Interaction method, interaction device

Abstract

The application provides an interaction method and an interaction device. The application relates to the technical field of intelligent traffic and intelligent vehicle, and can be applied to various traffic scenes, such as an automatic driving scene. For example, the interaction method comprises the following steps: a first roadside device acquires first feature information of a traffic participant. A second roadside device indicates second feature information and a global identifier to the first roadside device. If the first feature information and the second feature information match, the first roadside device indicates the first feature information by using the global identifier. For another example, the interaction method comprises the following steps: a server configures a global identifier of a traffic participant according to feature information reported by a roadside device. The scheme provided by the application is beneficial to improving the trajectory continuity of the traffic participant within the coverage range of multiple roadside devices.

Description

Technical Field

[0001] This application relates to the field of vehicle communication, and more specifically, to interaction methods and interaction devices. Background Technology

[0002] Vehicles can obtain trajectory information about their vicinity through roadside devices (such as roadside edge computing (REC) and roadside units (RSUs)). This trajectory information may include, for example, the locations of traffic participants around the vehicle. Types of traffic participants may include motor vehicles, non-motorized vehicles, pedestrians, and road obstacles. The coverage area of ​​roadside devices is relatively limited. To meet the driving needs of vehicles, roadside devices can obtain trajectory information from other roadside devices outside their coverage area and provide this information to the vehicle.

[0003] To facilitate the management of traffic participant trajectory information, roadside equipment can configure traffic signs for the detected traffic participants. The same traffic participant may have different traffic signs within the coverage areas of different roadside equipment. In scenarios involving interaction across roadside equipment, vehicles may mistakenly identify multiple trajectory information of the same traffic participant as multiple trajectory information of multiple traffic participants. Summary of the Invention

[0004] This application provides an interaction method and an interaction device, the purpose of which is to establish a closer connection between traffic participants and trajectory information, which is beneficial for processing trajectory information for traffic participants, such as identifying the movement trajectory of traffic participants within the coverage area of ​​multiple roadside devices.

[0005] In a first aspect, an interaction method is provided, applied to a first roadside device, characterized in that it includes: acquiring first feature information of a traffic participant, the first feature information being used to identify the traffic participant; sending the first feature information and first local identification information to a server, the first local identification information being used to indicate a first local identification of the traffic participant on the first roadside device; and receiving first global identification information from the server, the first global identification information being used to indicate a global identification corresponding to the first local identification.

[0006] Roadside devices can configure local identifiers for traffic participants, and the server can configure global identifiers for traffic participants based on their characteristics. By establishing a correspondence between local and global identifiers, the same traffic participant can be identified by the same global identifier within the coverage area of ​​multiple roadside devices.

[0007] Feature information may include, for example, a portion of trajectory information. This feature information can be acquired through sensing devices corresponding to the roadside equipment.

[0008] In conjunction with the first aspect, in some implementations of the first aspect, the method further includes: sending first trajectory information, the first trajectory information being used to indicate the trajectory of the traffic participant and the global identifier.

[0009] Roadside equipment can send trajectory information of traffic participants to vehicles or other roadside equipment. A global identifier can indicate the traffic participant corresponding to the trajectory information, facilitating the processing of continuous trajectories of the same traffic participant when vehicles cross multiple roadside equipment. Through the global identifier, vehicles can determine whether multiple trajectory information messages sent by multiple roadside equipment within a certain period belong to the same traffic participant.

[0010] In conjunction with the first aspect, in some implementations of the first aspect, the first trajectory information is also used to indicate the first local identifier.

[0011] Local signage can not only indicate traffic participants but also roadside devices that have captured trajectory information. Therefore, it can indicate more information with relatively little data, which helps improve interaction efficiency.

[0012] In conjunction with the first aspect, in some implementations of the first aspect, the global identifier includes one or more of the following: road identifier, road operator identifier, server identifier, sensing network identifier, and the first local identifier.

[0013] By using road signs, road operator signs, server signs, and sensing network signs, the coverage areas of multiple roadside devices can be mapped, which facilitates establishing a relationship between global signs and the coverage areas of multiple roadside devices. The local signs of traffic participants can reflect the source of the global sign.

[0014] In conjunction with the first aspect, in some implementations of the first aspect, the first local identifier includes one or more of the following: a sensing device identifier, a roadside computing unit identifier, a pole identifier for roadside device deployment, and a traffic participant identifier.

[0015] By using identification of sensing devices, roadside computing units, pole positions for roadside equipment deployment, and traffic participants, the coverage area of ​​one or a few roadside devices can be identified, which helps to establish a relationship between local identification and the coverage area of ​​one or a few roadside devices.

[0016] In conjunction with the first aspect, in some implementations of the first aspect, the method further includes: sending the first feature information and the second global identification information to the second roadside device, wherein the second global identification information is used to indicate the global identification, and the second roadside device is downstream of the traffic participant's direction of movement relative to the first roadside device.

[0017] Roadside devices can send global identifiers to downstream roadside devices, allowing downstream devices to integrate the global identifiers of traffic participants from upstream devices. Through this hierarchical transmission, more roadside devices can use the same global identifier to identify the same traffic participant. Combined with a server-managed global identifier scheme, the way roadside devices obtain global identifiers can be relatively flexible.

[0018] Secondly, an interaction method is provided, applied to a server, comprising: receiving first feature information and first local identification information of a traffic participant from a first roadside device, wherein the first feature information is used to identify the traffic participant and the first local identification information is used to indicate the first local identification of the traffic participant on the first roadside device; and sending first global identification information to the first roadside device based on the first feature information, wherein the first global identification information is used to indicate a global identification corresponding to the first local identification.

[0019] Roadside devices can configure local identifiers for traffic participants based on their characteristics. The server configures global identifiers for traffic participants based on their features. By establishing a correspondence between local and global identifiers, the same traffic participant can be identified by the same global identifier within the coverage area of ​​multiple roadside devices.

[0020] In conjunction with the second aspect, in some implementations of the second aspect, the global identifier includes one or more of the following: road identifier, road operator identifier, server identifier, sensing network identifier, and the first local identifier.

[0021] In conjunction with the second aspect, in some implementations of the second aspect, the first local identifier includes one or more of the following: a sensing device identifier, a roadside computing unit identifier, a pole identifier for roadside device deployment, and a traffic participant identifier.

[0022] In conjunction with the second aspect, in some implementations of the second aspect, the method further includes: storing the correspondence between the global identifier and the first local identifier.

[0023] The server can record the mapping between local and global identifiers. This helps reduce the data storage requirements of roadside devices. For example, roadside devices can directly use global identifiers to send trajectory information of traffic participants without recording the mapping between local and global identifiers.

[0024] In conjunction with the second aspect, in some implementations of the second aspect, the method further includes: receiving second feature information and second local identification information of the traffic participant from the second roadside device, wherein the second feature information is used to identify the traffic participant and the second local identification information is used to indicate the second local identification of the traffic participant on the second roadside device; and sending second global identification information to the second roadside device based on the second feature information, wherein the second global identification information is used to indicate the global identification, and the global identification corresponds to the second local identification.

[0025] By matching the first and second feature information, the server indicates the same global identifier to the first and second roadside devices for the same traffic participant. This allows the same traffic participant to be relatively consistently covered by multiple roadside devices.

[0026] In one example, sending the second global identification information to the second roadside device based on the second feature information includes: determining, based on the first feature information and the second feature information, that the first feature information and the second feature information indicate the same traffic participant; and sending the second global identification information to the second roadside device.

[0027] Optionally, the first feature information includes a first information entry, and the second feature information includes a second information entry. Matching the first feature information and the second feature information can satisfy any of the following: the first information entry and the second information entry are the same or correspond to each other. For example, the difference between the first information entry and the second information entry is less than a preset threshold. Or, the matching degree of the same first information entry and the second information entry is higher than a preset matching threshold.

[0028] Optionally, the matching of the first feature information and the second feature information may also satisfy the following: the priority of the information entry type of the first information entry and the second information entry is higher than the preset priority.

[0029] Optionally, the matching of the first feature information and the second feature information can also satisfy the following: M information entries of the first information entry match M information entries of the second information entry, where M is greater than the preset number of entries.

[0030] Optionally, the server may also send the traffic participant's characteristic information and global identification information to other servers, wherein the global identification information is used to indicate the global identifier of the traffic participant.

[0031] Thirdly, an interaction method is provided, applied to a first roadside device, comprising: acquiring first feature information of a first traffic participant, the first feature information being used to identify the first traffic participant; acquiring trajectory information of the first traffic participant; receiving second feature information and first global identification information of a second traffic participant from a second roadside device, the second feature information being used to identify the second traffic participant, the first global identification information being used to indicate the global identification of the second traffic participant, the second roadside device being upstream of the first roadside device in the direction of movement of the first traffic participant; determining that the first traffic participant and the second traffic participant are the same traffic participant by comparing the first feature information and the second feature information; and sending a trajectory transmission message, the trajectory transmission message including the trajectory information and the global identification.

[0032] Roadside devices can send global identifiers to downstream roadside devices, allowing downstream devices to integrate the global identifiers of traffic participants from upstream devices. This hierarchical transmission method enables more roadside devices to use the same global identifier to identify the same traffic participant.

[0033] The fact that the first traffic participant and the second traffic participant are the same traffic participant may mean that the first feature information and the second feature information match.

[0034] Optionally, the first feature information includes a first information entry, and the second feature information includes a second information entry. Matching the first feature information and the second feature information can satisfy any of the following: the first information entry and the second information entry are the same or correspond to each other. For example, the difference between the first information entry and the second information entry is less than a preset threshold. Or, the matching degree of the same first information entry and the second information entry is higher than a preset matching threshold.

[0035] Optionally, the matching of the first feature information and the second feature information may also satisfy the following: the priority of the information entry type of the first information entry and the second information entry is higher than the preset priority.

[0036] Optionally, the matching of the first feature information and the second feature information can also satisfy the following: M information entries of the first information entry match M information entries of the second information entry, where M is greater than the preset number of entries.

[0037] In conjunction with the third aspect, in some implementations of the third aspect, when the first roadside device is located on the road where the movement trajectory of the first traffic participant is located, the method further includes: sending the characteristic information and second global identification information of the first traffic participant to the third roadside device, wherein the second global identification information is used to indicate the global identification.

[0038] Because the correlation between the first roadside device and the movement trajectory of traffic participants is relatively strong, the probability that a traffic participant will appear within the coverage area of ​​surrounding roadside devices is relatively high. Therefore, the first roadside device can indicate the global identifier of the traffic participant to the surrounding roadside devices. Selecting whether to transmit the global identifier of a traffic participant based on its movement trajectory increases the likelihood that multiple roadside devices will use the same global identifier to indicate the same traffic participant.

[0039] In conjunction with the third aspect, in some implementations of the third aspect, the third roadside device is located downstream of the first roadside device in the direction of movement of the first traffic participant.

[0040] Compared to the upstream roadside equipment of the first roadside equipment, the probability that a traffic participant will subsequently appear within the coverage area of ​​the downstream roadside equipment of the first roadside equipment is relatively greater. Therefore, the first roadside equipment can choose to indicate the global identifier of the traffic participant to the downstream roadside equipment, but not to the upstream roadside equipment, which helps to reduce unnecessary signaling overhead.

[0041] In conjunction with the third aspect, in some implementations of the third aspect, the first roadside device is located within the coverage area of ​​the first server, and the third roadside device is located within the coverage area of ​​the second server, wherein the first server is different from the second server. The method further includes: receiving the address and topology information of the third roadside device from the first server; and sending the feature information of the first traffic participant and the second global identification information to the third roadside device, which includes: sending the feature information of the first traffic participant and the second global identification information to the third roadside device according to the address and topology information of the third roadside device.

[0042] The first-side device can obtain the address and topology information of the third-side device from the server, which enables the first-side device to send messages to the third-side device across servers, thus reducing signaling transmission latency.

[0043] In conjunction with the third aspect, in some implementations of the third aspect, when the first roadside device is not located on the road where the movement trajectory of the first traffic participant is located, the method further includes: not sending the characteristic information of the first traffic participant and the global identification information for indicating the global identifier to any roadside device.

[0044] Since the correlation between the first roadside equipment and the movement trajectory of traffic participants is relatively weak, the probability of a traffic participant appearing within the coverage area of ​​the downstream and upstream roadside equipment of the first roadside equipment is relatively small. Therefore, the first roadside equipment does not need to indicate the global identifier of the traffic participant to the downstream and upstream roadside equipment, which helps to reduce unnecessary signaling overhead.

[0045] Fourthly, an interaction method is provided, applied to a second roadside device, characterized in that it includes: acquiring second feature information and first global identification information of a second traffic participant, wherein the first global identification information is used to indicate the global identification of the second traffic participant; acquiring trajectory information of the second traffic participant; sending the second feature information and the first global identification information to a first roadside device, wherein the second roadside device is upstream of the second traffic participant in the direction of movement relative to the first roadside device; and sending a trajectory transmission message, wherein the trajectory transmission message includes the trajectory information and the global identification.

[0046] Fifthly, an interaction method is provided for roadside equipment, comprising: the roadside equipment acquiring feature information and trajectory information of traffic participants; the roadside equipment receiving global identification information corresponding to the feature information, the global identification information being used to indicate a global identifier corresponding to the traffic participant; and the roadside equipment sending a trajectory transmission message, the trajectory transmission message including the trajectory information and the global identifier.

[0047] By linking the characteristic information of traffic participants with global identifiers, it is beneficial for multiple roadside devices to use the same identifier to indicate the same traffic participant, thereby making the trajectory of the same traffic participant relatively consistent within the range of multiple roadside devices.

[0048] A sixth aspect provides an interactive device applied to a roadside device, comprising: a processing unit for acquiring first feature information of a traffic participant, the first feature information being used to identify the traffic participant; a sending unit for sending the first feature information and first local identification information to a server, the first local identification information being used to indicate a first local identification of the traffic participant on the first roadside device; and a receiving unit for receiving first global identification information from the server, the first global identification information being used to indicate a global identification corresponding to the first local identification.

