Trajectory information interaction method and device

Abstract

This application provides a method and apparatus for interacting with trajectory information. A first roadside device can receive trajectory information from other roadside devices outside of its coverage area. Once the first roadside device has verified a vehicle, it can forward the trajectory information to the vehicle. In intelligent transportation applications, this application can enable the forwarding of traffic participant trajectory information to vehicles via roadside devices, enabling vehicles to perceive traffic beyond visual range and providing a foundation for more accurate or predictive driving decisions.

Description

Technical Field

[0001] The present application relates to the technical field of intelligent transportation and intelligent vehicles, and more specifically, to a method and device for interacting with trajectory information. Background Art

[0002] Vehicles can obtain trajectory information near the vehicle through roadside equipment (such as roadside edge computing (REC), roadside units (RSU), or equipment that integrates REC and RSU). Trajectory information may include, for example, the locations of traffic participants around the vehicle, and the types of traffic participants may include, for example, motor vehicles, non-motor vehicles, pedestrians, or roadblocks. To meet vehicle driving needs, vehicles need to obtain trajectory information at more distant locations, that is, vehicles need to obtain trajectory information within the beyond-line-of-sight perception range, which often exceeds the coverage of roadside equipment. Summary of the Invention

[0003] This application provides a method and apparatus for interacting with trajectory information, the purpose of which is to enable a vehicle to obtain trajectory information at relatively long distances. In some possible examples, the solution provided by this application is conducive to building a more optimal driving planning solution. The solution provided by this application can be applied to a relatively wide range of traffic scenarios, such as autonomous driving scenarios.

[0004] In a first aspect, a method for interacting with trajectory information is provided, which is applied to a first roadside device, including: receiving a vehicle service request message from a vehicle, the vehicle service request message including verification information of the vehicle; determining whether the vehicle has passed verification based on the verification information; receiving first trajectory information of a first traffic participant from a second roadside device, the first trajectory information being used to indicate a first trajectory outside the coverage of the first roadside device; and sending a trajectory forwarding message to the vehicle, the trajectory forwarding message being used to indicate the first trajectory.

[0005] The embodiment of the present application enables the trajectory information of traffic participants to be transmitted between multiple roadside devices. One of the multiple roadside devices forwards the trajectory information from other devices to a verified vehicle, allowing the vehicle to obtain trajectory information of traffic participants at a longer distance, providing a basis for the vehicle to make more accurate or predictive driving decisions.

[0006] The first roadside device receives the vehicle service request message from the vehicle, which may refer to the first roadside device receiving the vehicle service request message directly from the vehicle, or the first roadside device receiving the vehicle service request message from the vehicle through one or more relay devices, and the vehicle service request message may be forwarded via the one or more relay devices.

[0007] The first roadside device sends a track forwarding message to the vehicle, which may refer to the first roadside device sending the track forwarding message directly to the vehicle, or the first roadside device sending the track forwarding message to the vehicle through one or more relay devices, and the track forwarding message may be forwarded via the one or more relay devices.

[0008] The relay device may include, for example, one or more of the following: a base station, an access network device, a data forwarding network element, and a user plane function network element.

[0009] The first trajectory information may include, for example, one or more of the following: traffic participant identification, sensing time, traffic participant type, traffic participant appearance, traffic participant model, traffic participant license plate number, location, moving speed, and moving direction.

[0010] The first trajectory information may be, for example, a trajectory within or outside the coverage of the second roadside device.

[0011] The trajectory forwarding message may, for example, include one or more of the following: first roadside device indication information, second roadside device indication information and vehicle indication information, wherein the first roadside device indication information is used to indicate the first roadside device, the second roadside device indication information is used to indicate the second roadside device, and the vehicle indication information is used to indicate the vehicle.

[0012] In one possible scenario, before sending a trajectory forwarding message to the vehicle, the first roadside device may obtain multiple trajectory information of the same traffic participant. The trajectory forwarding message may carry only one of the multiple trajectory information. Specifically, before sending the trajectory forwarding message to the vehicle, the method further includes: obtaining the third trajectory information, the third trajectory information and the first trajectory information are both used to indicate the trajectory of the first traffic participant, and the trajectory forwarding message does not include the third trajectory information. The third trajectory information may be a trajectory within the coverage of the first roadside device, or a trajectory within the coverage of other roadside devices (the other roadside devices are neither the first roadside device nor the second roadside device).

[0013] In combination with the first aspect, in certain implementations of the first aspect, determining whether the vehicle has passed the verification based on the verification information includes: sending a vehicle verification request message to a first server, the vehicle verification request message including the verification information; receiving a first verification notification message from the first server, the first verification notification message being used to indicate whether the vehicle has passed the verification; and determining that the vehicle has passed the verification based on the first verification notification message indicating that the vehicle has passed the verification.

[0014] A server can manage vehicles within the coverage area of ​​one or more roadside devices. Servers have relatively strong processing capabilities, so delegating vehicle verification to the server reduces the amount of information processing required by the roadside devices, allowing them to obtain and provide more trajectory information for vehicles.

[0015] In one example, after receiving the first verification notification message from the first server, the method further includes: sending a vehicle service response message to the vehicle, where the vehicle service response message is used to indicate that the vehicle has passed verification.

[0016] In combination with the first aspect, in certain implementations of the first aspect, determining that the vehicle has passed verification based on the verification information includes: receiving service vehicle information from a first server, the service vehicle information being used to indicate a plurality of vehicles with authority to receive services; judging whether the vehicle belongs to the plurality of vehicles with authority to receive services based on the verification information and the service vehicle information; and determining that the vehicle has passed verification based on the judgment result that the vehicle belongs to the plurality of vehicles with authority to receive services.

[0017] The server can send verification information for multiple vehicles to the roadside equipment in advance, enabling the roadside equipment to verify the vehicles. This can help reduce the number of signaling interactions during the vehicle verification process, thereby improving the efficiency of vehicle verification.

[0018] In one example, after determining that the vehicle has passed the verification, the method further includes: sending a vehicle service response message to the vehicle, where the vehicle service response message is used to indicate that the vehicle has passed the verification.

[0019] In combination with the first aspect, in certain implementations of the first aspect, the service vehicle information is index information of the multiple vehicles with permission to receive services, the track forwarding message is a periodic non-repeating message, and the method further includes: receiving a verification failure message from the first server indicating that the vehicle verification failed; based on the verification failure message, stopping sending the track forwarding message to the vehicle.

[0020] The first roadside device can perform pre-verification and, if successful, temporarily provide service to the vehicle. Since the interaction delay between the first roadside device and the vehicle can be relatively short, this helps speed up the efficiency of providing service to the vehicle by the first roadside device and reduces the time the vehicle waits for service. After the first roadside device receives the final verification result of the vehicle from the server, if the final verification result is a pass, the first roadside device continues to provide service to the vehicle; if the final verification result is a fail, the first roadside device stops providing service to the vehicle.

[0021] A periodic non-repeating message may refer to a track forwarding message whose message type is a message that is sent periodically, and the contents of two track forwarding messages sent in two adjacent periods may be different. The first roadside device may periodically send a track forwarding message to the vehicle. When the first roadside device determines that the vehicle verification fails, the first roadside device may not send the track forwarding message in the current sending period or the next sending period. In other words, the track forwarding message of the current sending period or the next period may not be sent. Since the track forwarding message carries track information, the track information obtained by the roadside device each time is usually not the same, so the data content carried by the track forwarding messages of different periods may be different. Optionally, multiple track forwarding messages sent in multiple periods may not be repeated.

[0022] In one example, after receiving a verification failure message from the first server indicating that the vehicle verification failed, the method further includes: sending a vehicle service response message to the vehicle, wherein the vehicle service response message is used to indicate that the vehicle failed verification.

[0023] In combination with the first aspect, in certain implementations of the first aspect, determining that the vehicle has passed verification based on the verification information includes: receiving a second verification notification message from a third roadside device, the second verification notification message being used to indicate that the vehicle has passed verification; and determining that the vehicle has passed verification based on the verification message and the second verification notification message.

[0024] Depending on the vehicle's route, it often passes through the coverage area of ​​multiple roadside devices. Transmitting vehicle verification results through the roadside devices helps reduce the time required for vehicle verification and signaling interactions, thereby improving signaling interaction efficiency.

[0025] In one example, after receiving the second verification notification message from the third roadside device, the method further includes: sending a vehicle service response message to the vehicle in response to the vehicle service request message, wherein the vehicle service response message is used to indicate that the vehicle has passed the verification.

[0026] In conjunction with the first aspect, in certain implementations of the first aspect, before sending the trajectory forwarding message to the vehicle, the method further includes: receiving a first switching request message from a fourth roadside device, the first switching request message being used to request that the vehicle's service device be switched from the fourth roadside device to the first roadside device; and in response to the first switching request message, sending a first switching response message to the fourth roadside device, the first switching response message being used to instruct the first roadside device to become the vehicle's service device. A service device is a roadside device that provides Internet of Vehicles services to the vehicle; when there are multiple roadside devices that simultaneously provide Internet of Vehicles services to the vehicle, the service device is one of the multiple roadside devices that can schedule and manage the Internet of Vehicles services provided by the multiple roadside devices to the vehicle.

[0027] When a vehicle reaches the intersection of the first and fourth roadside devices, both can send trajectory information to the vehicle, potentially resulting in unnecessary signaling overhead. Switching the vehicle's serving device helps reduce signaling overhead. The roadside devices before and after the switch can exchange vehicle-related information, improving the consistency of trajectory information received by the vehicle.

[0028] When the roadside device determines that the vehicle has passed verification or the vehicle's services have been transferred to the roadside device (or, alternatively, when the roadside device completes vehicle registration or when the vehicle logs into the roadside device), the roadside device becomes the vehicle's service device. For example, the vehicle's service device can provide connected vehicle services to the serviced vehicle. These connected vehicle services can be pre-defined or requested by the vehicle.

[0029] The first switching request message may, for example, include one or more of the following: first roadside device indication information, fourth roadside device indication information and vehicle indication information, wherein the first roadside device indication information is used to indicate the first roadside device, the fourth roadside device indication information is used to indicate the fourth roadside device, and the vehicle indication information is used to indicate the vehicle.

[0030] The first handover response message may, for example, include one or more of the following: first roadside device indication information, fourth roadside device indication information, and vehicle indication information.

[0031] In one example, the timing for sending the first handover response message may be when the first roadside device obtains trajectory information of the vehicle within the coverage area of ​​the first roadside device. Specifically, the first handover request message includes first characteristic information of the vehicle; the method further includes: obtaining second characteristic information within the coverage area of ​​the first roadside device; and sending the first handover response message to the fourth roadside device includes: sending the first handover response message to the fourth roadside device based on a matching result between the second characteristic information and the first characteristic information.

[0032] In another example, the first handover response message may be sent when the vehicle is located in an intersection area between the coverage of the first roadside device and the coverage of the fourth roadside device. Limiting service handover to the intersection area is beneficial to improving signaling transmission and reception quality.

[0033] In one possible scenario, the first roadside device is located within the coverage of the first server, and the fourth roadside device is located within the coverage of the fourth server. The method also includes: receiving the address and topology information of the fourth roadside device from the first server; and sending the first switching response message to the fourth roadside device includes: sending the first switching response message to the fourth roadside device based on the address and topology information of the fourth roadside device.

[0034] In combination with the first aspect, in certain implementations of the first aspect, the method further includes: sending a first trajectory request message to the second roadside device, the first trajectory request message being used to request the trajectory information acquired by the second roadside device; receiving the first trajectory information from the second roadside device includes: receiving a first trajectory response message from the second roadside device in response to the first trajectory request message, the first trajectory response message including the first trajectory information.

[0035] The second roadside device can send the trajectory information obtained by the second roadside device to the first roadside device at the request of the first roadside device, which is conducive to making the trajectory information obtained by the first roadside device more in line with the needs of the first roadside device and improving the quality and efficiency of signaling interaction.

[0036] In one example, the first roadside device is located within the coverage area of ​​a first server, and the second roadside device is located within the coverage area of ​​a second server. The method further includes: receiving the address and topology information of the second roadside device from the first server; and sending the first trajectory request message to the second roadside device includes: sending the first trajectory request message to the second roadside device according to the address and topology information of the second roadside device.

[0037] The first trajectory request message may include, for example, one or more of the following: first roadside device indication information and second roadside device indication information, where the first roadside device indication information is used to indicate the first roadside device, and the second roadside device indication information is used to indicate the second roadside device.

[0038] The first trajectory response message may include, for example, one or more of the following: the first roadside device indication information and the second roadside device indication information.

[0039] In combination with the first aspect, in certain implementations of the first aspect, before sending the first trajectory request message to the second roadside device, the method further includes: determining a beyond-visual-range perception range; determining the second roadside device based on the beyond-visual-range perception range and the distance between multiple roadside devices, the multiple roadside devices including the first roadside device and the second roadside device, and the beyond-visual-range perception range is greater than the coverage range of the first roadside device.

[0040] The first roadside device can flexibly adjust the number of roadside devices that need to interact according to the beyond-visual-range perception range, which is conducive to making the trajectory information obtained by the first roadside device more in line with the needs of the first roadside device and improving the quality and efficiency of signaling interaction.

[0041] For example, the sum of the distance between the second roadside device and the first roadside device and the sensing radius of the second roadside device is greater than the radius of the beyond-visual-range perception range.

[0042] For another example, the distance between the second roadside device and the first roadside device is greater than the radius of the beyond-visual-range perception range.

[0043] For another example, there are at least N-1 roadside devices between the second roadside device and the first roadside device, N=floor(L / x), L is the radius of the beyond-visual-range perception range, x is the average spacing between two adjacent roadside devices, and the function floor() is a floor rounding function.

[0044] For another example, there is a road fork within the beyond-visual-range perception range, the second roadside device and the first roadside device are respectively located on both sides of the road fork, the distance between the second roadside device and the road fork, the distance between the road fork and the first roadside device, and the sensing radius of the second roadside device, the sum of the three is greater than the radius of the beyond-visual-range perception range.

[0045] For another example, there is a road fork within the beyond-visual-range perception range, the second roadside device and the first roadside device are respectively located on both sides of the road fork, and the sum of the distance between the second roadside device and the road fork and the distance between the road fork and the first roadside device is greater than the radius of the beyond-visual-range perception range.

[0046] For another example, there is a road fork within the beyond-visual-range perception range, and the second roadside device and the first roadside device are respectively located on both sides of the road fork, and the second roadside device is separated from the road fork by at least floor((L-d1) / x) surrounding roadside devices, where L is the radius of the beyond-visual-range perception range, d1 is the distance between the first roadside device and the road fork, x is the average spacing between two adjacent roadside devices, and the function floor() is a floor rounding function.

[0047] In one example, the beyond-visual-range perception range may be a preset beyond-visual-range perception range, or a beyond-visual-range perception range requested by the vehicle.

[0048] For example, the method further includes: receiving beyond-visual-range perception range indication information from the vehicle, where the beyond-visual-range perception range indication information is used to indicate the beyond-visual-range perception range requested by the vehicle.

[0049] The specific range of the preset beyond-visual-range perception range may be determined by, for example, one or more of the following: road type and road congestion level.

[0050] The center of the beyond-visual-range sensing range may correspond to the position of the first roadside device or the vehicle. The first roadside device may obtain the position of the vehicle, for example, by sensing the position of the vehicle, or the vehicle may report its position to the first roadside device, thereby allowing the first roadside device to obtain the position of the vehicle.

[0051] In combination with the first aspect, in some implementations of the first aspect, the method further includes: obtaining second trajectory information of the second traffic participant, the second trajectory information being used to indicate a second trajectory; and sending the second trajectory information to a fifth roadside device.

[0052] The first roadside device may send the trajectory information acquired by the first roadside device to other roadside devices, so that the other roadside devices may acquire and send relatively rich trajectory information to the vehicle.

[0053] The second trajectory information can be sensed by the first roadside device, or sensed by a sensor device connected to the first roadside device and transmitted to the first roadside device. In other words, the second trajectory information can be trajectory information within or outside the coverage area of ​​the first roadside device.

[0054] In one possible case, the second traffic participant and the first traffic participant may be the same traffic participant. In another possible case, the second traffic participant and the first traffic participant may be different traffic participants.

[0055] In one possible case, the second trajectory information and the first trajectory information may be the same trajectory information. In another possible case, the second trajectory information and the first trajectory information may be different trajectory information.

[0056] The specific manner of describing the second trajectory information may refer to the above-mentioned first trajectory information, for example.

[0057] In combination with the first aspect, in certain implementations of the first aspect, the method further includes: receiving a second trajectory request message from the fifth roadside device, the second trajectory request message being used to request the trajectory information acquired by the first roadside device; and sending the second trajectory information to the fifth roadside device, including: sending a second trajectory response message to the fifth roadside device in response to the second trajectory request message, the second trajectory response message including the second trajectory information.

[0058] The first roadside device can send the trajectory information obtained by the first roadside device to the fifth roadside device at the request of the fifth roadside device, which is conducive to making the trajectory information obtained by the fifth roadside device more in line with the needs of the fifth roadside device and improving the quality and efficiency of signaling interaction.

[0059] The specific manner of describing the second trajectory request message and the second trajectory response message may refer to the above-mentioned first trajectory request message and the first trajectory response message, for example.

[0060] In combination with the first aspect, in some implementations of the first aspect, the method further includes: sending a third verification notification message to a sixth roadside device, where the third verification notification message is used to indicate that the vehicle has passed the verification.

[0061] Depending on the vehicle's route, it will typically pass through the coverage areas of both the first and sixth roadside devices. The first roadside device transmits the vehicle verification results to the sixth roadside device, reducing the time and signaling interaction required for vehicle verification and thereby improving signaling interaction efficiency.

[0062] The specific manner of describing the third verification notification message may refer to the above-mentioned second verification notification message, for example.

[0063] In combination with the first aspect, in certain implementations of the first aspect, the method further includes: sending a second switching request message to a seventh roadside device, the second switching request message being used to request that the service device of the vehicle be switched from the first roadside device to the seventh roadside device; and receiving a second switching response message from the seventh roadside device, the second switching response message being used to indicate that the seventh roadside device becomes the service device of the vehicle.

[0064] When a vehicle reaches the intersection of the first and seventh roadside devices, both can send trajectory information to the vehicle, which may result in unnecessary signaling overhead. Having the first roadside device initiate the handover of the vehicle's service device helps reduce signaling overhead. The first and seventh roadside devices can exchange vehicle-related information, which helps improve the consistency of trajectory information received by the vehicle.

[0065] For specific implementations of the second handover request message and the second handover response message, reference may be made to the first handover request message and the first handover response message.

[0066] The method of the above-mentioned first aspect or any one of the embodiments of the first aspect is applied to the first roadside device, and its execution subject includes but is not limited to the first roadside device, components within the first roadside device, chips within the first roadside device, or applications that can be installed and run on the first roadside device.

