OBU binding method, device, equipment and computer storage medium

Abstract

The present application is applicable to the field of vehicle positioning technology, and provides an OBU binding method, device, equipment, and computer storage medium, which are applied to a roadside unit (RSU). The method includes: receiving an OBU identifier sent by the OBU; determining a first traffic participant object that has been bound to the OBU identifier in a preset feature library based on the OBU identifier; if the OBU identifier has been bound to the first traffic participant object for more than a first preset number of consecutive times, then binding the OBU to the first traffic participant object. In the above method, when a first traffic participant object that has been bound to the OBU identifier exists in the preset feature library, and the number of bindings exceeds the first preset number, then directly binding the OBU to the first traffic participant object, avoiding the need to go through a complex binding process before the RSU and OBU communicate and interact, thereby improving the efficiency of binding between the RSU and the OBU.

Description

Technical Field

[0001] The present application belongs to the field of vehicle positioning technology, and in particular relates to an OBU binding method, device, equipment and computer storage medium. Background Art

[0002] The emergence of on-board units (OBUs) has further boosted the development of autonomous driving technology. This technology relies on establishing wireless communication between roadside units (RSUs) installed on the roadside and the OBUs installed on vehicles to push information such as traffic conditions, driving warnings, or vehicle violations to the vehicles. Before each communication between the RSU and the OBU, the RSU's detection results must be bound to the OBU's identity information in advance. This allows the RSU to accurately push different road information to the corresponding vehicle. However, before the RSU and OBU can communicate and interact, they must go through a complex binding process to bind the RSU and OBU, reducing the efficiency of the binding process. Summary of the Invention

[0003] The purpose of the embodiments of the present application is to provide an OBU binding method, device, equipment and computer storage medium, aiming to solve the problem of low binding efficiency between RSU and OBU before communication interaction between RSU and OBU.

[0004] The embodiment of the present application is implemented as follows: in the first aspect, the embodiment of the present application provides an OBU binding method, which is applied to a roadside unit RSU, and the method includes: receiving an identifier of the OBU sent by the OBU; determining, based on the identifier of the OBU, a first traffic participant object that has been bound to the identifier of the OBU in a preset feature library; if the identifier of the OBU is continuously bound to the first traffic participant object for more than a first preset number of times, binding the OBU to the first traffic participant object.

[0005] An OBU binding method provided by the present application is adopted. When there is a first traffic participant object that has been bound to the identifier of the OBU in a preset feature library and the number of bindings exceeds a first preset number, the OBU is directly bound to the first traffic participant object, avoiding the need to go through a complex binding process before the RSU and OBU communicate and interact, thereby improving the binding efficiency of the RSU and OBU.

[0006] Optionally, the method also includes: if the number of consecutive bindings between the OBU and the first traffic participant object does not exceed a first preset number, obtaining the mobile status information of the OBU and the first road detection data detected by the smart base station deployed at a preset position on the road, the first road detection data including the mobile status information of M traffic participants; performing similarity matching on the mobile status information of the OBU with the mobile status information of the M traffic participants, and obtaining a second traffic participant object with the greatest similarity to the mobile status information of the OBU; and binding the OBU to the second traffic participant object.

[0007] Optionally, the second traffic participant object is the traffic participant object whose maximum similarity with the movement status information of the OBU exceeds a second preset number of times during multiple similarity matching processes.

[0008] Optionally, the movement status information includes location information, speed and heading.

[0009] Optionally, the method for acquiring the location information of the OBU includes: receiving the positioning information of the OBU sent by the OBU; and determining the location information of the OBU according to a preset position relationship between the RSU and the cellular base station and the positioning information.

[0010] The method for acquiring the speed and heading of the OBU includes: acquiring N pieces of position information of the OBU; and determining the speed and heading of the OBU according to the N pieces of position information.

[0011] Optionally, the similarity matching includes:

[0012] For any of the traffic participant objects, determining the distance similarity between the OBU and the traffic participant object based on the location information of the OBU and the location information of the traffic participant object;

[0013] Determine the speed similarity between the OBU and the traffic participant object according to the speed of the OBU and the speed of the traffic participant object;

[0014] Determine the heading similarity between the OBU and the traffic participant object according to the heading of the OBU and the heading of the traffic participant object;

[0015] The similarity between the OBU and the traffic participant object is determined according to the distance similarity, the speed similarity and the heading similarity.