[0049] In conjunction with the sixth aspect, in some implementations of the sixth aspect, the sending unit is further configured to send first trajectory information, the first trajectory information being used to indicate the trajectory of the traffic participant and the global identifier.

[0050] In conjunction with the sixth aspect, in some implementations of the sixth aspect, the first trajectory information is also used to indicate the first local identifier.

[0051] In conjunction with the sixth aspect, in some implementations of the sixth aspect, the global identifier includes one or more of the following: road identifier, road operator identifier, server identifier, sensing network identifier, and the first local identifier.

[0052] In conjunction with the sixth aspect, in some implementations of the sixth aspect, the first local identifier includes one or more of the following: a sensing device identifier, a roadside computing unit identifier, a pole identifier for roadside device deployment, and a traffic participant identifier.

[0053] In conjunction with the sixth aspect, in some implementations of the sixth aspect, the sending unit is further configured to send the first feature information and the second global identification information to the second roadside device, wherein the second global identification information is used to indicate the global identification, and the second roadside device is downstream of the traffic participant in the direction of movement relative to the roadside device.

[0054] A seventh aspect provides an interactive device applied to a server, comprising: a receiving unit, configured to receive first feature information and first local identification information of a traffic participant from a first roadside device, wherein the first feature information is used to identify the traffic participant and the first local identification information is used to indicate a first local identification of the traffic participant on the first roadside device; and a sending unit, configured to send first global identification information to the first roadside device based on the first feature information, wherein the first global identification information is used to indicate a global identification corresponding to the first local identification.

[0055] In conjunction with the seventh aspect, in some implementations of the seventh aspect, the server further includes: a storage unit for storing the correspondence between the global identifier and the first local identifier.

[0056] In conjunction with the seventh aspect, in some implementations of the seventh aspect, the receiving unit is further configured to receive second feature information and second local identification information of the traffic participant from the second roadside device, wherein the second feature information is used to identify the traffic participant and the second local identification information is used to indicate the second local identification of the traffic participant on the second roadside device; the sending unit is further configured to send second global identification information to the second roadside device based on the second feature information, wherein the second global identification information is used to indicate the global identification, and the global identification corresponds to the second local identification.

[0057] Eighthly, an interactive device is provided, applied to a roadside device, comprising: a processing unit, configured to acquire first feature information of a first traffic participant, the first feature information being used to identify the first traffic participant; the processing unit is further configured to acquire trajectory information of the first traffic participant; a receiving unit, configured to receive second feature information and first global identification information of a second traffic participant from a second roadside device, the second feature information being used to identify the second traffic participant, the first global identification information being used to indicate the global identification of the second traffic participant, the second roadside device being upstream of the first traffic participant in the direction of movement relative to the roadside device; the processing unit is further configured to determine that the first traffic participant and the second traffic participant are the same traffic participant by comparing the first feature information and the second feature information; and a sending unit, configured to send a trajectory transmission message, the trajectory transmission message including the trajectory information and the global identification.

[0058] In conjunction with the eighth aspect, in some implementations of the eighth aspect, the sending unit is further configured to send the characteristic information and second global identification information of the first traffic participant to the third roadside device when the roadside device is located on the road where the movement trajectory of the first traffic participant is located, wherein the second global identification information is used to indicate the global identification.

[0059] In conjunction with the eighth aspect, in some implementations of the eighth aspect, the third roadside device is located downstream of the first traffic participant in the direction of movement relative to the roadside device.

[0060] In conjunction with the eighth aspect, in some implementations of the eighth aspect, the roadside device is located within the coverage area of ​​the first server, the third roadside device is located within the coverage area of ​​the second server, the first server is different from the second server, the receiving unit is further configured to receive the address and topology information of the third roadside device from the first server; the sending unit is specifically configured to send the characteristic information of the first traffic participant and the second global identification information to the third roadside device according to the address and topology information of the third roadside device.

[0061] In conjunction with the eighth aspect, in some implementations of the eighth aspect, the sending unit is further configured to, when the roadside device is not located on the road where the movement trajectory of the first traffic participant is located, not send the characteristic information of the first traffic participant and the information for indicating the global identifier to any roadside device.

[0062] A ninth aspect provides an interactive device including a processor and a memory, the memory for storing a computer program and the processor for executing the computer program such that the device performs the interactive method described in any of the possible implementations of the first to fifth aspects.

[0063] In a tenth aspect, a computer program product is provided, including computer instructions that, when executed on a processor, implement the interaction method described in any of the possible implementations of the first to fifth aspects.

[0064] Eleventhly, a computer-readable storage medium is provided, the computer-readable medium storing computer instructions that, when executed on a processor, implement the interaction method described in any of the possible implementations of the first to fifth aspects. Attached Figure Description

[0065] Figure 1 This is a schematic structural diagram of a vehicle-to-everything (V2X) interaction scenario provided in an embodiment of this application.

[0066] Figure 2 This is a schematic structural diagram of another vehicle-to-everything (V2X) interaction scenario provided in the embodiments of this application.

[0067] Figure 3 This is a system architecture diagram of a vehicle-to-everything (V2X) interaction provided in an embodiment of this application.

[0068] Figure 4 This is a flowchart of an interaction method provided in an embodiment of this application.

[0069] Figure 5 This is a schematic structural diagram of a vehicle-to-everything (V2X) interaction scenario provided in an embodiment of this application.

[0070] Figure 6 This is a flowchart of another interaction method provided in the embodiments of this application.

[0071] Figure 7 This is a system architecture diagram of a vehicle-to-everything (V2X) interaction provided in an embodiment of this application.

[0072] Figure 8 This is a schematic structural diagram of an interactive device provided in an embodiment of this application.

[0073] Figure 9 This is a schematic structural diagram of an interactive device provided in an embodiment of this application. Detailed Implementation

[0074] The technical solutions in this application will now be described with reference to the accompanying drawings.

[0075] In this application, "at least one" means one or more, and "more than one" means two or more. "And / or" describes the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can mean: 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 mean: a, b, c, ab, ac, bc, or abc, where a, b, and c can be single or multiple. Furthermore, in the embodiments of this application, the words "first," "second," etc., do not limit the number or execution order, but are used for ease of description and differentiation of the textual descriptions used to represent different subjects or objects. Furthermore, in the embodiments of this application, the words "301", "402", "503" are merely identifiers for the convenience of description and do not limit the order of execution steps.

[0076] Vehicle-to-everything (V2X) is a key technology for intelligent transportation systems. 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. Through V2X communication, real-time traffic conditions, road information, pedestrian information, and other trajectory data can be obtained, thereby improving driving safety, reducing congestion, increasing traffic efficiency, and providing in-vehicle entertainment information.

[0077] The following is based on Figure 1 The example shown illustrates a possible vehicle-to-everything (V2X) interaction scenario provided by an embodiment of this application.

[0078] Figure 1 The diagram shows several vehicles (vehicles a-i), several roadside devices (roadside devices a-f), several servers (server 1-server 3), and several pedestrians (pedestrians 1-pedestrians 3). It should be understood that... Figure 1This is merely an illustration of a vehicle-to-everything (V2X) interaction scenario provided by an embodiment of this application. This embodiment can be applied to V2X interaction scenarios with more or fewer vehicles, more or fewer roadside devices, more or fewer servers, or more or fewer pedestrians; this application does not limit its application in any way.

[0079] Vehicles can drive on roads, for example Figure 1 The diagram shows road segments 1, 2, and 3. These segments can intersect at road junctions. In one possible example, a vehicle on segment 1 can enter either segment 2 or segment 3 via a road junction. In another possible example, a vehicle on segment 2 can enter either segment 1 or segment 3 via a road junction. In yet another possible example, a vehicle on segment 3 can enter either segment 1 or segment 2 via a road junction.

[0080] While the vehicle is traveling on the road, it can interact with vehicle-to-everything (V2X) communication devices.

[0081] Vehicle-to-everything (V2X) communication equipment can include roadside devices. Communication between vehicles and roadside devices can be classified as V2I communication. Roadside devices can refer to roadside infrastructure. For example, roadside devices can include roadside edge computing (REC) devices, roadside units (RSUs), and roadside devices with both REC and RSU functionality. For instance, a REC can acquire various service information and provide it to vehicles, such as traffic information, parking fees, and in-vehicle entertainment. Similarly, an RSU can provide vehicles with data network access.

[0082] Roadside equipment can be installed beside roads. It can acquire characteristic and trajectory information of traffic participants within its coverage area. However, the coverage area of ​​roadside equipment is relatively limited. Multiple roadside equipment can be installed on the same road segment; each device can monitor one area of ​​that segment, and multiple devices can monitor multiple areas of the same segment separately.

[0083] exist Figure 1 In the example shown, roadside device a and roadside device b can be installed on road segment 1; roadside device a and roadside device b can acquire the trajectory information of traffic participants on road segment 1. For example, roadside device a can acquire the trajectory information of vehicle a, vehicle b and pedestrian 1; roadside device b can acquire the trajectory information of vehicle b and vehicle c.

[0084] Roadside equipment c and roadside equipment d can be installed on road segment 2; roadside equipment c and roadside equipment d can acquire the trajectory information of traffic participants on road segment 2. For example, roadside equipment c can acquire the trajectory information of vehicle e and pedestrian 3; roadside equipment d can acquire the trajectory information of vehicle e, vehicle f and pedestrian 2.

[0085] Roadside equipment e and roadside equipment f can be installed on road segment 3; roadside equipment e and roadside equipment f can acquire trajectory information of traffic participants on road segment 3. For example, roadside equipment e can acquire trajectory information of vehicle g and pedestrian 3; roadside equipment d can acquire trajectory information of vehicle h and vehicle i.

[0086] Roadside device b can be devices located on both sides of road segment 1 near the road intersection. Optionally, roadside device b can also acquire trajectory information of traffic participants located in the area near the road intersection of road segment 1. For example, roadside device b can acquire the trajectory information of vehicle d.

[0087] Roadside device c can be devices located on both sides of road segment 2 near the road intersection. Optionally, roadside device c can also acquire trajectory information of traffic participants located in the area near the road intersection of road segment 2. For example, roadside device c can acquire the trajectory information of vehicle d.

[0088] Roadside device e can be located on either side of road segment 3 near the road intersection. Roadside device e can also acquire trajectory information of traffic participants within the area of ​​road segment 3 near the road intersection. Optionally, roadside device e can also acquire trajectory information of traffic participants located at the road intersection. For example, roadside device e can acquire the trajectory information of vehicle d.

[0089] It should be understood that the above explanation is merely illustrative. Figure 1 The scenario shown is one example. In other possible examples, the roadside device may acquire more or fewer traffic participants, which is not limited in this application.

[0090] Vehicle-to-everything (V2X) communication devices can include vehicles. Vehicle-to-vehicle (V2V) communication can be classified as such. For example, a vehicle can broadcast information such as its speed, direction of travel, location, and whether it has applied emergency braking to surrounding vehicles. By receiving this information, drivers in surrounding vehicles can better perceive traffic conditions beyond their line of sight, thereby anticipating and avoiding dangerous situations. Vehicle communication can be achieved through any of the following: the vehicle itself, its infotainment system, an in-vehicle terminal, an on-board computer (or on-board PC), an in-vehicle chip, or other in-vehicle equipment.

[0091] In vehicle-to-everything (V2X) interaction scenarios, vehicles that are close to each other can conduct V2V communication. Combined with... Figure 1 The example shown, Figure 1 Vehicles a and i in the equation can communicate via V2V. For example... Figure 1 As shown, the communication between vehicle b and vehicle c can be classified as V2V communication.

[0092] Vehicle-to-everything (V2X) communication devices may include servers. Communication between vehicles and servers can be V2N (Vehicle-to-Network) communication. For example, a vehicle can report its verification information to the server, which can then verify the vehicle's legitimacy based on that information. Vehicles can communicate directly with the server, or through access network devices (such as base stations) or core network devices.

[0093] The server can be responsible for vehicle-to-everything (V2X) services within its coverage area. The server can manage roadside equipment located within its coverage area. For example, the server can manage the addresses and topology information of roadside equipment. Roadside equipment within the server's coverage area can be mapped to the server. The server can interact with roadside equipment within its coverage area. Optionally, the server can manage all roadside equipment on a road segment.

[0094] exist Figure 1 In the example shown, roadside devices a and b can be located within the coverage area of ​​server 1; roadside devices c and d can be located within the coverage area of ​​server 2; and roadside devices e and f can be located within the coverage area of ​​server 3.

[0095] The server can subscribe to information from other servers to obtain information within their coverage areas. This information may include, for example, feature information, trajectory information, topology information of the roadside equipment, the addresses of the roadside equipment, and vehicle verification information obtained by the roadside equipment.

[0096] Combination Figure 1In one example, server 1 and server 2 can subscribe to each other's topology information and addresses of roadside devices. For instance, server 1 can subscribe to the topology information and addresses of roadside device c and roadside device d from server 2; server 2 can subscribe to the topology information and addresses of roadside device a and roadside device b from server 1.

[0097] Vehicle-to-everything (V2X) communication equipment can include terminal devices. These terminal devices can be user-carried devices. Communication between the vehicle and the terminal device can be V2P communication. Examples of terminal devices include UE (User Equipment), MS (Mobile Station), Mobile Terminal, and electronic tags (V2X license plates, a type of license plate with V2X communication capabilities). Optionally, the terminal device can be a wearable device, mobile phone, tablet computer, PDA (Personal Digital Assistant), POS (Point of Sales), or in-vehicle computer. Figure 1 In one example, vehicle a can communicate with pedestrian 1 via V2P.

[0098] The following is based on Figure 2 The example shown illustrates another possible vehicle-to-everything (V2X) interaction scenario provided by the embodiments of this application. Figure 2 The roads shown can correspond to, for example. Figure 1 One or more of the road segments 1, 2, and 3 shown.