[0067] In the second aspect, a method for interacting with trajectory information is provided, which is applied to vehicles, including: sending a first vehicle service request message to a first roadside device, wherein the first vehicle service request message includes verification information of the vehicle; receiving trajectory information from the first roadside device, wherein the trajectory information is used to indicate a trajectory outside the coverage range of the first roadside device.

[0068] The vehicle reports verification information to the first roadside device, allowing it to verify the vehicle and send a vehicle-specific message, including rich trajectory information. This helps the vehicle obtain relatively superior or appropriate services from the first roadside device, thereby developing a relatively optimal driving plan.

[0069] In combination with the second aspect, in certain implementations of the second aspect, the trajectory information is used to indicate one or more of the following: traffic participant identification, sensing time, traffic participant type, traffic participant appearance, traffic participant model, traffic participant license plate, location, moving speed and moving direction.

[0070] A variety of trajectory information helps the vehicle build a better driving plan.

[0071] In combination with the second aspect, in some implementations of the second aspect, the method further includes: sending beyond-visual-range perception range indication information to the first roadside device, where the beyond-visual-range perception range indication information is used to indicate the beyond-visual-range perception range requested by the vehicle.

[0072] The first roadside device can provide trajectory information in response to the vehicle's request, which is conducive to flexibly adjusting the amount of trajectory information sent by the first roadside device and making the amount of information sent by the first roadside device adaptable to the vehicle's processing capabilities.

[0073] In combination with the second aspect, in certain implementations of the second aspect, the method further includes: when the service device of the vehicle is the first roadside device and after the vehicle enters the coverage of the second roadside device, sending a second vehicle service request message to the second roadside device, the second vehicle service request message including verification information of the vehicle.

[0074] The vehicle can trigger the next round of verification process based on its current location, which is conducive to improving the efficiency of vehicle verification and reducing unnecessary information overhead.

[0075] The method of the above-mentioned second aspect or any one of the embodiments of the second aspect is applied to a vehicle, and its execution subject includes but is not limited to the vehicle, components within the vehicle, chips within the vehicle, or applications that can be installed and run on the vehicle.

[0076] In a third aspect, a method for interacting with trajectory information is provided, which is applied to a first server, including: receiving a vehicle verification request message from a first roadside device, the vehicle verification request message including verification information of the vehicle, and the first roadside device is located within the coverage of the first server; verifying the vehicle based on the verification information; and sending a verification notification message to the first roadside device, the verification notification message being used to indicate whether the vehicle has been successfully verified.

[0077] The server can manage vehicles within the coverage area of ​​one or more roadside devices. The server has relatively strong processing power and can store verification information for a relatively large number of vehicles, which is conducive to providing vehicle verification services for a large number of vehicles.

[0078] In combination with the third aspect, in certain implementations of the third aspect, the method further includes: sending service vehicle information to the first roadside device, where the service vehicle information is used to indicate a plurality of vehicles that have permission to receive service.

[0079] The server can have relatively strong storage capacity and can store verification information for a large number of vehicles. Based on specific communication conditions, the server can pre-send verification information for multiple vehicles to the first roadside device, enabling the roadside device to verify vehicles. This can reduce the number of signaling interactions during vehicle verification, thus balancing vehicle verification efficiency and stability.

[0080] In combination with the third aspect, in certain implementations of the third aspect, the service vehicle information is index information of the multiple vehicles that have the authority to receive service.

[0081] The server sends the index of the verified vehicle, which helps reduce the signaling interaction overhead between the server and roadside equipment and improve the efficiency of vehicle verification.

[0082] In combination with the third aspect, in certain implementations of the third aspect, the method further includes: receiving the address and topology information of a second roadside device from a second server, the second roadside device being located within the coverage of the second server and outside the coverage of the first server; and sending the address and topology information of the second roadside device to the first roadside device.

[0083] Subscribing to the second server for the topology information and addresses of the roadside devices within the coverage area of ​​the second server facilitates the first roadside device and the second roadside device to achieve relatively efficient cross-server interaction.

[0084] In combination with the third aspect, in some implementations of the third aspect, the method further includes: sending the address and topology information of the first roadside device to a third server.

[0085] By sending the topology information and addresses of the roadside devices within the coverage of the first server to the third server, it is beneficial to achieve relatively efficient cross-server interaction between the first roadside device and the roadside devices within the coverage of the third server.

[0086] The method of the third aspect or any implementation method of the third aspect is applied to the first server, and its execution subject includes but is not limited to the first server, components within the first server, chips within the first server, or applications that can be installed and run on the first server.

[0087] In a fourth aspect, a method for interacting with trajectory information is provided, which is applied to a second roadside device, including: sending first trajectory information of a first traffic participant to a first roadside device, wherein the first trajectory information is used to indicate a first trajectory outside the coverage range of the first roadside device.

[0088] In combination with the fourth aspect, in certain implementations of the fourth aspect, the method further includes: receiving a first trajectory request message from the first roadside device, the first trajectory request message being used to request the trajectory information acquired by the second roadside device; and sending the first trajectory information to the first roadside device, including: sending a first trajectory response message to the first roadside device in response to the first trajectory request message, the first trajectory response message including the first trajectory information.

[0089] In one example, the first roadside device is located within the coverage area of ​​a first server, and the second roadside device is located within the coverage area of ​​a second server. The method further includes: receiving the address and topology information of the first roadside device from the second server; and sending the first trajectory response message to the first roadside device includes: sending the first trajectory response message to the first roadside device according to the address and topology information of the first roadside device.

[0090] In combination with the fourth aspect, in certain implementations of the fourth aspect, the method further includes: receiving a vehicle service request message from a vehicle, the vehicle service request message including verification information of the vehicle; and determining whether the vehicle has passed verification based on the verification information.

[0091] The method of the above-mentioned fourth aspect or any one of the embodiments of the fourth aspect is applied to the second roadside equipment, and its execution subject includes but is not limited to the second roadside equipment, components within the second roadside equipment, chips within the second roadside equipment, or applications that can be installed and run on the second roadside equipment.

[0092] In the fifth aspect, an interaction method is provided, which is applied to a third roadside device, including: receiving a vehicle service request message from a vehicle, the vehicle service request message including verification information of the vehicle; determining whether the vehicle has passed the verification based on the verification information; and sending a second verification notification message to the first roadside device, the second verification notification message being used to indicate that the vehicle has passed the verification.

[0093] In one possible scenario, the first roadside device is located within the coverage of a first server, and the third roadside device is located within the coverage of a third server. The method also includes: receiving the address and topology information of the first roadside device from the third server; and sending the second verification notification message to the first roadside device includes: sending the second verification notification message to the first roadside device based on the address and topology information of the first roadside device.

[0094] The method of the above-mentioned fifth aspect or any one of the implementation modes of the fifth aspect is applied to the first roadside device, and its execution subject includes but is not limited to the third roadside device, components within the third roadside device, chips within the third roadside device, or applications that can be installed and run on the third roadside device.

[0095] In the sixth aspect, an interaction method is provided, which is applied to a fourth roadside device, including: sending a first switching request message to a first roadside device, wherein the first switching request message is used to request that the service device of the vehicle be switched from the fourth roadside device to the first roadside device; and receiving a first switching response message from the first roadside device, wherein the first switching response message is used to indicate that the first roadside device becomes the service device of the vehicle.

[0096] In an example, the first switching request message may be sent when the vehicle is located in an intersection area between the coverage area of ​​the first roadside device and the coverage area of ​​the fourth roadside device.

[0097] In one possible scenario, the first roadside device is located within the coverage of the first server, and the fourth roadside device is located within the coverage of the fourth server. The method also includes: receiving the address and topology information of the first roadside device from the fourth server; and sending the first switching request message to the first roadside device includes: sending the first switching request message to the first roadside device according to the address and topology information of the first roadside device.

[0098] In combination with the sixth aspect, in certain implementations of the sixth aspect, the method further includes: receiving a vehicle service request message from the vehicle, the vehicle service request message including verification information of the vehicle; and determining whether the vehicle has passed verification based on the verification information.

[0099] The method of the above-mentioned sixth aspect or any one of the implementation modes of the sixth aspect is applied to the fourth roadside device, and its execution subject includes but is not limited to the fourth roadside device, components within the fourth roadside device, chips within the fourth roadside device, or applications that can be installed and run on the fourth roadside device.

[0100] In the seventh aspect, a trajectory information interaction device is provided, which is applied to a first roadside device, including: a receiving unit, used to receive a vehicle service request message from a vehicle, the vehicle service request message including verification information of the vehicle; a processing unit, used to determine whether the vehicle has passed the verification based on the verification information; the receiving unit is also used to receive first trajectory information of a first traffic participant from a second roadside device, the first trajectory information is used to indicate a first trajectory outside the coverage of the first roadside device; a sending unit, used to send a trajectory forwarding message to the vehicle, the trajectory forwarding message is used to indicate the first trajectory.

[0101] In combination with the seventh aspect, in certain implementations of the seventh aspect, the sending unit is further used to send a vehicle verification request message to the first server, and the vehicle verification request message includes the verification information; the receiving unit is further used to receive a first verification notification message from the first server, and the first verification notification message is used to indicate whether the vehicle has passed the verification; the processing unit is specifically used to determine that the vehicle has passed the verification based on the first verification notification message indicating that the vehicle has passed the verification.

[0102] In combination with the seventh aspect, in certain implementations of the seventh aspect, the receiving unit is further used to receive service vehicle information from the first server, and the service vehicle information is used to indicate multiple vehicles with the authority to receive service; the processing unit is specifically used to: determine whether the vehicle belongs to the multiple vehicles with the authority to receive service based on the verification information and the service vehicle information; and determine that the vehicle has passed the verification based on the judgment result that the vehicle belongs to the multiple vehicles with the authority to receive service.

[0103] In combination with the seventh aspect, in certain implementations of the seventh aspect, the service vehicle information is index information of the multiple vehicles with the authority to receive service, the track forwarding message is a periodic non-repeating message, and the receiving unit is also used to receive a verification failure message from the first server indicating that the vehicle verification failed; the processing unit is also used to stop sending the track forwarding message to the vehicle based on the verification failure message.

[0104] In combination with the seventh aspect, in certain implementations of the seventh aspect, the receiving unit is further used to receive a second verification notification message from a third roadside device, and the second verification notification message is used to indicate that the vehicle has passed the verification; the processing unit is specifically used to determine whether the vehicle has passed the verification based on the verification message and the second verification notification message.

[0105] In combination with the seventh aspect, in certain implementations of the seventh aspect, before the sending unit sends a trajectory forwarding message to the vehicle, the receiving unit is also used to receive a first switching request message from a fourth roadside device, wherein the first switching request message is used to request that the service device of the vehicle be switched from the fourth roadside device to the first roadside device; the sending unit is also used to send a first switching response message to the fourth roadside device in response to the first switching request message, wherein the first switching response message is used to indicate that the first roadside device becomes the service device of the vehicle.

[0106] In combination with the seventh aspect, in certain implementations of the seventh aspect, the first roadside device is located within the coverage area of ​​the first server, the fourth roadside device is located within the coverage area of ​​the second server, the first server is different from the second server, and the receiving unit is further used to receive the address and topology information of the fourth roadside device from the first server; the sending unit is specifically used to send the first switching response message to the fourth roadside device based on the address and topology information of the fourth roadside device.

[0107] In combination with the seventh aspect, in certain implementations of the seventh aspect, the sending unit is further used to send a first trajectory request message to the second roadside device, where the first trajectory request message is used to request the trajectory information obtained by the second roadside device; the receiving unit is specifically used to receive a first trajectory response message from the second roadside device in response to the first trajectory request message, where the first trajectory response message includes the first trajectory information.

[0108] In combination with the seventh aspect, in certain implementations of the seventh aspect, before the sending unit sends the first trajectory request message to the second roadside device, the processing unit is further used to determine a beyond-visual-range perception range; the processing unit is further used to determine the second roadside device based on the beyond-visual-range perception range and the distance between multiple roadside devices, the multiple roadside devices include the first roadside device and the second roadside device, and the beyond-visual-range perception range is greater than the coverage range of the first roadside device.

[0109] In combination with the seventh aspect, in certain implementations of the seventh aspect, the first roadside device further includes a receiving unit, which is used to obtain second trajectory information of the second traffic participant, and the second trajectory information is used to indicate the second trajectory; the sending unit is also used to send the second trajectory information to the fifth roadside device.

[0110] In combination with the seventh aspect, in certain implementations of the seventh aspect, the receiving unit is further used to receive a second trajectory request message from the fifth roadside device, where the second trajectory request message is used to request the trajectory information obtained by the first roadside device; the sending unit is specifically used to send a second trajectory response message to the fifth roadside device in response to the second trajectory request message, where the second trajectory response message includes the second trajectory information.

[0111] In combination with the seventh aspect, in some implementations of the seventh aspect, the sending unit is further used to send a third verification notification message to a sixth roadside device, where the third verification notification message is used to indicate that the vehicle has passed the verification.

[0112] In combination with the seventh aspect, in certain implementations of the seventh aspect, the sending unit is further used to send a second switching request message to the seventh roadside device, wherein the second switching request message is used to request that the service device of the vehicle be switched from the roadside device to the seventh roadside device; the receiving unit is further used to receive a second switching response message from the seventh roadside device, wherein the second switching response message is used to indicate that the seventh roadside device becomes the service device of the vehicle.

[0113] In the eighth aspect, a trajectory information interaction device is provided, which is applied to a vehicle, including: a sending unit, used to send a vehicle service request message to a first roadside device, wherein the vehicle service request message includes verification information of the vehicle; a receiving unit, used to receive trajectory information from the first roadside device, wherein the trajectory information is used to indicate a trajectory outside the coverage range of the first roadside device.

[0114] In combination with the eighth aspect, in certain implementations of the eighth aspect, the trajectory information is used to indicate one or more of the following: traffic participant identification, sensing time, traffic participant type, traffic participant appearance, traffic participant model, traffic participant license plate, location, moving speed and moving direction.

[0115] In combination with the eighth aspect, in certain implementations of the eighth aspect, the sending unit is further used to send beyond-visual-range perception range indication information to the first roadside device, where the beyond-visual-range perception range indication information is used to indicate the beyond-visual-range perception range requested by the vehicle.

[0116] In combination with the eighth aspect, in certain implementations of the eighth aspect, the sending unit is also used to, when the service device of the vehicle is the first roadside device and after the vehicle enters the coverage of the second roadside device, send a second vehicle service request message to the second roadside device, wherein the second vehicle service request message includes verification information of the vehicle.

[0117] In the ninth aspect, a trajectory information interaction device is provided, which is applied to a server and includes: a receiving unit for receiving a vehicle verification request message from a first roadside device, wherein the vehicle verification request message includes verification information of the vehicle, and the first roadside device is located within the coverage of the server; a processing unit for verifying the vehicle based on the verification information; and a sending unit for sending a verification notification message to the first roadside device, wherein the verification notification message is used to indicate whether the vehicle has been successfully verified.

[0118] In combination with the ninth aspect, in certain implementations of the ninth aspect, the sending unit is further used to send service vehicle information to the first roadside device, where the service vehicle information is used to indicate multiple vehicles that have permission to receive service.

[0119] In combination with the ninth aspect, in certain implementations of the ninth aspect, the service vehicle information is index information of the multiple vehicles that have the authority to receive service.

[0120] In combination with the ninth aspect, in certain implementations of the ninth aspect, the receiving unit is further used to receive the address and topology information of a second roadside device from a second server, and the second roadside device is located within the coverage of the second server and outside the coverage of the server; the sending unit is further used to send the address and topology information of the second roadside device to the first roadside device.

[0121] In combination with the ninth aspect, in some implementations of the ninth aspect, the method further includes: the sending unit is further used to send the address and topology information of the first roadside device to a third server.

[0122] In the tenth aspect, a trajectory information interaction device is provided, which is applied to a roadside device, including: a sending unit, used to send first trajectory information of a first traffic participant to a first roadside device, wherein the first trajectory information is used to indicate a first trajectory outside the coverage range of the first roadside device.

[0123] In combination with the tenth aspect, in certain implementations of the tenth aspect, the roadside device further includes: a receiving unit, configured to receive a first trajectory request message from the first roadside device, the first trajectory request message being used to request the trajectory information acquired by the roadside device; the sending unit being specifically configured to send a first trajectory response message to the first roadside device in response to the first trajectory request message, the first trajectory response message including the first trajectory information.

[0124] In combination with the tenth aspect, in some implementations of the tenth aspect, the roadside equipment also includes: a receiving unit for receiving a vehicle service request message from a vehicle, the vehicle service request message including verification information of the vehicle; and a processing unit for determining whether the vehicle has passed the verification based on the verification information.

[0125] On the eleventh aspect, a trajectory information interaction device is provided, which is applied to roadside equipment, including: a receiving unit, used to receive a vehicle service request message from a vehicle, the vehicle service request message including verification information of the vehicle; a processing unit, used to determine whether the vehicle has passed the verification based on the verification information; a sending unit, used to send a second verification notification message to the first roadside equipment, the second verification notification message is used to indicate that the vehicle has passed the verification.

[0126] In the twelfth aspect, a trajectory information interaction device is provided, which is applied to a roadside device, including: a sending unit, used to send a first switching request message to a first roadside device, wherein the first switching request message is used to request that the service device of the vehicle be switched from the roadside device to the first roadside device; and a receiving unit, used to receive a first switching response message from the first roadside device, wherein the first switching response message is used to indicate that the first roadside device becomes the service device of the vehicle.

[0127] In combination with the twelfth aspect, in certain implementations of the twelfth aspect, the receiving unit is further used to receive a vehicle service request message from the vehicle, wherein the vehicle service request message includes verification information of the vehicle; the roadside equipment also includes a processing unit for determining whether the vehicle has passed the verification based on the verification information.

[0128] In the thirteenth aspect, a method for interacting with trajectory information is provided, including: a first roadside device receives trajectory information of a traffic participant from a second roadside device, and the trajectory information is used to indicate a trajectory outside the coverage of the first roadside device; the first roadside device sends a trajectory forwarding message to a vehicle, and the trajectory forwarding message is used to indicate the trajectory.

[0129] The execution subject of the method of the above-mentioned aspect 13 or any one of the embodiments of the aspect 13 includes but is not limited to the first roadside device, components within the first roadside device, chips within the first roadside device, or applications that can be installed and run on the first roadside device.

[0130] In a fourteenth aspect, a trajectory information interaction device is provided, comprising a processor and a memory, wherein the memory is used to store a computer program, and the processor is used to execute the computer program stored in the memory, so that the interaction device performs the interaction method described in any possible implementation of the first to sixth aspects above.

[0131] In a fifteenth aspect, a computer program product is provided, comprising computer instructions, which, when the computer program product is run on a processor, implements the interaction method described in any possible implementation of the first to sixth aspects.

[0132] In the sixteenth aspect, a computer-readable storage medium is provided, which stores computer instructions. When the computer instructions are executed on a processor, the interaction method described in any possible implementation of the first to sixth aspects is implemented. BRIEF DESCRIPTION OF THE DRAWINGS

[0133] Figure 1 This is a schematic structural diagram of a vehicle network interaction scenario provided in an embodiment of the present application.

