference object indication information and location indication information. The reference object indication information is used to indicate at least one reference object, and the location indication information is used to indicate the position of the target object relative to the at least one reference object.

[0136] In the application scenario of this application embodiment, the sending end transmits the location information of the target object to the receiving end via V2X messages. The sending end can be a cloud device, a roadside device, or a terminal device. The cloud device can be, for example, a map server, its software modules, hardware modules, or chips. The roadside device can be, for example, a roadside unit, its software modules, hardware modules, or chips. The terminal device can be, for example, a vehicle, its software modules, hardware modules, or chips.

[0137] The receiving end can be a cloud device, a roadside device, or a terminal device. Cloud devices can be, for example, a map server, its software modules, hardware modules, or chips. Roadside devices can be, for example, roadside units, their software modules, hardware modules, or chips. Terminal devices can be, for example, vehicles, their software modules, hardware modules, or chips.

[0138] V2X messages can be messages used for interaction between terminal devices and cloud devices, or messages used for interaction between terminal devices and roadside devices, or messages used for interaction between terminal devices, or messages used for interaction between terminal devices and pedestrian user devices.

[0139] The target object refers to the object whose location information is to be transmitted. The target object can be an element or an event within the road environment. An element refers to a stationary element existing in the road environment, including but not limited to lane lines, traffic signs, road markings, and road edge lines. An event refers to a dynamic event occurring in the road environment in real time, including but not limited to traffic accidents, real-time traffic conditions, warning information, and congestion information.

[0140] For example, taking the above example scenario one, the sending end can be a roadside device, the receiving end can be a terminal device, and the V2X message can be any of the following messages: RSI message, RSM message, SPAT message.

[0141] When a V2X message is an RSI message, the target object can be a traffic event or a traffic sign. That is, the roadside equipment transmits the location information of a traffic event or the event information of a traffic sign to the terminal equipment. When a V2X message is an RSM message, the target object can be a traffic participant. That is, the roadside equipment transmits the location information of a traffic participant to the terminal equipment. When a V2X message is a SPAT message, the target object can be a traffic light. That is, the roadside equipment transmits the location information of a traffic light to the terminal equipment.

[0142] In this embodiment, the reference object includes reference points and / or reference lines. Reference lines include one or more of the following: straight lines, dashed lines, and broken lines. For example, when the reference object is a reference point, it can be a point that can be determined based on map elements, such as the endpoint of a stop line, the endpoint of a lane center line, the endpoint of a road center line, the endpoint of a lane line, the endpoint of a road edge line, the intersection of a lane line and a stop line, the intersection of two lane lines, the intersection of two road edge lines, lane line attribute transformation points, the center point of the bounding box of a traffic marking, the vertex of the bounding polygon of a traffic marking, the ground projection point corresponding to the center point of the bounding box of a traffic sign, the ground projection point corresponding to the center point of the bounding box of a traffic light frame, etc. When the reference object is a reference line, it can be the map element itself, or a line that can be determined based on map elements. For example, a reference line can be a stop line, lane line, lane center line, road center line, road edge line, etc.

[0143] A reference object is used to provide a reference for representing the position of a target object. Specifically, the positional information of the target object can be expressed by using its relative position to the reference object.

[0144] In this embodiment of the application, when the sending end generates a V2X message, it includes reference object indication information and location indication information in the V2X message. The reference object indication information indicates at least one reference object, and the location indication information indicates the position of the target object relative to the at least one reference object. In this way, the receiving end can determine the target location information of the target object based on the reference object indication information and the location indication information.

[0145] In a possible implementation, the reference object indication information may indicate the identifier of each of the at least one reference object within a geographic area. Optionally, the identifier of each reference object within a geographic area may refer to the identifier of the reference object within the entire map area, for example, the number of the reference object within the entire map area. The numbering rule for the reference objects may be determined by the map provider. It is understood that each reference object has a unique identifier within the entire map area.

[0146] In some scenarios, maps are managed using map tiles. A map tile is a map slice file containing a series of scales and a specific map area, facilitating map management. For example, the map tile formation process is as follows: Map software (such as ArcGIS) processes the map data, creates the required layer scheme, and saves the scheme; the map software then cuts the map into raster tiles according to the scheme, obtaining map tiles. Each map tile has an identifier, which can be a map tile number. The numbering rules for map tiles can be determined by the map publisher. Optionally, the identifier for each reference object within a geographic area can also refer to the identifier of that reference object within a map tile, for example, the number of the reference object within the map tile where it is located. The numbering rules for reference objects within each map tile are determined by the map publisher. It is understood that each reference object has a unique identifier within its respective map tile.

[0147] In a possible implementation, the reference object indication information is also used to indicate the identifier of the geographical region where each of the at least one reference object is located, for example, the identifier of the map tile where each reference object is located. Thus, a reference object can be uniquely identified by the identifier of the geographical region and the identifier of the reference object within that geographical region.

[0148] In a possible implementation, the reference object indication information can indicate the position of each of the at least one reference object. Optionally, the position of each reference object can be expressed using absolute coordinates. Optionally, the position of each reference object can also be expressed using relative coordinates. Optionally, if the reference object is a map element, the first position can also be expressed by indicating the map element.

[0149] In this embodiment of the application, the number of reference objects indicated by the reference object indication information can be one or more. When the number of reference objects indicated by the reference object indication information is one, the position indication information is used to indicate the position of the target object relative to that one reference object. When the number of reference objects indicated by the reference object indication information is multiple, the position indication information is used to indicate the position of the target object relative to each reference object.

[0150] In a possible implementation, taking two reference objects as an example, the reference object indication information includes first reference object indication information and second reference object indication information. The first reference object indication information is used to indicate the first reference object, and the second reference object indication information is used to indicate the second reference object. The position indication information includes first position information and second position information. The first position information is used to indicate the position of the target object relative to the first reference object, and the second position information is used to indicate the position of the target object relative to the second reference object.

[0151] In this implementation, the V2X message transmits the target object's position relative to both a first and a second reference object. This allows the receiving end to locate the target object based on its position relative to either the first or the second reference object, or both, improving the flexibility of the receiving end's processing. Furthermore, if one reference object fails, the receiving end can locate the target object based on the other reference object, ensuring the robustness of the receiving end's location processing.

[0152] In a possible implementation, a V2X message can simultaneously transmit the relative position information of multiple target objects. When a V2X message transmits the relative position information of multiple target objects simultaneously, the relative position information of different target objects can be expressed based on different reference objects or based on the same reference object; this embodiment does not limit this.

[0153] S202: The sending end sends the V2X message to the receiving end.

[0154] Accordingly, the receiving end receives the V2X message.

[0155] S203: The receiving end determines the target location information of the target object based on the reference object indication information and the location indication information.

[0156] In this embodiment, the target location information of the target object indicates the absolute position of the target object. Since the reference object indication information indicates the at least one reference object, and the location indication information indicates the position of the target object relative to the at least one reference object, the receiving end can locate the position of the target object on the map based on the reference object indication information and the location indication information, that is, obtain the target location information of the target object.

[0157] Specifically, the receiving end determines the location information of the at least one reference object based on the reference object indication information; and determines the target location information of the target object based on the location indication information and the location information of the at least one reference object.

[0158] When the reference object indication information indicates only one reference object, the position indication information is used to indicate the position of the target object relative to that one reference object. The receiving end determines the position information of that one reference object based on the reference object indication information, and determines the target position information of the target object based on the position indication information and the position information of that one reference object.

[0159] In a possible implementation, taking two reference objects as an example, the reference object indication information includes first reference object indication information and second reference object indication information. The first reference object indication information is used to indicate the first reference object, and the second reference object indication information is used to indicate the second reference object. The position indication information includes first position information and second position information. The first position information is used to indicate the position of the target object relative to the first reference object, and the second position information is used to indicate the position of the target object relative to the second reference object.

[0160] Optionally, the receiving end can determine the target location information of the target object based on the first reference object indication information and the first location information; or, the receiving end can determine the target location information of the target object based on the second reference object indication information and the second location information. In other words, the terminal device can locate the target object based on either the first reference object or the second reference object.

[0161] For example, when the receiving end determines that the first reference object is superior to the second reference object, it determines the target location information of the target object based on the first reference object indication information and the first location information.

[0162] For example, the receiver may determine that the first reference object is superior to the second reference object when at least one of the following conditions is met: the distance between the first reference object and the receiver is less than the distance between the second reference object and the receiver; the positional accuracy of the first reference object is higher than the positional accuracy of the second reference object; the confidence level of the first reference object is higher than the confidence level of the second reference object; and the priority of the first reference object is higher than the priority of the second reference object.