[0016] Optionally, performing similarity matching on the movement state information of the OBU and the movement state information of the M traffic participants respectively includes:

[0017] Establishing a kd tree based on the movement status information of the M traffic participants;

[0018] According to the kd tree, P traffic participants are selected from the M traffic participants, where the P traffic participants are located in a circle with the location of the OBU as the center and a preset length as the radius, where P is a positive integer and M≥P;

[0019] The mobile state information of the OBU is matched with the mobile state information of the P traffic participants respectively for similarity.

[0020] In a second aspect, an embodiment of the present application provides an OBU binding device, which is applied to a roadside unit (RSU), and the device includes:

[0021] Receiving unit, is used to receive the mark of the described OBU that OBU sends;

[0022] A determining unit, configured to determine, based on the identifier of the OBU, a first traffic participant object that has been bound to the identifier of the OBU in a preset feature library;

[0023] The binding unit is used to bind the OBU to the first traffic participant object if the number of consecutive bindings between the OBU identifier and the first traffic participant object exceeds a first preset number.

[0024] In a third aspect, an embodiment of the present application provides a terminal device, comprising: a processor and a memory, the memory being used to store a computer program, the processor being used to call and run the computer program from the memory, so that the device executes the OBU binding method described in any one of the first aspects.

[0025] In a fourth aspect, an embodiment of the present application provides a computer-readable storage medium, in which a computer program is stored. When the computer program is executed by a processor, the processor executes the OBU binding method described in any one of the first aspects.

[0026] In a fifth aspect, an embodiment of the present application provides a computer program product, comprising: a computer program code, which, when executed by a computer, enables the computer to execute the OBU binding method described in any one of the first aspects.

[0027] It can be understood that the beneficial effects of the second to fifth aspects mentioned above can be found in the relevant description of the first aspect mentioned above, and will not be repeated here. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] Figure 1 This is a schematic diagram of an application scenario of an OBU binding method provided by an embodiment of the present application;

[0029] Figure 2 This is a flow chart of an OBU binding method provided by an embodiment of the present application;

[0030] Figure 3 This is a flow chart of another OBU binding method provided by an embodiment of the present application;

[0031] Figure 4 This is a schematic diagram of obtaining OBU location information provided by an embodiment of the present application;

[0032] Figure 5 This is a simplified schematic diagram of obtaining OBU location information provided by an embodiment of the present application;

[0033] Figure 6 This is a schematic diagram of an OBU binding device provided by an embodiment of the present application;

[0034] Figure 7 This is a schematic diagram of a terminal device provided in one embodiment of the present application. DETAILED DESCRIPTION

[0035] In order to make the purpose, technical solutions and advantages of this application more clearly understood, the present application is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain this application and are not intended to limit this application.

[0036] The emergence of on-board units (OBUs) has further boosted the development of autonomous driving technology. This technology relies on establishing wireless communication between roadside units (RSUs) installed on the roadside and the OBUs installed on vehicles to push information such as traffic conditions, driving warnings, or vehicle violations to the vehicles. Before each communication between the RSU and the OBU, the RSU's detection results must be bound to the OBU's identity information in advance. This allows the RSU to accurately push different road information to the corresponding vehicle. However, before the RSU and OBU can communicate and interact, they must go through a complex binding process to bind the RSU and OBU, reducing the efficiency of the binding process.

[0037] In order to improve the binding efficiency of RSU and OBU, the present application provides an OBU binding method, which is applied to the roadside unit RSU. When there is a first traffic participant object that has been bound to the identifier of the OBU in the preset feature library, and the number of bindings exceeds a first preset number, the OBU is directly bound to the first traffic participant object, avoiding the need to go through a complex binding process before the RSU and OBU communicate and interact, thereby improving the binding efficiency of the RSU and OBU.

[0038] The following specific embodiments are used to describe the technical solution of the present application in detail. The following specific embodiments can be combined with each other, and the same or similar concepts or processes may not be described in detail in some embodiments.

[0039] like Figure 1 The above is a schematic diagram of an application scenario of an OBU binding method provided by an embodiment of the present application. The application scenario includes: a smart base station and a traffic participant, wherein Figure 1 The traffic participants shown are vehicles. The smart base station is set up next to the road. It is an infrastructure that integrates perception, computing and communication. RSU, radar and camera can be set up on the smart base station. RSU is used to push traffic conditions, driving warnings and vehicle violations and other information to traffic participants (such as vehicles, etc.); radar is used to collect road information related to traffic participants in real time, and camera is used to shoot or capture the status of traffic participants on the road.