[0134] Figure 2 It is a schematic structural diagram of another vehicle network interaction scenario provided in an embodiment of the present application.

[0135] Figure 3 This is a system architecture diagram of vehicle network interaction provided by an embodiment of the present application.

[0136] Figure 4 This is a flowchart of a trajectory information interaction method provided by an embodiment of the present application.

[0137] Figure 5 This is a flowchart of a trajectory information interaction method provided by an embodiment of the present application.

[0138] Figure 6 This is a flowchart of a trajectory information interaction method provided by an embodiment of the present application.

[0139] Figure 7 This is a flowchart of a trajectory information interaction method provided by an embodiment of the present application.

[0140] Figure 8 This is a flowchart of a trajectory information interaction method provided by an embodiment of the present application.

[0141] Figure 9 This is a schematic diagram of a method for determining roadside equipment based on beyond-visual-range perception range provided in an embodiment of the present application.

[0142] Figure 10 This is a schematic diagram of a method for determining roadside equipment based on beyond-visual-range perception range provided in an embodiment of the present application.

[0143] Figure 11 This is a schematic diagram of a method for determining roadside equipment based on beyond-visual-range perception range provided in an embodiment of the present application.

[0144] Figure 12 This is a schematic diagram of a method for determining roadside equipment based on beyond-visual-range perception range provided in an embodiment of the present application.

[0145] Figure 13 This is a schematic diagram of a method for determining roadside equipment based on beyond-visual-range perception range provided in an embodiment of the present application.

[0146] Figure 14 This is a schematic diagram of a method for determining roadside equipment based on beyond-visual-range perception range provided in an embodiment of the present application.

[0147] Figure 15 This is a flowchart of a trajectory information interaction method provided by an embodiment of the present application.

[0148] Figure 16 This is a schematic structural diagram of an interactive device provided in an embodiment of the present application.

[0149] Figure 17 This is a schematic structural diagram of an interactive device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0150] The technical solution in this application will be described below with reference to the accompanying drawings.

[0151] In this application, "at least one" means one or more, and "more" means two or more. "And / or" describes the association relationship of associated objects, indicating that three relationships may exist. For example, A and / or B can mean: A exists alone, A and B exist at the same time, and B exists alone, where A and B can be singular or plural. The character " / " generally indicates that the previous and next associated objects are in an "or" relationship. "At least one of the following" or similar expressions refers to any combination of these items, including any combination of single or plural items. For example, at least one of a, b and c can mean: a; ​​b; c; a and b; a and c; b and c; a and b and c. Where a, b, c can be single or multiple. In addition, in the embodiments of the present application, words such as "first" and "second" are used to distinguish different description objects, rather than to limit the order between multiple description objects, nor to limit the number of description objects, nor to distinguish different entity objects. For example, the "first information" does not necessarily precede the "second information"; the "first information" can be a single piece of information or multiple pieces of information; and in reality, the "first information" and the "second information" can be the same or different. Furthermore, in the embodiments of this application, the words "301," "402," and "503" are merely identifiers for ease of description and do not limit the order in which the steps are executed.

[0152] It should be noted that, in this application, words such as "exemplary" or "for example" are used to indicate examples, illustrations, or descriptions. Any embodiment or design described in this application as "exemplary" or "for example" should not be construed as being preferred or advantageous over other embodiments or designs. Rather, the use of words such as "exemplary" or "for example" is intended to present the relevant concepts in a concrete manner.

[0153] V2X is a key technology in intelligent transportation systems. V2X communications can include vehicle-to-vehicle (V2V), vehicle-to-infrastructure (V2I), vehicle-to-pedestrian (V2P), and vehicle-to-network (V2N). V2X communication provides real-time traffic information, including road conditions, pedestrian information, and trajectory data. This improves driving safety, reduces congestion, increases traffic efficiency, and provides in-vehicle entertainment.

[0154] Below Figure 1 The example shown illustrates a possible vehicle to everything (V2X) interaction scenario provided by an embodiment of the present application.

[0155] Figure 1 Several vehicles (including vehicle a-vehicle i), several roadside devices (including roadside devices a-roadside devices f), several servers (including server 1-server 3) and several pedestrians (including pedestrian 1-pedestrian 3) are shown. Figure 1 This is merely an illustration of a vehicle networking interaction scenario provided by an embodiment of the present application. The embodiments of the present application can be applied to vehicle networking interaction scenarios including more or fewer vehicles, more or fewer roadside devices, more or fewer servers, or more or fewer pedestrians, and this application does not limit this.

[0156] Vehicles can be driven on roads, such as Figure 1 Shown are road sections 1, 2, and 3. Road sections 1, 2, and 3 may alternate at a road fork. In one possible example, a vehicle on road section 1 can pass through the road fork to enter road section 2 or road section 3. In another possible example, a vehicle on road section 2 can pass through the road fork to enter road section 1 or road section 3. In yet another possible example, a vehicle on road section 3 passes through the road fork to enter road section 1 or road section 2.

[0157] While the vehicle is driving on the road, it can interact with the Internet of Vehicles communication equipment.

[0158] IoV communication equipment may include roadside equipment. Communication between vehicles and roadside equipment can be considered V2I communication. Roadside equipment can refer to roadside infrastructure. Examples of roadside equipment include roadside edge computing (REC) equipment, roadside units (RSUs), or devices that integrate RECs and RSUs. For example, RECs can acquire various service information and provide it to vehicles, such as road condition information, parking fees, and in-car entertainment. Alternatively, RSUs can provide vehicles with access to data networks.

[0159] Roadside devices can be installed along the road. They can obtain trajectory information for traffic participants within their coverage area. Their coverage area is relatively limited. Multiple roadside devices can be deployed on the same road section, each monitoring a specific area of ​​the road section. Multiple roadside devices can also monitor multiple areas of the same road section.

[0160] exist Figure 1 In the example shown, roadside devices a and b may be installed on road section 1. Both devices can obtain trajectory information for traffic participants on road section 1. For example, roadside device a can obtain trajectory information for vehicles a, b, and pedestrian 1; while roadside device b can obtain trajectory information for vehicles b and c.

[0161] Roadside devices C and D may be installed on road section 2. These devices can obtain trajectory information of traffic participants on road section 2. For example, roadside device C can obtain trajectory information of vehicle E, while roadside device D can obtain trajectory information of vehicles E, F, and pedestrian 2.

[0162] Roadside devices e and f may be installed on road section 3. These devices can obtain trajectory information of traffic participants on road section 3. For example, roadside device e can obtain trajectory information of vehicle g and pedestrian 3, while roadside device d can obtain trajectory information of vehicles h and i.

[0163] Roadside device b can be located on both sides of road segment 1 near the intersection. Optionally, roadside device b can also obtain trajectory information of traffic participants located in the area near the intersection on road segment 1. Optionally, roadside device b can also obtain trajectory information of traffic participants located at the intersection. For example, roadside device b can obtain trajectory information of vehicle d.

[0164] Roadside device c can be located on both sides of road segment 2 near the intersection. Optionally, roadside device c can also obtain trajectory information of traffic participants located in the area near the intersection on road segment 2. Optionally, roadside device c can also obtain trajectory information of traffic participants located at the intersection. For example, roadside device c can obtain trajectory information of vehicle d.

[0165] Roadside device e can be located on both sides of road segment 3 near the intersection. Roadside device e can also obtain trajectory information for traffic participants located in the area near the intersection on road segment 3. Optionally, roadside device e can also obtain trajectory information for traffic participants located at the intersection. For example, roadside device e can obtain trajectory information for vehicle d.

[0166] It should be understood that the above description is only for illustrative purposes. Figure 1 An example of the scenario shown. In other possible examples, the roadside equipment may obtain a greater or lesser number of traffic participants, which is not limited in this application.

[0167] IoV communication devices may include vehicles. Vehicle-to-vehicle communication can be considered V2V communication. For example, a vehicle can broadcast information such as its speed, direction of travel, specific location, and whether it has applied the emergency brake to surrounding vehicles. By obtaining this information, drivers of surrounding vehicles can better perceive traffic conditions beyond the visual range, thereby anticipating and avoiding dangerous situations. Vehicle communication can be achieved by any of the following: the vehicle, the vehicle computer, the vehicle terminal, the on-board computer (or on-board PC), the vehicle chip, the vehicle device, etc.

[0168] In the vehicle network interaction scenario, vehicles close to each other can communicate with each other. Figure 1 The example shown, Figure 1 V2V communication can be performed between two vehicles in vehicle a-vehicle i. Figure 1 As shown, the communication between vehicle b and vehicle c may belong to V2V communication.

[0169] IoV communication equipment may include a server. Communication between a vehicle and a server can be considered V2N communication. For example, a vehicle can report its verification information to a server, and the server can verify the legitimacy of the vehicle based on the verification information. The vehicle can communicate with the server directly or through access network equipment (such as a base station) or core network equipment.

[0170] A server can be responsible for V2X services within its coverage area. A server can manage roadside devices within its coverage area. For example, a server can manage the addresses and topology information of roadside devices. Roadside devices within the server's coverage area can be mapped to the server. A server can interact with roadside devices within its coverage area. Optionally, a server can manage all roadside devices on a road segment.

[0171] exist Figure 1 In the example shown, roadside equipment a and roadside equipment b can be located within the coverage of server 1; roadside equipment c and roadside equipment d can be located within the coverage of server 2; roadside equipment e and roadside equipment f can be located within the coverage of server 3.

[0172] The server can subscribe to information from other servers to obtain information within the coverage area of ​​other servers. This information may include, for example, trajectory information obtained by roadside equipment, topology information of roadside equipment, address of roadside equipment, and verification information of vehicles.

[0173] Combine Figure 1 In one example, Server 1 and Server 2 can subscribe to each other's roadside device topology information and addresses. For example, Server 1 can subscribe to the topology information and addresses of Roadside Devices C and D from Server 2; Server 2 can subscribe to the topology information and addresses of Roadside Devices A and B from Server 1.

[0174] The Internet of Vehicles communication equipment may include terminal equipment. The terminal equipment may be a terminal equipment carried by the user. The communication between the vehicle and the terminal equipment may belong to V2P communication. The terminal equipment may be, for example, UE (User Equipment), MS (Mobile Station), mobile terminal (Mobile Terminal), electronic tag (V2X license plate, a license plate with V2X communication function), etc. Optionally, the terminal equipment may be a wearable device, a mobile phone, a tablet computer, a PDA (Personal Digital Assistant), a POS (Point of Sales), a vehicle-mounted computer, etc. Combined with Figure 1 , in one example, vehicle a can perform V2P communication with pedestrian 1.

[0175] Below Figure 2 The example shown illustrates another possible Internet of Vehicles interaction scenario provided by an embodiment of the present application. Figure 2 The roads shown may correspond to Figure 1 One or more of the sections 1, 2, and 3 shown.

[0176] One or more RECs may be located along the road. Figure 2 As shown, REC A1, REC A2, REC A3, RECB1, and REC B2 are provided. RECs may have computing capabilities. Since RECs are provided on the roadside, they may obtain traffic-related information on the road in a relatively timely manner and react quickly to the obtained information.

[0177] One or more sensing devices may also be provided along the road. For example, sensing device A1, sensing device A2, sensing device A3, sensing device B1, and sensing device B2. The sensing devices may be used to obtain real-time trajectory information on the road. The sensing devices may be, for example, cameras, radars, and other devices. The sensing devices and the REC may communicate with each other. The trajectory information captured by the sensing devices may 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 device A2 from sensor device A2. The relevant description of other RECs provided in the embodiment of this application can be referred to Figure 2 Instructions for REC A2 shown.

[0178] Optionally, a REC can obtain track information on the road through one or more sensing devices, that is, a REC can correspond to one or more sensing devices. In this case, the overall sensing range of the one or more sensing devices can correspond to the coverage range of the REC. The track information captured by the one or more sensing devices can indicate the track information within the coverage range of the REC.

[0179] Optionally, a sensing device may send the captured trajectory information to one or more RECs, that is, a sensing device may correspond to one or more RECs.

[0180] The REC can communicate with other Internet of Vehicles communication devices (e.g., vehicles, servers, roadside equipment) through one or more RSUs. In this case, the overall communication range of 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, 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 the relevant description of other RECs provided in the embodiments of this application, please refer to Figure 2 Instructions for REC A1 or REC B1 are shown.

[0181] Take the interaction between RSU A1 and RSU A2 as an example. RSU A1 is the RSU device corresponding to REC A1. 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. For the relevant description of other RSU interactions provided in the embodiment of the present application, please refer to Figure 2 Description of RSU A1 and RSU A2 shown.

[0182] In one example, both REC and RSU can belong to roadside equipment. For example, taking REC A1 as an example, REC A1 can correspond to Figure 1 Any one of the roadside equipment a-roadside equipment f shown. For example, taking RSU A1 as an example, RSU A1 can correspond to Figure 1 Any one of the roadside equipment a-roadside equipment f shown in the figure. In another example, the roadside equipment may include REC, RSU, or include modules or units for implementing the functions of REC and RSU. For example, taking REC A1 and RSU A1 as an example, the equipment with REC A1 and RSU A1 may correspond to Figure 1 Any one of the roadside equipment a-roadside equipment f shown. For the relevant description of the relationship between other RSUs, RECs and roadside equipment provided in the embodiment of the present application, please refer to Figure 2 Description of REC A1 and RSU A1 shown.

[0183] The server can manage the roadside equipment within the coverage area. Figure 2 In the example shown, taking server A as an example, server A can govern REC A1, REC A2, REC A3, or can govern RSU A1, RSU A2, RSU A3, or can govern the roadside equipment (or system) including REC A1 and RSU A1, and the roadside equipment (or system) including REC A2 and RSU A2, and the roadside equipment (or system) including REC A3 and RSU A3. Figure 2 The server A shown may correspond to Figure 1 Any one of the servers 1, 2, and 3 shown. Figure 2 Description of Server A shown.

[0184] Optionally, RSU or REC can also interact across servers. The following takes the interaction between REC A1 and REC B1 as an example for explanation. Figure 2 Description of REC A1 and REC B1 shown.

[0185] 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.

[0186] 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 interaction between RSU A1 and RSU B1. REC B1 can send information to REC A1 based on the address and topology information of RSU A1 through interaction between RSU A1 and RSU B1.

[0187] Figure 3 This is a system architecture diagram of vehicle network interaction provided by an embodiment of the present application.

[0188] 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), one or more RECs (such as Figure 3 REC A1, REC A2, REC A3 shown), one or more sensing devices (such as Figure 3 The sensor devices A1, A2 and A3 are shown). Figure 3 The server shown may correspond to, for example Figure 1 Any of the servers 1-3 shown can also correspond to Figure 2 Any of the servers AB shown. Figure 3 The RSU shown may correspond to Figure 1 Any of the roadside equipment af shown can also correspond to Figure 2 Any of the RSUs A1-A3, RSUs B1-B2 shown. Figure 3 The REC shown may correspond to, for example Figure 1Any of the roadside equipment af shown can also correspond to Figure 2 Any of the RSUs A1-A3, RSUs B1-B2 shown. Figure 3 The sensor device shown may correspond, for example, to Figure 2 Any of the sensing devices A1-A3, B1-B2 shown.

[0189] by Figure 3 The server A shown in the figure is used as an example to illustrate the system architecture of a server provided by the embodiment of the present application. Figure 3 Description of Server A shown.

[0190] Server A may include, for example, a user management unit, an object management unit, a converged access 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.

[0191] The user management unit can be used to provide services such as creating new accounts, canceling accounts, and verifying vehicle qualifications. An account can, for example, be an electronic account with consumer functionality. Vehicle qualification verification can be used to verify the legitimacy of a vehicle's ability to communicate with the Internet of Vehicles. 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.

[0192] The object management unit can be used to manage (eg, allocate, inherit, delete, update, etc.) information of traffic participants (eg, identification, trajectory information, etc.). The trajectory information of traffic participants can be obtained from roadside equipment, for example.

[0193] The converged access unit can obtain information from Internet of Vehicles communication devices (such as roadside equipment, vehicles, terminal devices, etc.). For example, the converged access unit can be used to obtain and aggregate data from multiple RECs and process the data from multiple RECs to achieve global governance functions.

[0194] The virtual REC unit can be used to implement the mapping of REC on the V2X service. The virtual REC unit can be used to manage the roadside equipment within the coverage area of ​​server A.

[0195] The topology and address management unit can be used, for example, to maintain the address and topology information of roadside devices. For example, the topology and address management unit can manage (e.g., add, update, delete, etc.) the address and topology information of roadside devices managed by server A. In another example, the topology and address management unit can subscribe to the address and topology information of roadside devices managed by other servers.

[0196] Databases can be used to store data such as account information and information obtained by the converged access unit. For example, databases may include a local V2X service topology and address database and 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.

[0197] exist Figure 3 In the example shown, REC A1, REC A2, and REC A3 may be located within the coverage of server A and governed by server A. The following takes REC A2 as an example to illustrate the system architecture of a REC provided by an embodiment of the present application. Figure 3 Instructions for REC A2 shown.

[0198] REC A2 may include a communication scheduling unit A2, a sensor access unit A2, and a fusion perception 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 and RSU A2 may form a roadside device managed by server A. In other possible examples, REC A2 may be independent of RSU A2.

[0199] The communication scheduling unit A2 of REC A2 can be used to communicate with vehicles, terminal equipment, and other roadside equipment (such as Figure 3 RSU A1, RSU A3 in), server (such as Figure 3 REC A2 can interact with other connected vehicle communication devices within the communication range of REC A2. In other examples, communication scheduling unit A2 can be implemented by RSUA2. Communication scheduling unit A2 can be used to implement functions such as vehicle verification, vehicle activation, vehicle deactivation, REC switching, subscribing to trajectory information from other RECs, and being subscribed to trajectory information by other RECs.

[0200] The sensing access unit A2 of REC A2 can be used to obtain the trajectory information captured by the sensing device (such as the sensing device A2). REC A2 can, for example, have a sensing interface connected to the sensing device A2. The sensing access unit A2 can receive the trajectory information from the sensing device A2 through the sensing interface. The overall coverage of one or more sensing devices connected to the sensing access unit A2 of REC A2 can correspond to the coverage of REC A2. The sensing access unit A2 can, for example, be used to implement functions such as vehicle verification, vehicle activation, vehicle deactivation, REC switching, subscription to trajectory information from other RECs, and subscription to trajectory information by other RECs.

[0201] Below Figure 3 The sensor device A2 shown in the figure is used as an example to introduce the application of the sensor device in the embodiment of the present application. The relevant description of other sensor devices provided in the embodiment of the present application can be referred to. Figure 3 Description of sensor device A2 shown. In one example, sensor device A2 can be a camera, radar, or other device. For example, a camera can capture images or videos to capture relevant information about motor vehicles, non-motor vehicles, pedestrians, etc. 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, as well as the pedestrian's clothing, physical characteristics, and identity information. For another example, a radar can determine the location, speed, and direction of movement of motor vehicles, non-motor vehicles, or pedestrians.