[0163] Optionally, the receiving end can determine the first candidate location information of the target object based on the first reference object indication information and the first location information, determine the second candidate location information of the target object based on the second reference object indication information and the second location information, and determine the target location information of the target object based on the first candidate location information and the second candidate location information. In other words, the terminal device first locates the target object based on the first reference object and the second reference object respectively, obtaining two candidate location information, and then comprehensively considers the two candidate location information to obtain the final location result of the target object. For example, coordinate calculations are performed on the two candidate location information to obtain the final location result. Thus, by locating the target object based on multiple reference objects, the positioning accuracy is improved.

[0164] It should be noted that the above implementation is based on an example using two reference objects. The implementation principle and technical effect are similar when using a larger number of reference objects, and will not be elaborated upon here.

[0165] The communication method provided in this embodiment includes: a sending end generating a V2X message, the V2X message including reference object indication information and location indication information, wherein the reference object indication information is used to indicate at least one reference object, and the location indication information is used to indicate the position of a target object relative to the at least one reference object; the sending end sending the V2X message to a receiving end; and the receiving end determining the target position information of the target object based on the reference object indication information and the location indication information. In the above process, the sending end and the receiving end transmit the relative position information of the target object relative to the reference object, thereby avoiding deflection errors and ensuring positioning accuracy.

[0166] Based on the above embodiments, in some scenarios, the sending end and the receiving end may use maps provided by different map providers. Since different map providers typically have different cartographic rules and methods, the reference objects defined by different map providers will differ. For example, the sending end uses... Figure 1 The reference object 1 in the V2X protocol represents the relative position information of the target object, and this relative position information is transmitted to the receiving end via a V2X message. The receiving end uses this relative position information to... Figure 2The target object is located using reference object 1 in the reference object, due to the ground Figure 1 Reference object 1 in the middle and the ground Figure 2 The reference object 1 may be different, therefore, the positioning result of the receiver may not be accurate.

[0167] To address the aforementioned technical problems, in this embodiment, when the sending end transmits the relative location information of the target object to the receiving end via V2X messages, it can also transmit reference object information to the receiving end. The reference object information indicates relevant information about a reference object defined by the sending end. By transmitting the reference object information, even when the receiving end and the sending end use maps provided by different map providers, the receiving end can ascertain the reference object information used by the sending end, ensuring the accuracy of the receiving end's positioning results. The method of transmitting reference object information is described below with reference to several specific embodiments.

[0168] Figure 3 This is a flowchart illustrating another communication method provided in an embodiment of this application. Figure 3 As shown, the method in this embodiment includes:

[0169] S301: The sending end generates a V2X message, which includes: reference object indication information, location indication information and reference object information. The reference object indication information is used to indicate a first at least one reference object. The location indication information is used to indicate the position of the target object relative to the first at least one reference object. The reference object information is used to indicate the identifier of each of the second at least one reference objects in the geographical area and the position of each of the second at least one reference objects. The second at least one reference object includes the first at least one reference object.

[0170] This embodiment and Figure 2 The difference in the illustrated embodiment is that, when the sending end sends a V2X message, the V2X message includes reference object information in addition to reference object indication information and location indication information. The reference object information indicates the identifier of each of the second at least one reference object within a geographical area, and the location of each of the second at least one reference object. The second at least one reference object can be all reference objects defined by the sending end. Alternatively, the second at least one reference object can be all reference objects within a certain geographical area defined by the sending end. When expressing the relative location information of the target object, the sending end uses the first at least one reference object for relative location expression. The second at least one reference object includes the first at least one reference object, or in other words, the first at least one reference object is a subset of the second at least one reference object.

[0171] For example, suppose the sender defines 10 reference objects, namely reference object 1 to reference object 10. When expressing the relative position information of the target object, the sender can use one or more of these 10 reference objects. For example, the sender uses reference object 1 and reference object 2 to express the relative position of the target object. In this case, the second at least one reference object is reference object 1 to reference object 10, that is, the reference object information indicates the identifier of each reference object among reference object 1 to reference object 10 within the geographical area and the position of each reference object. The first at least one reference object is reference object 1 and reference object 2, that is, the reference object indication information indicates reference object 1 and reference object 2.

[0172] In a possible implementation, the second at least one reference object is the first at least one reference object. For example, suppose the sender defines 10 reference objects, namely reference object 1 to reference object 10. When expressing the relative position information of the target object, the sender can use one or more of the above 10 reference objects. For example, the sender uses reference object 1 and reference object 2 to express the relative position of the target object. In this case, the reference object information can indicate the identifiers and positions of reference object 1 and reference object 2 (i.e., the reference objects actually used when expressing the relative position of the target object) within the geographical area. This avoids carrying a lot of information related to invalid reference objects in the V2X message, reducing the air interface overhead of the V2X message.

[0173] S302: The sending end sends the V2X message to the receiving end.

[0174] Accordingly, the receiving end receives the V2X message.

[0175] S303: The receiving end determines the target location information of the target object based on the reference object indication information, the location indication information, and the reference object information.

[0176] In a possible implementation, the receiving end can determine the position of the first at least one reference object based on the reference object indication information and the reference object information; and determine the target position information of the target object based on the position of the first at least one reference object and the position indication information.

[0177] In this embodiment, when the sending end transmits the relative position information of the target object to the receiving end through V2X messages, it also sends the reference object information in the V2X messages. This allows the receiving end to accurately locate the reference object used by the sending end when expressing the relative position information of the target object. Then, the receiving end locates the target object based on the location of the located reference object, thereby improving the positioning accuracy of the target object.

[0178] Figure 3 In the illustrated embodiment, reference object information can be carried within the V2X message for transmission. This embodiment is suitable for scenarios where the number of the second or at least one reference object indicated in the reference object information is small. When the number of the second or at least one reference object is large, to avoid excessive air interface overhead for the V2X message, the reference object information and the V2X message can be sent separately. The following describes... Figure 4 The illustrated embodiments are described below.

[0179] Figure 4 This is a flowchart illustrating another communication method provided in an embodiment of this application. Figure 4 As shown, the method in this embodiment includes:

[0180] S401: The sending end generates a V2X message, the V2X message including reference object indication information and location indication information, the reference object indication information is used to indicate a first at least one reference object, and the location indication information is used to indicate the position of the target object relative to the first at least one reference object.

[0181] S402: The sending end sends reference object information to the receiving end. The reference object information is used to indicate the identifier of each reference object in the second at least one reference object within the geographical area, and the location of each reference object in the second at least one reference object, wherein the second at least one reference object includes the first at least one reference object.

[0182] Optionally, the second at least one reference object is the first at least one reference object. That is, by sending only information about the reference object actually used to express the relative position of the target object in the reference object information, it is possible to avoid carrying a lot of information about invalid reference objects in the reference object information and reduce the air interface overhead of the reference object information.

[0183] S403: The sending end sends the V2X message to the receiving end.

[0184] Correspondingly, the receiving end receives reference object information and V2X messages.

[0185] It should be noted that this embodiment does not limit the order in which the reference object information and the V2X message are sent. The reference object information can be sent first, followed by the V2X message, or vice versa.

[0186] S404: The receiving end determines the target location information of the target object based on the reference object indication information, the location indication information, and the reference object information.

[0187] This embodiment and Figure 3 The difference in the illustrated embodiment is that the reference object information is not sent in the V2X message, but is sent in the reference object information itself, so as to achieve separate transmission of the reference object information and the V2X message, thereby avoiding excessive air interface overhead occupied by the V2X message.

[0188] Figure 4 The implementation methods of other steps in the illustrated embodiment are the same as Figure 3 The embodiments shown are similar and will not be described in detail here.

[0189] exist Figure 4 Based on the illustrated embodiment, in possible implementations, both V2X messages and reference object information can be periodically sent messages. The following section will discuss this further. Figures 5 to 7 Examples are given to illustrate several possible ways of sending reference object information and V2X messages.

[0190] Figure 5 This is a schematic diagram illustrating a method for sending reference object information and V2X messages, as provided in embodiments of this application. Figure 5 As shown, both reference object information and V2X messages can be periodically sent, and the sending frequency of reference object information can be the same as the sending frequency of V2X messages.

[0191] For example, assuming the V2X message transmission period is 1 second, the sender sequentially sends the reference object information and the V2X message each time the V2X message transmission opportunity arrives, thus achieving simultaneous transmission of the reference object information and the V2X message. It should be noted that... Figure 5 The example shows that reference object information is sent before the V2X message. In actual applications, reference object information can also be sent after the V2X message. This embodiment does not limit this, as long as the sending frequency of the two is the same.