[0099] One or more RECs can be set up along the roadside. For example Figure 2 The diagram shows REC A1, REC A2, REC A3, RECB1, and REC B2. RECs can have computational capabilities. Because RECs are positioned beside the road, they can obtain traffic-related information relatively quickly and react rapidly to that information.

[0100] One or more sensing devices can also be installed along the roadside. For example, sensor A1, sensor A2, sensor A3, sensor B1, and sensor B2. These sensing devices can be used to acquire real-time trajectory information occurring on the road. Examples of sensing devices include cameras, radar, and video cameras. The sensing devices and the REC (Real Estate Controller) can communicate with each other. The trajectory information captured by the sensing devices can be sent to the REC in real time. For example, ... Figure 2 As shown, taking REC A2 as an example, REC A2 can obtain the trajectory information captured by sensor A2. For other REC-related descriptions provided in this application embodiment, please refer to... Figure 2The description of REC A2 is shown. The sensing device can also be used to acquire characteristic information of traffic participants.

[0101] Optionally, a REC can acquire feature and trajectory information on the road through one or more sensors; that is, one REC can correspond to one or more sensors. In this case, the overall sensing range of one or more sensors can correspond to the coverage area of ​​the REC. The trajectory information captured by one or more sensors can indicate the trajectory information within the coverage area of ​​the REC. The feature information captured by one or more sensors can indicate the characteristics of traffic participants.

[0102] Optionally, a sensing device can send the captured feature information and trajectory information to one or more RECs, that is, one sensing device can correspond to one or more RECs.

[0103] The REC can communicate with other vehicular communication devices (e.g., vehicles, servers, roadside equipment) through one or more RSUs. In this case, the overall communication range of the one or more RSUs can correspond to the communication range of the REC. The one or more RSUs can correspond to the REC. For example, as... Figure 2 As shown, taking REC A1 as an example, REC A1 can interact with vehicles, server A, RSU A2, RSU A3, etc., through RSU A1. RSU A1 can correspond to REC A1. Taking REC B1 as an example, REC B1 can interact with vehicles, server B, RSU B2, etc., through RSU B1. REC B1 can correspond to REC B1. For other REC-related descriptions provided in this application's embodiments, please refer to... Figure 2 The description of REC A1 or REC B1 shown.

[0104] Taking the interaction between RSU A1 and RSU A2 as an example, RSU A1 is the RSU device corresponding to REC A1, and RSU A2 is the RSU device corresponding to REC A2. Therefore, REC A1 can obtain information from REC A2 through the interaction between RSU A1 and RSU A2; or, REC A1 can send information to REC A2 through the interaction between RSU A1 and RSU A2. Other related descriptions of RSU interactions provided in this application embodiment can be found in [reference needed]. Figure 2 Explanation of RSU A1 and RSU A2 shown.

[0105] In one example, both REC and RSU can be roadside equipment. For instance, taking REC A1 as an example, REC A1 can correspond to... Figure 1 Any one of the roadside equipment a-f shown. For example, taking RSU A1 as an example, RSU A1 can correspond to...Figure 1 The roadside equipment shown is any one of roadside equipment a-f. In another example, the roadside equipment may include REC, RSU, or modules or units for implementing the functions of REC, RSU. For example, taking REC A1 and RSU A1 as an example, a device having REC A1 and RSU A1 can correspond to... Figure 1 Any one of the roadside equipment a-f shown. For further explanation of the relationship between other RSUs, RECs, and roadside equipment provided in this application's embodiments, please refer to... Figure 2 The descriptions of REC A1 and RSU A1 are shown below.

[0106] The server can manage roadside equipment within its coverage area. Combined with... Figure 2 The example shown, taking server A as an example, server A may, for example, manage REC A1, REC A2, REC A3, or may manage RSU A1, RSU A2, RSU A3, or may manage roadside equipment (or systems) including REC A1, RSU A1, roadside equipment (or systems) including REC A2, RSU A2, and roadside equipment (or systems) including REC A3, RSU A3. Figure 2 The server A shown can, for example, correspond to Figure 1 Any one of Server 1, Server 2, and Server 3 shown. For related descriptions of other servers provided in this application's embodiments, please refer to... Figure 2 Description of server A shown.

[0107] Optionally, RSU or REC can also interact across servers. The following explanation uses the interaction between REC A1 and REC B1 as an example. For other descriptions of cross-server REC interactions provided in this application's embodiments, please refer to... Figure 2 Explanation of RECA1 and REC B1 shown.

[0108] For example, REC A1 can obtain information from REC B1 through the interaction between RSU A1 and server A, the interaction between server A and server B, and the interaction between server B and RSU B1; or, REC A1 can send information to REC B1 through the interaction between RSUA1 and server A, the interaction between server A and server B, and the interaction between server B and RSU B1.

[0109] For example, server A can subscribe to the address and topology information of RSU B1 from server B. Server B can subscribe to the address and topology information of RSU A1 from server A. REC A1 can send information to REC B1 based on the address and topology information of RSU B1 through the interaction between RSU A1 and RSU B1. REC B1 can also send information to REC A1 based on the address and topology information of RSU A1 through the interaction between RSU A1 and RSU B1.

[0110] Figure 3 This is a system architecture diagram of a vehicle-to-everything (V2X) interaction provided in an embodiment of this application.

[0111] The system may include one or more servers (such as...) Figure 3 Server A shown), one or more RSUs (such as Figure 3 RSU A1, RSU A2, RSU A3 (as shown), and one or more RECs (such as...) Figure 3 REC A1, REC A2, REC A3 shown), or one or more sensing devices (such as...) Figure 3 (Sensing devices A1, A2, and A3 are shown). Figure 3 The server shown can be, for example, a corresponding Figure 1 Any of the servers 1-3 shown can also correspond to Figure 2 Either of the servers A and B shown. Figure 3 The RSU shown can be, for example, corresponding to Figure 1 Any of the roadside devices shown in af can also correspond to Figure 2 Any one of RSU A1-A3 and RSU B1-B2 shown. Figure 3 The REC shown can correspond to, for example, Figure 1 Any of the roadside devices shown in af can also correspond to Figure 2 Any one of RSU A1-A3 and RSU B1-B2 shown. Figure 3 The sensing device shown can, for example, correspond to Figure 2 Any one of the sensing devices A1-A3 and B1-B2 shown.

[0112] by Figure 3 Taking server A as an example, this application illustrates a server system architecture provided in an embodiment. For descriptions of other servers provided in this application, please refer to... Figure 3 Description of server A shown.

[0113] Server A may include, for example, a user management unit, an object management unit, a data aggregation unit, a virtual REC unit, a topology and address management unit, a database, etc. In other possible examples, server A may include more or fewer units, or may implement more or fewer functions.

[0114] The user management unit can be used to provide services such as creating and deregistering accounts for vehicles, and verifying vehicle qualifications. An account can be, for example, an electronic account with payment functionality. Vehicle qualification verification can be used to verify the legitimacy of a vehicle performing vehicle-to-everything (V2X) communication. For example, the user management unit can receive vehicle verification messages reported by roadside equipment and send the vehicle verification results to the roadside equipment.

[0115] The object management unit can be used, for example, to manage (e.g., assign, inherit, delete, update, etc.) information about traffic participants (such as identifiers, characteristic information, trajectory information, etc.). The characteristic information and trajectory information of traffic participants can be obtained, for example, from roadside equipment.

[0116] The data aggregation unit can acquire information from vehicle-to-everything (V2X) communication devices (such as roadside equipment, vehicles, and terminal devices). For example, the data aggregation unit can acquire and aggregate data from multiple vehicle-to-everything (REC) devices and process the data to achieve global management capabilities.

[0117] Virtual REC units can be used to map RECs to V2X services. Virtual REC units can be used to manage roadside devices located within the coverage area of ​​server A.

[0118] The topology and address management unit can be used, for example, to maintain the address and topology information of roadside equipment. For instance, the topology and address management unit can manage (e.g., add, update, delete, etc.) the address and topology information of roadside equipment managed by server A. Furthermore, the topology and address management unit can subscribe to the address and topology information of roadside equipment managed by other servers.

[0119] Databases can be used to store data, such as account information and information acquired by data aggregation units. Databases may include, for example, a local V2X service topology and address database, as well as a cross-V2X service topology and address database. The local V2X service topology and address database can be used to store the address and topology information of local roadside devices. The cross-V2X service topology and address database can be used to store the address and topology information of roadside devices subscribed from other servers.

[0120] exist Figure 3In the example shown, REC A1, REC A2, and REC A3 can be located within the coverage area of ​​server A and are managed by server A. The following uses REC A2 as an example to illustrate a system architecture for RECs provided in this application embodiment. For related descriptions of other RECs provided in this application embodiment, please refer to... Figure 3 The description of REC A2 is shown.

[0121] REC A2 may include a communication scheduling unit A2, a sensor access unit A2, and a fusion sensing unit A2. In other possible examples, REC A2 may include more or fewer units, or may implement more or fewer functions. In one possible example, REC A2 may form a roadside device managed by server A together with RSU A2. In other possible examples, REC A2 may be independent of RSU A2.

[0122] The communication dispatch unit A2 of REC A2 can be used to communicate with vehicles, terminal equipment, and other roadside equipment (such as RSU A2) via RSU A2. Figure 3 RSU A1, RSU A3), server (e.g. Figure 3 The communication scheduling unit A2 interacts with servers such as server A), allowing REC A2 to interact with vehicle-to-everything (V2X) communication devices located within its communication range. In other examples, the communication scheduling unit A2 can be implemented by RSUA2. The communication scheduling unit A2 can be used to implement functions such as vehicle verification, vehicle activation, vehicle deactivation, REC switching, subscribing to feature information and trajectory information from other RECs, and being subscribed to by other RECs for feature information and trajectory information.

[0123] The sensor access unit A2 of REC A2 can be used to acquire feature information and trajectory information captured by a sensing device (such as sensor device A2). REC A2 may, for example, have a sensing interface connected to sensor device A2. The sensor access unit A2 can receive feature information and trajectory information from sensor device A2 through the sensing interface. The overall coverage of one or more sensing devices connected to the sensor access unit A2 of REC A2 can correspond to the coverage of REC A2. The sensor access unit A2 can, for example, be used to implement functions such as vehicle verification, vehicle activation, vehicle deactivation, REC switching, subscribing to feature information and trajectory information from other RECs, and being subscribed to by other RECs for feature information and trajectory information.

[0124] The following is based on Figure 3 Taking the sensor device A2 shown as an example, the application of the sensor device in this application embodiment is introduced. For related descriptions of other sensor devices provided in this application embodiment, please refer to... Figure 3Description of the sensor device A2 shown. In one example, sensor device A2 can be a camera, radar, or other similar device. For example, a camera can capture relevant information about motor vehicles, non-motor vehicles, pedestrians, etc., by taking images or videos. This relevant information may include one or more of the following: the color, shape, size, license plate, and model of the motor vehicle or non-motor vehicle, and the clothing, physical characteristics, and identity information of pedestrians. Similarly, radar can determine the position, speed, and direction of movement of motor vehicles, non-motor vehicles, or pedestrians.

[0125] The fusion sensing unit A2 of REC A2 can be used to exchange trajectory information with other roadside devices (such as REC A1 and RECA3) via RSU A2. The fusion sensing unit A2 can also process the acquired trajectory information. Furthermore, the fusion sensing unit A2 can generate other information related to the trajectory information. For example, the fusion sensing unit A2 can be used to assign traffic participant indication information (such as traffic participant identification) to sensed traffic participants. Also, the fusion sensing unit A2 can be used to obtain information from the higher-level REC (such as...) Figure 3 The REC A1 shown acquires trajectory information from the fusion sensing unit A1, and can then transfer it to the next level REC (such as...). Figure 3 The fusion sensing unit A3 shown in REC A3 transmits trajectory information. Similarly, the fusion sensing unit A2 can be used to identify the movement trajectory of the same traffic participant. Furthermore, the fusion sensing unit A2 can be used to screen trajectory information of the same traffic participant and remove redundant trajectory information.

[0126] The following is combined Figures 1 to 4 This paper describes an interactive method provided by an embodiment of the present application.

[0127] 401, The first roadside device acquires second feature information of the second traffic participant, and the second feature information is used to identify the second traffic participant.

[0128] 402, The second roadside equipment determines the global identifier of the second traffic participant.

[0129] 403, the second roadside device sends the second characteristic information and the first global identification information of the second traffic participant to the first roadside device, wherein the first global identification information is used to indicate the global identification of the second traffic participant.

[0130] Accordingly, the first roadside device receives the second feature information and the first global identification information from the second roadside device.

[0131] The second roadside device may be located upstream of the first roadside device in the direction of movement of the second traffic participant.

[0132] 404, The first roadside device acquires the first feature information of the first traffic participant, and the first feature information is used to identify the first traffic participant.

[0133] The execution order of 404 and 403 is not limited in this application embodiment.

[0134] 405. The first roadside device compares the first feature information and the second feature information to determine that the first traffic participant and the second traffic participant are the same traffic participant.

[0135] Optional, Figure 4 The interaction method may further include steps 406 and 407.

[0136] 406, The first roadside device acquires the trajectory information of the first traffic participant.

[0137] 407, the first roadside device sends a trajectory transmission message, the trajectory transmission message including the trajectory information and the global identifier.

[0138] exist Figure 4 In the example shown, the first roadside device can send the trajectory transmission message to the vehicle. Correspondingly, the vehicle can receive the trajectory transmission message from the first roadside device.

[0139] In other examples, the first roadside device may send the trajectory transmission message to other roadside devices (such as a second roadside device). Accordingly, the other roadside devices may receive the trajectory transmission message from the first roadside device.

[0140] The following is combined Figure 1 , Figure 4 The following explanations will be provided for 401 to 404.