[0040] It should be noted that multiple smart base stations can be set up within a preset range, and an RSU can be installed on any of these smart base stations. The RSU is used to process road information related to traffic participants collected by the above multiple smart base stations. In actual applications, other equipment can also be installed on a smart base station, such as wind direction and wind speed detectors. The layout distance of smart base stations on the road, the installation location of RSUs, and the distance between RSUs can be set according to actual needs to provide more accurate and personalized services to traffic participants (for example, emergency reporting and driving route planning).

[0041] like Figure 2 The figure shows a flow chart of an OBU binding method provided by an embodiment of the present application, see Figure 2 , the above method includes:

[0042] S101, RSU receives the OBU identifier sent by OBU.

[0043] It should be understood that Figure 1 In the application scenario described above, the OBU can be a device mounted on the vehicle's windshield that can communicate with a roadside unit (RSU). When the vehicle enters the RSU's detection range, the RSU receives an OBU identifier sent by the OBU. The OBU identifier can be used to uniquely identify the OBU. For example, the OBU identifier can be the OBU's identity document (ID).

[0044] When there are multiple traffic participants on the actual traffic road, the RSU can receive the identifications of the respective OBUs sent by multiple OBUs.

[0045] S102: Determine, according to the OBU identifier, a first traffic participant object that has been bound to the OBU identifier in a preset feature library.

[0046] The preset feature library may include feature information of multiple traffic participants detected by the smart base station and the detection identifier assigned by the RSU to each detected traffic participant. The feature library also includes the identifier of the OBU bound to each traffic participant. In other words, the information stored in the feature library includes but is not limited to the feature information of multiple traffic participants, the identifier information of the OBU bound to the traffic participants, and the detection identifier information assigned by the RSU to each detected traffic participant.

[0047] When the OBU identifier sent by the OBU is received, the OBU identifier corresponding to the received OBU identifier is first queried according to the preset feature library. If an OBU identifier corresponding to the received OBU identifier exists, the detection identifier bound to the OBU identifier is matched to determine the traffic participant object bound to the OBU.

[0048] The preset feature library includes, but is not limited to, identification information of the OBU, attribute feature information of the vehicle corresponding to the OBU identification, and detection identification information assigned by the RSU to the first traffic participant corresponding to the OBU identification. The preset feature library is searched for information corresponding to the OBU identification sent by the OBU. When information corresponding to the OBU identification is found in the preset feature library, the first detection identification bound to the OBU can be matched based on the information in the feature library.

[0049] S103: If the number of times the OBU identifier is continuously bound to the first traffic participant object exceeds a first preset number, the OBU is bound to the first traffic participant object.

[0050] The first preset number of times can be set according to actual application, or can be obtained according to data statistical analysis. For example, assuming that according to data statistics, when the OBU identifier is bound to the first traffic participant object for more than 5 consecutive times, the probability of the OBU being bound to the first traffic participant object in the subsequent binding process can reach the expected accuracy rate (ninety-five percent or even higher), therefore, the first preset number of times can be set to 5 times.

[0051] By matching the first detection identifier bound to the OBU in the preset feature library, when the OBU identifier is continuously bound to the above-mentioned first detection identifier for more than a set first preset number of times, the OBU is directly bound to the first traffic participant.

[0052] The binding described above in "binding the OBU to the first traffic participant" can be understood as the RSU determining the corresponding relationship between the OBU and the first traffic participant. That is, after the OBU is bound to the first traffic participant, the RSU can determine that the OBU that sent the OBU corresponding identifier to the RSU is the OBU in the first traffic participant. Then, the RSU can provide accurate personalized services for the first traffic participant based on the road information collected by the smart base station. For example, the RSU can plan a driving route for the first traffic participant based on the road information collected by the smart base station and send the planned driving route to the OBU, so that the OBU controls the first traffic participant to travel according to the planned driving route.

[0053] In the above embodiment, when there is a first traffic participant object that has been bound to the identifier of the OBU in the preset feature library, and the number of bindings exceeds the first preset number, the OBU is directly bound to the first traffic participant object, avoiding the need to go through a complex binding process before the RSU and OBU communicate and interact, thereby improving the binding efficiency of the RSU and OBU.