[0192] Figure 5 In the sending method shown, the reference object information and V2X messages are sent in the same period, which is simple to implement.

[0193] Figure 6This is a schematic diagram illustrating another method of sending reference object information and V2X messages, as provided in the embodiments of this application. Figure 6 As shown, both reference object information and V2X messages can be periodically sent, but the sending frequency of reference object information is lower than that of V2X messages. In other words, the frequency of reference object information transmission is reduced.

[0194] For example, assuming the V2X message sending cycle is 1 second, the reference object information sending cycle can be 2 seconds. Figure 6 At the first V2X message transmission timing, reference object information and the V2X message are sent sequentially. At the second V2X message transmission timing, only the V2X message needs to be sent; the reference object information does not need to be sent. At the third V2X message transmission timing, reference object information and the V2X message are sent sequentially. At the fourth V2X message transmission timing, only the V2X message needs to be sent; the reference object information does not need to be sent. The above process is repeated.

[0195] Figure 6 In the transmission method shown, the reference object information is transmitted at a lower frequency, which can further reduce air interface overhead.

[0196] It should be noted that V2X messages are periodically sent. The sending end generates V2X messages according to the corresponding sending period and sends them to the receiving end. It should be understood that the V2X message sent in each period conveys the location information of the target object within the current period. For example, the V2X message sent in the nth period conveys the location information of the target object at time n or within the (n+1)th period, and the V2X message sent in the (n+1)th period conveys the location information of the target object at time n+1 or within the (n+1)th period. The target object in the V2X message sent in the nth period may be the same as or different from the target object in the V2X message sent in the (n+1)th period. Even if the target object in the V2X message sent in the nth period is the same as the target object in the V2X message sent in the (n+1)th period, their location information may also be the same or different. Therefore, in this embodiment, the V2X message is a periodically non-repeating message.

[0197] Figure 5 and Figure 6 In the illustrated embodiment, the reference object information can be a periodically repeated message, that is, the content of the reference object information sent in each period is repeated.

[0198] exist Figure 6Based on the illustrated embodiment, in a possible implementation, when the reference object information at the sending end is updated, the sending end can immediately send the updated reference object information. This ensures that the receiving end receives the updated reference object information in a timely manner, guaranteeing the accuracy of the target object's location result.

[0199] Figure 7 This is a schematic diagram illustrating another method of sending reference object information and V2X messages, as provided in the embodiments of this application. For example... Figure 7 As shown, the reference object information can be sent in packets, meaning that each reference object information packet can contain some of the relevant information of the reference object.

[0200] Specifically, the reference object information includes first reference object information and second reference object information, and the first reference object information and second reference object information are sent in separate packets. The first reference object information includes first reference object information, and the second reference object information includes second reference object information. The first reference object information is used to indicate the identifier and location of each of the at least three third reference objects within a geographical area, and the second reference object information is used to indicate the identifier and location of each of the at least four fourth reference objects within a geographical area. The at least two second reference objects include the at least three third reference objects and the at least four fourth reference objects.

[0201] For example, suppose the sender defines 10 reference objects, designated as Reference Object 1 to Reference Object 10. The reference object information indicates the identifier and location of each reference object within a geographical area. The sender can divide this reference object information into packets. For instance, it can be divided into two packets: First Reference Object Information and Second Reference Object Information. The First Reference Object Information indicates the identifier and location of each reference object within a geographical area (Reference Objects 1 to 5). The Second Reference Object Information indicates the identifier and location of each reference object within a geographical area (Reference Objects 6 to 10). The sender then transmits the First Reference Object Information and the Second Reference Object Information separately, thus achieving packetized transmission of the reference object information.

[0202] It's understandable that packet-based transmission is suitable for scenarios with a large number of reference objects. By using packet-based transmission, the air interface overhead of reference object information can be reduced.

[0203] See Figure 7When the sending end divides the reference object information into packets, it can combine this with the V2X message sending cycle. For example, taking the reference object information as divided into two packets (i.e., first reference object information and second reference object information), the first reference object information and the V2X message are sent sequentially at the first V2X message sending time; the second reference object information and the V2X message are sent sequentially at the second V2X message sending time; the first reference object information and the V2X message are sent sequentially at the third V2X message sending time; and the second reference object information and the V2X message are sent sequentially at the fourth V2X message sending time. This process is repeated.

[0204] Figure 7 The transmission method shown achieves both reduced frequency transmission of reference object information and reduced size of each reference object information, which can further reduce air interface overhead.

[0205] It should be noted that the example above uses two packets as an illustration. This embodiment does not limit the number of packets and can divide the data into more packets for transmission.

[0206] Based on any of the above embodiments, the field structure of V2X messages will be illustrated below with examples of several specific scenarios.

[0207] Scenario 1: The roadside device sends an RSI message to the terminal device, transmitting the location information of the event in the RSI message.

[0208] Specifically, the roadside equipment senses the surrounding environment. When an event is detected, it selects a suitable reference object around the event based on reference object information. It then calculates the relative position information of the event with respect to the selected reference object. Based on the identifier of the selected reference object and the calculated relative position information, it generates an RSI message.

[0209] Optionally, when selecting a reference object, if multiple reference objects exist around the event, a reference object with higher priority, higher positional precision, or higher confidence level can be selected. This ensures the accuracy of the calculated relative positional information.

[0210] Optionally, when the roadside equipment detects multiple events, it selects an appropriate reference object for each event. The reference objects selected for different events can be the same or different.

[0211] Optionally, one or more reference objects can be selected for each event. When multiple reference objects are selected, the RSI message transmits the relative position information of the event based on each reference object. In this way, the receiving end can select one or more reference objects for parsing and positioning according to its own needs, improving the flexibility of the receiving end's processing.

[0212] The following is an example illustrating the field structure of an RSI message. The original RSI message includes the following fields: Roadside Equipment Identifier (RSUID) and Event List (RTEList). Each event in the Event List (RTEList) may include the following fields: Event Identifier (Rte ID), Event Type (EventType-Ex), Event Attribute (EventAttribute), Event Source (EventSource-Ex), Event Description (description), Event Priority (Priority), Event Confidence (EventConfidence), and Event Time Details (RsiTimeDetails).

[0213] Figure 8 This is a schematic diagram of the field structure of an RSI message provided in an embodiment of this application. For example... Figure 8 As shown in this embodiment, for backward compatibility, the fields in the event list (RTEList) of the original RSI message remain unchanged. A new field, "Event Extension List (RTElist-Ex)", is added to the original RSI message. The Event Extension List (RTElist-Ex) includes all the fields from the event list (RTEList), and a new field, "List of Relative Position Expressions of Events," is added to the Event Extension List (RTElist-Ex).

[0214] See also Figure 8 The list of relative location representations for an event may include one or more relative location representations. Each relative location representation includes: reference object indication information and location indication information. For example, the reference object indication information may be the identifier of the reference object on which the relative location representation is based within a geographic region. The location indication information may include first region information and second region information. The first region information indicates the first geographic region where the event occurs, and the second region information indicates the second geographic region affected by the event. Specifically, the first region information is the result of representing the relative location of the first geographic region based on the reference object, and the second region information is the result of representing the relative location of the second geographic region based on the reference object.

[0215] Optionally, the first geographic region and the second geographic region can be one of the following: a rectangular region, a circular region, a polygonal region, or a region along the length of a lane / road.

[0216] In this embodiment, since the occurrence and impact of the event are both within a certain range, the location of the event is described using first region information and second region information. Compared with using coordinate points to describe the location of the event, this makes the expression of the event location more accurate.

[0217] Optional, see below Figure 8 When the reference object information and the RSI message are sent together, the RSI message may also include the reference object information.

[0218] Scenario 2: Roadside equipment sends RSM messages to terminal equipment, transmitting the location information of traffic participants in the RSM messages.

[0219] The process of generating RSM messages by roadside equipment is similar to that of generating RSI messages, and will not be elaborated here. The following is an example illustrating the field structure of an RSI message. The original RSM message includes the following fields: Roadside Equipment Identifier (RSUID) and Traffic Participant List (PaticipantList). Each traffic participant in the Traffic Participant List can include the following fields: Traffic Participant ID (Ptc ID), Traffic Participant Type (ParticipantType), Traffic Participant Speed ​​(Speed), Traffic Participant Source Type (Source Type), Traffic Participant Position Confidence Set (PositionConfidenceSet), Traffic Participant Transmission State (TransmissionState), and Traffic Participant Size (Vehiclesize), etc.