[0141] by Figure 1 Taking roadside device a as an example, roadside device a can acquire trajectory information a of one or more traffic participants within its coverage area through sensing devices. The one or more traffic participants within the coverage area of ​​roadside device a include... Figure 1 The vehicle a, vehicle b, and pedestrian 1 are shown. For roadside equipment a, the trajectory information a within the coverage area of ​​roadside equipment a can be, for example, local trajectory information.

[0142] Trajectory information may include one or more of the following items: sensing time, traffic participant type, traffic participant appearance, traffic participant model, traffic participant license plate number, location, speed, and direction of movement. Trajectory information may be represented in various formats, such as images, pixel data, codes, feature vectors, or the output of a trajectory information processing module.

[0143] Sensing time information can refer, for example, to the time information that sensing devices or roadside equipment sense traffic participants.

[0144] Traffic participants can include, for example, motor vehicles, non-motor vehicles, pedestrians, trucks, buses, large vehicles, medium-sized vehicles, and small vehicles.

[0145] When the traffic participant is a vehicle, its appearance may include, for example, the vehicle's color, size, and shape. When the traffic participant is a pedestrian, its appearance may include, for example, the pedestrian's gender, clothing (such as clothing type and color), and physical characteristics (such as height, build, and facial features).

[0146] Traffic participant model can include, for example, vehicle brand, vehicle product label, etc.

[0147] Traffic participant identification numbers can include, for example, vehicle license plate information and pedestrian identification numbers.

[0148] Location can include, for example, the latitude and longitude coordinates of traffic participants, their relative positions on the road (such as left-hand and right-hand roads), etc.

[0149] Movement speed can include, for example, the speed of a vehicle or the walking speed of a pedestrian.

[0150] The direction of movement can include, for example, the direction angle of a vehicle's movement or the direction angle of a pedestrian's walking.

[0151] Vehicle A can communicate with vehicle-to-everything (V2X) communication devices within its line-of-sight perception range. For example, roadside equipment A can be located within vehicle A's line-of-sight perception range. Roadside equipment A can then send trajectory information 'a' of vehicle A, vehicle B, and pedestrian 1 to vehicle A via trajectory transmission messages, for example, through broadcast, multicast, or unicast. Correspondingly, vehicle A can receive trajectory transmission messages from roadside equipment A to obtain trajectory information 'a' within its coverage area. Vehicle A can then plan its driving strategy based on the trajectory information 'a' sent by roadside equipment A, such as avoiding vehicle B, following vehicle B's route, or maintaining a safe distance from vehicle B.

[0152] by Figure 1Taking roadside device b as an example, roadside device b can be located outside the line-of-sight range of vehicle a, but within the beyond-line-of-sight range of vehicle a. Vehicles b and c can be within the coverage area of ​​roadside device b. Roadside device b can acquire trajectory information b, which can include the trajectory information of vehicle b and vehicle c. Trajectory information b can include trajectory information located outside the coverage area of ​​roadside device a. In one example, roadside device b can send trajectory information b to roadside device a. Roadside device a can receive trajectory information b from roadside device b to obtain trajectory information within the coverage area of ​​roadside device b. For roadside device a, trajectory information b can belong to the surrounding trajectory information.

[0153] This section describes a possible scenario where vehicle b travels from the coverage area of ​​roadside device a to the coverage area of ​​roadside device b. Figure 1 In the scenario shown, roadside device b can be located downstream of roadside device a in the direction of vehicle b's movement. Viewed along the direction of vehicle b's movement, roadside device b is located in front of roadside device a, meaning roadside device b can be a downstream roadside device of roadside device a. Viewed along the direction of vehicle b's movement, roadside device a is located behind roadside device b, meaning roadside device a can be an upstream roadside device of roadside device b.

[0154] When vehicle b is within the coverage area of ​​roadside device a, roadside device a can acquire the feature information a of vehicle b. For example, roadside device a acquires feature information a through corresponding sensing devices. Alternatively, roadside device a can extract part or all of the trajectory information a1 of vehicle b as feature information a.

[0155] Feature information can be used to identify traffic participants. Traffic participant feature information can indicate at least some of the characteristics of a traffic participant. Traffic participant feature information can serve to identify and determine which traffic participant a participant belongs to. Traffic participant feature information may include partial information from trajectory information. Traffic participant feature information may include other information besides trajectory information.

[0156] For example, the characteristic information 'a' of vehicle b may include one or more of the following: vehicle license plate information, vehicle brand, vehicle product label, vehicle type, vehicle model, vehicle color, vehicle size, and vehicle shape. In other examples, the characteristic information 'a' of vehicle b may also include other information.

[0157] Roadside device a can determine the global identifier 1 of vehicle b based on feature information a. Roadside device a can send the feature information a and the global identifier 1 of vehicle b to roadside device b; correspondingly, roadside device b can obtain the feature information a and the global identifier 1 of vehicle b from roadside device a. Optionally, roadside device a can also send a trajectory transmission message a1 to vehicle a, which includes the trajectory information a1 and the global identifier 1 of vehicle b; correspondingly, vehicle a can receive the trajectory transmission message a1 from roadside device a to obtain the trajectory information a1 and the global identifier 1.

[0158] There are multiple ways for roadside device a to determine the global identifier 1 of vehicle b.

[0159] For example, when vehicle b is within the coverage area of ​​roadside device a, roadside device a can acquire the characteristic information a of vehicle b through connected or corresponding sensing devices. In one possible scenario, roadside device a can directly generate or configure a global identifier 1 for vehicle b based on the acquired characteristic information a.

[0160] In another possible scenario, roadside device a can identify feature information a and determine whether roadside device a has previously received feature information a' that matches feature information a.

[0161] If so, roadside device a can determine the global identifier indicated by the previously received feature information a' as the global identifier of vehicle b. For example, vehicle b may have previously appeared within the coverage area of ​​an upstream roadside device of roadside device a, and the upstream roadside device of roadside device a can send the feature information a' and global identifier 1 of vehicle b to roadside device a. Thus, when vehicle b moves into the coverage area of ​​roadside device a, roadside device a can inherit the global identifier 1 of vehicle b from its upstream roadside device.

[0162] If not, roadside device a can generate or configure a global identifier 1 for vehicle b based on the acquired feature information a. Optionally, vehicle b may first appear within the coverage area of ​​roadside device a during its movement.

[0163] The coverage area of ​​a roadside device can refer to the overall coverage area of ​​one or more sensors corresponding to the roadside device, or the overall coverage area of ​​one or more sensors communicating with the roadside device, or the overall coverage area of ​​one or more sensors connected to the roadside device, or the overall coverage area of ​​one or more sensors managed by the roadside device. Sensors can be, for example, radar, cameras, etc.

[0164] For example, when vehicle b appears within the coverage area of ​​roadside device a, roadside device a can obtain vehicle b's characteristic information a through connected or corresponding sensors. Roadside device a can then report vehicle b's characteristic information a to a server, which configures a global identifier 1 for vehicle b. Roadside device a can determine vehicle b's global identifier 1 by receiving it from the server. The specific implementation method for roadside device a's server receiving the global identifier can also be found in [reference needed]. Figure 6 The example shown.

[0165] The following uses the aforementioned global identifier 1 as an example to describe the content of a global identifier provided in this application embodiment. Optionally, the global identifier includes one or more of the following: road identifier, road operator identifier, server identifier, sensing network identifier, and local identifier of traffic participant.

[0166] Road signs can indicate one or more of the following information: the name of the city where the road is located, the name of the district where the road is located, the name of the street where the road is located, the name of the road, the road number, the area of ​​the road, etc. For example, road signs can indicate A Road No. 123, B Highway Middle Section, C District D Road, E City F Road, G Street H Road, etc.

[0167] In one example, global identifier 1 can be generated or configured by roadside device a, and the road identifier can be the identifier of the road where roadside device a is located.

[0168] In another example, global identifier 1 can be generated or configured by the server, and the road identifier can be the identifier of the road where roadside device a is located when a traffic participant first appears within the coverage area of ​​roadside device a.

[0169] Road operator identification can be used to indicate the entity, group, or individual entitled to engage in road transport operations. For example, road operator identification may include the identification code (ID) of entity A, the identification code (ID) of group B, and the identity information (ID) of legal person C.

[0170] In one example, global identifier 1 can be generated or configured by roadside device a, and the road identifier can be the operator identifier of the road where roadside device a is located.

[0171] In another example, global identifier 1 can be generated or configured by the server, and the road identifier can be the operator identifier of the road where roadside device a is located when a traffic participant first appears within the coverage area of ​​roadside device a.

[0172] A server identifier can be used to indicate a server; for example, a server identifier may include the server's number, address, etc.

[0173] In one example, combinedFigure 1 Global identifier 1 can be generated or configured by roadside device a, and roadside device a is located within the coverage area of ​​server 1. The server identifier can be used to indicate server 1.

[0174] In another example, global identifier 1 can be generated or configured by server 1, and the server identifier can be used to indicate server 1.

[0175] A sensing network identifier can be used to indicate the network formed by a group of roadside devices. For example, in the first phase of the project, a first group of roadside devices is installed along the road, forming the first phase sensing network. In the second phase of the project, a second group of roadside devices is installed, forming the second phase sensing network.

[0176] In one example, global identifier 1 can be generated or configured by roadside device a, and the sensing network identifier can be the identifier of the roadside device group to which roadside device a belongs or the identifier of the sensing network to which roadside device a belongs.

[0177] In another example, global identifier 1 can be generated or configured by the server, and when a traffic participant first appears within the coverage area of ​​roadside device a, the road identifier can be the identifier of the roadside device group to which roadside device a belongs or the identifier of the sensing network to which roadside device a belongs.

[0178] Optionally, the local identifier of a traffic participant may include one or more of the following: a sensing device identifier, a roadside computing unit identifier, a pole identifier for which the roadside device is deployed, and a traffic participant identifier. In one example, the local identifier of a traffic participant may be the traffic participant's first local identifier. That is, the traffic participant's local identifier may be the local identifier that is first configured for the traffic participant. The roadside device that first configures the local identifier for the traffic participant may be referred to as the first roadside device to capture the traffic participant.

[0179] The sensing device identifier can refer to the identifier of the sensing device corresponding to the roadside equipment, such as the identifier of a camera or radar. The sensing device identifier in the global identifier can also be referred to as the first sensing device identifier. For example, the sensing device identifier can belong to a type of roadside equipment identifier.

[0180] In one example, if the global identifier 1 can be generated or configured by roadside device a, then the sensing device identifier can be the identifier of the sensing device corresponding to roadside device a.

[0181] In another example, global identifier 1 can be generated or configured by the server, and when a traffic participant first appears within the coverage area of ​​roadside device a, the sensing device identifier can be the identifier of the sensing device corresponding to roadside device a.

[0182] A roadside computing unit identifier can be used to indicate the roadside computing unit (also known as a road edge computing unit). The global identifier 1 can be generated by the roadside computing unit. For example, a roadside computing unit can refer to one or more roadside computing units included in a roadside device. Optionally, the roadside device can also include roadside units. As another example, a roadside computing unit can refer to one or more roadside computing units that can be connected to or communicate with the roadside device. Optionally, the roadside device can be a roadside unit. As another example, the roadside computing unit can be the roadside device itself. The roadside computing unit identifier in the global identifier can also be referred to as the first roadside computing unit identifier. The roadside computing unit identifier can, for example, belong to a type of roadside device identifier.

[0183] In one example, if the global identifier 1 can be generated or configured by roadside device a, then the roadside computing unit identifier can be the roadside computing unit identifier corresponding to roadside device a.

[0184] In another example, global identifier 1 can be generated or configured by the server, and when a traffic participant first appears within the coverage area of ​​roadside device a, the roadside computing unit identifier can be the roadside computing unit identifier corresponding to roadside device a.

[0185] Roadside equipment is typically mounted on poles along both sides of the road. A pole position refers to the location of the roadside equipment on that pole. Each pole position can have a pole position identifier. The pole position identifier for roadside equipment deployment can be the identifier of the pole where the roadside equipment is deployed. The pole position identifier in the global identifier can also be referred to as the first pole position identifier. The first pole position identifier can refer to the identifier of the first pole where the roadside equipment is located.

[0186] In one example, global identifier 1 can be generated or configured by roadside device a, and pole position identifier can be the identifier of the pole position where roadside device a is located.

[0187] In another example, global identifier 1 can be generated or configured by the server, and when a traffic participant first appears within the coverage area of ​​roadside device a, the pole identifier can be the identifier of the pole where roadside device a is located.

[0188] Traffic participant identifiers can be identifiers generated or configured by roadside equipment for traffic participants. Roadside equipment can assign traffic participant identifiers to multiple traffic participants within its coverage area based on the time they appear within its coverage area. For example, if traffic participant 1, traffic participant 2, and traffic participant 3 appear sequentially within the coverage area of ​​the first roadside equipment, their traffic participant identifiers could be 001, 002, and 003, respectively. The traffic participant identifier in the global identifier can also be referred to as the first traffic participant identifier.

[0189] In one example, if the global identifier 1 can be generated or configured by roadside device a, then the traffic participant identifier can be the traffic participant identifier configured by roadside device a.

[0190] In another example, a traffic participant first appears within the coverage area of ​​roadside device a. Roadside device a can generate or configure a traffic participant identifier for the traffic participant and report it to server 1. Roadside device a can be located within the coverage area of ​​server 1. Server 1 can then generate or configure a global identifier 1 that includes the traffic participant identifier. The traffic participant identifier in global identifier 1 can reflect the order in which the traffic participant first appears within the coverage area of ​​roadside device a (i.e., is first captured by roadside device a) relative to other traffic participants.

[0191] The traffic participant identifier in Global Identifier 1 reflects the order in which a traffic participant first appears within the coverage area of ​​the roadside device (i.e., is first captured by the roadside device) relative to other traffic participants. For example, a traffic participant identifier of 12 in Global Identifier 1 could indicate that the traffic participant is the 12th traffic participant to first appear within the coverage area of ​​the roadside device.