[0202] The fusion perception unit A2 of REC A2 can be used to exchange trajectory information with other roadside equipment (such as REC A1, RECA3) through RSU A2. The fusion perception unit A2 can also process the acquired trajectory information. The fusion perception unit A2 can also generate other information related to the trajectory information. For example, the fusion perception unit A2 can be used to assign traffic participant indication information to the sensed traffic participants (the traffic participant indication information can, for example, refer to the identification of the traffic participant). For another example, the fusion perception unit A2 can be used to obtain the trajectory information from the upper-level REC (such as Figure 3 The fusion perception unit A1 of the REC A1 shown in FIG. 1 obtains the trajectory information and can pass it to the next level REC (such as Figure 3 The fusion perception unit A3 of the REC A3 shown transmits trajectory information. For another example, the fusion perception unit A2 can be used to identify the movement trajectory of the same traffic participant. For another example, the fusion perception unit A2 can be used to screen the trajectory information of the same traffic participant and remove redundant trajectory information.

[0203] The following combination Figures 1 to 4 , describing a trajectory information interaction method provided by an embodiment of the present application.

[0204] 401. A vehicle sends a vehicle service request message of the vehicle to a first roadside device, where the vehicle service request message includes verification information of the vehicle.

[0205] Accordingly, the first roadside apparatus receives the vehicle service request message from the vehicle.

[0206] 402. The first roadside equipment determines whether the vehicle passes the verification based on the verification information.

[0207] The vehicle service request message may be used to request the first roadside device to provide a service for the vehicle, such as delivering trajectory information, etc. Optionally, the vehicle service request message may also be used to establish a connection between the vehicle and the first roadside device.

[0208] The verification of the vehicle may be completed independently by the first roadside device, or may be completed by the first roadside device with the assistance of the server.

[0209] Steps 401 and 402 facilitate establishing a communication connection between the vehicle and the roadside equipment. This means that the roadside equipment can send information specific to a specific vehicle. Optionally, the roadside equipment can also receive feedback from the vehicle. This facilitates establishing a correlation between trajectory information and the vehicle. Because the roadside equipment can provide transportation services for designated vehicles, it helps operators reasonably collect fees for transportation services. Steps 401 and 402 may be optional.

[0210] In a case where the first roadside apparatus determines that the vehicle has passed verification, the first roadside apparatus may perform the following steps.

[0211] 403 : The first roadside device sends a trajectory request message to the second roadside device, where the trajectory request message is used to request the trajectory information acquired by the second roadside device.

[0212] Correspondingly, the second roadside device receives the trajectory request message from the first roadside device.

[0213] 403, for example, may be an optional step.

[0214] 404. The second roadside device sends the trajectory information of the traffic participant to the first roadside device, where the trajectory information is used to indicate the trajectory outside the coverage of the first roadside device.

[0215] Accordingly, the first roadside device receives the trajectory information from the second roadside device.

[0216] 405 , the first roadside device sends a track forwarding message to the vehicle, where the track forwarding message includes the track information.

[0217] Accordingly, the vehicle receives the trajectory information from the first roadside device.

[0218] The following combination Figure 1 、 Figure 4 , explain 403 to 405.

[0219] Roadside device a can obtain the trajectory information a of one or more traffic participants within the coverage area of ​​roadside device a through the sensing device. The one or more traffic participants within the coverage area of ​​roadside device a include Figure 1 The vehicle b and pedestrian 1 are shown. For the roadside device a, the trajectory information a within the coverage area of ​​the roadside device a may belong to local trajectory information.

[0220] Vehicle a can communicate with Internet of Vehicles communication devices within the line of sight of vehicle a. For example, roadside device a can be located within the line of sight of vehicle a. Thus, roadside device a can send trajectory information a to vehicle a, for example, through broadcast, multicast, unicast, etc. Trajectory information a can indicate the trajectory of vehicle b and the trajectory of pedestrian 1. Accordingly, vehicle a can obtain trajectory information a within the coverage area of ​​roadside device a from roadside device a. Roadside device a can send trajectory information a directly to vehicle a, or it can send trajectory information a to vehicle a via one or more relay devices. The one or more relay devices can forward trajectory information a to vehicle a.

[0221] However, vehicle a cannot obtain trajectory information outside the visual range. The coverage of roadside equipment a may be relatively limited and may not meet the beyond-visual-range perception requirements of vehicle a. Figure 1 As shown, roadside device b can be located outside the line-of-sight perception range of vehicle a. The challenge is how vehicle a can obtain trajectory information within the coverage area of ​​roadside device b, as well as trajectory information within the coverage area of ​​roadside devices further away.

[0222] Take roadside equipment b as an example, combined with Figure 1 , roadside device b may be located outside the sight range of vehicle a and within the beyond-sight range of vehicle a. Vehicle b and vehicle c may be located within the coverage range of roadside device b. Roadside device b may obtain trajectory information b, and trajectory information b may indicate the trajectory of vehicle b and the trajectory of vehicle c. Trajectory information b may be trajectory information located outside the coverage range of roadside device a. Roadside device b may send trajectory information b to roadside device a. Roadside device a may receive trajectory information b from roadside device b to obtain trajectory information located within the coverage range of roadside device b. For roadside device a, trajectory information located within the coverage range of roadside device b may, for example, belong to peripheral trajectory information.

[0223] Trajectory information can include, for example, one or more of the following: traffic participant identification, sensing time, traffic participant type, traffic participant appearance, traffic participant model, traffic participant license plate number, location, movement speed, and movement direction. Trajectory information can be represented by, for example, images, pixel data, codes, feature vectors, or output from a trajectory information processing module.

[0224] The sensing time information may, for example, indicate the time when the sensing device senses the traffic participant, or indicate the time when the roadside device obtains the trajectory information of the traffic participant.

[0225] Traffic participant types may include, for example, motor vehicles, non-motor vehicles, pedestrians, trucks, buses, large vehicles, medium vehicles, small vehicles, etc.

[0226] When the traffic participant is a vehicle, the traffic participant appearance may include, for example, the vehicle's color, size, shape, etc. When the traffic participant is a pedestrian, the traffic participant appearance may include, for example, the pedestrian's gender, clothing (such as clothing type and color), and physical characteristics (such as height, body shape, facial features, etc.).

[0227] The traffic participant model may include, for example, a vehicle brand, a vehicle product label, and the like.

[0228] Traffic participant license plate information may include, for example, vehicle license plate information, pedestrian identification number, etc.

[0229] The position may include, for example, the latitude and longitude coordinates of the traffic participant, the relative position on the road (such as the left side of the road and the right side of the road), etc.

[0230] The moving speed may include, for example, the driving speed of a vehicle, the walking speed of a pedestrian, etc.

[0231] The moving direction may include, for example, the direction angle of a vehicle traveling, the direction angle of a pedestrian walking, etc.

[0232] In one example, roadside apparatus a may directly obtain trajectory information b from roadside apparatus b. For example, roadside apparatus a may send trajectory information b to roadside apparatus b. Roadside apparatus a and roadside apparatus b may be, for example, two adjacent roadside apparatuses.

[0233] In another example, roadside device a can obtain trajectory information b from roadside device b through another roadside device. For example, roadside device b' may exist between roadside device a and roadside device b. Roadside device b' can obtain trajectory information b from roadside device b and forward it to roadside device a. Trajectory information within the coverage area of ​​roadside device b may, for example, be outside the coverage area of ​​roadside device b'.

[0234] Trajectory information can be relayed to roadside device a via one or more roadside devices. For example, roadside device i+1 can send trajectory information i+1 obtained by roadside device i+1 to roadside device i. Roadside device i can aggregate trajectory information i obtained by roadside device i with trajectory information i+1 sent by roadside device i+1, and then send the aggregated trajectory information to roadside device i-1. Optionally, if trajectory information i+1 and trajectory information i include trajectory information of the same traffic participant, roadside device i can discard trajectory information i+1 or trajectory information i related to the traffic participant. By transmitting trajectory information step by step, roadside device a can obtain the aggregated trajectory information.

[0235] In addition to sending trajectory information b to roadside device a, roadside device b may also send roadside device indication information indicating roadside device b to roadside device a. The roadside device indication information indicating roadside device b may be used to indicate the source of trajectory information b, for example.

[0236] Optionally, roadside device a may send a track request message to roadside device b. The track request message may be used to request track information acquired by roadside device b from roadside device b. Roadside device b may send track information b to roadside device a via a track response message in response to the track request message. The track response message may indicate track information b. In one example, track information b may be carried in the track response message.

[0237] Optionally, the trajectory request message may include at least one of roadside device indication information a and roadside device indication information b. The trajectory response message may include at least one of roadside device indication information a and roadside device indication information b. Roadside device indication information a may be indication information for indicating roadside device a, and roadside device indication information b may be indication information for indicating roadside device b.

[0238] In one example, roadside device indication information a may include the address and topology information of roadside device a. Roadside device indication information b may include the address and topology information of roadside device b. The address of roadside device a may be the source address of the trajectory request message, and the address of roadside device b may be the destination address of the trajectory request message. Roadside device a may send a trajectory request message to roadside device b based on the address and topology information of roadside device b. After receiving the trajectory request message, roadside device b may determine that the trajectory request message is relevant to itself based on the destination address carried in the trajectory request message. Roadside device b may send a trajectory response message to roadside device a based on the source address and topology information carried in the trajectory request message.

[0239] In another example, roadside device indication information a may include the identifier of roadside device a. Roadside device indication information b may include the identifier of roadside device b. After receiving the trajectory request message, roadside device b may determine that the trajectory request message is relevant to itself based on the device identifier carried in the trajectory request message. Roadside device b may send a trajectory response message, which may carry the identifiers of roadside device b and roadside device a. This allows roadside device a to determine that the trajectory response message is relevant to itself based on the device identifiers carried in the trajectory response message, and that the trajectory information b carried in the trajectory response message originates from roadside device b.

[0240] Optionally, after receiving a trajectory response message from roadside device b, roadside device a may perform processing on the trajectory response message, such as unpacking, verification, and redundancy removal, to obtain trajectory information b. After obtaining trajectory information b from roadside device b, roadside device a may indicate the trajectory indicated by trajectory information b to vehicle a via a trajectory forwarding message. In other words, roadside device a may send trajectory information b to vehicle a. For example, roadside device a may perform processing such as check block encoding, redundancy addition, and packaging on the data indicating the trajectory indicated by trajectory information b to obtain a trajectory forwarding message. Correspondingly, vehicle a may receive a trajectory forwarding message from roadside device a to obtain the trajectory indicated by trajectory information b. In other words, vehicle a may receive trajectory information b from roadside device a.

[0241] Roadside device a can send trajectory forwarding messages through unicast, multicast, broadcast, etc., so that vehicle a can obtain trajectory information b from roadside device a.

[0242] For example, roadside device a can periodically broadcast a track forwarding message to indicate to vehicles the track information obtained by roadside device a (which may include track information within the coverage area of ​​roadside device a, as well as track information outside the coverage area of ​​roadside device a). In this case, roadside device a may not establish a communication connection with vehicle a. Because the track forwarding message carries track information, the track information obtained by roadside device a each time is generally different. Therefore, the data content carried by track forwarding messages in different periods can be different. Optionally, multiple track forwarding messages sent in multiple periods can be non-repeated.

[0243] For example, roadside device a may broadcast a track forwarding message for vehicle a. This track forwarding message may include vehicle indication information indicating vehicle a and the track in track information b. Vehicle a may determine that the track forwarding message is relevant to vehicle a based on the vehicle indication information carried in the track forwarding message. Other vehicles may receive the track forwarding message broadcast by roadside device a, but based on the vehicle indication information carried in the track forwarding message, they may determine that the track forwarding message is not relevant to them. The vehicle indication information may, for example, identify vehicle a through identification, scrambling, or other means.

[0244] For another example, roadside device a can multicast a trajectory forwarding message to a group of vehicles. This trajectory forwarding message can include the vehicle group's vehicle group indication information and the trajectory in trajectory information b. The vehicle group can include vehicle a. Vehicle a can determine that the trajectory forwarding message is relevant to itself based on the vehicle group indication information carried in the trajectory forwarding message. The vehicle group indication information can, for example, indicate the vehicle group through identification, scrambling, or other means.

[0245] For another example, roadside device a may establish a communication connection with vehicle a. Roadside device a may unicast a trajectory forwarding message to vehicle a, and the trajectory forwarding message may also indicate the trajectory in trajectory information b.

[0246] A track forwarding message may include, for example, one or more of the following: roadside device indication information a, roadside device indication information b, and vehicle indication information a. Roadside device indication information a indicates roadside device a, roadside device indication information b indicates roadside device b, and vehicle indication information a indicates the vehicle. Roadside device indication information a may indicate the forwarder of track information a, roadside device indication information b may indicate the source of track information a, and vehicle indication information a may indicate the receiving device of track information a.

[0247] As described above, roadside device a may send all trajectory information obtained from roadside device b to vehicle a. In some possible scenarios, roadside device a may discard part of the trajectory information obtained from roadside device b and send the rest to vehicle a.

[0248] In one possible scenario, when roadside device a first sends vehicle b's trajectory information to vehicle a, the message may carry information items related to vehicle b's license plate information, vehicle brand, vehicle product label, vehicle type, vehicle model, vehicle color, vehicle size, vehicle shape, etc. Subsequently, roadside device a may not send information items related to vehicle b's license plate information, vehicle brand, vehicle product label, vehicle type, vehicle model, vehicle color, vehicle size, vehicle shape, etc. to vehicle a.

[0249] In another possible scenario, two adjacent roadside devices may sense the trajectory of the same traffic participant. For example, consider roadside device A, roadside device B, and vehicle B. Vehicle B is currently located at the intersection of the coverage areas of roadside device A and roadside device B. Both roadside devices A and B can acquire vehicle B's trajectory information, and the trajectory information acquired by roadside device B can be transmitted to roadside device A. If vehicle A acquires two pieces of trajectory information for the same vehicle from roadside device A, this results in redundant trajectory information.

[0250] In one example, roadside device a can send trajectory information of vehicles a, b, and pedestrian 1, acquired by roadside device a, as well as trajectory information of vehicles b and c, acquired by roadside device b, to vehicle a. Vehicle a can then process either the trajectory information of vehicle b acquired by roadside device a or the trajectory information of vehicle b acquired by roadside device b, while discarding the other. This helps reduce trajectory information redundancy.

[0251] In another example, roadside device a can send the trajectory information of vehicle b obtained by roadside device a to vehicle a, while discarding the trajectory information of vehicle b obtained by roadside device b. Alternatively, roadside device a can send the trajectory information of vehicle b obtained by roadside device b to vehicle a, while discarding the trajectory information of vehicle b obtained by roadside device a. This helps reduce trajectory information redundancy.

[0252] Optionally, when roadside device b is downstream of roadside device a in the direction of vehicle a's movement (for ease of description, roadside device b is referred to as the downstream roadside device of roadside device a), roadside device a or vehicle a may choose to discard the trajectory information of vehicle b within the coverage area of ​​roadside device a. Because the vehicle has entered the coverage area of ​​the downstream roadside device, the trajectory information within the coverage area of ​​the downstream roadside device may be more accurate.

[0253] Optionally, if roadside device b obtains vehicle b's trajectory information later than roadside device a, roadside device a or vehicle a may choose to discard the trajectory information of vehicle b obtained by roadside device a. The later-acquired trajectory information may be more timely.

[0254] As described above, roadside device A or vehicle A can determine whether two pieces of trajectory information (e.g., trajectory information 1 and trajectory information 2, respectively) indicate the same traffic participant. If so, roadside device A or vehicle A can discard one of the two pieces of trajectory information. For example, roadside device A can send one of the two pieces of trajectory information to vehicle A, but not the other. In another example, vehicle A can output a driving plan based on one of the two pieces of trajectory information, but not the other.

[0255] Some possible implementations of determining whether two pieces of trajectory information indicate or belong to the same traffic participant are described below.

[0256] In an example, trajectory information 1 and trajectory information 2 may indicate or belong to the same vehicle if: trajectory information 1 includes information item 1, trajectory information 2 includes information item 2, information item 1 and information item 2 match, and information item 1 and information item 2 may belong to the same information item type.

[0257] Information item 1 and information item 2 match, for example, may mean that information item 1 and information item 2 are identical, or that information item 1 and information item 2 correspond, or that the degree of match between information item 1 and information item 2 is greater than a preset matching threshold. Information item 1 and information item 2 correspond, for example, may mean that information item 1 and information item 2 are slightly different, but not significantly different.

[0258] For example, if the vehicle position included in trajectory information 1 and the vehicle position included in trajectory information 2 are the same or the distance between them is less than a preset distance, it can be determined that trajectory information 1 and trajectory information 2 are trajectory information of the same vehicle.

[0259] For another example, roadside equipment a or vehicle a can input information item 1 and information item 2 into a trajectory information processing model (e.g., a neural network model). The trajectory information processing model can perform data processing such as feature extraction, convolution, and pooling on information item 1 and information item 2 to determine the matching degree between information item 1 and information item 2. If the matching degree between information item 1 and information item 2 exceeds a preset matching threshold, it can be determined that information item 1 and information item 2 match.

[0260] Optionally, the track information 1 and the track information 2 belong to the same vehicle and may also satisfy: the priority of the information item type to which the information item 1 and the information item 2 belong is higher than the preset priority.

[0261] For example, if the license plate information included in trajectory information 1 matches the license plate information included in trajectory information 2, and the license plate information has a higher priority than other information items, it can be determined that trajectory information 1 and trajectory information 2 are trajectory information of the same vehicle.

[0262] Optionally, the trajectory information 1 and the trajectory information 2 belong to the same vehicle and can satisfy the following conditions: the M information entries 1 of the trajectory information 1 match the M information entries 2 in the trajectory information 2, the M information entries 1 correspond one-to-one with the M information entries 2 (the corresponding information entries 1 and information entries 2 have the same entry type), and M is greater than the preset number of entries.

[0263] For example, if multiple information entries in trajectory information 1 (for example, information entries in trajectory information that usually do not change, such as license plate information, vehicle brand, vehicle product label, vehicle type, vehicle model, vehicle color, vehicle size, vehicle shape, etc.) match multiple information entries in trajectory information 2, it can be determined that trajectory information 1 and trajectory information 2 are trajectory information of the same vehicle.

[0264] Multiple driving information of the same vehicle within a period of time can constitute the driving trajectory of the vehicle. Figure 1 The example shown illustrates a possible solution for determining a driving trajectory provided by an embodiment of the present application.

[0265] At time 1, vehicle b may appear at position 1 within the coverage of roadside device a, and roadside device a may obtain trajectory information 1 of vehicle b at time 1. At time 2, vehicle b may appear at position 2 within the coverage of roadside device a, and roadside device a may obtain trajectory information 2 of vehicle b at time 2. At time 3, vehicle b may appear at position 3 within the coverage of roadside device b, and roadside device b may obtain trajectory information 3 of vehicle b at time 3. Roadside device a or vehicle a may, for example, refer to the above-mentioned possible implementation methods for determining whether two pieces of trajectory information indicate or belong to the same traffic participant, or refer to the traffic participant identifiers carried in trajectory information 1, trajectory information 2, and trajectory information 3 to determine that trajectory information 1, trajectory information 2, and trajectory information 3 all belong to vehicle b, thereby obtaining the driving trajectory of vehicle b in the scenario of crossing roadside devices.