[0220] Figure 9A This is a schematic diagram of the field structure of an RSM message provided in an embodiment of this application. For example... Figure 9A As shown, for backward compatibility, all fields in the original Patient List of the RSM message remain unchanged. A new field, "Extended Patient List (PaticipantList-Ex)", is added to the original RSM message. The "Extended Patient List (PaticipantList-Ex)" includes all fields from the original Patient List, and the following new fields, "Reference Object Indication Information for Patients" and "Location Indication Information for Patients", are added to the "Extended Patient List (PaticipantList-Ex)".

[0221] Figure 9AIn the RSM message shown, each traffic participant has a corresponding reference object indication information, meaning that different traffic participants can express their relative positions based on different reference objects.

[0222] Figure 9B This is a schematic diagram of the field structure of another RSM message provided in an embodiment of this application. Figure 9B The RSM message shown is Figure 9A The difference is that, Figure 9B In the RSM message shown, all traffic participants share a common reference object. That is, all traffic participants in the RSM message express their relative positions based on the same reference object.

[0223] Optional, see below Figure 9A and Figure 9B When the reference object information and the RSM message are sent together, the RSM message may also include the reference object information.

[0224] Scenario 3: The roadside equipment sends a SPAT message to the terminal equipment, which transmits the location information of the traffic lights.

[0225] The process of generating SPAT messages by roadside equipment is similar to that of generating RSI messages, and will not be elaborated here. The following is an example illustrating the field structure of a SPAT message. The original SPAT message includes: an intersection list (Intersections). For each intersection in the intersection list, it includes the following fields: intersection identifier (intersectionId), intersection status (status), and phase information (phases). The phase information can be a list, with each phase corresponding to one or a group of traffic lights. The fields for this traffic light (Seq.of phase) include: traffic light identifier, traffic light status (phaseStates), etc. The traffic light status (phaseStates) can include the following fields: lit (light), timing (timing). The timing method includes the following fields: counting (counting), and time difference (utcTiming).

[0226] Figure 10 This is a schematic diagram of the field structure of a SPAT message provided in an embodiment of this application. For example... Figure 10As shown, for backward compatibility, the fields in the original SPAT message's Intersections list remain unchanged. A new field, "Intersections-Ex," is added to the original SPAT message. The "Intersections-Ex" includes all the fields from the original Intersections list, and a new field, "Reference Object Indication Information," is added to the "Intersections-Ex" field. This ensures that all traffic lights at each intersection share a single reference object.

[0227] Further reference Figure 10 In each phase of the "Intersections-Ex" list, add the following field "PositionOffSetLLV" to the existing fields.

[0228] Optional, see below Figure 10 When the reference object information and the SPAT message are sent together, the SPAT message may also include the reference object information.

[0229] The three example scenarios above illustrate the field structures of RSI, RSM, and SPAT messages to support relative positional expressions based on a reference object. It should be noted that... Figures 8 to 10 The fields shown are merely examples; in actual applications, many more fields may be included, but this application does not limit this. Figures 8 to 10 In this context, the fields marked with shaded text can be newly added fields in the existing V2X message structure.

[0230] The above embodiments describe how the sending end can transmit reference object information to the receiving end. The following describes the process by which the sending end generates reference object information, and the detailed content of the reference object information, with reference to specific embodiments. In the examples below, a reference point is used as an example. When the reference object is a reference line, the principle and implementation process are similar, and will not be illustrated further in this application.

[0231] It should be noted that when selecting reference points, they can be extracted from maps or from raw data collected during map making. This application does not impose specific limitations on this.

[0232] In this embodiment of the application, when selecting a reference point, the reference point can be defined based on one or more of the following selection principles:

[0233] (1) Principle of universality: Points that are generally included in the drawing specifications or data collection of various map providers.

[0234] (2) Fixedness principle: Points that generally change less on the map.

[0235] (3) Principle of certainty: The definition of a point is clear and there is no ambiguity in the semantic understanding.

[0236] (4) Accuracy principle: The positional accuracy of the points is high and the error introduced by the differences in cartography between different cartographic companies is small.

[0237] For example, the intersection of lane markings and stop lines that satisfies the aforementioned general, fixed, deterministic, and precise rules can be used as a reference point. Similarly, the endpoints, intersections, vertices, and breakpoints of lane lines and stop lines can be selected as reference points. Furthermore, the geometric center point of traffic signs, traffic markings, traffic light boxes, buildings, and the ground projection point corresponding to the geometric center point of vegetation can also be selected as reference points.

[0238] The following examples, in conjunction with Table 1, illustrate the definition of a reference point and related information using several possible scenarios. In this embodiment, the definition of a reference point is primarily used to clarify the selection method and to distinguish the types of reference points.

[0239] Table 1

[0240]

[0241] Example 1: The left and right endpoints of the physical markings for the stop line on a straight road.

[0242] Example 2: The left and right endpoints of the physical markings for the stop line in the left turn waiting area.

[0243] The reference point type defined in the two examples above can be called the endpoint (EP) type. Figure 11 This is a schematic diagram of a reference point of type EP provided in an embodiment of this application. For example... Figure 11 As shown, the left endpoint 42 and right endpoint 43 of the physical marking 41 for the stop line of the straight road are selected as reference points, and the left endpoint 45 and right endpoint 46 of the physical marking 44 for the stop line of the left-turn waiting area are selected as reference points.

[0244] It should be noted that the two examples above use the left and right endpoints of the physical stop line markings as reference points. Since physical stop line markings usually have a certain width, in practical applications, the left and right endpoints of the center line of the physical stop line markings can also be used as reference points, or the left and right endpoints of the inner line (the edge line closest to the lane) of the physical stop line markings can also be used as reference points, or the left and right endpoints of the outer line (the edge line furthest from the lane) of the physical stop line markings can also be used as reference points.

[0245] Example 3: The intersection of the physical markings of the stop line of the straight lane and the physical markings of the Nth lane line of the straight lane.

[0246] Example 4: The intersection of the physical markings of the stop line in the left-turn waiting area and the physical markings of the Nth lane line in the left-turn waiting area.

[0247] Example 5: The intersection of the physical markings of two road edges.

[0248] Example 6: The intersection of the virtual extensions of two road edges.

[0249] Example 7: Intersection of lane center lines.

[0250] The reference point type defined in Examples 3 to 7 above can be called the crossover point (CP) type. The following section will combine... Figures 12 to 14 Let's illustrate with examples.

[0251] Figure 12 This is a schematic diagram of a CP type reference point provided in an embodiment of this application. Figure 12 This is an illustration of Example 3 above. For example... Figure 12 As shown, the intersection point 53 of the physical markings 51 of the stop line on the straight road and the physical markings 52 of each lane line is selected as the reference point.

[0252] Figure 13 This is a schematic diagram of another type of CP reference point provided in an embodiment of this application. Figure 13 This is an illustration of Example 5 above. For example... Figure 13 As shown, the intersection point 62 of the physical markings 61 of the two road edges is selected as the reference point. In some scenarios, the two road edges may not have an actual intersection point; for example, the connection point of the two road edges is an arc. In this case, the intersection point of the virtual extensions of the two road edges can be selected as the reference point (i.e., Example Six). This situation is similar to... Figure 13 It is similar, and will not be explained further with reference to the attached diagram.

[0253] Figure 14 This is a schematic diagram of another type of CP reference point provided in an embodiment of this application. Figure 14 This is an illustration of Example 7 above. For example... Figure 14 As shown, the intersection point 72 between the center lines 71 of the two lanes is selected as the reference point. It should be understood that... Figure 14 Each road in the middle has 6 lanes, and the two roads together have 12 lanes. Figure 14 The illustration uses only the intersection of the center lines of two lanes as an example. In practical applications, the intersection of the center lines of any two lanes can be selected as a reference point.

[0254] Example 8: Vertices of the circumscribed polygon of a pedestrian crossing.

[0255] The reference point defined in Example 8 above can be called a polygon vertex (PV) type. Figure 15 This is a schematic diagram of a reference point for a PV type provided in an embodiment of this application. For example... Figure 15 As shown, the four vertices 82 of the outer rectangle 81 of the pedestrian crossing are selected as reference points.

[0256] Example 9: Lane line linear transformation points. For example, changing from a solid line to a dashed line, or from a dashed line to a solid line.

[0257] Example 10: Lane line color change points. For example, changing from yellow to white, and from white to yellow, etc.

[0258] Example 11: Lane line crossing attribute change point. Crossing attribute refers to the lane line attributes other than line type and color.

[0259] The reference point type defined in Examples 9 to 11 above can be called the line changepoint (LCP) type. Figure 16 This is a schematic diagram of a reference point for an LCP type provided in an embodiment of this application. For example... Figure 16 As shown, the transition point 92 in lane line 91, where the line changes from dashed to solid, is selected as the reference point. It should be noted that... Figure 16 The above example nine (linear transformation) is used as an illustration. Examples ten and eleven are similar and will not be illustrated further with reference to the accompanying drawings.