[0192] Optionally, roadside device a can also configure vehicle b's local identifier as local identifier a1 based on vehicle b's characteristic information a. Roadside device a can store the correspondence between global identifier 1 and local identifier a1. Optionally, when roadside device a sends vehicle b's trajectory information a1 and global identifier 1 to vehicle a, the trajectory transmission message a1 can also include vehicle b's local identifier a1 on roadside device a. The local identifier a1 generated by roadside device a can refer to the local identifiers of traffic participants in the global identifiers mentioned above, and will not be elaborated further here. Roadside devices can manage and maintain their own configured local identifier information. Different roadside devices can configure different local identifiers for the same traffic participant, which helps reduce the difficulty of managing and maintaining roadside device data.

[0193] When vehicle b moves into the coverage area of ​​roadside device b, roadside device b can acquire the characteristic information b of vehicle b. The specific method by which roadside device b acquires the characteristic information b can be referred to the specific implementation method of roadside device a acquiring the characteristic information a described above.

[0194] As discussed above, roadside device b can obtain the feature information 'a' and global identifier of vehicle b from roadside device a. Roadside device b can determine whether feature information 'a' and feature information 'b' match, thus identifying the traffic participant corresponding to feature information 'b' as vehicle b indicated by roadside device a. Therefore, roadside device b can determine that the global identifier of vehicle b is global identifier 1.

[0195] There are several possible implementations for determining whether feature information a and feature information b match. Assume that feature information a can include information entry a, feature information b can include information entry b, and the types of information entry a and information entry b can be the same.

[0196] In one example, matching feature information a and feature information b can mean that the content of feature information a and the content of feature information b are the same. For example, the license plate information indicated by feature information a is the same as the license plate information indicated by feature information b.

[0197] In one example, matching feature information a and feature information b means that feature information a and feature information b correspond (feature information a and feature information b may be slightly different, or the degree of matching between feature information a and feature information b may be higher than a preset matching threshold). For example, if information items a and b are both location information, and the distance between the locations indicated by information item a and information item b is less than a preset distance, then feature information a and feature information b can be considered to match. As another example, roadside device b can input information items a and b into a feature information processing model (the feature information processing model could be, for example, a neural network model). The feature information processing model can perform data processing on information items a and b, such as feature extraction, convolution, and pooling, to obtain the matching degree between information items a and b. If the matching degree between information items a and b is higher than a preset matching threshold, then information items a and b can be considered to match.

[0198] Optionally, the matching of feature information a and feature information b can also satisfy the following: the priority of the information entry type to which feature information a and feature information b belong is higher than the preset priority.

[0199] For example, if the license plate information included in feature information a matches the license plate information included in feature information b, and the license plate information has a higher priority than other information items, then it can be determined that feature information a and feature information b match.

[0200] Optionally, the matching of feature information a and feature information b can satisfy the following: M information entries of feature information a match M information entries of feature information b, M information entries of feature information a correspond one-to-one with M information entries of feature information b (the entry types of the two corresponding information entries can be the same), and M is greater than the preset number of entries.

[0201] For example, if all information entries in feature information a match all information entries in feature information b, then feature information a and feature information b are matched.

[0202] Optionally, roadside device b can send vehicle b's trajectory information b1 and global identifier 1 to vehicle c within its coverage area via trajectory transmission message b1. Alternatively, roadside device b can also send vehicle b's trajectory information b1 and global identifier 1 to roadside device a, which will then forward it to vehicle a. Accordingly, vehicle a can obtain the trajectory information b1 and global identifier 1. Vehicle a or vehicle c can then fit a continuous trajectory of vehicle b based on the trajectory information a1, the trajectory information b1, and the global identifier 1.

[0203] Optionally, roadside device b can also configure vehicle b's local identifier as local identifier b1 based on vehicle b's characteristic information b. Roadside device b can store the correspondence between global identifier 1 and local identifier b1. When roadside device b sends vehicle b's trajectory information b1 and global identifier 1 to vehicle c, the trajectory transmission message b1 can also include vehicle b's local identifier b1 on roadside device b. Similarly, when roadside device b sends vehicle b's trajectory information b1 and global identifier 1 to vehicle a through roadside device a, roadside device b can also send vehicle b's local identifier b1 to vehicle a.

[0204] The local identifier b1 generated by roadside device b may include one or more of the following: sensing device identifier, roadside computing unit identifier, pole position identifier of roadside device deployment, and traffic participant identifier. The local identifier b1 generated by roadside device b may differ from the local identifier a1 generated by roadside device a. Specific implementation methods for roadside device b generating local identifier b1 can refer to the specific implementation methods for roadside device a generating local identifier a1 described above, and will not be elaborated further here.

[0205] In one example, when roadside device a sends trajectory information for vehicle b, trajectory transmission message a1 can carry only vehicle b's global identifier 1, without carrying vehicle b's local identifier a1; when roadside device b sends trajectory information for vehicle b, trajectory transmission message b1 can carry both vehicle b's global identifier 1 and vehicle b's local identifier b1. When roadside device a sends trajectory information for traffic participants, the trajectory transmission message does not need to indicate the traffic participant's local identifier, but can reflect the traffic participant's first appearance within the coverage area of ​​roadside device a. Therefore, more information can be indicated with relatively less information, which is beneficial to improving interaction efficiency.

[0206] Roadside device b can also send the vehicle b's characteristic information (which can be either characteristic information a or characteristic information b mentioned above) and global identifier 1 to Figure 1 The roadside equipment c is shown. In Figure 1In the scenario shown, roadside device c can be located downstream of roadside device b in the direction of vehicle b's movement. Therefore, when vehicle b enters the coverage area of ​​roadside device c, roadside device c can determine vehicle b's global identifier as global identifier 1 based on the vehicle b's feature information c obtained from sensors and the feature information received from roadside device b. Similarly, roadside device c can send trajectory information c1 and global identifier 1 to vehicle b by sending a trajectory transmission message c1.

[0207] exist Figure 1 In the example shown, roadside device b can be located within the coverage area of ​​server 1, and roadside device c can be located within the coverage area of ​​server 2. Server 1 and server 2 can be different.

[0208] In one example, roadside device b can interact with roadside device c through server 1 and server 2. Server 2 can subscribe to the feature information and global identifier of traffic participants obtained by roadside device b from server 1. Referring to the example above, server 1 can forward the feature information and global identifier 1 of vehicle b from roadside device b to server 2, so that roadside device c can obtain the feature information and global identifier 1 of vehicle b from roadside device b from server 2.

[0209] In another example, server 1 can obtain the address and topology information of roadside device c from server 2. Server 2 can obtain the address and topology information of roadside device b from server 1. Server 1 can forward the address and topology information of roadside device c to roadside device b. Server 2 can forward the address and topology information of roadside device b to roadside device c. Thus, roadside device b and roadside device c can interact directly. Roadside device b can send its characteristic information and global identifier 1 to roadside device c based on the address and topology information of roadside device c.

[0210] Optionally, roadside device c can generate or configure a local identifier c1 for vehicle b based on the characteristic information c of vehicle b. Roadside device c can store the correspondence between the local identifier c1 and the global identifier 1. When roadside device c sends the trajectory information c1 and the global identifier 1 of vehicle b, the trajectory transmission message c1 can also include the local identifier c1 of vehicle b in roadside device c.

[0211] The local identifier c1 generated by roadside device c may include one or more of the following: sensing device identifier, roadside computing unit identifier, pole position identifier of roadside device deployment, and traffic participant identifier. The local identifier c1 generated by roadside device c may differ from the local identifier a1 generated by roadside device a, and may also differ from the local identifier b1 generated by roadside device b. The specific implementation method for roadside device c to generate local identifier c1 can refer to the specific implementation method for roadside device a to generate local identifier a1 described above, and will not be elaborated further here.

[0212] The above combination Figure 1 , Figure 4 This illustrates an example of a roadside device inheriting the global identifier of a traffic participant from another roadside device. The following example, combined with... Figure 5 This paper describes a possible scenario for inheriting global identifiers among roadside equipment.

[0213] according to Figure 5 The movement trajectory of traffic participants shows that they may sequentially pass through the coverage areas of roadside devices 1, 2, 3, ..., Max-1, and MAX. Traffic participants may ultimately pass through the coverage area of ​​roadside device MAX. In other examples, traffic participants may pass through the coverage areas of more or fewer roadside devices.

[0214] Traffic participants may first appear within the coverage area of ​​roadside device 1. Roadside device 1 can capture the traffic participant's feature information 1 and generate a global identifier for the traffic participant. Roadside device 1 can then send the feature information 1 and the global identifier to roadside device 2. Roadside device 2 can receive the traffic participant's feature information 1 and global identifier from roadside device 1.

[0215] Subsequently, traffic participants can drive to the intersection area between the coverage areas of roadside device 1 and roadside device 2. Roadside device 2 can capture the traffic participant's feature information 2. By comparing feature information 1 and feature information 2, roadside device 2 can determine that the traffic participant indicated by feature information 2 is the same as the traffic participant indicated by feature information 1. Roadside device 2 can use the global identifier received from roadside device 1 as the global identifier of the traffic participant indicated by feature information 2. In other words, roadside device 2 can obtain the global identifier of the traffic participant from roadside device 1.

[0216] Roadside device 2 can send feature information 1 or feature information 2, along with a global identifier, to roadside device 3. Correspondingly, roadside device 2 can receive feature information 1 or feature information 2, along with a global identifier, from roadside device 1.

[0217] Additionally, roadside device 1 can capture the trajectory information 1 of traffic participants and send this trajectory information 1 and a global identifier to roadside device 2. Roadside device 2 can capture the trajectory information 2 of traffic participants. Roadside device 2 can perform trajectory fitting based on trajectory information 1, trajectory information 2, and the global identifier to obtain the trajectory of traffic participants crossing roadside device 1 and roadside device 2.

[0218] Subsequently, traffic participants can travel to the intersection area between the coverage areas of roadside device 2 and roadside device 3. Roadside device 3 can capture the traffic participant's feature information 3. Referring to the execution plan of roadside device 2, roadside device 3 can use the global identifier received from roadside device 2 as the global identifier of the traffic participant indicated by feature information 3. Roadside device 3 can then send the traffic participant's feature information and global identifier to the next-level roadside device.

[0219] Additionally, roadside device 2 can capture the trajectory information 3 of traffic participants and send this trajectory information 3 and a global identifier to roadside device 3. Roadside device 3 can capture the trajectory information 4 of traffic participants. Roadside device 3 can perform trajectory fitting based on trajectory information 3, trajectory information 4, and the global identifier to obtain the trajectory of traffic participants crossing roadside devices 2 and 3. Combining this with the aforementioned trajectory of traffic participants crossing roadside devices 1 and 2, the trajectory of traffic participants crossing roadside devices 1, 2, and 3 can be obtained.

[0220] Subsequently, traffic participants can travel to the intersection area between the coverage areas of roadside device MAX-1 and roadside device MAX. Referring to the previous example, roadside device MAX can capture the traffic participant's feature information MAX. Roadside device MAX can use the global identifier received from roadside device MAX-1 as the global identifier of the traffic participant indicated by feature information MAX. Roadside device MAX-1 can capture the traffic participant's trajectory information MAX-1 and send this trajectory information MAX-1 and the global identifier to roadside device MAX. Roadside device MAX can capture the traffic participant's trajectory information MAX. Roadside device MAX can perform trajectory fitting based on trajectory information MAX-1, trajectory information MAX, and the global identifier to obtain the traffic participant's trajectory crossing roadside devices MAX-1 and MAX. Combining this with the aforementioned trajectory of the traffic participant crossing roadside devices 1, 2, and 3, the trajectory of the traffic participant crossing roadside devices 1, 2, 3, ..., MAX-1, and MAX can be obtained. Roadside device MAX can determine the traffic participant's global identifier.

[0221] Optionally, the roadside device MAX can be the last-level roadside device, and the roadside device MAX may not send the characteristic information and global identifier of traffic participants to other roadside devices.

[0222] Figure 1 The scenario shown also illustrates a road intersection. Road segments 1, 2, and 3 intersect at the intersection. Roadside device b can be located on road segment 1, roadside device c can be located on road segment 2, and roadside device e can be located on road segment 3. Roadside device b could be, for example, the roadside device on road segment 1 that is closest to the intersection. Roadside device c could be, for example, the roadside device on road segment 2 that is closest to the intersection. Roadside device e could be, for example, the roadside device on road segment 3 that is closest to the intersection. Vehicle g can move from road segment 2 to road segment 3. Vehicle g can pass through the coverage areas of roadside device e and roadside device c.

[0223] When vehicle g is within the coverage area of ​​the roadside equipment, the roadside equipment e can acquire the characteristic information d of vehicle g through its sensing devices. (Refer to...) Figure 4 The interaction method shown allows roadside device e to obtain the global identifier 2 of vehicle g based on feature information d. In one example, roadside device e can obtain the feature information e and global identifier 2 of vehicle g from upstream roadside device f. Based on the successful matching of feature information e and feature information d, roadside device e can determine that the global identifier of vehicle g is global identifier 2. In another example, roadside device e can report the feature information e to server 3 and receive the global identifier 2 issued by server 3 based on the feature information e, thus allowing roadside device e to determine that the global identifier of vehicle g is global identifier 2.

[0224] When vehicle g is within the coverage area of ​​roadside device e, roadside device e can acquire vehicle g's trajectory information a2. Roadside device e can send vehicle g's trajectory information a2 and a global identifier 2 via trajectory transmission message a2. The trajectory transmission message a2 can include trajectory information a2 and global identifier 2. Global identifier 2 indicates that trajectory information a2 belongs to vehicle g. For example, roadside device e can send vehicle g's trajectory information a2 and global identifier 2 to other vehicles within its coverage area. Similarly, roadside device e can send vehicle g's trajectory information a2 and global identifier 2 to other roadside devices.