[0266] As shown in the above example, the movement trajectory of a single vehicle is generally not interrupted by crossing roadside equipment. This helps the vehicle more clearly determine surrounding traffic conditions, plan better traffic plans, and reduce traffic safety issues caused by unexpected factors. For example, vehicle A can follow vehicle B's driving plan, which helps reduce the possibility of vehicle A arbitrarily changing the fleet.

[0267] Combine Figure 1 , both roadside device a and roadside device b can be located within the coverage of server 1. Roadside device a can also obtain trajectory information from roadside devices located within the coverage of other servers.

[0268] Taking roadside device c as an example, it can be located outside the line of sight of vehicle a and within the beyond-line-of-sight range of vehicle a. Roadside device c can be located within the coverage area of ​​server 2, which can be different from server 1. Roadside device a can obtain trajectory information c from roadside device c, which can be located outside the coverage area of ​​roadside device a. For example, roadside device a can obtain trajectory information for vehicles d and e from roadside device c, and vehicles d and e can be located within the coverage area of ​​roadside device c.

[0269] In one example, roadside device a can interact with roadside device c through server 1 and server 2. Server 1 can subscribe to the trajectory information obtained by roadside device c from server 2. Server 1 can forward the trajectory information from roadside device c to roadside device a, so that roadside device a can obtain the trajectory information from roadside device c from server 1.

[0270] 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 also forward the address and topology information of Roadside Device B to Roadside Device C. This allows direct interaction between Roadside Devices A and C. Based on the address and topology information of Roadside Device A, Roadside Device C can send the trajectory information obtained by Roadside Device C to Roadside Device A.

[0271] Figure 5 This is a schematic flowchart of an interactive method provided in an embodiment of the present application. Figure 5 The interaction method shown can be applied, for example, to Figure 4 401 and 402 in the method shown. Figure 5 In the example shown, the vehicle can be authenticated directly by the server, for example.

[0272] 501. A vehicle sends a vehicle service request message to a roadside device. The vehicle service request message includes verification information of the vehicle.

[0273] Accordingly, the roadside apparatus receives a vehicle service request message from the vehicle.

[0274] 502. The roadside device sends a vehicle verification request message to the server, where the vehicle verification request message includes the verification information.

[0275] Accordingly, the server receives a vehicle verification request message from the roadside device.

[0276] 503. The server verifies the vehicle according to the verification information.

[0277] 504. The server sends a verification notification message to the roadside device, where the verification notification message is used to indicate whether the vehicle is successfully verified.

[0278] Correspondingly, the roadside device receives the verification notification message from the server.

[0279] 505. The roadside device determines that the vehicle has passed the verification based on the verification notification message indicating that the vehicle has passed the verification, or the roadside device determines that the vehicle has failed the verification based on the verification notification message indicating that the vehicle has failed the verification.

[0280] Figure 5 The vehicle shown may correspond to, for example, Figure 1 Any vehicle shown. Figure 5 The roadside equipment shown may correspond to Figure 1 Any roadside equipment shown. Figure 5 The server shown may correspond to, for example Figure 1 Any server shown.

[0281] Below Figure 1 Taking the roadside equipment a, vehicle a, and server 1 shown as an example, an interaction method provided by an embodiment of the present application is explained. Figure 5 The interaction method shown can be used to authenticate a vehicle.

[0282] After vehicle A enters the communication range of roadside equipment A, it can send a vehicle service request message to roadside equipment A. This message can be used, for example, to request that roadside equipment A provide vehicle-to-vehicle communication services. The message can include verification information about vehicle A. This verification information can include information verifying the legitimacy of vehicle A. This information can be used to identify or identify the vehicle, or it can be used to legitimize the vehicle's services.

[0283] For example, the verification information for vehicle A may include its authentication certificate. This certificate can be used to verify the legitimacy of the vehicle, ensuring that roadside equipment A can legally provide trajectory information for vehicle A. The authentication certificate for vehicle A may be unique. For another example, the verification information for vehicle A may include a username and login password. The username may be unique.

[0284] Roadside device a forwards vehicle a's verification information to server 1 via a vehicle verification request message and awaits a response from server 1. Server 1 can verify vehicle a based on the verification information. In one example, server 1 may store multiple keys corresponding to multiple authentication certificates, allowing server 1 to authenticate the authentication certificates reported by vehicle a. In another example, the server may store multiple usernames and corresponding login passwords, allowing server 1 to authenticate the usernames and passwords reported by vehicle a.

[0285] If vehicle a is successfully verified by server 1, server 1 can send verification notification message a to the roadside device. Verification notification message a can be used to indicate that vehicle a has been verified. For example, verification notification message a can be used to instruct roadside device a to provide vehicle network communication services for vehicle a. For example, roadside device a can perform Figure 4 403 to 405 are shown. That is, if the verification information reported by vehicle a is legitimate (e.g., the certificate is valid, the certificate priority is higher than a preset priority, etc.), roadside device a can provide vehicle a with the trajectory information obtained by roadside device a. Optionally, roadside device a can also send a vehicle service response message a to the vehicle, which can indicate that vehicle a has passed verification. Optionally, roadside device a can establish a communication connection with vehicle a based on verification notification message a.

[0286] If vehicle a fails to be verified by server 1, server 1 may send a verification notification message b to the roadside device. Verification notification message b may be used to indicate that vehicle a has failed verification. For example, verification notification message b may be used to indicate that roadside device a refuses to provide vehicle network communication services to vehicle a. For example, roadside device a may refuse to perform verification based on verification notification message b. Figure 4 403 to 405 are shown. That is, if the verification information reported by vehicle a is invalid, or if the account corresponding to the verification information reported by vehicle a has insufficient balance, roadside device a may refuse to provide vehicle a with the trajectory information acquired by the roadside device. Optionally, roadside device a may also send a vehicle service response message b to the vehicle, indicating that vehicle a failed verification. Optionally, roadside device a may refuse to establish a communication connection with vehicle a based on verification notification message b.

[0287] Figure 6 This is a schematic flowchart of another interactive method provided in an embodiment of the present application. Figure 6 The interaction method shown can be applied, for example, to Figure 4 401 and 402 in the method shown. Figure 6 In the example shown, the vehicle may be directly authenticated, for example, by a roadside device.

[0288] 601. The server sends service vehicle information to the roadside device, where the service vehicle information is used to indicate full verification information of multiple vehicles that have the authority to receive the service.

[0289] Accordingly, the roadside device obtains the service vehicle information from the server.

[0290] 602. The vehicle sends a vehicle service request message to the roadside device, where the vehicle service request message includes verification information of the vehicle.

[0291] Accordingly, the roadside apparatus receives a vehicle service request message from the vehicle.

[0292] At 603, the roadside equipment determines, based on the verification information and the service vehicle information, that the vehicle belongs to the plurality of vehicles authorized to receive service, and determines whether the vehicle has passed verification based on the determination result. The roadside equipment may determine whether the vehicle has passed verification based on the determination that the vehicle belongs to the plurality of vehicles.

[0293] Figure 6 The vehicle shown may correspond to, for example, Figure 1 Any vehicle shown. Figure 6 The roadside equipment shown may correspond to Figure 1 Any roadside equipment shown. Figure 6 The server shown may correspond to, for example Figure 1 Any server shown.

[0294] Below Figure 1 Taking the roadside equipment a, vehicle a, and server 1 shown as an example, a method for verifying a vehicle provided by an embodiment of the present application is explained.

[0295] Roadside device A can obtain full verification information for multiple vehicles from server 1. This full verification information can be used to directly and completely verify the vehicle's verification information. In one example, the full verification information can include all of the vehicle's verification information. In another example, the full verification information can be the complete data used to verify the vehicle's verification information. For example, the full verification information for a vehicle can include one or more of the following: a certificate key, a username and login password, a qualification priority, and a qualification validity period. Thus, roadside device A can function to verify a vehicle.

[0296] After vehicle a enters the communication range of roadside device a, it can send a vehicle service request message to roadside device a. This message can be used to request that roadside device a provide vehicle-to-vehicle communication services. The message can include verification information for vehicle a, including information verifying the legitimacy of vehicle a. Roadside device a can verify the verification information reported by vehicle a based on the full verification information of multiple vehicles sent by server 1, and obtain a verification result for vehicle a.

[0297] If the full verification information of multiple vehicles includes the verification information of vehicle a, or the verification information of vehicle a can match the full verification information of one of the multiple vehicles, the multiple vehicles with service authorization indicated by the service vehicle information can include vehicle a. Therefore, the roadside device a can determine that the vehicle has passed the verification. The roadside device a can provide vehicle network communication services for vehicle a. For example, the roadside device a can perform Figure 4 403 to 405 are shown. That is, if the verification information reported by vehicle a is legitimate (e.g., the certificate is valid, the certificate priority is higher than the preset priority, etc.), roadside device a can provide vehicle a with the trajectory information obtained by roadside device a. Roadside device a can also send a vehicle service response message a to vehicle a, indicating that vehicle a has passed verification. Optionally, if vehicle a successfully verifies, roadside device a can establish a communication connection with vehicle a.

[0298] If the full verification information of multiple vehicles does not include the verification information of vehicle a, or the verification information of vehicle a cannot match the full verification information of any vehicle in the full verification information of multiple vehicles, the multiple vehicles with service authorization indicated by the service vehicle information may not include vehicle a. Therefore, roadside device a can determine that the vehicle verification has failed. Roadside device a can refuse to provide vehicle network communication services to vehicle a. For example, roadside device a can refuse to perform Figure 4 403 to 405 are shown. That is, if the verification information reported by vehicle A is invalid, or if the account corresponding to the verification information reported by vehicle A has insufficient balance, roadside device A may refuse to provide vehicle A with the trajectory information acquired by the roadside device. Roadside device A may also send a vehicle service response message b to the vehicle, indicating that vehicle A failed verification. Optionally, roadside device A may refuse to establish a communication connection with vehicle A based on verification notification message b.

[0299] and Figure 5 The method of verifying the vehicle shown is compared to Figure 6 The method shown is helpful in reducing the number of signaling interactions during the vehicle verification process, thereby helping to improve the efficiency of vehicle verification.

[0300] Figure 7 This is a schematic flowchart of another interaction method provided in an embodiment of the present application. Figure 7 The interaction method shown can be applied, for example, to Figure 4 401 and 402 in the method shown. Figure 7 In the example shown, the vehicle may be pre-verified by the roadside equipment and then fully verified by the server, for example.

[0301] 701. The server sends service vehicle information to the roadside device, wherein the service vehicle information is index information of multiple vehicles with permission to receive service. The index information can be used to indicate the multiple vehicles with permission to receive service.

[0302] Accordingly, the roadside device obtains the service vehicle information from the server.

[0303] 702. The vehicle sends a vehicle service request message to the roadside device, where the vehicle service request message includes verification information of the vehicle.

[0304] Accordingly, the roadside apparatus receives the vehicle service request message from the vehicle.

[0305] At 703, the roadside equipment determines whether the vehicle is one of the multiple vehicles authorized to receive service based on the verification information and the service vehicle information, and determines whether the vehicle has passed verification based on the determination result. The roadside equipment may determine whether the vehicle has passed verification based on the determination result that the vehicle is one of the multiple vehicles.

[0306] 703 , for example, may be used to pre-verify the vehicle.

[0307] 704. The roadside device sends a vehicle verification request message to the server, where the vehicle verification request message includes the verification information.

[0308] Accordingly, the server receives a vehicle verification request message from the roadside device.

[0309] 705. The server verifies the vehicle according to the verification information.

[0310] 706. The server sends a verification notification message to the roadside device, where the verification notification message is used to indicate whether the vehicle is successfully verified.

[0311] Correspondingly, the roadside device receives the verification notification message from the server.

[0312] 707. The roadside device determines that the vehicle has passed the verification based on the verification notification message indicating that the vehicle has passed the verification, or the roadside device determines that the vehicle has failed the verification based on the verification notification message indicating that the vehicle has failed the verification.

[0313] Figure 7 The vehicle shown may correspond to, for example, Figure 1 Any vehicle shown. Figure 7 The roadside equipment shown may correspond to Figure 1 Any roadside equipment shown. Figure 7 The server shown may correspond to, for example Figure 1 Any server shown.

[0314] Below Figure 1 Taking the roadside equipment a, vehicle a, and server 1 shown as an example, a method for verifying a vehicle provided by an embodiment of the present application is explained.

[0315] Roadside device A can obtain index information for multiple vehicles authorized to receive services from server 1. This index information can be an index of full verification information. The index information for multiple vehicles authorized to receive services can correspond to the full verification information for multiple vehicles stored on server 1. The index information can be used for pre-verification of the vehicle. The index information can be used to indicate a portion of the full verification information. The index information can include, for example, an authentication certificate identifier or a user name. Thus, roadside device A can function to verify the vehicle.

[0316] After vehicle a enters the communication range of roadside device a, it can send a vehicle service request message to roadside device a. Roadside device a can verify the verification information reported by vehicle a based on the index information of multiple vehicles with service permissions issued by server 1.

[0317] In the case where the verification information of vehicle a can match the index information of one of the multiple vehicles with the authority to receive services, the multiple vehicles with the authority to receive services indicated by the service vehicle information can include vehicle a. As a result, the roadside device a can determine that the vehicle has passed the verification. For example, the index information of multiple vehicles with the authority to receive services can include multiple authentication certificate identifiers, and the multiple authentication certificate identifiers can correspond one-to-one with the authentication certificates of multiple vehicles. If the multiple authentication certificate identifiers include the identifier of the authentication certificate of vehicle a, then vehicle a can be successfully verified. For another example, the service vehicle index information of multiple vehicles with the authority to receive services can include multiple user names. If the multiple user names include the user name reported by vehicle a, then vehicle a can be successfully verified.

[0318] If vehicle a is successfully authenticated, roadside device a can provide vehicle-to-vehicle communication services to vehicle a. For example, roadside device a can perform Figure 4 403 to 405 shown. Roadside device a may also send a vehicle service response message a to vehicle a. Vehicle service response message a may be used to indicate that vehicle a has passed verification. Optionally, roadside device a may establish a communication connection with vehicle a.

[0319] In the case where the verification information of vehicle a cannot match the index information of a vehicle with service permission in the service vehicle index information of multiple vehicles with service permission, the multiple vehicles with service permission indicated by the service vehicle information may not include vehicle a. As a result, the roadside device a can determine that the vehicle verification has failed. For example, the index information of multiple vehicles with service permission may include multiple authentication certificate identifiers, and the multiple authentication certificate identifiers may correspond one-to-one with the authentication certificates of multiple vehicles. If the multiple authentication certificate identifiers do not include the identifier of the authentication certificate of vehicle a, vehicle a may fail verification. For another example, the index information of multiple vehicles with service permission may include multiple user names. If the multiple user names do not include the user name reported by vehicle a, vehicle a may fail verification.

[0320] If vehicle a fails to verify, roadside device a may refuse to provide vehicle network communication services to vehicle a. For example, roadside device a may not perform Figure 4 403 to 405 shown. Roadside device a may also send a vehicle service response message b to vehicle a. Vehicle service response message b may be used to indicate that vehicle a has failed verification. Optionally, roadside device a may refuse to establish a communication connection with vehicle a.

[0321] For example, the specific implementation of 702, 704 to 706 can be referred to Figure 5 501 to 504 shown.

[0322] In one example, after 703 , vehicle a may be pre-verified successfully.

[0323] If roadside device a receives verification notification message a from server 1, it means that server 1 has successfully verified the complete verification information of vehicle a. Roadside device a can continue to provide vehicle-to-vehicle communication services to vehicle a. Optionally, roadside device a can continue to interact with vehicle a through the communication connection previously established with vehicle a.

[0324] If RSU a receives verification notification message b from server 1, it means that server 1 has failed to fully verify vehicle a's authentication information. RSU a can suspend providing IoV communication services to vehicle a. For example, RSU a can refrain from sending track forwarding messages in the current or next transmission cycle. Alternatively, RSU a can terminate the previously established communication connection with vehicle a.

[0325] In another example, after 703 , vehicle a may fail pre-authentication.

[0326] If roadside device a receives verification notification message a from server 1, it can provide IoV communication services to vehicle a. For example, roadside device a can begin sending track forwarding messages during the current or next transmission cycle. Alternatively, roadside device a can establish a communication connection with vehicle a based on verification notification message a.

[0327] If the roadside device a receives the verification notification message b from the server 1, the roadside device a may continue to refuse to provide the Internet of Vehicles communication service to the vehicle a. Alternatively, the roadside device a may continue to refuse to establish a communication connection with the vehicle a.

[0328] Combine Figure 1 、 Figures 4 to 7 In the example shown, when vehicle a enters the communication range of roadside equipment a, vehicle a can Figures 5 to 7 When vehicle a moves from the communication range of roadside device a to the communication range of roadside device b, vehicle a can pass through the communication range of roadside device b again. Figures 5 to 7 Any of the embodiments shown completes vehicle verification. However, the vehicle verification process may be relatively time-consuming and may affect the efficiency of interaction between vehicle A and the Internet of Vehicles communication device.

[0329] Figure 8 This is a schematic flowchart of another interaction method provided in an embodiment of the present application. Figure 8 The interaction method shown can be applied, for example, to Figure 4 401 and 402 in the method shown. Figure 8 In the example shown, the process of authenticating the vehicle by the server can be dispensed with, for example.

[0330] 801. A vehicle sends a vehicle service request message 1 to a third roadside device. The vehicle service request message 1 includes verification information of the vehicle.

[0331] Accordingly, the third roadside apparatus receives the vehicle service request message 1 from the vehicle.

[0332] 802. The third roadside device determines a verification result of the vehicle based on the verification information.

[0333] 803. The third roadside device sends a verification notification message to the first roadside device, where the verification notification message is used to indicate whether the vehicle has passed the verification.

[0334] Accordingly, the first roadside device receives the verification notification message from the third roadside device.

[0335] 804. The vehicle sends a vehicle service request message 2 to the first roadside device, where the vehicle service request message 2 includes verification information of the vehicle.

[0336] Accordingly, the first roadside apparatus receives the vehicle service request message 2 from the vehicle.

[0337] For example, 803 may be executed before or after 804 , or may be executed synchronously with 804 .

[0338] 805. The first roadside device determines whether the vehicle passes the verification based on the verification information and the verification notification message.

[0339] Figure 8 The vehicle shown may correspond to, for example, Figure 1 Any vehicle shown. Figure 8 The first roadside equipment and the second roadside equipment shown may correspond to Figure 1 Any two roadside equipment shown.

[0340] Below Figure 1 Taking the roadside equipment a, roadside equipment b, and vehicle a shown as an example, a method for verifying a vehicle provided by an embodiment of the present application is explained.

[0341] For example, the specific implementation of 801 to 802 can refer to Figures 5 to 7 Example shown.