[0260] Example 12: Geometric center point of the circumcircle of a traffic marking.

[0261] The type of reference point defined in Example Twelve above can be called the traffic marking (TM) type. Figure 17 This is a schematic diagram of a reference point of type TM provided in an embodiment of this application. For example... Figure 17As shown, the geometric center point 1004 of the circular bounding box of the left-turn arrow 1001 is selected as the reference point, the geometric center point 1005 of the circular bounding box of the straight arrow 10021 is selected as the reference point, and the geometric center point 1006 of the circular bounding box of the right-turn arrow 1003 is selected as the reference point. It should be noted that... Figure 17 The example shown uses a circular bounding box, but rectangular bounding boxes, triangular bounding boxes, etc., can also be used.

[0262] Example 13: Ground projection point corresponding to the geometric center point of the outer frame of a traffic sign.

[0263] The type of reference point defined in Example 13 above can be called a traffic sign (TS) type. Figure 18 This is a schematic diagram of a reference point of type TS provided in an embodiment of this application. For example... Figure 18 As shown, the ground projection point 1103 corresponding to the geometric center point of the outer frame of the speed limit sign 1101 is selected as the reference point, and the ground projection point 1104 corresponding to the geometric center point of the outer frame of the no honking sign 1102 is selected as the reference point. It should be noted that the outer frame can be a circular frame, an outer rectangular frame, an outer triangular frame, etc.

[0264] Example 14: Ground projection point corresponding to the geometric center of the outer frame of a traffic signal light.

[0265] The reference point type defined in Example Fourteen above can be called a traffic light (TL) type. It should be understood that the method of selecting the reference point in Example Fourteen is similar to that in Example Thirteen, and will not be illustrated further with reference to the accompanying drawings. In real-world environments, traffic light frames are typically rectangular; therefore, the circumscribed frame in Example Fourteen can be an outer rectangle.

[0266] It should be noted that Examples 1 to 14 above, as well as the appendix... Figure 11 To be continued Figure 18 The reference points shown are merely some possible examples, and the embodiments of this application are not limited thereto.

[0267] After selecting one or more reference objects, reference object information is generated based on the relevant information of each reference object. In addition to indicating the first identifier of each reference object within the geographic region and the location of each reference object, the reference object information may also indicate at least one of the following: current version information, previous version information, update status of each reference object, type of each reference object, priority of each reference object, location accuracy of each reference object, confidence level of each reference object, map elements associated with each reference object, and identifier of the geographic region. This makes the reference object information more comprehensive in its description of each reference object, thereby enabling more accurate location of the reference objects.

[0268] The following section provides an explanation of each of the above items.

[0269] In possible implementations, the reference object information can also indicate the type of each reference point.

[0270] In this embodiment of the application, for ease of use, the type of reference point can be encoded. It should be noted that this embodiment of the application does not limit the encoding format for the type of reference point. For example, it can be encoded using an integer field or a string.

[0271] The following provides an example illustrating the encoding method for reference point types.

[0272] For example, the type of each reference point may include a first type number. The first type number indicates that the reference point is of any of the following types: EP type, CP type, PV type, LCP type, TM type, TS type, TL type. It is understood that the first type number is used to distinguish the selection method of the reference point.

[0273] Optionally, each reference point may also include a second type number. The second type number is related to the type of map element on which the selection of the reference point is based.

[0274] For example, taking Examples 1 and 2 above as examples, and referring to Table 1, the type information of the reference point defined as the "left endpoint of the physical stop line marking for a straight road" can be encoded as EP01, and the type information of the reference point defined as the "right endpoint of the physical stop line marking for a straight road" can be encoded as EP02. The type information of the reference point defined as the "left endpoint of the physical stop line marking for a left-turn waiting area" can be encoded as EP03, and the type information of the reference point defined as the "right endpoint of the physical stop line marking for a left-turn waiting area" can be encoded as EP04. In the above encoding, "EP" is the first type code, and "01", "02", "03", and "04" are the second type numbers.

[0275] It should be noted that the encoding method for the type information of the reference points defined in Examples 3 to 14 above is similar, and this embodiment will not provide specific examples for each one. Some exemplary type encoding results can be found in Table 1.

[0276] In possible implementations, the reference object information can also indicate additional information for each reference point. This additional information provides a more detailed description of the reference point and explicitly defines description rules to accurately distinguish between reference points. The additional information for a reference point can include the following two items:

[0277] (a) Conventional rules. For example, lane lines are numbered sequentially from left to right along the direction of travel, starting from 1. The minimum number represents the left edge of the road, and the maximum number represents the right edge.

[0278] (b) Additional description. The reference point is the intersection of lane 3 and the stop line.

[0279] It should be noted that this embodiment does not limit the form of the additional description; it can define a program-oriented expression or a text description.

[0280] For example, additional information regarding the reference points defined in the examples above can be found in Table 1.

[0281] In another possible implementation, additional information can be encoded into the type of reference point, allowing for detailed differentiation of the additional information based solely on the type of reference point. For example, CP01 in the table above could be specifically numbered CP01-02, representing the intersection of the stop line of the straight lane and the second lane line of the road. Similarly, LCP01 in the table above could be specifically numbered LCP01-01-02, representing the change in lane line type from a single solid line (01) to a single dashed line (02).

[0282] Therefore, in the embodiments of this application, the type of reference point determined according to the reference point selection method (e.g., EP type, CP type, PV type, LCP type, TM type, TS type, TL type, etc.) can be used as the primary type of reference point. Additional information can be used as the secondary type of reference point to further subdivide the reference point type.

[0283] It should be noted that the representation of additional information and the encoding of type information in this embodiment are merely examples and are not intended to limit the scope. In practical applications, additional information and type information can be directly encoded as a whole, or hierarchical encoding can be performed, such as first-level type encoding, second-level type encoding, etc.

[0284] In possible implementations, the reference object information can also indicate the priority of each reference point. The priority can be used to indicate the degree to which a reference point conforms to preset reference point selection principles, which include one or more of the following: universality principle, fixedness principle, determinism principle, and precision principle. For example, the higher the degree of conformity of a reference point with the preset reference point selection principles, the higher the priority of that reference point; conversely, the lower the degree of conformity of a reference point with the preset reference point selection principles, the lower the priority of that reference point.

[0285] For example, the priorities of the reference points defined in the examples above can be found in Table 1. The first priority is higher than the second priority, and the second priority is higher than the third priority.

[0286] By setting a priority for each reference point, when expressing the relative position of a target object, if there are multiple reference points around the target object, the reference point with the higher priority can be selected for the relative position expression, thereby improving the accuracy of the expressed position information.

[0287] In possible implementations, the reference object information can also indicate the positional accuracy of each reference point. Specifically, the positional accuracy of a reference point can indicate the precision of its initial position. For example, the positional accuracy of a reference point can be determined by evaluating its positional error. Higher positional accuracy indicates a smaller positional error, resulting in higher precision in expressing the relative position of the target object using that reference point.

[0288] By setting positional precision for each reference point, when expressing the relative position of a target object, if there are multiple reference points around the target object, the reference point with higher positional precision can be selected for relative position expression, thereby improving the accuracy of the expressed positional information.

[0289] In possible implementations, the reference object information can also indicate the confidence level of each reference point. The confidence level of a reference point indicates the degree of trustworthiness of its initial position. The higher the confidence level of a reference point, the higher the trustworthiness of its initial position, and the higher the confidence level of the relative position representation of the target object when using that reference point.

[0290] By setting a confidence level for each reference point, when expressing the relative position of a target object, if there are multiple reference points around the target object, the reference point with the higher confidence level can be selected for the relative position expression, thereby improving the confidence level of the expressed position information.

[0291] In possible implementations, the reference object information can also indicate the map elements associated with each reference point. The map element associated with a reference point can be the map element upon which the selection method for that reference point is based. For example, if a reference point is the transition point between a solid and dashed lane line, then the map element associated with that reference point can be that lane line. If a reference point is the left endpoint of the physical marking of a stop line for a straight-ahead road, then the map element associated with that reference point can be that stop line for a straight-ahead road. If a reference point is the intersection of a stop line for a straight-ahead road and a lane line, then the map elements associated with that reference point can be both the stop line for a straight-ahead road and the lane line.

[0292] By associating each reference point with map elements, the accurate location of the reference point can be quickly determined based on the identifier of the associated map element and the type of the reference point, thus improving the efficiency of reference point positioning.