[0225] Optionally, the roadside device e can generate or configure a local identifier a2 for vehicle g based on the characteristic information d of vehicle g. The roadside device e can store the correspondence between the local identifier a2 and the global identifier 2. When the roadside device sends the trajectory information a2 and the global identifier 2 of vehicle g, the trajectory transmission message a2 can also include the local identifier a2 of vehicle g on the roadside device e.

[0226] Vehicle g can also obtain trajectory information of other vehicles from roadside equipment e.

[0227] For example, roadside device e can obtain the trajectory information of vehicle c from roadside device b on road segment 1. Roadside device e can also obtain the trajectory information of vehicle e from roadside device c on road segment 2. Roadside device e can send the trajectory information of vehicle c and vehicle e to vehicle g. Vehicle g can plan a driving strategy based on the trajectory information of vehicle c and vehicle e. For example, the driving strategy of vehicle g could be to follow vehicle e while avoiding vehicle c.

[0228] Relative to the direction of movement of vehicle g, roadside device c can be located downstream of roadside device e. Roadside device e can send the global identifier 2 of vehicle g and the characteristic information of vehicle g (e.g., characteristic information d) to roadside device c. When vehicle g moves into the coverage area of ​​roadside device c, roadside device c can capture the characteristic information f of vehicle g. Roadside device c can compare the characteristic information f with the characteristic information of vehicle g sent by roadside device e to determine that the characteristic information f and the characteristic information of vehicle g indicate the same vehicle. Roadside device c can determine that the vehicle indicated by characteristic information f is vehicle g, and the global identifier of the vehicle indicated by characteristic information f can be global identifier 2.

[0229] When vehicle g is within the coverage area of ​​roadside device c, roadside device c can obtain vehicle g's trajectory information b2. Roadside device c can send vehicle g's trajectory information b2 and a global identifier 2 via trajectory transmission message b2. The trajectory transmission message b2 can include trajectory information b2 and the global identifier 2. The global identifier 2 indicates that trajectory information b2 belongs to vehicle g. For example, roadside device c can send vehicle g's trajectory information b2 and the global identifier 2 to other vehicles within its coverage area. Similarly, roadside device c can send vehicle g's trajectory information b2 and the global identifier 2 to other roadside devices.

[0230] Optionally, roadside device c can generate or configure a local identifier b2 for vehicle g based on the characteristic information f of vehicle g. Roadside device c can store the correspondence between the local identifier b2 and the global identifier 2. When the roadside device sends the trajectory information b2 and the global identifier 2 of vehicle g, the trajectory transmission message b2 can also include the local identifier b2 of vehicle g in roadside device c.

[0231] When vehicle g is within the coverage area of ​​vehicle-side equipment c, roadside equipment c can send trajectory information of other vehicles to vehicle g. The specific implementation method for roadside equipment c to send trajectory information can be found in the example above.

[0232] In one possible scenario, the aforementioned roadside device c and roadside device e may be located within the coverage area of ​​the same server.

[0233] In another possible scenario, the roadside device c and roadside device e mentioned above may be located within the coverage area of ​​different servers. Figure 1 In the example shown, roadside device c can be located within the coverage area of ​​server 2, and roadside device e can be located within the coverage area of ​​server 3. Server 2 and server 3 can be different.

[0234] In one example, roadside device c can interact with roadside device e through servers 2 and 3. Server 2 can subscribe to the feature information and global identifier of traffic participants obtained by roadside device e from server 3. Referring to the example above, server 3 can forward the feature information and global identifier 2 of vehicle g from roadside device e to server 2, so that roadside device c can obtain the feature information and global identifier 2 of vehicle g from roadside device e from server 2.

[0235] In another example, server 2 can obtain the address and topology information of roadside device e from server 3. Server 3 can obtain the address and topology information of roadside device c from server 2. Server 2 can forward the address and topology information of roadside device e to roadside device c. Server 3 can forward the address and topology information of roadside device c to roadside device e. Thus, roadside device e and roadside device c can interact directly. Roadside device e can send the characteristic information of vehicle g and global identifier 2 to roadside device c based on the address and topology information of roadside device c.

[0236] Because vehicles on segment 1 can merge into segment 2 along with vehicles on segment 3, the trajectory information of vehicles moving from segment 3 to segment 2 is relatively important for vehicles on segment 1. Roadside equipment on segment 1 can transmit trajectory information of vehicles on segment 3, enabling vehicles on segment 1 to effectively avoid vehicles on segment 3.

[0237] by Figure 1 Take vehicle c as an example. Vehicle c is currently located on road segment 1. Vehicle c can be within the coverage area of ​​roadside device b.

[0238] When vehicle g is within the coverage area of ​​roadside device e, roadside device e can obtain vehicle g's trajectory information a2. Roadside device b can directly obtain this trajectory information a2 and vehicle g's global identifier 2 from roadside device e, or roadside device b can obtain the trajectory information a2 and vehicle g's global identifier 2 obtained by roadside device e through other roadside devices. Roadside device b can send vehicle g's trajectory information a2 and global identifier 2 to vehicle c.

[0239] When vehicle g is within the coverage area of ​​roadside device c, roadside device c can obtain vehicle g's trajectory information b2. Roadside device b can directly obtain this trajectory information b2 and vehicle g's global identifier 2 from roadside device c, or roadside device b can obtain the trajectory information b2 and vehicle g's global identifier 2 obtained by roadside device c through other roadside devices. Roadside device b can then send vehicle g's trajectory information b2 and global identifier 2 to vehicle c.

[0240] Vehicle C can obtain trajectory information a2 and trajectory information b2 of vehicle G from roadside equipment b. Since both trajectory information a2 and trajectory information b2 can be indicated by global identifier 2, vehicle G can determine that trajectory information a2 and trajectory information b2 belong to the same vehicle. Based on trajectory information a2 and trajectory information b2, vehicle C can fit the movement trajectory of vehicle G, and thus plan its own driving strategy to avoid vehicle G, which helps to avoid traffic accidents that may be caused when vehicles from multiple road segments merge.

[0241] In one possible scenario, when vehicle g passes through a road intersection, vehicle g may be within the coverage area of ​​roadside equipment b. According to... Figure 1 As shown in the example, vehicle g can first appear within the coverage area of ​​roadside device e, and then within the coverage area of ​​roadside device b. Roadside device b can obtain the feature information of vehicle g (e.g., feature information d or feature information e mentioned above) and global identifier 2 from roadside device e. Therefore, when vehicle g appears within the coverage area of ​​roadside device b, roadside device b can obtain the feature information g of vehicle g. Roadside device b can compare the feature information g with the feature information of vehicle g sent by roadside device e, thereby determining that the feature information g and the feature information of vehicle g indicate the same vehicle. Roadside device b can determine that the vehicle indicated by feature information g is vehicle g, and the global identifier of the vehicle indicated by feature information g can be global identifier 2.

[0242] If roadside device e does not send the characteristic information and global identifier 2 of vehicle g to roadside device b, when vehicle g appears within the coverage area of ​​roadside device b, roadside device b may treat vehicle g as a new vehicle and assign it a new global identifier. This could cause an interruption in the trajectory of vehicle g at roadside device b. By sending the characteristic information and global identifier 2 of vehicle g from roadside device e on road segment 3 to roadside device b on road segment 1, the continuity of the vehicle's trajectory at road intersections can be improved.

[0243] Based on the direction of vehicle g's movement, vehicle g may not be within the coverage area of ​​the upstream roadside device (such as roadside device a) of roadside device b. Roadside device b may not need to send the global identifier 2 of vehicle g to roadside device a.

[0244] existFigure 1 In the example shown, roadside device c can be located downstream of roadside device b relative to vehicles on road segment 1; and roadside device c can be located downstream of roadside device e relative to vehicles on road segment 3. In the aforementioned example, roadside device e can send the characteristic information of vehicle g and global identifier 2 to roadside devices b and roadside device c.

[0245] In one example, roadside device b may no longer need to send the characteristic information and global identifier 2 of vehicle g to roadside device c, even if roadside device c is downstream of roadside device b. This helps avoid unnecessary signaling duplication and redundancy, and saves signaling overhead.

[0246] In another example, roadside device e can send the characteristic information and global identifier 2 of vehicle g to roadside device b, and roadside device b can send the characteristic information and global identifier 2 of vehicle g to roadside device c. Roadside device e may choose not to send the characteristic information and global identifier 2 of vehicle g to roadside device b. This example can be applied, for instance, to scenarios where vehicle g typically passes through the coverage area of ​​roadside device b when crossing a road intersection.

[0247] When vehicle g is within the coverage area of ​​roadside device b, roadside device b can acquire vehicle g's trajectory information c2. Roadside device b can send vehicle g's trajectory information c2 and a global identifier 2 via trajectory transmission message c2. The trajectory transmission message c2 can include the trajectory information c2 and the global identifier 2. The global identifier 2 indicates that the trajectory information c2 belongs to vehicle g. For example, roadside device b can send vehicle g's trajectory information c2 and the global identifier 2 to other vehicles within its coverage area. Similarly, roadside device b can send vehicle g's trajectory information c2 and the global identifier 2 to other roadside devices.

[0248] Optionally, roadside device b can generate or configure a local identifier c2 for vehicle g based on the characteristic information f of vehicle g. Roadside device b can store the correspondence between the local identifier c2 and the global identifier 2. When the roadside device sends the trajectory information c2 and the global identifier 2 of vehicle g, the trajectory transmission message c2 can also include the local identifier c2 of vehicle g on roadside device b.

[0249] When vehicle g is within the coverage area of ​​vehicle-side equipment b, roadside equipment b can send trajectory information of other vehicles to vehicle g. The specific implementation method for roadside equipment b to send trajectory information can be found in the example above.

[0250] The following is combined Figures 1 to 3 , Figure 6 This paper describes another interaction method provided by the embodiments of this application.

[0251] 601, The roadside equipment acquires feature information of traffic participants, and the feature information is used to identify the traffic participants.

[0252] 602, the roadside device sends the feature information and local identification information to the server, the local identification information being used to indicate the local identification of the traffic participant on the roadside device.

[0253] Accordingly, the server receives the feature information and the local identification information from the roadside equipment.

[0254] 603, The server determines global identification information based on the feature information, and the global identification information is used to indicate the global identification corresponding to the local identification.

[0255] 604, The server sends the global identification information to the roadside device.

[0256] Accordingly, the roadside equipment receives the global identification information from the server.

[0257] Optional, Figure 6 The interaction method may further include step 605.

[0258] 605, The roadside equipment sends trajectory information, which is used to indicate the trajectory of the traffic participant and the global identifier.

[0259] exist Figure 6 In the example shown, the roadside equipment can send the trajectory information to the vehicle. Correspondingly, the vehicle can receive the trajectory information from the roadside equipment.

[0260] In other examples, the roadside device can send the trajectory information to other roadside devices. Correspondingly, the other roadside devices can receive the trajectory information from the roadside device.

[0261] The following is combined Figure 1 , Figure 6 The following explanations will be provided for 601 to 605.

[0262] When vehicle a is within the coverage area of ​​roadside device a, roadside device a can acquire vehicle a's feature information a. Feature information a can be used to identify vehicle a. For example, roadside device a acquires feature information a through corresponding sensing devices. Alternatively, roadside device a can extract part or all of vehicle a's trajectory information as feature information a. Based on vehicle a's feature information a, roadside device a can configure vehicle a's local identifier as local identifier a3. Specific implementation methods for feature information and local identifiers can be found in the previously described implementation methods.

[0263] Roadside device a can report the characteristic information a and local identifier a3 of vehicle a to server 1.

[0264] Server 1 can be equipped with the function of assigning global identifiers to traffic participants, as well as managing and maintaining existing global identifiers. Combined with... Figure 3 The system architecture shown allows server 1 to assign global identifiers to traffic participants through the object management unit.

[0265] Server 1 can identify the feature information a reported by roadside device a.

[0266] If server 1 previously received feature information a' reported by other roadside devices, and feature information a' matches feature information a, then server 1 can determine the global identifier indicated by feature information a' as the global identifier of vehicle a. For example, vehicle a may have previously appeared within the coverage area of ​​an upstream roadside device of roadside device a. The upstream roadside device of roadside device a may report feature information a' to server 1. Server 1 can determine the global identifier of vehicle a as global identifier 3 based on feature information a'. When vehicle a moves into the coverage area of ​​roadside device a, server 1 can use the global identifier 3 previously configured for vehicle a and send the global identifier 3 to roadside device a. The specific implementation method for determining the match between feature information a and feature information a' can refer to the specific implementation method for determining the match between feature information a and feature information b described above.

[0267] If server 1 has not previously received feature information a' that matches feature information a, then server 1 can determine the global identifier of vehicle a as global identifier 3 based on feature information a. Optionally, vehicle a may first appear within the coverage area of ​​roadside device a during its movement.

[0268] The following is combined Figure 7 The system architecture shown illustrates one possible implementation of configuring global identifiers on the server.

[0269] Figure 7 The system architecture shown may include a server, roadside device a, and roadside device b.

[0270] In one example, the server could correspond to... Figure 1 Server 1 in the middle. Roadside device a, roadside device b, for example, can correspond to Figure 1 Roadside device a and roadside device b are mentioned. In other examples, the server may also correspond to... Figure 1 Other servers in the system, such as roadside device a and roadside device b, can also correspond to... Figure 1 Other roadside equipment.

[0271] In another example, the server could, for example, correspond to Figure 3Server A in the middle. Roadside device a, for example, can correspond to server A. Figure 3 This includes equipment for RSU A1 and REC A1, and roadside equipment b, for example, can correspond to... Figure 3 This includes equipment for RSU B1 and REC B1. In other examples, roadside equipment a and roadside equipment may also correspond to... Figure 3 Other equipment includes RSU and REC.