[0342] After vehicle a enters the communication range of roadside device a, vehicle a can send a vehicle service request message 1 to roadside device a. Figures 5 to 7 In any of the illustrated embodiments, a verification result for vehicle a is determined (the verification result for vehicle a may include a successful verification of vehicle a). Roadside apparatus a may transmit the verification result for vehicle a to roadside apparatus b via a verification notification message c. For example, roadside apparatus a may be upstream of roadside apparatus b in the direction of movement of vehicle a (this may be referred to as roadside apparatus a being an upstream roadside apparatus of roadside apparatus b).

[0343] After vehicle a enters the communication range of roadside device b, it can send vehicle service request message 2 to roadside device b. Roadside device b can determine whether vehicle a has passed verification based on vehicle service request message 2 and verification notification message c from roadside device a.

[0344] In one example, the verification notification message c from the roadside device a may directly indicate the verification result of the vehicle a. The roadside device a may determine the verification result of the vehicle a based on the verification notification message c.

[0345] In another example, the verification notification message c from roadside device a may include verification information indicating vehicle a, thereby indirectly indicating the verification result of vehicle a. For example, the verification notification message c from roadside device a may include a key used to verify vehicle a's authentication certificate. Roadside device a may use this key to verify the authentication certificate in the vehicle service request message. In another example, the verification notification message c from roadside device a may include the username and password used to authenticate vehicle a. Roadside device a may use this username and password to verify the username and password in the vehicle service request message.

[0346] Combine Figure 1 , both roadside device a and roadside device b can be within the coverage of server 1. In another scenario, when a vehicle travels from the communication range of roadside device b to the communication range of roadside device c, roadside device b can send a verification notification message d indicating vehicle a to roadside device c. Roadside device c can be within the coverage of server 2, which can be different from server 1.

[0347] In one example, roadside device b can interact with roadside device c through server 1 and server 2. Server 1 can forward verification notification message d from roadside device b to server 2, so that roadside device c can obtain verification notification message d from roadside device b from server 2.

[0348] 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 also forward the address and topology information of roadside device B to roadside device C. This allows direct interaction between roadside devices B and C. Based on the address and topology information of roadside device C, roadside device B can send a verification notification message d to roadside device C.

[0349] pass Figure 8 According to the method shown, the first roadside device can obtain the information required for vehicle verification from the third roadside device, which is beneficial to reducing the time required for vehicle verification, signaling interaction, etc., and further beneficial to improving the efficiency of signaling interaction.

[0350] according to Figure 4 As shown in one embodiment, even if the vehicle does not complete the verification, the roadside equipment can send the track information obtained by the roadside equipment, for example, by periodic transmission, without knowing whether there is a vehicle. However, this method of sending track information is relatively mechanical. Figures 5 to 8 With the method shown, the roadside equipment can obtain the communication data of the vehicle, thereby facilitating the flexible provision of Internet of Vehicles communication services to the vehicle.

[0351] For example, the vehicle service request message may also include vehicle A's trajectory information. Vehicle A's trajectory information may include, for example, one or more of vehicle type, appearance, model, license plate information, location, speed, and direction. For example, vehicle A may report its trajectory information to roadside device A. Roadside device A may obtain vehicle A's trajectory information via a sensor device. Roadside device A may match the trajectory information reported by vehicle A with the trajectory information obtained via the sensor device, thereby establishing an association between vehicle A's communication information and vehicle A's trajectory information.

[0352] When vehicle a appears within the coverage area of ​​roadside device a, the sensor device corresponding to or connected to roadside device a can capture vehicle a's trajectory information. Furthermore, roadside device a can continue to exchange trajectory information with vehicle a. If roadside device a can send vehicle a's own trajectory information to vehicle a, this may cause vehicle a to incorrectly analyze the trajectory information sent by the roadside device. In one example, vehicle a confirms the presence of vehicle b by analyzing the trajectory information. The driving plan planned by vehicle a may cause vehicle a to always avoid vehicle b. However, vehicle b is vehicle a itself. In another example, vehicle a can ignore trajectory information that matches vehicle a's trajectory information. However, this may cause vehicle a to ignore trajectory information other than its own, which may easily lead to traffic accidents. If roadside device a can skip vehicle a's trajectory information when sending trajectory information to vehicle a, this will not only help reduce signaling overhead but also make it easier for the vehicle to process trajectory information.

[0353] Since the position of a vehicle within the communication range of a roadside device usually changes dynamically, the roadside device can send trajectory information to the vehicle and flexibly adjust the amount of trajectory information corresponding to the beyond-visual-range perception range, which helps to adapt the amount of information sent by the roadside device to the processing capability of the vehicle.

[0354] The following combination Figures 1 to 4 and through Figures 9 to 14 The example shown illustrates a method for determining a roadside device corresponding to a beyond-visual-range perception range provided by an embodiment of the present application.

[0355] by Figure 1Take the roadside device a shown as an example. Roadside device a can determine at least one surrounding roadside device of roadside device a based on its beyond-visual-range perception range, where the beyond-visual-range perception range is greater than the coverage range of roadside device a. At least part of the coverage range of roadside device a is within the beyond-visual-range perception range. For example, the at least one surrounding roadside device within the beyond-visual-range perception range may include roadside device b. The center of the beyond-visual-range perception range corresponds to the position of roadside device a or vehicle a, for example. The position of vehicle a can be sensed by the sensing equipment of roadside device a, or the current position of vehicle a can be reported by vehicle a to roadside device a.

[0356] Roadside equipment a can determine the beyond-visual-range perception range.

[0357] In one example, the beyond-visual-range perception range may be a preset beyond-visual-range perception range.

[0358] For example, different road types may require different BVR sensing ranges. On highways, a vehicle may require a relatively large BVR sensing range; on lower-speed roads around campuses, crosswalks, and other locations, a vehicle may require a relatively small BVR sensing range. The specific value of the preset BVR sensing range may be determined by the type of road on which the roadside device a is located.

[0359] For example, when the road is congested, even if the vehicle can obtain trajectory information at a longer distance, it cannot travel that long distance in a short period of time. Therefore, the preset BVR perception range can correspond to the congested BVR perception range, and the congested BVR perception range can be relatively narrow. When the road is unobstructed, the preset BVR perception range can correspond to the unobstructed BVR perception range, and the unobstructed BVR perception range can be relatively wider than the congested BVR perception range.

[0360] In another example, the beyond-visual-range perception range may be the beyond-visual-range perception range requested by vehicle A. Vehicle A may, for example, indicate the beyond-visual-range perception range requested by vehicle A to roadside device A using beyond-visual-range perception range indication information. Roadside device A may determine one or more roadside devices corresponding to the beyond-visual-range perception range requested by vehicle A. The beyond-visual-range perception ranges may vary for different vehicles.

[0361] For example, if vehicle A has a relatively high data processing capability and can process relatively more trajectory information, vehicle A can request a relatively wide beyond-visual-range sensing range from roadside equipment A to plan a relatively comprehensive driving plan.

[0362] For example, when vehicle a is currently in a congested state, the beyond-visual-range sensing range required by vehicle a may be relatively small. Vehicle a may request a relatively narrow beyond-visual-range sensing range from roadside device a to reduce the amount of data processing required by vehicle a.

[0363] In yet another example, the beyond-visual-range perception range may be determined by the beyond-visual-range perception range requested by vehicle a and a preset beyond-visual-range perception range.

[0364] For example, if vehicle A's processing capabilities are relatively weak, the BVR sensing range requested by vehicle A may be smaller than the preset BVR sensing range. Based on vehicle A's request, roadside device A can narrow the preset BVR sensing range to obtain the BVR sensing range corresponding to vehicle A. This helps reduce the amount of trajectory information sent by roadside device A and reduces unnecessary signaling loss. Similarly, if vehicle A's processing capabilities are relatively strong, the BVR sensing range requested by vehicle A may be larger than the preset BVR sensing range. Based on vehicle A's request, roadside device A can widen the preset BVR sensing range to obtain the BVR sensing range corresponding to vehicle A. This helps optimize vehicle A's driving plan.

[0365] The at least one surrounding roadside device determined by the roadside device a may include an upstream roadside device and / or a downstream roadside device. When the vehicle is within the coverage of the roadside device, as viewed along the vehicle's travel direction, the roadside device located in front of or downstream of the vehicle may be considered the downstream roadside device, and the roadside device located behind or upstream of the vehicle may be considered the upstream roadside device. Figure 1 As shown, roadside equipment a and roadside equipment b are used to obtain trajectory information on the same side of the road. Vehicle a is traveling on the road and is traveling close to one side of the road. Vehicle a can pass through the coverage of roadside equipment a and roadside equipment b in sequence. In this case, roadside equipment b is the downstream roadside equipment of roadside equipment a, and roadside equipment a can be the upstream roadside equipment of roadside equipment b. Figure 4 In the example shown, the at least one surrounding roadside apparatus determined by the roadside apparatus a may include the roadside apparatus b.

[0366] In a first possible solution, the at least one surrounding roadside apparatus may include a farthest downstream roadside apparatus, and the sum of the distance between the farthest downstream roadside apparatus and roadside apparatus a and the sensing radius of the farthest downstream roadside apparatus is greater than the radius of the beyond-visual-range perception range. The farthest downstream roadside apparatus may be the roadside apparatus that is farthest (or the furthest away) from roadside apparatus a among the at least one surrounding roadside apparatus. The sensing radius of the farthest downstream roadside apparatus may be the radius of the coverage range of the farthest downstream roadside apparatus.

[0367] like Figure 9As shown, at least one peripheral roadside device of roadside device a includes downstream roadside device 1, downstream roadside device 2, …… downstream roadside device N - 1, and downstream roadside device N. Among them, the distance between downstream roadside device i and roadside device a is greater than the distance between downstream roadside device i - 1 and roadside device a, and less than the distance between downstream roadside device i + 1 and roadside device a, where 1 < i < N. Downstream roadside device N can be the farthest downstream roadside device among at least one peripheral roadside device. Assuming the distance between downstream roadside device N and roadside device a is d, and the sensing radius of the downstream roadside device is r, the radius L of the beyond - line - of - sight sensing range can satisfy: L < r + d.

[0368] In Figure 9 the example shown, the distance d between the farthest downstream roadside device and roadside device a can be less than the radius L of the beyond - line - of - sight sensing range. In another example, the distance d between the farthest downstream roadside device and roadside device a can be greater than or equal to the radius L of the beyond - line - of - sight sensing range.

[0369] In the second possible solution, at least one peripheral roadside device includes the farthest downstream roadside device and the second - farthest downstream roadside device. The distance between the farthest downstream roadside device and roadside device a is greater than the radius of the beyond - line - of - sight sensing range, and the distance between the second - farthest downstream roadside device and roadside device a is less than the radius of the beyond - line - of - sight sensing range. The second - farthest downstream roadside device can refer to the roadside device that is the second - farthest from roadside device a among at least one peripheral roadside device.

[0370] As Figure 10 shown, at least one peripheral roadside device of roadside device a includes downstream roadside device 1, downstream roadside device 2, …… downstream roadside device N - 1, and downstream roadside device N. Among them, the distance between downstream roadside device i and roadside device a is greater than the distance between downstream roadside device i - 1 and roadside device a, and less than the distance between downstream roadside device i + 1 and roadside device a, where 1 < i < N. Downstream roadside device N can be the farthest downstream roadside device among at least one peripheral roadside device. Downstream roadside device N - 1 can be the second - farthest downstream roadside device among at least one peripheral roadside device. Assuming the distance between downstream roadside device N and roadside device a is d N , the distance between downstream roadside device N - 1 and roadside device a is d N-1 , the radius L of the beyond - line - of - sight sensing range can satisfy: d N-1 < L < d N .

[0371] In one example, the sensing radius of the second - farthest downstream roadside device is r, and the radius L of the beyond - line - of - sight sensing range can satisfy: L > d N-1 + r.

[0372] In the third possible scenario, the spacing between adjacent roadside devices can be approximately the same. At least one peripheral roadside device can include floor(L / x) downstream roadside devices, where L can be the radius of the beyond-line-of-sight perception range, and x can be the average spacing between adjacent downstream roadside devices. The function floor() can be the floor function.

[0373] As Figure 11 shown, at least one peripheral roadside device of roadside device a includes downstream roadside device 1, downstream roadside device 2,..., downstream roadside device N-1, and downstream roadside device N. Among them, the distance between downstream roadside device i and roadside device a is greater than the distance between downstream roadside device i-1 and roadside device a, and less than the distance between downstream roadside device i+1 and roadside device a, where 1 < i < N.

[0374] In one example, the number N of at least one peripheral roadside device is N = floor(L / x). The distance between downstream roadside device N and roadside device a is N*x, and the radius L of the beyond-line-of-sight perception range can satisfy: L < N*x + r, where r can be the sensing radius of downstream roadside device N. Optionally, assuming that the sensing radius of downstream roadside device N-1 is the same as that of downstream roadside device N, L can also satisfy: L > (N-1)*x + r.

[0375] In another example, the number N of at least one peripheral roadside device is N = ceil(L / x). The function ceil() can be the ceiling function. That is, the distance between downstream roadside device N and roadside device a is N*x, and the radius L of the beyond-line-of-sight perception range can satisfy: L < N*x. Optionally, L can also satisfy: L > (N-1)*x + r, where r can be the sensing radius of downstream roadside device N-1.

[0376] Figures 9 to 11 The scenario shown can be applied to scenarios such as straight roads, for example. Figures 12 to 14 The scenario shown can be applied to scenarios with road forks, for example.

[0377] [[ID=__]] Figures 12 to 14 shown, in the beyond-line-of-sight perception range, there can be section 1, section 2, and section 3. Section 1, section 2, and section 3 can intersect at a road fork. Assume that roadside device a is located on section 1. Roadside device a has multiple downstream roadside devices on section 3, including downstream roadside device 1, downstream roadside device 2,..., downstream roadside device N-1, and downstream roadside device N. Among them, the distance between downstream roadside device i and roadside device a is greater than the distance between downstream roadside device i-1 and roadside device a, and less than the distance between downstream roadside device i+1 and roadside device a, where 1 < i < N.

[0378] ​In the fourth possible solution, at least one peripheral roadside device includes the farthest downstream roadside device, and the sum of the distance between the farthest downstream roadside device and the road fork, the distance between the road fork and roadside device a, and the sensing radius of the farthest downstream roadside device is greater than the radius of the beyond-line-of-sight perception range.

[0379] As Figure 12 shown, the downstream roadside device N can be the farthest downstream roadside device among at least one peripheral roadside device. Suppose the distance between roadside device a and the road fork is d1, the distance between downstream roadside device N and the road fork is d2, and the sensing radius of downstream roadside device N is r. The radius L of the beyond-line-of-sight perception range can satisfy: L < r + d1 + d2. Optionally, the sum (d1 + d2) of the distance d1 between roadside device a and the road fork d, and the distance d2 between downstream roadside device N and the road fork can be less than, equal to, or greater than the radius L of the beyond-line-of-sight perception range.

[0380] In the fifth possible solution, at least one peripheral roadside device includes the farthest downstream roadside device and the second-farthest downstream roadside device, and the sum of the distance between the farthest downstream roadside device and the road fork, and the distance between the road fork and roadside device a is greater than the radius of the beyond-line-of-sight perception range, while the sum of the distance between the second-farthest downstream roadside device and the road fork, and the distance between the road fork and roadside device a is less than the radius of the beyond-line-of-sight perception range.

[0381] As Figure 13 shown, the downstream roadside device N can be the farthest downstream roadside device among at least one peripheral roadside device. The downstream roadside device N-1 can be the second-farthest downstream roadside device among at least one peripheral roadside device. Suppose the distance between downstream roadside device N and the road fork is d 2,N , the distance between the road fork and roadside device a is d1, and the distance between downstream roadside device N-1 and roadside device a is d 2,N-1 , and the radius L of the beyond-line-of-sight perception range can satisfy: d1 + d 2,N-1 < L < d1 + d 2,N .

[0382] In one example, the sensing radius of the second-farthest downstream roadside device is r, and the radius L of the beyond-line-of-sight perception range can satisfy: L > d1 + d 2,N-1 + r.

[0383] In the sixth possible solution, as Figure 14As shown, the distance between adjacent roadside devices can be approximately the same. There are n downstream roadside devices between roadside device a and the road fork. The distance between roadside device a and the road fork can be d1. At least one peripheral roadside device can include n + floor((L - d1) / x) downstream roadside devices. L can be the radius of the beyond-line-of-sight perception range, and x can be the average distance between adjacent downstream roadside devices. The function floor() can be the floor function.

[0384] In one example, the number N of at least one peripheral roadside device is N = n + floor((L - d1) / x). The distance between downstream roadside device N and the road fork is N * x. The radius L of the beyond-line-of-sight perception range can satisfy: L < N * x + d1 + r, where r can be the sensing radius of downstream roadside device N. Optionally, assuming that the sensing radius of downstream roadside device N - 1 is the same as that of downstream roadside device N, L can also satisfy: L > (N - 1) * x + d1 + r.

[0385] In another example, the number N of at least one peripheral roadside device is N = n + ceil((L - d1) / x). The function ceil() can be the ceiling function. That is, the distance between downstream roadside device N and the road fork is N * x. The radius L of the beyond-line-of-sight perception range can satisfy: L < N * x + d1. Optionally, L can also satisfy: L > (N - 1) * x + d1, where r can be the sensing radius of downstream roadside device N - 1.

[0386] Optionally, roadside device a can also determine at least one upstream roadside device according to the beyond-line-of-sight perception range. The specific implementation of roadside device a to determine at least one upstream roadside device can refer to Figures 9 to 14 the example shown, which will not be elaborated here.

[0387] Combined with Figures 1 to 14 the example shown, when vehicle a travels to the communication handover area between roadside device a and roadside device b, both roadside device a and roadside device b can send trajectory information to vehicle a, which may cause unnecessary signaling overhead. To reduce the signaling overhead and for the coherence of trajectory information interaction, roadside device a can transfer the service of sending trajectory information to vehicle a to roadside device b.

[0388] Figure 15 is a schematic flowchart of another method for interacting trajectory information provided by an embodiment of the present application.

[0389] 1501. The vehicle sends a vehicle service request message 1 to the fourth roadside device, and the vehicle service request message 1 includes the verification information of the vehicle.

[0390] Accordingly, the fourth roadside apparatus receives the vehicle service request message 1 from the vehicle.

[0391] 1502. The fourth roadside device determines whether the vehicle passes the verification based on the verification information.

[0392] In the case where the fourth roadside device determines that the vehicle verification has passed, the fourth roadside device may execute 1503. 1503 may be an optional step.

[0393] 1503. The fourth roadside device sends trajectory information 1 to the vehicle.

[0394] Accordingly, the vehicle receives the trajectory information 1 from the fourth roadside device.

[0395] The trajectory information 1 can, for example, be used to indicate a trajectory within the coverage of the fourth roadside device, or to indicate a trajectory outside the coverage of the fourth roadside device, or to indicate a trajectory within the coverage of the fourth roadside device and outside the coverage of the fourth roadside device.