[0293] In a possible implementation, the reference object information could also indicate the identifier of the geographical region where each reference point is located. For example, this geographical region could be a map tile. Alternatively, the identifier of the geographical region where each reference point is located could be the number of the map tile where that reference point is located. By indicating the identifier of the geographical region where each reference point is located, the positioning efficiency and accuracy of the reference points can be guaranteed.

[0294] Optionally, a reference point index table can be created for each geographic region. This index table includes the identifiers of all reference points in the geographic region, as well as relevant information for each reference point (e.g., primary location, type, priority, location accuracy, confidence level, associated map elements, etc.). This allows for quick retrieval of relevant information for indexed reference points based on the index table, improving the efficiency of using reference object information.

[0295] In possible implementations, the reference object information can also indicate current version information and previous version information. The current version information indicates the current version of the reference object information, and the previous version information indicates the previous version. In one example, a version number can be set for the reference object information; for instance, the version of the initially generated reference object information can be set to V1. The version of the second generated reference object information can be set to V2, or, after updating the initially generated reference object information, the updated version can be set to V2, and so on. In another example, the generation time or update time of the reference object information can be used as the version information.

[0296] In possible implementations, the reference object information can also indicate the update status of each reference point. The update status of a reference point indicates how its state has changed relative to the previous version. For example, the update status of a reference point can be one of the following: added, unchanged, updated, or deleted.

[0297] By setting an update status for each reference point, the receiving end can update the reference points whose status has changed based on the update status of each reference point after receiving the reference object information, thereby reducing the amount of calculation and processing latency at the receiving end.

[0298] In one example, the reference point identifiers in the reference object information for each version can remain consistent with the previous version. Table 2 provides a possible example. As shown in Table 2, reference points 1 through 4 were added to the reference object information in version V1. In the reference object information of version V2, reference point 2 was updated, reference point 3 was deleted, and reference point 5 was added. When the receiving end receives the reference object information of version V2, it only needs to update, delete, and add reference points 2, 3, and 5 respectively; reference points 1 and 4 do not need to be recalculated.

[0299] Furthermore, as shown in Table 2, assuming that reference point 4 was updated in the reference object information of version V3, while reference points 1, 2, and 5 remain unchanged, when the receiving end receives the reference object information of version V3, it only needs to update reference point 4; reference points 1, 2, and 5 do not need to be recalculated.

[0300] Table 2

[0301] 1 New remain unchanged remain unchanged 2 New renew remain unchanged 3 New delete - 4 New remain unchanged renew 5 New remain unchanged

[0302] In another example, the identifiers of reference points in the reference object information of each version can be different from those of the previous version. In this case, the correspondence between the reference points in the current version and the previous version needs to be indicated in the reference object information. For example, Table 3 gives another possible example. As shown in Table 3, suppose that in the reference object information of the current version received by the receiving end, the correspondence between the reference point numbers of the current version and the reference point numbers of the previous version is as follows: reference point 1 of the current version corresponds to reference point 1 of the previous version, and its update status is unchanged; reference point 2 of the current version corresponds to reference point 3 of the previous version, and its update status is unchanged; reference point 3 of the current version corresponds to reference point 4 of the previous version, and its update status is updated; reference point 4 of the current version corresponds to reference point 2 of the previous version, and its update status is updated; reference point 5 of the current version has no corresponding reference point in the previous version, and its update status is added.

[0303] After receiving the reference object information of the current version, the receiving end does not need to update reference point 1, only needs to adjust the number of reference point 2, needs to update reference point 3 based on reference point 4 of the previous version, needs to update reference point 4 based on reference point 2 of the previous version, and needs to add reference point 5.

[0304] Table 3

[0305] 1 1 remain unchanged 2 3 remain unchanged 3 4 renew 4 2 renew 5 - New

[0306] In a possible implementation, after selecting multiple reference objects on the map, a reference object with higher priority, higher positional accuracy, or higher confidence can be selected as a universal reference object. For the universal reference object, absolute coordinates can be used to express its position. For ordinary reference objects (i.e., other reference objects besides the universal reference object), their relative coordinates compared to the universal reference object can be used to express their positions. Understandably, the universal reference object is used to provide a positional reference for the ordinary reference objects. After receiving the reference object information, the receiving end can determine the position of the ordinary reference objects based on the position of the universal reference object. Furthermore, the position information of the target object can be determined based on the position of the ordinary reference objects.

[0307] When the reference object information indicates multiple reference objects, there are various ways to organize these multiple reference objects within the reference object information. Several possible examples are given below.

[0308] For example, Figure 19A This is a schematic diagram illustrating a method for organizing reference object information as provided in an embodiment of this application. For example... Figure 19A As shown, a universal reference object can be identified among multiple reference objects, and the positions of each reference object indicated by the reference object information are expressed relative to this universal reference object. In this case, the reference objects can be uniformly organized in the data structure of the reference object information, without grouping them.

[0309] For example, Figure 19B This is a schematic diagram illustrating another method of organizing reference object information provided in an embodiment of this application. For example... Figure 19B As shown, a universal reference object can be identified from multiple reference objects, and the positions of each reference object indicated by the reference object information are expressed based on this universal reference object. Furthermore, the reference objects are managed in groups. For example, multiple ordinary reference points associated with the same map element can be grouped together. In other words, multiple reference objects selected based on the same map element are grouped together.

[0310] For example, Figure 19CThis is a schematic diagram illustrating yet another method of organizing reference object information provided in an embodiment of this application. For example... Figure 19C As shown, the reference objects indicated by the reference object information are managed in groups. For example, reference objects can be grouped according to the road network structure, such as grouping reference objects on the same road together, or grouping reference objects on the same lane together, or grouping reference objects at the same intersection together. Furthermore, a general reference object is determined in each group, so that the position of each reference object in that group is expressed based on the general reference object in that group.

[0311] It is understandable that by grouping and managing the various reference objects, the reference objects in different road network structures can be expressed in terms of location based on different general reference objects. On the one hand, this can improve positioning accuracy, and on the other hand, diversity gain can be achieved through multiple general reference objects, thereby improving positioning speed.

[0312] As can be seen from the above-described method of selecting reference points, this embodiment selects reference points based on map elements. Since the map elements used are all actual physical elements existing in the road (such as lane lines, stop lines, traffic markings, traffic signs, traffic light frames, etc.), or virtual elements that can be accurately located based on actual physical elements existing in the road (such as lane center lines, road edge extensions), the reference points selected by different map providers using the scheme of this embodiment are universal. Consequently, the reference object information generated using universal reference points is also universal. In this way, when using reference object information to express relative positions, the universality of the expressed position information is guaranteed, thus making it applicable to scenarios where different electronic devices need to transmit position information.

[0313] In this embodiment, the reference object information can be used as a layer of the map. For ease of description, the layer corresponding to the reference object information can be referred to as the reference object layer.

[0314] Figure 20 This is a schematic diagram of a reference object layer provided in an embodiment of this application. For example... Figure 20 As shown, during the map construction process, a high-precision map can be constructed based on road elements in actual roads. In this embodiment, multiple reference objects can be selected in the high-precision map, and reference object information (i.e., ...) can be generated based on the relevant information of these reference objects. Figure 20 (Referencing object layer in the text). Wherein, Figure 20 Taking a reference object as an example, each point in the reference object layer represents a reference point.

[0315] By incorporating reference object information as a layer within the map, it becomes easier to manage and index each reference object within the map.

[0316] It should be noted that the reference object information (reference object layer) can be generated during the high-precision map construction process, or it can be generated in the actual application scenario after the high-precision map is constructed. This application embodiment does not limit this.

[0317] Figure 21 This is a schematic diagram of a communication device provided in an embodiment of this application. The communication device provided in this embodiment can be a cloud device, a roadside device, or a terminal device. The cloud device can be, for example, a map server, a software module, a hardware module, or a chip within the map server. The roadside device can be, for example, a roadside unit, a software module, a hardware module, or a chip within the roadside unit. The terminal device can be, for example, a vehicle, a software module, a hardware module, or a chip within the vehicle.

[0318] like Figure 21 As shown, the communication device 2100 provided in this embodiment includes a generation module 2101 and a transmission module 2102. The generation module 2101 is used to generate a V2X message, which includes reference object indication information and location indication information. The reference object indication information indicates at least one first reference object, and the location indication information indicates the position of a target object relative to the first at least one reference object. The transmission module 2102 is used to transmit the V2X message.

[0319] In a possible implementation, the reference object indication information includes first reference object indication information and second reference object indication information. The first reference object indication information is used to indicate a first reference object, and the second reference object indication information is used to indicate a second reference object. The position indication information includes first position information and second position information. The first position information is used to indicate the position of the target object relative to the first reference object, and the second position information is used to indicate the position of the target object relative to the second reference object.