[0272] Roadside device A can acquire the characteristic information of traffic participants from the corresponding sensor device through sensor access unit A. Roadside device A can then send the characteristic information acquired by sensor access unit A to the server through communication scheduling unit A. Combined with... Figure 6 As shown in the example, roadside device a can generate local identifiers for traffic participants based on the feature information obtained by sensor access unit a. Roadside device a can also send the generated local identifiers to the server via communication scheduling unit a.

[0273] Similarly, the sensing access unit a of the roadside equipment can also be used to acquire trajectory information. Roadside equipment a can send the trajectory information acquired by sensing access unit a to roadside equipment b through the fusion sensing unit a.

[0274] The server can obtain the characteristic information and local identifiers of traffic participants sent by roadside device A through the data aggregation unit and object data access. The server can generate global identifiers for traffic participants through the object management unit, and maintain and manage these global identifiers, such as mapping, updating, and distributing them. The server can map roadside computing unit A onto the server through the virtual roadside computing unit. The server can send the global identifiers of traffic participants to roadside device A through the roadside computing unit A mapped by the virtual roadside computing unit. Thus, the server can complete the mapping between the global identifiers and local identifiers of traffic participants. For detailed explanations of the data aggregation unit, object management unit, and virtual roadside computing unit, please refer to [link to relevant documentation]. Figure 3 The example shown.

[0275] Subsequently, traffic participants can be located within the range of roadside device b. Similarly, roadside device b can send the characteristic information of traffic participants acquired by roadside device b to the server through communication scheduling unit b. The server can obtain the characteristic information of traffic participants sent by roadside device b through data aggregation unit. The server can determine the global identifier of the previously generated traffic participants through object management unit, and send the global identifier of traffic participants to roadside device b through roadside computing unit b mapped by virtual roadside computing unit.

[0276] For specific implementation details of global identifiers, please refer to the specific implementation details of global identifiers described above.

[0277] Since both local identifier a3 and global identifier 3 can indicate vehicle a, a correspondence can exist between them. Optionally, server 1 can store the correspondence between global identifier 3 and local identifier a3.

[0278] Based on the preceding description, the global identifier can include local identifiers generated by the roadside devices. Optionally, when a traffic participant simultaneously and for the first time appears in the intersection area of ​​the coverage areas of roadside device 1 and roadside device 2, both roadside device 1 and roadside device 2 can send their local identifiers to the server. Assume that roadside device 1 reports local identifier 1 of the traffic participant to the server, and roadside device 2 reports local identifier 2 of the traffic participant to the server. The global identifier generated by the server can include either local identifier 1 or local identifier 2. For example, the server can generate a global identifier based on the previously acquired local identifier.

[0279] Server 1 can send the global identifier 3 of vehicle a to roadside device a. Roadside device a can use the global identifier 3 to indicate vehicle a. For roadside device b, the global identifier 3 can be used to indicate the local identifier a.

[0280] For example, when vehicle a is within the coverage area of ​​roadside device a, roadside device a can obtain the trajectory information a3 of vehicle a. Roadside device a, for example, can broadcast, multicast, or unicast information to other vehicles within its service area (such as...). Figure 1 Vehicle b) sends the trajectory information a3 of vehicle a and the global identifier 3.

[0281] For example, when vehicle a is within the coverage area of ​​roadside device a, roadside device a can send vehicle a's trajectory information a3 and global identifier 3 to roadside device b. Thus, roadside device b can send information to vehicles within its service area (such as...) Figure 1 Vehicle c) sends the trajectory information a3 of vehicle a and the global identifier 3.

[0282] Optionally, when roadside device a (e.g., to a vehicle or other roadside device) sends trajectory information a3, it may also carry a local identifier a3 generated by roadside device a. The local identifier can be used not only to indicate traffic participants but also to indicate the source of the trajectory information.

[0283] When vehicle a moves into the coverage area of ​​roadside device b, roadside device b can acquire the characteristic information b of vehicle a. The specific implementation method for roadside device b to acquire characteristic information b can refer to the specific implementation method for roadside device a to acquire characteristic information a described above. Roadside device b can configure the local identifier of vehicle a on roadside device b as local identifier b3 based on the characteristic information b of vehicle a. The specific implementation methods for characteristic information and local identifier can refer to the specific implementation methods for characteristic information and local identifier described above.

[0284] Roadside device b can report the characteristic information b and local identifier b3 of vehicle a to server 1. Correspondingly, server 1 can receive and identify the characteristic information b reported by roadside device b. Since both characteristic information b and the characteristic information a reported by roadside device a belong to the characteristic information of vehicle a, characteristic information a can be matched with characteristic information b. The specific implementation method for determining the match between characteristic information a and characteristic information b can be referred to the specific implementation method for determining the match between characteristic information a and characteristic information b described above. Server 1 can send the previously generated global identifier 3 to roadside device b.

[0285] Since both local identifier b3 and global identifier 3 can indicate vehicle a, a correspondence can exist between them. Optionally, server 1 can store the correspondence between global identifier 3 and local identifier b3. Combining this with the previously described correspondence between global identifier 3 and local identifier a3, it can be seen that global identifier 3 can correspond to multiple local identifiers. Optionally, server 1 can update the previously stored correspondence between global identifier 3 and local identifier a3 to a correspondence between global identifier 3 and local identifier b3.

[0286] Roadside device b can use global identifier 3 to indicate vehicle a. For roadside device b, global identifier 3 can also be used to indicate local identifier b3.

[0287] For example, when vehicle a is within the coverage area of ​​roadside device b, roadside device b can obtain vehicle a's trajectory information b3. Roadside device b, for example, can broadcast, multicast, or unicast information to other vehicles within its service area (such as...). Figure 1 Vehicle c) sends vehicle a's trajectory information b3 and global identifier 3.

[0288] For example, when vehicle a is within the coverage area of ​​roadside device b, roadside device b can send vehicle a's trajectory information b3 and global identifier 3 to roadside device c. Thus, roadside device c can send information to vehicles within its service area (such as...) Figure 1 Vehicle e) sends the trajectory information b3 of vehicle a and the global identifier 3.

[0289] Optionally, when roadside device b sends trajectory information b3 (e.g. to a vehicle or other roadside device), it may also carry a local identifier b3 generated by roadside device b.

[0290] In one possible scenario, multiple servers may not need to exchange global identifiers of traffic participants.

[0291] Taking the example of vehicle a moving from the coverage area of ​​roadside device b to the coverage area of ​​roadside device c. Roadside device b can be located within the coverage area of ​​server 1. Roadside device c can be located within the coverage area of ​​server 2.

[0292] As described above, when vehicle a is within the coverage area of ​​roadside device b, roadside device b can use global identifier 3 to indicate vehicle a. When vehicle a moves into the coverage area of ​​roadside device c, roadside device c can obtain the characteristic information c of vehicle a. Roadside device c can then configure the local identifier of vehicle a within roadside device c to local identifier c3 based on the characteristic information c of vehicle a.

[0293] In one example, roadside device c can report the characteristic information c and local identifier c3 of vehicle a to server 2. Accordingly, server 2 can receive and identify the characteristic information c reported by roadside device c. Since server 2 may not have previously configured a global identifier for vehicle a, server 2 can assign a new global identifier 4 to vehicle a, which can be used to indicate the local identifier c3.

[0294] Roadside device c can use global identifier 2 to indicate vehicle a. For roadside device c, global identifier 2 can be used to indicate local identifier c3. Optionally, when roadside device c sends trajectory information c3 (e.g., to a vehicle or other roadside device), it can also carry a local identifier b3 generated by roadside device c.

[0295] In another example, roadside device b can send the characteristic information of vehicle a (e.g., characteristic information a, characteristic information b) and global identifier 3 to roadside device c. By determining whether the characteristic information of vehicle a matches characteristic information c, roadside device c can use global identifier 3 as the global identifier of vehicle a. Optionally, roadside device c can send the characteristic information of vehicle a (e.g., characteristic information c) and global identifier 3 to server 2. Thus, server 2 can use global identifier 3 to issue the global identifier of vehicle a to other roadside devices within its coverage area. While reporting global identifier 3 to server 2, roadside device c can also report local identifier c3. Server 2 can store the correspondence between local identifier c3 and global identifier 3. In this scenario, global identifier 3 can indicate traffic participants across servers.

[0296] Roadside device c can use global identifier 3 to indicate vehicle a. For roadside device c, global identifier 3 can be used to indicate local identifier c3. Optionally, when roadside device c sends trajectory information c3 (e.g., to a vehicle or other roadside device), it can also carry a local identifier b3 generated by roadside device c.

[0297] In another possible scenario, server 1 can also send the characteristic information of vehicle a (e.g., characteristic information a or characteristic information b) and global identifier 3 to server 2.

[0298] When vehicle A moves into the coverage area of ​​roadside device C, roadside device C can acquire vehicle A's feature information c. Based on vehicle A's feature information c, roadside device C can configure vehicle A's local identifier as local identifier c3. Roadside device C can then report vehicle A's feature information c and local identifier c3 to server 2. Correspondingly, server 2 can receive and identify the feature information c reported by roadside device C. Since feature information c matches the feature information of vehicle A sent by server 1, server 2 can send global identifier 3 to roadside device C.

[0299] Since both local identifier c3 and global identifier 3 can indicate vehicle a, a correspondence can exist between them. Optionally, server 2 can store the correspondence between global identifier 3 and local identifier c3. Combining the correspondences between global identifier 3 and local identifier a3, and between global identifier 3 and local identifier b3 described above, it can be seen that global identifier 3 can correspond to multiple local identifiers. In this scenario, global identifier 3 can indicate traffic participants across servers.

[0300] Roadside device c can use global identifier 3 to indicate vehicle a. For roadside device c, global identifier 3 can be used to indicate local identifier c3. Optionally, when roadside device c sends trajectory information c3 (e.g., to a vehicle or other roadside device), it can also carry a local identifier b3 generated by roadside device c.

[0301] Optionally, server 2 can subscribe to the characteristic information and global identifiers of traffic participants from server 1.

[0302] exist Figure 6 In the example shown, the roadside device can report local identifiers to the server. In other possible examples, the roadside device may not report local identifiers to the server. Furthermore, the roadside device may not even generate local identifiers for traffic participants based on their characteristic information. That is, in... Figure 6 In the example shown, local identifiers may not be necessary. In this example, the server can establish a mapping between the characteristic information of traffic participants and global identifiers.

[0303] In theory, the trajectories of the same vehicle within the coverage areas of multiple roadside devices can form a continuous trajectory. However, because different roadside devices have different local identifiers, a vehicle cannot form a trajectory for the same vehicle across multiple roadside devices using only the local identifiers. When multiple traffic participants travel from the coverage area of ​​the first roadside device to the coverage area of ​​the second, the trajectory information will show a situation where multiple traffic participants disappear from the coverage area of ​​the first roadside device, and multiple traffic participants appear out of nowhere in the coverage area of ​​the second roadside device. This increases the difficulty of processing trajectory information. For example, the relationship between multiple traffic participants that appear out of nowhere and multiple traffic participants that disappear out of nowhere is relatively difficult to identify. Therefore, the logical relationships between multiple trajectory information across devices and across areas are relatively complex and difficult to sort out.

[0304] When a vehicle can obtain trajectory information from multiple roadside devices, using the same global identifier across these devices is beneficial for processing continuous trajectories of traffic participants in scenarios involving multiple roadside devices. For example, the same traffic participant may pass through the coverage area of ​​multiple roadside devices. The trajectory information of the same traffic participant can be issued by multiple roadside devices. The global identifier can be shared by multiple roadside devices, meaning multiple roadside devices can use the same global identifier to identify the same traffic participant. Through the global identifier, the vehicle can determine whether multiple trajectory information issued by multiple roadside devices within a certain period belong to the same traffic participant.

[0305] Figure 8 This is a schematic structural diagram of an apparatus 800 provided in an embodiment of this application. The apparatus 800 includes one or more of a receiving unit 801, a processing unit 802, and a sending unit 803. The apparatus 800 can be used to execute the steps of the interactive method provided in the embodiment of this application.

[0306] Device 800 can be, for example, Figures 1 to 3 The roadside equipment shown.

[0307] For example, processing unit 802 can be used to execute Figure 4 In the method shown, 401 and 403, the receiving unit 801 can be used to perform... Figure 4 In the method shown, 402, the sending unit 803 can be used to perform... Figure 4 The method shown has a 404 error.

[0308] For example, the processing unit 802 can be used to execute... Figure 6 In the method shown, 601, the receiving unit 801 can be used to perform... Figure 6 In the method shown, 604, the sending unit 803 can be used to perform... Figure 6Methods 602 and 605 are shown.

[0309] In one example, processing unit 802 is configured to acquire first feature information of a first traffic participant, the first feature information being used to identify the traffic participant; processing unit 802 is further configured to acquire trajectory information of the first traffic participant; receiving unit 801 is configured to receive second feature information and first global identification information of a second traffic participant from a second roadside device, the second feature information being used to identify the second traffic participant, the first global identification information being used to indicate the global identification of the first traffic participant, the second roadside device being upstream of the device 800 in the direction of movement of the first traffic participant; processing unit 802 is further configured to determine that the first traffic participant and the second traffic participant are the same traffic participant by comparing the first feature information and the second feature information; sending unit 803 is configured to send a trajectory transmission message, the trajectory transmission message including the trajectory information and the global identification.

[0310] In another example, processing unit 802 is used to acquire second feature information of the second traffic participant; processing unit 802 is also used to determine the global identifier of the second traffic participant; sending unit 803 is used to send the second feature information and first global identifier information of the second traffic participant to the first roadside device, the first global identifier information being used to indicate the global identifier of the second traffic participant, and the device 800 being upstream of the first roadside device in the direction of movement of the second traffic participant.