[0396] 1504. The fourth roadside device sends a switching request message to the first roadside device, where the switching request message is used to request that the service device of the vehicle be switched from the fourth roadside device to the first roadside device.

[0397] Accordingly, the first roadside device may receive the switching request message from the fourth roadside device.

[0398] For example, step 1504 may be executed when the vehicle is located in an area where the communication range of the first roadside device and the communication range of the fourth roadside device intersect, or when the vehicle is located in an area where the coverage range of the first roadside device and the coverage range of the fourth roadside device intersect. Generally speaking, the coverage range of a roadside device may be smaller than the communication range of the roadside device. Limiting service switching to the intersection of coverage ranges is beneficial for improving signaling transmission and reception quality.

[0399] 1505. In response to the switching request message, the first roadside device sends a switching response message to the fourth roadside device, where the switching response message is used to instruct the first roadside device to become the service device of the vehicle.

[0400] Accordingly, the fourth roadside device may receive the switching response message from the first roadside device.

[0401] 1506. The vehicle sends a vehicle service request message 2 to the first roadside device, where the vehicle service request message 2 includes verification information of the vehicle.

[0402] Accordingly, the first roadside device receives the vehicle service request message 2 from the vehicle;

[0403] There is no requirement for the execution order of the switching request and response steps constituted by steps 1504 and 1505, and the verification step of the vehicle by the first roadside device constituted by steps 1506 and 1507, that is: the switching request and response can be performed first, and then the verification of the vehicle by the first roadside device can be performed; or the verification of the vehicle by the first roadside device can be performed first, and then the switching request and response can be performed; or both can be performed simultaneously.

[0404] 1507. The first roadside device determines that the vehicle has passed the verification based on the verification information.

[0405] 1506 and 1507 may be optional steps. Figure 4 The steps 401 and 402 are not described in detail here.

[0406] 1508. The first roadside device sends trajectory information 2 to the vehicle.

[0407] Accordingly, the vehicle receives the trajectory information 2 from the first roadside device.

[0408] The specific implementation of 1508 can refer to Figure 15 The 1503 shown is not repeated here.

[0409] The trajectory information 2 can, for example, be used to indicate a trajectory within the coverage of the first roadside device, or to indicate a trajectory outside the coverage of the first roadside device, or to indicate a trajectory within the coverage of the first roadside device and outside the coverage of the first roadside device.

[0410] Figure 15 The vehicle shown may correspond to, for example, Figure 1 Any vehicle shown. Figure 15 The first roadside equipment and the second roadside equipment shown may correspond to Figure 1 Any two roadside equipment shown.

[0411] Below Figure 1 Taking the roadside equipment a, roadside equipment b, and vehicle a shown as an example, a method for verifying a vehicle provided by an embodiment of the present application is explained.

[0412] For example, the specific implementation of 1501 to 1502 can be referred to Figures 5 to 7 Example shown.

[0413] After vehicle a enters the communication range of roadside device a, vehicle a can send a vehicle service request message to roadside device a. Figures 5 to 8 In any of the embodiments shown, it is determined that the verification of vehicle a is successful. Roadside device a sends the trajectory information a obtained by roadside device a to vehicle a based on the verification result of vehicle a. In one example, the trajectory information a obtained by roadside device a may include trajectory information within the coverage area of ​​roadside device a. In another example, referring to Figure 4 In the illustrated embodiment, the trajectory information a acquired by the roadside device a may include trajectory information located outside the coverage range of the roadside device a.

[0414] When vehicle a enters the boundary between the communication range of roadside device a and the communication range of roadside device b, or leaves the communication range of roadside device a, or enters the boundary between the coverage range of roadside device a and the coverage range of roadside device b, or leaves the coverage range of roadside device a, roadside device a may send a handover request message to roadside device b. The position of vehicle a may be sensed by roadside device a; or the position of vehicle a may be sensed by roadside device b, and roadside device a may obtain the position of vehicle a from roadside device b; or vehicle a may report its position to roadside device a.

[0415] The switching request message may be used to request that the service device of vehicle a be switched from roadside device a to roadside device b.

[0416] The handover request message may, for example, include one or more of the following: roadside device indication information a, roadside device indication information b, and vehicle indication information a. Roadside device indication information a may be used to indicate roadside device a, and roadside device indication information b may be used to indicate roadside device b. Vehicle indication information a may be used to indicate vehicle a. Optionally, vehicle indication information a may include characteristic information of vehicle a. The characteristic information of vehicle a may, for example, include one or more of the following: vehicle type, vehicle appearance, vehicle model, and vehicle license plate number.

[0417] In response to the handover request message, roadside device b can send a handover response message to roadside device a. The service handover response message can include, for example, one or more of the following: roadside device indication information a, roadside device indication information b, vehicle indication information a, and a handover result. The handover result can indicate, for example, a handover success or a handover failure.

[0418] In an example, after receiving the handover request message, the roadside device b may directly send a handover response message to the roadside device a.

[0419] In another example, roadside device B can send a query message to vehicle A, which can carry vehicle indication information A. Vehicle A can respond to the query message based on vehicle indication information A in the query message. This allows roadside device B to confirm that vehicle A can receive the message sent by roadside device B.

[0420] In another example, the handover request message may include the characteristic information of vehicle A. Roadside device B may obtain the characteristic information of at least one vehicle within its coverage area and match it with the characteristic information of vehicle A in the handover request message to determine whether vehicle A has entered the coverage area of ​​roadside device B. If a match is found, roadside device B may determine that vehicle A has entered its coverage area and may send a handover response message to roadside device A. The handover response message may indicate that roadside device B has become the serving device for vehicle A. Optionally, the handover response message may indicate a successful handover.

[0421] After the roadside device a receives the switching response message indicating that the roadside device b becomes the service device of vehicle a, the roadside device a may stop providing vehicle network communication services to vehicle a. For example, the roadside device a may stop sending the trajectory information obtained by the roadside device a to vehicle a. For another example, in combination with Figure 4 In the example shown, the roadside equipment a can stop executing Figure 4 403 to 405 shown.

[0422] If the handover response message indicates that the handover has failed, the roadside device b may refuse or not provide the vehicle network communication service to the vehicle a. For example, the roadside device b may refuse or not send the trajectory information obtained by the roadside device b to the vehicle a. Figure 4 In the example shown, the roadside device b may refuse or not execute Figure 4 403 to 405 shown. Optionally, the roadside device a can continue to provide vehicle network communication services for vehicle a. The roadside device a can continue to be a service device for vehicle a.

[0423] In one possible scenario, both roadside devices A and B can be within the coverage of server 1. In another possible scenario, when a vehicle moves from the communication range of roadside device B to the communication range of roadside device C, roadside device B can send a handover request message to roadside device C. In response, roadside device C can send a handover response message to roadside device B. Roadside device C can be within the coverage of server 2, which can be different from server 1.

[0424] In one example, roadside device B can interact with roadside device C through Server 1 and Server 2. Server 1 can forward a handover request message from roadside device B to Server 2, so that roadside device C can obtain the handover request message from roadside device B from Server 2. Similarly, Server 2 can forward a handover response message from roadside device B to Server 1, so that roadside device B can obtain the handover response message from roadside device C from Server 1.

[0425] 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 also forward the address and topology information of roadside device B to roadside device C. This allows direct interaction between roadside devices B and C. Roadside device B can send a handover request message to roadside device C based on the address and topology information of roadside device C. Roadside device C can send a handover response message to roadside device B based on the address and topology information of roadside device B.

[0426] Figure 16 16 is a schematic structural diagram of an apparatus 1600 provided in an embodiment of the present application. The apparatus 1600 includes one or more of a receiving unit 1601, a processing unit 1602, and a sending unit 1603. The apparatus 1600 can be used to perform each step of the interaction method provided in an embodiment of the present application.

[0427] The device 1600 may be, for example, Figures 1 to 3 Roadside equipment shown.

[0428] For example, the receiving unit 1601 can be used to perform Figure 4 In the method shown in 401 and 404, the processing unit 1602 can be used to execute Figure 4 In the method shown in step 402, the sending unit 1603 can be used to execute Figure 4 403, 405 in the method shown.

[0429] For another example, the receiving unit 1601 can be used to execute Figure 5 In the method shown in FIG. 501 and FIG. 504 , the processing unit 1602 can be used to execute Figure 5 In the method shown in step 505, the sending unit 1603 can be used to execute Figure 5 502 in the method shown.

[0430] For another example, the receiving unit 1601 can be used to execute Figure 6 In the method shown in 601 and 602, the processing unit 1602 can be used to execute Figure 6603 in the method shown.

[0431] For another example, the receiving unit 1601 can be used to execute Figure 7 In the method 701 and 702 shown, the processing unit 1602 can be used to execute Figure 7 In the method shown in 703 and 707, the sending unit 1603 can be used to execute Figure 7 704, 706 in the method shown.

[0432] For another example, the receiving unit 1601 can be used to execute Figure 8 In the method shown in FIG. 803 and FIG. 804, the processing unit 1602 may be used to execute Figure 8 805 in the method shown.

[0433] For another example, the receiving unit 1601 can be used to execute Figure 15 In the method shown in FIG1504 and FIG1506, the processing unit 1602 can be used to execute Figure 15 In the method shown in 1507, the sending unit 1603 can be used to perform Figure 15 1505, 1508 in the method shown.

[0434] In one example, the receiving unit 1601 is used to receive first trajectory information of a first traffic participant from a second roadside device, where the first trajectory information is used to indicate a first trajectory outside the coverage range of the device 1600; the sending unit 1603 is used to send a trajectory forwarding message to the vehicle, where the trajectory forwarding message is used to indicate the first trajectory.

[0435] In another example, the receiving unit 1601 is configured to receive a vehicle service request message from a vehicle, where the vehicle service request message includes verification information of the vehicle; and the processing unit 1602 is configured to determine whether the vehicle has passed verification based on the verification information.

[0436] Optionally, the receiving unit 1601 is used to receive a first verification notification message from the server, where the first verification notification message is used to indicate whether the vehicle has passed the verification; the processing unit 1602 is specifically used to determine whether the vehicle has passed the verification based on the verification information and the first verification notification message.

[0437] Optionally, the receiving unit 1601 is used to receive service vehicle information from the server, and the service vehicle information is used to indicate multiple vehicles with the authority to receive service; the processing unit 1602 is specifically used to: determine whether the vehicle belongs to the multiple vehicles with the authority to receive service based on the verification information and the service vehicle information; and determine that the vehicle has passed the verification based on the judgment result that the vehicle belongs to the multiple vehicles with the authority to receive service.

[0438] Optionally, the receiving unit 1601 is used to receive a second verification notification message from a third roadside device, where the second verification notification message is used to indicate that the vehicle has passed the verification; the processing unit 1602 is specifically used to determine whether the vehicle has passed the verification based on the verification information and the second verification notification message.

[0439] In another example, the receiving unit 1601 is used to receive a first switching request message, which is used to request that the service equipment of the vehicle be switched from the fourth roadside equipment to the device 1600; the sending unit 1603 is used to send a first switching response message to the fourth roadside equipment in response to the first switching request message, which is used to indicate that the device 1600 becomes the service equipment of the vehicle.

[0440] In yet another example, the sending unit 1603 is configured to send second trajectory information of the second traffic participant to a fifth roadside device, where the second trajectory information is used to indicate a second trajectory outside the coverage of the fifth roadside device.

[0441] In yet another example, the sending unit 1603 is configured to send a third verification notification message to the sixth roadside device, where the third verification notification message is used to indicate that the vehicle has passed the verification.

[0442] In another example, the sending unit 1603 is used to send a second switching request message to the seventh roadside device, and the second switching request message is used to request that the service device of the vehicle be switched from the device 1600 to the seventh roadside device; the receiving unit 1601 is used to receive a second switching response message from the seventh roadside device, and the second switching response message is used to indicate that the seventh roadside device becomes the service device of the vehicle.

[0443] The device 1600 may also be Figures 1 to 3 Vehicle shown.

[0444] For example, the receiving unit 1601 can be used to perform Figure 4 In the method shown in 405, the sending unit 1603 can be used to execute Figure 4 401 in the method shown.

[0445] For another example, the sending unit 1603 can be used to execute Figure 5 501 in the method shown.

[0446] For another example, the sending unit 1603 can be used to execute Figure 6 602 in the method shown.

[0447] For another example, the sending unit 1603 can be used to execute Figure 7 702 in the method shown.

[0448] For another example, the sending unit 1603 can be used to execute Figure 8 801 and 804 in the method shown.

[0449] For another example, the receiving unit 1601 can be used to execute Figure 15 In the method shown in 1503 and 1508, the sending unit 1603 can be used to execute Figure 15 1501, 1506 in the method shown.

[0450] In an example, the receiving unit 1601 is configured to receive trajectory information from the first roadside device, where the trajectory information is used to indicate a trajectory outside the coverage of the first roadside device.

[0451] Optionally, the sending unit 1603 is configured to send beyond-visual-range perception range indication information to the first roadside device, where the beyond-visual-range perception range indication information is used to indicate the beyond-visual-range perception range requested by the apparatus 1600 .

[0452] In yet another example, the sending unit 1603 is configured to send a first vehicle service request message to a first roadside device, where the first vehicle service request message includes verification information of the apparatus 1600 .

[0453] Optionally, when the service device of the device 1600 is the first roadside device and after the device 1600 enters the coverage of the second roadside device, the sending unit 1603 is used to send a second vehicle service request message to the second roadside device, and the second vehicle service request message includes verification information of the device 1600.

[0454] The device 1600 may also be Figures 1 to 3 The server shown.

[0455] For example, the receiving unit 1601 can be used to perform Figure 5 In the method 502 shown, the processing unit 1602 can be used to execute Figure 5 In the method shown in step 503, the sending unit 1603 can be used to execute Figure 5 504 in the method shown.

[0456] For another example, the sending unit 1603 can be used to execute Figure 6 601 in the method shown.

[0457] For another example, the receiving unit 1601 can be used to execute Figure 7 In the method 704 shown, the processing unit 1602 can be used to perform Figure 7 In the method shown in 705, the sending unit 1603 can be used to perform Figure 7701, 706 in the method shown.

[0458] In one example, the receiving unit 1601 is used to receive a vehicle verification request message from a first roadside device, the vehicle verification request message including verification information of the vehicle, and the first roadside device is located within the coverage of the device 1600; the processing unit 1602 is used to verify the vehicle based on the verification information; the sending unit 1603 is used to send a verification notification message to the first roadside device, and the verification notification message is used to indicate whether the vehicle is successfully verified.

[0459] Optionally, the sending unit 1603 is further configured to send service vehicle information to the first roadside device, where the service vehicle information is used to indicate a plurality of vehicles that have permission to receive the service.

[0460] In another example, the receiving unit 1601 is used to receive the address and topology information of a second roadside device from a second server, where the second roadside device is located within the coverage of the second server and outside the coverage of the device 1600; the sending unit 1603 is used to send the address and topology information of the second roadside device to the first roadside device.

[0461] In yet another example, the sending unit 1603 is configured to send the address and topology information of a first roadside device to a third server, where the first roadside device is located within the coverage of the apparatus 1600 .

[0462] Figure 16 One or more of the various units in the illustrated embodiments may be implemented by software, hardware, firmware, or a combination thereof. The software or firmware includes, but is not limited to, computer program instructions or codes, and may be executed by a hardware processor. The hardware includes, but is not limited to, various integrated circuits, such as a central processing unit (CPU), a digital signal processor (DSP), a field programmable gate array (FPGA), or an application specific integrated circuit (ASIC).

[0463] Optionally, the receiving unit 1601 may use one or more receiving methods, including but not limited to receiving through cellular communication, Wifi (wireless fidelity, wireless local area network), Wimax (worldwide interoperability for microwave access), Bluetooth (Bluetooth communication technology), ZigBee (Purple Bee communication technology), optical communication, satellite communication, infrared communication, transmission line communication, hardware interface or traces on a hardware circuit board, or obtaining parameters from a software module, or reading information from a storage device.

[0464] Optionally, receiving unit 1601 includes multiple sub-receiving units, each of which is configured to receive storage resource information of at least one of the at least two components within the terminal. Optionally, the multiple sub-receiving units are located in different components within the terminal. Optionally, the multiple sub-receiving units receive the storage resource information via at least one receiving method, including but not limited to receiving via cellular communication, Wifi, Wimax, Bluetooth, ZigBee, optical communication, satellite communication, infrared communication, transmission line communication, a hardware interface, or traces on a hardware circuit board, obtaining parameters from a software module, or reading information from a storage device.

[0465] Optionally, the sending unit 1603 may use one or more sending methods, including but not limited to sending via cellular communication, Wifi, Wimax, Bluetooth, ZigBee, optical communication, satellite communication, infrared communication, transmission line communication, a hardware interface or traces on a hardware circuit board, or inputting parameters into a software module, or writing information into a memory.

[0466] Optionally, sending unit 1603 includes multiple sub-sending units, each of which is configured to send the at least one indication information to the multiple components. Optionally, the multiple sub-sending units are located in different components within the terminal. Optionally, the multiple sub-sending units send the storage resource information via at least one transmission method, including but not limited to cellular communication, Wifi, Wimax, Bluetooth, ZigBee, optical communication, satellite communication, infrared communication, transmission line communication, hardware interface, or traces on a hardware circuit board, or by inputting parameters into a software module or writing information into a memory.

[0467] Figure 17FIG1 is a schematic structural diagram of an apparatus 1700 provided in an embodiment of the present application. The apparatus 1700 may include at least one processor 1702 and a communication interface 1703.

[0468] Optionally, the apparatus 1700 may further include one or more of a memory 1701 and a bus 1704 . Any two or all three of the memory 1701 , the processor 1702 and the communication interface 1703 may be communicatively connected to each other via the bus 1704 .

[0469] Optionally, the memory 1701 may be a read-only memory (ROM), a static storage device, a dynamic storage device, or a random access memory (RAM). The processor 1702 may read computer instructions from the memory 1701 through the communication interface 1703 and execute the computer instructions to enable the apparatus 1700 to perform the above-mentioned Figure 4-8 Any picture or Figure 15 Specifically, any of the methods described above can be performed by any of the roadside equipment side, the vehicle side, or the server side.

[0470] Optionally, the processor 1702 may 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 gates or transistor logic devices, or discrete hardware components. The various methods, steps, and logic block diagrams disclosed in the embodiments of the present application may be implemented or executed. The general-purpose processor may be a microprocessor or the processor may be any conventional processor, etc. The steps of the methods disclosed in conjunction with the embodiments of the present application may be directly embodied as being executed by a hardware decoding processor, or executed by a combination of hardware and software modules in the decoding processor. The software module may be located in a storage medium mature in the art, such as a random access memory, a flash memory, a read-only memory, a programmable read-only memory, or an electrically erasable programmable memory, a register, or the like. The storage medium is located in a memory, and the processor reads the information in the memory and, in combination with its hardware, completes the functions required to be executed by the units included in the apparatus of the embodiments of the present application, or executes the various steps of the interactive method provided in the embodiments of the present application.