[0320] In a possible implementation, the target object is an event; the location indication information includes first area information and second area information, wherein the first area information is used to indicate a first geographical area where the event occurs, and the second area information is used to indicate a second geographical area affected by the event.

[0321] In a possible implementation, the V2X message may also include reference object information, which indicates the identifier of each of the second at least one reference object within a geographic area and the location of each of the second at least one reference object, wherein the second at least one reference object includes the first at least one reference object.

[0322] In a possible implementation, the sending module 2102 is further configured to: send reference object information, the reference object information including reference object information, the reference object information being used to indicate the identifier of each reference object in the second at least one reference object within a geographical area, and the location of each reference object in the second at least one reference object, the second at least one reference object including the first at least one reference object.

[0323] In a possible implementation, both the reference object information and the V2X message are periodically sent messages, and the sending frequency of the reference object information is no higher than the sending frequency of the V2X message.

[0324] In a possible implementation, the second at least one reference object is the first at least one reference object.

[0325] In a possible implementation, the V2X message is a periodic non-repeating message, and the reference object information is a periodic repetitive message.

[0326] In a possible implementation, the reference object information includes first reference object information and second reference object information, and the first reference object information and the second reference object information are sent in separate packets; wherein, the first reference object information is used to indicate the identifier of each reference object in the third at least one reference object within a geographical area and the location of each reference object in the third at least one reference object, and the second reference object information is used to indicate the identifier of each reference object in the fourth at least one reference object within a geographical area and the location of each reference object in the fourth at least one reference object; the second at least one reference object includes the third at least one reference object and the fourth at least one reference object.

[0327] In a possible implementation, the reference object information may further be used to indicate at least one of the following: current version information; previous version information; update status of each reference object; type of each reference object; priority of each reference object; location accuracy of each reference object; confidence level of each reference object; map element associated with each reference object; and identifier of the geographic region.

[0328] The communication device provided in this embodiment can be used to execute the communication method executed by the sending end in any of the above method embodiments. Its implementation principle and technical effect are similar, and will not be described again here.

[0329] Figure 22This is a schematic diagram of another communication device provided in an embodiment of this application. The communication device provided in this embodiment can be a cloud device, a roadside device, or a terminal device. The cloud device can be, for example, a map server, a software module, a hardware module, or a chip within the map server. The roadside device can be, for example, a roadside unit, a software module, a hardware module, or a chip within the roadside unit. The terminal device can be, for example, a vehicle, a software module, a hardware module, or a chip within the vehicle.

[0330] like Figure 22 As shown, the communication device 2200 provided in this embodiment may include a receiving module 2201 and a determining module 2202. The receiving module 2201 is used to receive V2X messages, the V2X messages including reference object indication information and location indication information, the reference object indication information indicating at least one first reference object, and the location indication information indicating the position of the target object relative to the first at least one reference object; the determining module 2202 is used to determine the target location information of the target object based on the reference object indication information and the location indication information.

[0331] In a possible implementation, the reference object indication information includes first reference object indication information and second reference object indication information. The first reference object indication information is used to indicate a first reference object, and the second reference object indication information is used to indicate a second reference object. The position indication information includes first position information and second position information. The first position information is used to indicate the position of the target object relative to the first reference object, and the second position information is used to indicate the position of the target object relative to the second reference object.

[0332] In a possible implementation, the target object is an event; the location indication information includes first area information and second area information, wherein the first area information is used to indicate a first geographical area where the event occurs, and the second area information is used to indicate a second geographical area affected by the event.

[0333] In a possible implementation, the V2X message may also include reference object information, which indicates the identifier of each of the second at least one reference object within a geographic area and the location of each of the second at least one reference object, wherein the second at least one reference object includes the first at least one reference object.

[0334] In a possible implementation, the receiving module 2201 is further configured to: receive reference object information, the reference object information including reference object information, the reference object information being used to indicate the identifier of each reference object in the second at least one reference object within a geographical area, and the location of each reference object in the second at least one reference object, the second at least one reference object including the first at least one reference object.

[0335] In a possible implementation, both the reference object information and the V2X message are periodically sent messages, and the sending frequency of the reference object information is no higher than the sending frequency of the V2X message.

[0336] In a possible implementation, the second at least one reference object is the first at least one reference object.

[0337] In a possible implementation, the V2X message is a periodic non-repeating message, and the reference object information is a periodic repetitive message.

[0338] In a possible implementation, the reference object information includes first reference object information and second reference object information, and the first reference object information and the second reference object information are received in separate packets; wherein, the first reference object information is used to indicate the identifier of each reference object in the third at least one reference object within a geographical area and the location of each reference object in the third at least one reference object, and the second reference object information is used to indicate the identifier of each reference object in the fourth at least one reference object within a geographical area and the location of each reference object in the fourth at least one reference object; the second at least one reference object includes the third at least one reference object and the fourth at least one reference object.

[0339] In a possible implementation, the reference object information may further be used to indicate at least one of the following: current version information; previous version information; update status of each reference object; type of each reference object; priority of each reference object; location accuracy of each reference object; confidence level of each reference object; map element associated with each reference object; and identifier of the geographic region.

[0340] In a possible implementation, the determining module 2202 is specifically used to: determine the target location information of the target object based on the reference object indication information, the location indication information, and the reference object information.

[0341] In a possible implementation, the determining module 2202 is specifically used to: determine the position of the first at least one reference object based on the reference object indication information and the reference object information; and determine the target position information of the target object based on the position of the first at least one reference object and the position indication information.

[0342] The communication device provided in this embodiment can be used to execute the communication method executed by the receiving end in any of the above method embodiments. Its implementation principle and technical effect are similar, and will not be described in detail here.

[0343] Figure 23 This is a schematic diagram of another communication device provided in an embodiment of this application. The communication device provided in this embodiment can be a cloud device, a roadside device, or a terminal device. This communication device can serve as a transmitter or a receiver.

[0344] like Figure 23 As shown, the communication device 2300 provided in this embodiment includes a processor 2301 and a memory 2302, wherein the processor 2301 and the memory 2302 can communicate. For example, the processor 2301 and the memory 2302 communicate through a communication bus 2303. The memory 2302 stores a computer program, and the processor 2301 runs the computer program to execute the communication method executed by the sending end or the receiving end in any of the above method embodiments. The implementation principle and technical effect are similar, and will not be described in detail here.

[0345] The aforementioned processor can be a Central Processing Unit (CPU), or other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), etc. The general-purpose processor can be a microprocessor or any conventional processor. The steps of the method disclosed in this application can be directly manifested as being executed by a hardware processor, or executed by a combination of hardware and software modules within the processor.

[0346] This application embodiment also provides a vehicle, which includes a communication device, the communication device being capable of employing, for example... Figure 21 or Figure 22 or Figure 23 The communication device shown is similar in principle and technical effect, and will not be described in detail here.

[0347] This application also provides a computer-readable storage medium storing a computer program. When the computer program is run, it implements the communication method executed by the sending end in any of the above method embodiments, or the communication method executed by the receiving end in any of the above method embodiments. The implementation principle and technical effects are similar and will not be elaborated here.

[0348] This application also provides a computer program product, which includes a computer program. When the computer program is run, it implements the communication method executed by the sending end in any of the above method embodiments, or implements the communication method executed by the receiving end in any of the above method embodiments. The implementation principle and technical effects are similar, and will not be elaborated here.

[0349] All or part of the steps in the above method embodiments can be implemented by hardware related to program instructions. The aforementioned program can be stored in a readable memory. When the program is executed, it performs the steps of the above method embodiments; and the aforementioned memory (storage medium) includes: read-only memory (ROM), RAM, flash memory, hard disk, solid-state drive, magnetic tape, floppy disk, optical disk, and any combination thereof.

[0350] This application describes embodiments with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of this application. It should be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processing unit of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processing unit of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart illustrations. Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0351] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0352] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0353] The various embodiments described in this application can be arbitrarily combined or their steps can be executed in an overlapping manner. The execution order of each embodiment and the execution order of the steps in each embodiment are not fixed and are not limited to those shown in the figures. The execution order of each embodiment and the overlapping execution order of the steps in each embodiment should be determined by their functions and internal logic.

[0354] Although this application has been described in conjunction with specific features and embodiments, it is obvious that various modifications and combinations can be made thereto without departing from the spirit and scope of this application. Accordingly, this specification and drawings are merely illustrative descriptions of the application as defined by the appended claims, and are considered to cover any and all modifications, variations, combinations, or equivalents within the scope of this application. Clearly, those skilled in the art can make various alterations and modifications to this application without departing from its scope. Thus, if such modifications and modifications fall within the scope of the claims and their equivalents, this application is also intended to include such modifications and modifications.