[0311] In another example, processing unit 802 is used to acquire first feature information of a traffic participant, the first feature information being used to identify the traffic participant; sending unit 803 is used to send the first feature information and first local identification information to a server, the first local identification information being used to indicate the first local identification of the traffic participant at the first roadside device; receiving unit 801 is used to receive first global identification information from the server, the first global identification information being used to indicate a global identification corresponding to the first local identification.

[0312] Device 800 can also be Figures 1 to 3 The server shown.

[0313] For example, the receiving unit 801 can be used to perform... Figure 6 In the method shown, 602, processing unit 802 can be used to execute Figure 6 In the method shown, 603, the sending unit 803 can be used to perform... Figure 6 The method shown has error 604.

[0314] In one example, receiving unit 801 is used to receive first feature information and first local identification information of a traffic participant from a first roadside device, wherein the first local identification information is used to indicate the first local identification of the traffic participant; sending unit 803 is used to send first global identification information to the first roadside device, wherein the first global identification information is used to indicate a global identification corresponding to the first local identification.

[0315] Optionally, the processing unit 802 is used to determine the first global identification information based on the feature information.

[0316] Figure 8 One or more of the units in the illustrated embodiments may be implemented using software, hardware, firmware, or a combination thereof. The software or firmware includes, but is not limited to, computer program instructions or code, and may be executed by a hardware processor. The hardware includes, but is not limited to, various integrated circuits, such as central processing units (CPUs), digital signal processors (DSPs), field-programmable gate arrays (FPGAs), or application-specific integrated circuits (ASICs).

[0317] Optionally, the receiving unit 801 may use one or more receiving methods, including but not limited to receiving via cellular communication, Wifi (wireless fidelity), WiMAX (worldwide interoperability for microwave access), Bluetooth, ZigBee, optical communication, satellite communication, infrared communication, transmission line communication, hardware interface or wiring on a hardware circuit board, or obtaining parameters from a software module or reading information from a storage device.

[0318] Optionally, the receiving unit 801 includes multiple sub-receiving units, each of which is used to receive storage resource information from at least one of the at least two components within the terminal. Optionally, the multiple sub-receiving units are located among different components within the terminal. Optionally, the multiple sub-receiving units receive the storage resource information through at least one receiving method, including but not limited to receiving via cellular communication, Wi-Fi, WiMAX, Bluetooth, ZigBee, optical communication, satellite communication, infrared communication, transmission line communication, hardware interface, or wiring on a hardware circuit board, or obtaining parameters from a software module, or reading information from a storage device.

[0319] Optionally, the transmitting unit 803 may use one or more transmitting methods, including but not limited to transmitting via cellular communication, Wifi, WiMAX, Bluetooth, ZigBee, optical communication, satellite communication, infrared communication, transmission line communication, hardware interface or wiring on a hardware circuit board, or inputting parameters to a software module, or writing information to a memory.

[0320] Optionally, the transmitting unit 803 includes multiple sub-transmitting units, each of which is used to transmit the at least one indication information to the multiple components. Optionally, the multiple sub-transmitting units are located among different components within the terminal. Optionally, the multiple sub-transmitting units transmit the storage resource information through at least one transmission method, including but not limited to transmission via cellular communication, Wi-Fi, WiMAX, Bluetooth, ZigBee, optical communication, satellite communication, infrared communication, transmission line communication, hardware interface, or wiring on a hardware circuit board, or inputting parameters to a software module, or writing information to a memory.

[0321] Figure 9 This is a schematic structural diagram of a device 900 provided in an embodiment of this application. The device 900 may include at least one processor 902 and a communication interface 903.

[0322] Optionally, the device 900 may also include one or more of a memory 901 and a bus 904. Any two or all three of the memory 901, processor 902, and communication interface 903 can be interconnected via the bus 904.

[0323] Optionally, the memory 901 may be a read-only memory (ROM), a static storage device, a dynamic storage device, or a random access memory (RAM). The processor 902 can read computer instructions from the memory 901 via the communication interface 903 and execute those instructions to cause the device 900 to perform the functions described above. Figure 4 or Figure 6 Any of the methods shown. Specifically, any of the methods can be performed on either the roadside equipment side or the server side.

[0324] Optionally, the processor 902 described above can also be a general-purpose processor, a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field-programmable gate array (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, or discrete hardware components. It can implement or execute the various methods, steps, and logic block diagrams disclosed in the embodiments of this application. The general-purpose processor can be a microprocessor or any conventional processor. The steps of the methods disclosed in the embodiments of this application can be directly embodied in the execution of a hardware decoding processor, or executed by a combination of hardware and software modules in the decoding processor. The software modules can be located in random access memory, flash memory, read-only memory, programmable read-only memory, electrically erasable programmable memory, registers, or other mature storage media in the art. The storage medium is located in memory; the processor reads information from the memory and, in conjunction with its hardware, completes the functions required by the units included in the apparatus of the embodiments of this application, or executes the various steps of the interactive methods provided in the embodiments of this application.

[0325] Optionally, the communication interface 903 can use a transceiver device, such as, but not limited to, a transceiver, to enable communication between the device and other devices or communication networks. The communication interface 903 can also be, for example, an interface circuit.

[0326] Bus 904 may include a pathway for transmitting information between various components of the device (e.g., memory 901, processor 902, communication interface 903).

[0327] Those skilled in the art will clearly understand that the descriptions of the various embodiments provided in this application can be referenced to each other. For the sake of convenience and brevity, for example, the functions and execution steps of the various devices and equipment provided in the embodiments of this application can be referred to the relevant descriptions of the method embodiments of this application. The method embodiments and the device embodiments can also be referenced to each other.

[0328] Those skilled in the art will understand that all or part of the steps of the above-described method embodiments can be implemented by hardware related to program instructions. The aforementioned program can be stored in a computer-readable storage medium. When the program is executed, it performs all or part of the steps of the above-described method embodiments; and the aforementioned storage medium includes various media capable of storing program code, such as ROM, RAM, magnetic disk, or optical disk.

[0329] In the above embodiments, implementation can be achieved entirely or partially through software, hardware, firmware, or any combination thereof. When implemented using software, it can be implemented entirely or partially in the form of a computer program product. The computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, all or part of the processes or functions described in the embodiments of this application are generated. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer instructions can be stored in a computer-readable storage medium or transmitted from one computer-readable storage medium to another. For example, the computer instructions can be transmitted from one website, computer, server, or data center to another website, computer, server, or data center via wired (e.g., coaxial cable, optical fiber, digital subscriber line (DSL)) or wireless (e.g., infrared, wireless, microwave, etc.) means. The computer-readable storage medium can be any available medium that a computer can access or a data storage device such as a server or data center that integrates one or more available media. The available media may be magnetic media (e.g., floppy disks, hard disks, magnetic tapes), optical media (e.g., digital video discs (DVDs)), or semiconductor media (e.g., solid-state disks (SSDs)).

[0330] In the several embodiments provided in this application, it should be understood that the disclosed systems, apparatuses, and methods can be implemented in other ways without exceeding the scope of this application. For example, the embodiments described above are merely illustrative. For instance, the division of modules or units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. The units described as separate components may or may not be physically separate, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed across multiple network units. Some or all of the modules can be selected to achieve the purpose of this embodiment according to actual needs. Those skilled in the art can understand and implement this without creative effort.

[0331] Furthermore, the described systems, apparatuses, and methods, as well as the schematic diagrams of different embodiments, can be combined or integrated with other systems, modules, technologies, or methods without departing from the scope of this application. Additionally, the couplings or direct couplings or communication connections shown or discussed may be indirect couplings or communication connections through interfaces, devices, or units, and may be electronic, mechanical, or other forms.

[0332] The above description is merely a specific embodiment of this application, but the scope of protection of this application is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in this application should be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

Claims

1. An interaction method, characterized in that, Applied to first roadside equipment, including: Acquire first feature information of the traffic participant, the first feature information being used to identify the traffic participant; Send the first feature information and the first local identification information to the server, wherein the first local identification information is used to indicate the first local identification of the traffic participant at the first roadside device; Receive first global identifier information from the server, the first global identifier information being used to indicate a global identifier corresponding to the first local identifier; The first feature information and the second global identification information are sent to the second roadside device, the second global identification information being used to indicate the global identification, and the second roadside device being downstream of the traffic participant's direction of movement relative to the first roadside device; Send first trajectory information, which is used to indicate the trajectory of the traffic participant and the global identifier.

2. The interaction method according to claim 1, characterized in that, The first trajectory information is also used to indicate the first local identifier.

3. The interaction method according to claim 1 or 2, characterized in that, The global identifier includes one or more of the following: road identifier, road operator identifier, server identifier, sensing network identifier, and the first local identifier.

4. The interaction method according to claim 1 or 2, characterized in that, The first local identifier includes one or more of the following: sensing device identifier, roadside computing unit identifier, pole position identifier for roadside device deployment, and traffic participant identifier.

5. An interaction method, characterized in that, Applied to first roadside equipment, including: Obtain first feature information of the first traffic participant, the first feature information being used to identify the first traffic participant; Obtain the trajectory information of the first traffic participant; The second roadside device receives second feature information and first global identification information of the second traffic participant. The second feature information is used to identify the second traffic participant, and the first global identification information is used to indicate the global identification of the second traffic participant. The second roadside device is located upstream of the first roadside device in the direction of movement of the first traffic participant. By comparing the first feature information and the second feature information, it is determined that the first traffic participant and the second traffic participant are the same traffic participant. Send a trajectory transmission message, the trajectory transmission message including the trajectory information and the global identifier.

6. The interaction method according to claim 5, characterized in that, When the first roadside device is located on the road where the movement trajectory of the first traffic participant is located, the method further includes: The first traffic participant's characteristic information and second global identification information are sent to the third roadside equipment, whereby the second global identification information is used to indicate the global identification.

7. The interaction method according to claim 6, characterized in that, The third roadside device is located downstream of the first roadside device in the direction of movement of the first traffic participant.

8. The interaction method according to claim 6 or 7, characterized in that, The first roadside device is located within the coverage area of ​​the first server, and the third roadside device is located within the coverage area of ​​the second server. The first server is different from the second server. The method further includes: Receive the address and topology information of the third roadside device from the first server; Sending the feature information of the first traffic participant and the second global identification information to the third roadside equipment includes: Based on the address and topology information of the third roadside device, the characteristic information of the first traffic participant and the second global identification information are sent to the third roadside device.

9. The interaction method according to claim 5, characterized in that, When the first roadside device is not located on the road where the first traffic participant's movement trajectory is located, the method further includes: The first traffic participant's characteristic information and the information used to indicate the global identifier are not sent to any roadside equipment.

10. An interactive device, characterized in that, Applications in roadside equipment include: The processing unit is configured to acquire first feature information of the traffic participant, the first feature information being used to identify the traffic participant; The sending unit is configured to send the first feature information and the first local identification information to the server, wherein the first local identification information is used to indicate the first local identification of the traffic participant at the first roadside device; and to send the first feature information and the second global identification information to the second roadside device, wherein the second global identification information is used to indicate the global identification, wherein the second roadside device is downstream of the traffic participant in the direction of movement relative to the roadside device. The receiving unit is configured to receive first global identification information from the server, wherein the first global identification information is used to indicate a global identification corresponding to the first local identification; The sending unit is further configured to send first trajectory information, which is used to indicate the trajectory of the traffic participant and the global identifier.

11. The interactive device according to claim 10, characterized in that, The first trajectory information is also used to indicate the first local identifier.

12. The interactive device according to claim 10 or 11, characterized in that, The global identifier includes one or more of the following: road identifier, road operator identifier, server identifier, sensing network identifier, and the first local identifier.

13. The interactive device according to claim 10 or 11, characterized in that, The first local identifier includes one or more of the following: sensing device identifier, roadside computing unit identifier, pole position identifier for roadside device deployment, and traffic participant identifier.

14. An interactive device, characterized in that, Applications in roadside equipment include: The processing unit is configured to acquire first feature information of the first traffic participant, the first feature information being used to identify the first traffic participant; The processing unit is further configured to acquire trajectory information of the first traffic participant; The receiving unit is configured to receive second feature information and first global identification information of a second traffic participant from a second roadside device. The second feature information is used to identify the second traffic participant, and the first global identification information is used to indicate the global identification of the second traffic participant. The second roadside device is located upstream of the roadside device in the direction of movement of the first traffic participant. The processing unit is further configured to determine, by comparing the first feature information and the second feature information, that the first traffic participant and the second traffic participant are the same traffic participant; A sending unit is used to send a trajectory transmission message, the trajectory transmission message including the trajectory information and the global identifier.

15. The interactive device according to claim 14, characterized in that, The sending unit is further configured to, when the roadside device is located on the road where the movement trajectory of the first traffic participant is located, send the characteristic information and second global identification information of the first traffic participant to the third roadside device, wherein the second global identification information is used to indicate the global identification.

16. The interactive device according to claim 15, characterized in that, The third roadside device is located downstream of the first traffic participant in the direction of movement relative to the roadside device.

17. The interactive device according to claim 15 or 16, characterized in that, The roadside device is located within the coverage area of ​​the first server, and the third roadside device is located within the coverage area of ​​the second server. The first server is different from the second server. The receiving unit is further configured to receive the address and topology information of the third roadside device from the first server; The sending unit is specifically used to send the characteristic information of the first traffic participant and the second global identification information to the third roadside device according to the address and topology information of the third roadside device.

18. The interactive device according to claim 14, characterized in that, The sending unit is further configured to, when the roadside device is not located on the road where the movement trajectory of the first traffic participant is located, not send the characteristic information of the first traffic participant and the information for indicating the global identifier to any roadside device.

19. An interactive device, characterized in that, It includes a processor and a memory, the memory being used to store a computer program, and the processor being used to execute the computer program so that the device performs the interactive method as described in any one of claims 1 to 9.

20. A computer program product, characterized in that, Includes computer instructions that, when executed on a processor, implement the interactive method as described in any one of claims 1 to 9.

21. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores computer instructions that, when executed on a processor, implement the interactive method as described in any one of claims 1 to 9.

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