[0471] Optionally, the communication interface 1703 may use a transceiver device such as, but not limited to, a transceiver to implement communication between the device and other devices or a communication network. The communication interface 1703 may also be, for example, an interface circuit.

[0472] The bus 1704 may include a path for transmitting information between various components of the device (eg, the memory 1701 , the processor 1702 , and the communication interface 1703 ).

[0473] Those skilled in the art can clearly understand that the descriptions of the various embodiments provided in the present application can refer to each other. For the convenience and conciseness of the description, for example, the functions of the various devices and equipment provided in the embodiments of the present application and the execution steps can refer to the relevant descriptions of the method embodiments of the present application, and the various method embodiments and the various device embodiments can also refer to each other.

[0474] Those skilled in the art will appreciate that all or part of the steps in the above-described method embodiments can be implemented by hardware associated with program instructions. The aforementioned program can be stored in a computer-readable storage medium. When executed, the program performs all or part of the steps in the above-described method embodiments. The aforementioned storage medium includes various media capable of storing program code, such as ROM, RAM, magnetic disks, or optical disks.

[0475] In the above embodiments, it can be implemented in whole or in part by software, hardware, firmware or any combination thereof. When implemented using software, it can be implemented in whole or in part 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, the process or function described in the embodiment of the present application is generated in whole or in part. 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 computer-readable storage medium. 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 a wired (e.g., coaxial cable, optical fiber, digital subscriber line (DSL)) or wireless (e.g., infrared, wireless, microwave, etc.) method. The computer-readable storage medium can be any available medium that can be accessed by a computer or a data storage device such as a server or data center that includes one or more available media integrated. The available medium may be a magnetic medium (eg, a floppy disk, a hard disk, a magnetic tape), an optical medium (eg, a digital video disc (DVD)), or a semiconductor medium (eg, a solid state disk (SSD)).

[0476] In the several embodiments provided in this application, it should be understood that the disclosed systems, devices and methods can be implemented in other ways without exceeding the scope of this application. For example, the embodiments described above are merely schematic. For example, the division of the modules or units is only a logical function division. There may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. The units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, they may be located in one place, or they may be distributed on multiple network units. Some or all of the modules can be selected according to actual needs to achieve the purpose of the scheme of this embodiment. A person of ordinary skill in the art can understand and implement it without paying any creative work.

[0477] Furthermore, the described systems, devices, and methods, as well as the schematic diagrams of various embodiments, may be combined or integrated with other systems, modules, techniques, or methods without departing from the scope of the present application. Furthermore, any coupling or direct coupling or communication connection shown or discussed may be an indirect coupling or communication connection via some interface, device, or unit, which may be electronic, mechanical, or other.

[0478] The above description is merely a specific embodiment of the present application, but the scope of protection of the present application is not limited thereto. Any changes or substitutions that can be easily conceived by a person skilled in the art within the technical scope disclosed in the present application should be included in the scope of protection of the present application. Therefore, the scope of protection of the present application should be based on the scope of protection of the claims.

Claims

1. A trajectory information interaction method, applied to a first roadside device, characterized in that: include: receiving a vehicle service request message from a vehicle, the vehicle service request message including verification information of the vehicle; Determining, based on the verification information, that the vehicle has passed verification; Receiving first trajectory information of a first traffic participant from a second roadside device, the first trajectory information being used to indicate a first trajectory outside the coverage range of the first roadside device, the first trajectory including a trajectory within the coverage range of the second roadside device, the second roadside device being outside the visual range of the vehicle and within the beyond-visual-range perception range of the vehicle, the second roadside device being determined by the first roadside device based on the beyond-visual-range perception range; A trajectory forwarding message is sent to the vehicle, where the trajectory forwarding message is used to indicate the first trajectory.

2. The interactive method according to claim 1, characterized in that Determining, based on the verification information, that the vehicle has passed the verification includes: Sending a vehicle verification request message to the first server, wherein the vehicle verification request message includes the verification information; receiving a first verification notification message from the first server, the first verification notification message being used to indicate whether the vehicle has passed verification; Based on the first verification notification message indicating that the vehicle has passed verification, it is determined that the vehicle has passed verification.

3. The interactive method according to claim 1, characterized in that: Determining, based on the verification information, that the vehicle has passed the verification includes: receiving service vehicle information from a first server, the service vehicle information being used to indicate a plurality of vehicles having permission to receive service; Determining, based on the verification information and the service vehicle information, whether the vehicle belongs to the plurality of vehicles authorized to receive the service; Based on the judgment result that the vehicle belongs to the plurality of vehicles having the authority to receive the service, it is determined that the vehicle has passed the verification.

4. The interactive method according to claim 3, characterized in that: The service vehicle information is index information of the plurality of vehicles having permission to receive the service, the track forwarding message is a periodic non-repeating message, and the method further includes: receiving, from the first server, a verification failure message indicating that the vehicle verification failed; Based on the verification failure message, stopping sending the track forwarding message to the vehicle.

5. The interactive method according to claim 1, characterized in that: Determining, based on the verification information, that the vehicle has passed the verification includes: receiving a second verification notification message from a third roadside device, wherein the second verification notification message is used to indicate that the vehicle has passed verification; According to the verification information and the second verification notification message, it is determined that the vehicle has passed the verification.

6. The interactive method according to any one of claims 1 to 5, characterized in that: Before sending the track forwarding message to the vehicle, the method further includes: receiving a first switching request message from a fourth roadside device, wherein the first switching request message is used to request that a service device of the vehicle be switched from the fourth roadside device to the first roadside device; In response to the first handover request message, a first handover response message is sent to the fourth roadside apparatus, where the first handover response message is used to instruct the first roadside apparatus to become a serving apparatus for the vehicle.

7. The interactive method according to claim 6, characterized in that: The first roadside device is located within a coverage area of ​​a first server, the fourth roadside device is located within a coverage area of ​​a second server, the first server is different from the second server, and the method further includes: receiving the address and topology information of the fourth roadside device from the first server; The sending a first handover response message to the fourth roadside device includes: The first switching response message is sent to the fourth roadside device according to the address and topology information of the fourth roadside device.

8. The interactive method according to any one of claims 1 to 5, characterized in that: The method further comprises: Sending a first trajectory request message to the second roadside device, where the first trajectory request message is used to request the trajectory information acquired by the second roadside device; The receiving first trajectory information from the second roadside device includes: In response to the first trajectory request message, a first trajectory response message is received from the second roadside apparatus, where the first trajectory response message includes the first trajectory information.

9. The interactive method according to claim 8, characterized in that: Before sending the first trajectory request message to the second roadside device, the method further includes: Determine beyond-visual-range perception range; The second roadside device is determined based on the beyond-visual-range perception range and the distance between multiple roadside devices, where the multiple roadside devices include the first roadside device and the second roadside device, and the beyond-visual-range perception range is greater than the coverage range of the first roadside device.

10. The interactive method according to any one of claims 1 to 5, characterized in that: The method further comprises: Acquire second trajectory information of a second traffic participant, where the second trajectory information is used to indicate a second trajectory; The second trajectory information is sent to a fifth roadside device.

11. The interactive method according to claim 10, characterized in that: The method further comprises: receiving a second trajectory request message from the fifth roadside device, where the second trajectory request message is used to request the trajectory information acquired by the first roadside device; The sending the second trajectory information to the fifth roadside device includes: In response to the second trajectory request message, a second trajectory response message is sent to the fifth roadside apparatus, where the second trajectory response message includes the second trajectory information.

12. The interactive method according to any one of claims 1 to 5, characterized in that: The method further comprises: A third verification notification message is sent to the sixth roadside device, where the third verification notification message is used to indicate that the vehicle has passed the verification.

13. The interactive method according to any one of claims 1 to 5, characterized in that: The method further comprises: Sending a second switching request message to a seventh roadside device, where the second switching request message is used to request that the service device of the vehicle be switched from the first roadside device to the seventh roadside device; A second handover response message is received from the seventh roadside device, where the second handover response message is used to instruct the seventh roadside device to become the serving device of the vehicle.

14. A trajectory information interaction method, applied to a vehicle, characterized in that: include: Sending a first vehicle service request message to a first roadside device, where the first vehicle service request message includes verification information of the vehicle; Trajectory information is received from the first roadside device, where the trajectory information is used to indicate trajectories outside the coverage of the first roadside device, where the trajectories outside the coverage of the first roadside device include trajectories within the coverage of a second roadside device, where the second roadside device is outside the line of sight of the first vehicle and within the beyond-line-of-sight perception range of the first vehicle, and where the second roadside device is determined by the first roadside device based on the beyond-line-of-sight perception range.

15. The interactive method according to claim 14, characterized in that: The trajectory information is used to indicate one or more of the following: traffic participant identification, sensing time, traffic participant type, traffic participant appearance, traffic participant model, traffic participant license plate, location, moving speed and moving direction.

16. The interactive method according to claim 14 or 15, characterized in that: The method further comprises: Sending beyond-visual-range perception range indication information to the first roadside device, where the beyond-visual-range perception range indication information is used to indicate the beyond-visual-range perception range requested by the vehicle.

17. The interactive method according to claim 14 or 15, characterized in that: The method further comprises: When the service device of the vehicle is the first roadside device and after the vehicle enters the coverage of the second roadside device, a second vehicle service request message is sent to the second roadside device, where the second vehicle service request message includes verification information of the vehicle.

18. A trajectory information interaction method, applied to a first server, characterized in that: include: Receiving a vehicle verification request message from a first roadside device, the vehicle verification request message including verification information of the vehicle, the first roadside device being located within coverage of the first server, the first roadside device being configured to send a trajectory outside the coverage of the first roadside device to the vehicle, the trajectory outside the coverage of the first roadside device including a trajectory within the coverage of a second roadside device, the second roadside device being outside the visual range of the vehicle and within a beyond-visual-range perception range of the vehicle, the second roadside device being determined by the first roadside device based on the beyond-visual-range perception range; Verifying the vehicle according to the verification information; A verification notification message is sent to the first roadside device, where the verification notification message is used to indicate whether the vehicle is successfully verified.

19. The interactive method according to claim 18, characterized in that: The method further comprises: Sending service vehicle information to the first roadside device, where the service vehicle information is used to indicate a plurality of vehicles that have permission to receive service.

20. The interactive method according to claim 19, characterized in that: The service vehicle information is index information of the multiple vehicles that have the authority to receive service.

21. The interactive method according to any one of claims 18 to 20, characterized in that: The method further comprises: receiving an address and topology information of a second roadside device from a second server, where the second roadside device is located within a coverage area of ​​the second server and outside a coverage area of ​​the first server; The address and topology information of the second roadside device are sent to the first roadside device.

22. The interactive method according to any one of claims 18 to 20, characterized in that: The method further comprises: The address and topology information of the first roadside device are sent to a third server.

23. A trajectory information interaction device, applied to a first roadside device, characterized in that: include: a receiving unit, configured to receive a vehicle service request message from a vehicle, wherein the vehicle service request message includes verification information of the vehicle; a processing unit, configured to determine, based on the verification information, whether the vehicle has passed verification; The receiving unit is further configured to receive first trajectory information of a first traffic participant from a second roadside device, the first trajectory information being used to indicate a first trajectory outside a coverage range of the first roadside device, the first trajectory including a trajectory within a coverage range of the second roadside device, the second roadside device being outside a visual range of the vehicle and within a beyond-visual-range perception range of the vehicle, the second roadside device being determined by the first roadside device based on the beyond-visual-range perception range; A sending unit is used to send a track forwarding message to the vehicle, where the track forwarding message is used to indicate the first track.

24. The device according to claim 23, characterized in that The sending unit is further configured to send a vehicle verification request message to the first server, wherein the vehicle verification request message includes the verification information; The receiving unit is further configured to receive a first verification notification message from the first server, where the first verification notification message is used to indicate whether the vehicle has passed verification; The processing unit is specifically configured to determine that the vehicle has passed verification based on the first verification notification message indicating that the vehicle has passed verification.

25. The device according to claim 23, characterized in that The receiving unit is further configured to receive service vehicle information from the first server, wherein the service vehicle information is configured to indicate a plurality of vehicles that have permission to receive service; The processing unit is specifically configured to: Determining, based on the verification information and the service vehicle information, whether the vehicle belongs to the plurality of vehicles authorized to receive the service; Based on the judgment result that the vehicle belongs to the plurality of vehicles having the authority to receive the service, it is determined that the vehicle has passed the verification.

26. The device according to claim 25, characterized in that The service vehicle information is the index information of the multiple vehicles with service authorization, and the track forwarding message is a periodic non-repeating message. The receiving unit is further configured to receive, from the first server, a verification failure message indicating that the vehicle verification has failed; The processing unit is further configured to, based on the verification failure message, stop sending the track forwarding message to the vehicle.

27. The device according to claim 23, characterized in that The receiving unit is further configured to receive a second verification notification message from a third roadside device, where the second verification notification message is used to indicate that the vehicle has passed verification; The processing unit is specifically configured to determine, based on the verification information and the second verification notification message, whether the vehicle has passed the verification.

28. The device according to any one of claims 23 to 27, characterized in that Before the sending unit sends the track forwarding message to the vehicle, The receiving unit is further configured to receive a first switching request message from a fourth roadside device, wherein the first switching request message is used to request that the service device of the vehicle be switched from the fourth roadside device to the roadside device; The sending unit is further configured to send a first switching response message to the fourth roadside device in response to the first switching request message, where the first switching response message is used to instruct the roadside device to become a service device for the vehicle.

29. The device according to claim 28, characterized in that The roadside device is located within the coverage area of ​​a first server, the fourth roadside device is located within the coverage area of ​​a 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 fourth roadside device from the first server; The sending unit is specifically configured to send the first switching response message to the fourth roadside device according to the address and topology information of the fourth roadside device.

30. The device according to any one of claims 23 to 27, characterized in that The sending unit is further configured to send a first trajectory request message to the second roadside device, where the first trajectory request message is used to request the trajectory information acquired by the second roadside device; The receiving unit is specifically configured to receive a first trajectory response message from the second roadside device in response to the first trajectory request message, where the first trajectory response message includes the first trajectory information.

31. The device according to claim 30, characterized in that Before the sending unit sends the first trajectory request message to the second roadside device, The processing unit is further configured to determine a beyond-visual-range perception range; The processing unit is also used to determine the second roadside equipment based on the beyond-visual-range perception range and the distance between multiple roadside equipment, the multiple roadside equipment including the roadside equipment and the second roadside equipment, and the beyond-visual-range perception range is greater than the coverage range of the roadside equipment.

32. The device according to any one of claims 23 to 27, characterized in that The roadside equipment further includes a receiving unit, the receiving unit being configured to obtain second trajectory information of a second traffic participant, the second trajectory information being configured to indicate a second trajectory; The sending unit is further configured to send the second trajectory information to a fifth roadside device.

33. The device according to claim 32, characterized in that The receiving unit is further configured to receive a second trajectory request message from the fifth roadside device, where the second trajectory request message is used to request the trajectory information acquired by the roadside device; The sending unit is specifically configured to send a second trajectory response message to the fifth roadside device in response to the second trajectory request message, where the second trajectory response message includes the second trajectory information.

34. The device according to any one of claims 23 to 27, characterized in that The sending unit is further configured to send a third verification notification message to a sixth roadside device, where the third verification notification message is configured to indicate that the vehicle has passed verification.

35. The device according to any one of claims 23 to 27, characterized in that The sending unit is further configured to send a second switching request message to the seventh roadside device, where the second switching request message is used to request that the service device of the vehicle be switched from the roadside device to the seventh roadside device; The receiving unit is further configured to receive a second switching response message from the seventh roadside device, where the second switching response message is configured to instruct the seventh roadside device to become the service device of the vehicle.

36. A trajectory information interaction device, applied to a vehicle, characterized in that: include: a sending unit, configured to send a first vehicle service request message to a first roadside device, wherein the first vehicle service request message includes verification information of the vehicle; A receiving unit is used to receive trajectory information from the first roadside device, where the trajectory information is used to indicate trajectories outside the coverage of the first roadside device, and the trajectories outside the coverage of the first roadside device include trajectories within the coverage of a second roadside device, where the second roadside device is outside the line of sight of the first vehicle and within the beyond-line-of-sight perception range of the first vehicle, and the second roadside device is determined by the first roadside device based on the beyond-line-of-sight perception range.

37. The device according to claim 36, characterized in that The trajectory information is used to indicate one or more of the following: traffic participant identification, sensing time, traffic participant type, traffic participant appearance, traffic participant model, traffic participant license plate, location, moving speed and moving direction.

38. The device according to claim 36 or 37, characterized in that The sending unit is further configured to send beyond-visual-range perception range indication information to the first roadside device, where the beyond-visual-range perception range indication information is used to indicate the beyond-visual-range perception range requested by the vehicle.

39. The device according to claim 36 or 37, characterized in that The sending unit is also used to, when the service device of the vehicle is the first roadside device and after the vehicle enters the coverage of the second roadside device, send a second vehicle service request message to the second roadside device, where the second vehicle service request message includes verification information of the vehicle.

40. A trajectory information interaction device, applied to a server, characterized in that: include: a receiving unit, configured to receive a vehicle verification request message from a first roadside device, the vehicle verification request message including verification information of the vehicle, the first roadside device being located within the coverage of the server, the first roadside device being configured to send a trajectory outside the coverage of the first roadside device to the vehicle, the trajectory outside the coverage of the first roadside device including a trajectory within the coverage of a second roadside device, the second roadside device being outside the visual range of the vehicle and within the beyond-visual-range perception range of the vehicle, the second roadside device being determined by the first roadside device based on the beyond-visual-range perception range; a processing unit, configured to verify the vehicle based on the verification information; A sending unit is used to send a verification notification message to the first roadside device, where the verification notification message is used to indicate whether the vehicle is successfully verified.

41. The device according to claim 40, characterized in that The sending unit is further configured to send service vehicle information to the first roadside device, where the service vehicle information is configured to indicate a plurality of vehicles that have permission to receive service.

42. The device according to claim 41, characterized in that The service vehicle information is index information of the multiple vehicles that have the authority to receive service.

43. The device according to any one of claims 40 to 42, characterized in that The receiving unit is further configured to receive an address and topology information of a second roadside device from a second server, where the second roadside device is located within a coverage area of ​​the second server and outside a coverage area of ​​the server; The sending unit is further configured to send the address and topology information of the second roadside device to the first roadside device.

44. The device according to any one of claims 40 to 42, characterized in that The sending unit is further configured to send the address and topology information of the first roadside device to a third server.

45. An interactive device for trajectory information, characterized in that: The device comprises a processor and a memory, wherein the memory is used to store a computer program, and the processor is used to execute the computer program, so that the device performs the method according to any one of claims 1 to 22.

46. ​​A computer program product, characterized in that The method comprises computer instructions which, when executed on a processor, implement the method according to any one of claims 1 to 22.

47. A computer-readable storage medium, characterized in that The computer-readable storage medium stores computer instructions, and when the computer instructions are executed on a processor, the method according to any one of claims 1 to 22 is implemented.

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