[0355] The above specific embodiments further illustrate the purpose, technical solution and beneficial effects of this application. It should be understood that the above are only specific embodiments of this application and are not intended to limit the scope of protection of this application. Any modifications, equivalent substitutions, improvements, etc., made on the basis of the technical solution of this application should be included within the scope of protection of this application.

Claims

1. A communication method applied at a transmitting end, wherein the transmitting end is a cloud device, a roadside device, or a terminal device, characterized in that, include: Generate a V2X message, the V2X message including reference object indication information and location indication information, the reference object indication information being used to indicate a first plurality of reference objects, and the location indication information being used to indicate the position of the target object relative to the first plurality of reference objects; Send the V2X message to the receiving end, which is a cloud device, a roadside device, or a terminal device; The reference object indication information includes first reference object indication information and second reference object indication information. The first reference object indication information is used to indicate a first reference object, and the second reference object indication information is used to indicate a second reference object. The position indication information includes first position information and second position information. The first position information is used to indicate the position of the target object relative to the first reference object, and the second position information is used to indicate the position of the target object relative to the second reference object.

2. The method according to claim 1, characterized in that, The target object is an event; the location indication information includes first area information and second area information, the first area information is used to indicate the first geographical area where the event occurs, and the second area information is used to indicate the second geographical area affected by the event.

3. The method according to claim 1 or 2, characterized in that, The V2X message also includes reference object information, which is used to indicate the identifier of each of the second plurality of reference objects within a geographic area and the location of each of the second plurality of reference objects, wherein the second plurality of reference objects includes the first plurality of reference objects.

4. The method according to claim 1 or 2, characterized in that, The method further includes: Reference object information is sent to the receiving end. The reference object information is used to indicate the identifier of each reference object in the second plurality of reference objects within the geographical area, and the location of each reference object in the second plurality of reference objects, wherein the second plurality of reference objects includes the first plurality of reference objects.

5. The method according to claim 4, characterized in that, Both the reference object information and the V2X message are periodically sent messages, and the sending frequency of the reference object information is no higher than the sending frequency of the V2X message.

6. The method according to claim 5, characterized in that, The second plurality of reference objects are the first plurality of reference objects.

7. The method according to claim 5, characterized in that, The V2X message is a periodic non-repeating message, while the reference object information is a periodic repetitive message.

8. The method according to any one of claims 4-7, characterized in that, The reference object information includes first reference object information and second reference object information, and the first reference object information and the second reference object information are sent in separate packets; Wherein, the first reference object information is used to indicate the identifier of each reference object in the third plurality of reference objects within the geographical area and the location of each reference object in the third plurality of reference objects; the second reference object information is used to indicate the identifier of each reference object in the fourth plurality of reference objects within the geographical area and the location of each reference object in the fourth plurality of reference objects; the second plurality of reference objects includes the third plurality of reference objects and the fourth plurality of reference objects.

9. The method according to any one of claims 3-7, characterized in that, The reference object information is also used to indicate at least one of the following: Current version information; Previous version information; The update status of each reference object; The type of each reference object; The priority of each reference object; The positional accuracy of each reference object; The confidence level of each reference object; The map elements associated with each reference object; and The identifier of the geographical region.

10. A communication method applied at a receiving end, wherein the receiving end is a cloud device, a roadside device, or a terminal device, characterized in that, include: Receive V2X messages from a sender, which may be a cloud device, a roadside device, or a terminal device; The V2X message includes reference object indication information and location indication information. The reference object indication information is used to indicate a first plurality of reference objects, and the location indication information is used to indicate the position of the target object relative to the first plurality of reference objects. Based on the reference object indication information and the location indication information, the target location information of the target object is determined; The reference object indication information includes first reference object indication information and second reference object indication information. The first reference object indication information is used to indicate a first reference object, and the second reference object indication information is used to indicate a second reference object. The position indication information includes first position information and second position information. The first position information is used to indicate the position of the target object relative to the first reference object, and the second position information is used to indicate the position of the target object relative to the second reference object.

11. The method according to claim 10, characterized in that, The target object is an event; the location indication information includes first area information and second area information, the first area information is used to indicate the first geographical area where the event occurs, and the second area information is used to indicate the second geographical area affected by the event.

12. The method according to claim 10 or 11, characterized in that, The V2X message also includes reference object information, which is used to indicate the identifier of each of the second plurality of reference objects within a geographic area and the location of each of the second plurality of reference objects, wherein the second plurality of reference objects includes the first plurality of reference objects.

13. The method according to claim 10 or 11, characterized in that, The method further includes: Receive reference object information, which is used to indicate the identifier of each reference object in a geographic area and the location of each reference object in the second plurality of reference objects, the second plurality of reference objects including the first plurality of reference objects.

14. The method according to claim 13, characterized in that, Both the reference object information and the V2X message are periodically sent messages, and the sending frequency of the reference object information is no higher than the sending frequency of the V2X message.

15. The method according to claim 14, characterized in that, The second plurality of reference objects are the first plurality of reference objects.

16. The method according to claim 14, characterized in that, The V2X message is a periodic non-repeating message, while the reference object information is a periodic repetitive message.

17. The method according to any one of claims 13-16, characterized in that, The reference object information includes first reference object information and second reference object information, and the first reference object information and the second reference object information are received in separate packets; Wherein, the first reference object information is used to indicate the identifier of each reference object in the third plurality of reference objects within the geographical area and the location of each reference object in the third plurality of reference objects; the second reference object information is used to indicate the identifier of each reference object in the fourth plurality of reference objects within the geographical area and the location of each reference object in the fourth plurality of reference objects; the second plurality of reference objects includes the third plurality of reference objects and the fourth plurality of reference objects.

18. The method according to any one of claims 12-16, characterized in that, The reference object information is also used to indicate at least one of the following: Current version information; Previous version information; The update status of each reference object; The type of each reference object; The priority of each reference object; The positional accuracy of each reference object; The confidence level of each reference object; The map elements associated with each reference object; and The identifier of the geographical region.

19. The method according to any one of claims 12-16, characterized in that, Based on the reference object indication information and the location indication information, the target location information of the target object is determined, including: The target location information of the target object is determined based on the reference object indication information, the location indication information, and the reference object information.

20. The method according to claim 19, characterized in that, Based on the reference object indication information, the location indication information, and the reference object information, the target location information of the target object is determined, including: The positions of the first plurality of reference objects are determined based on the reference object indication information and the reference object information; The target location information of the target object is determined based on the positions of the first plurality of reference objects and the location indication information.

21. A communication device, characterized in that, include: A generation module is used to generate V2X messages, wherein the V2X messages include reference object indication information and location indication information, wherein the reference object indication information is used to indicate a first plurality of reference objects, and the location indication information is used to indicate the position of the target object relative to the first plurality of reference objects; The sending module is used to send the V2X message; The reference object indication information includes first reference object indication information and second reference object indication information. The first reference object indication information is used to indicate a first reference object, and the second reference object indication information is used to indicate a second reference object. The position indication information includes first position information and second position information. The first position information is used to indicate the position of the target object relative to the first reference object, and the second position information is used to indicate the position of the target object relative to the second reference object.

22. A communication device, characterized in that, include: A receiving module is configured to receive V2X messages, wherein the V2X messages include reference object indication information and location indication information, wherein the reference object indication information is used to indicate a first plurality of reference objects, and the location indication information is used to indicate the position of a target object relative to the first plurality of reference objects; The determining module is used to determine the target location information of the target object based on the reference object indication information and the location indication information; The reference object indication information includes first reference object indication information and second reference object indication information. The first reference object indication information is used to indicate a first reference object, and the second reference object indication information is used to indicate a second reference object. The position indication information includes first position information and second position information. The first position information is used to indicate the position of the target object relative to the first reference object, and the second position information is used to indicate the position of the target object relative to the second reference object.

23. A communication device, characterized in that, It includes a processor and a memory, the memory storing a computer program, the processor running the computer program to implement the method of any one of claims 1-9, or to implement the method of any one of claims 10-20.

24. A vehicle, characterized in that, Includes the communication device as described in any one of claims 21-23.

25. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program that, when executed, implements the method as described in any one of claims 1-9, or the method as described in any one of claims 10-20.

26. A computer program product, characterized in that, The computer program product includes a computer program that, when run, implements the method as described in any one of claims 1-9 above, or implements the method as described in any one of claims 10-20 above.

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