[0054] In another possible implementation, if the number of times the OBU identifier is continuously bound to the first traffic participant object does not exceed the first preset number, the following steps may be performed: Figure 3 The flowchart of another OBU binding method provided by the embodiment of the present application is shown in FIG. Figure 3 The OBU binding method includes step S104, step S105 and step S106.

[0055] Step S104: Obtain the mobility status information of the OBU and the first road detection data detected by the smart base station deployed at a preset position on the road. The first road detection data includes the mobility status information of M traffic participants.

[0056] Wherein, M is an integer greater than or equal to 1.

[0057] The above-mentioned mobile state information may include position information, speed, and heading. In other words, the RSU obtains the position information, speed, and heading information of the OBU, as well as the position information, speed, and heading information of the M traffic participants. Of course, in actual application, the mobile state information may also include other information that can be used to bind the OBU and the traffic participants.

[0058] It should be understood that in actual application, the mobile state information of the OBU is adapted to the above-mentioned first road detection data, so that the OBU and the traffic participant object are bound according to the mobile state information of the OBU and the first road detection data.

[0059] In this embodiment, the aforementioned traffic participants refer to vehicles detectable by smart base stations deployed at preset road locations. In actual applications, these traffic participants may also include pedestrians, non-motorized vehicles, and other objects. Accordingly, the movement status information of traffic participants includes, but is not limited to, the location, speed, heading, and other information of pedestrians, non-motorized vehicles, and other objects.

[0060] After obtaining the first road detection data of the mobile status information of the OBU and the mobile status information of M traffic participants, the mobile status information of the OBU and the mobile status information of the traffic participants can be used to determine the traffic participant object bound to the above OBU among the M traffic participants.

[0061] Optionally, the method for acquiring the location information of the OBU includes: receiving the above-mentioned OBU positioning information sent by the OBU; and determining the location information of the OBU according to a preset position relationship between the RSU and the cellular base station and the positioning information.

[0062] In this embodiment, if Figure 4 FIG. 1 is a schematic diagram of obtaining OBU location information provided by an embodiment of the present application. When the distance between the vehicle and the OBU is ignored, the process of obtaining the OBU location information includes:

[0063] First, the time of arrival (TOA) method is used to measure the distance D between the OBU and the roadside unit RSU. According to the installation height H of the roadside unit RSU and the distance D, the distance D is calculated using Obtain the feasible range of the OBU on the road surface. The feasible range is a circle with the smart base station as the center O and the radius R as the radius. The TOA method uses the distance between the RSU and the OBU using the extreme values ​​of the communication signal between the RSU and the OBU. The RSU installation height can be obtained from the construction drawings of the smart base station installation or through actual measurement. This application does not impose any restrictions on the method for obtaining the various parameters used to calculate the feasible range of the OBU.

[0064] Then, the position relationship T between the smart base station and the cellular base station is obtained. In actual application, the position relationship between the smart base station and the cellular base station can be obtained by using the latitude and longitude information of the smart base station and the cellular base station.

[0065] Next, based on the signal exchange between the smart device and the cellular base station, the initial positioning information pos of the smart device is determined. It should be understood that the smart device refers to a mobile terminal such as a smartphone, tablet computer, smart camera, smart wearable device (e.g., smart watch, etc.), and can also be a device such as a robot or server that can transmit data with a cellular base station, and the above-mentioned smart device is stored or installed on the detection vehicle. When the distance between the smart device and the OBU is ignored, the position of the smart device is equivalent to the position of the OBU. Of course, in this embodiment, the initial positioning information pos can also be obtained through a positioning system built into the traffic participant (e.g., Global Positioning System (GPS), Beidou Satellite Navigation System, Galileo Satellite Navigation System, Global Navigation Satellite System, etc.).

[0066] It should be noted that in this embodiment, in the process of determining the initial positioning information pos of the smart device based on the signal exchange between the smart device and the cellular base station, the number of cellular base stations is determined according to actual conditions. For example, if the above-mentioned cellular base station is a cellular base station based on 5G technology, then one of the cellular base stations based on 5G technology can be used to obtain the initial positioning information of the smart device.

[0067] Next, based on the positional relationship T and the initial positioning information pos, the positioning information p = T(pos) of the smart device at the smart base station coordinates is obtained. It is easy to understand that the positioning information of the smart device at the smart base station coordinates can be obtained based on the positional relationship T between the smart base station and the cellular base station and the initial positioning information pos of the smart device relative to the cellular base station.

[0068] After obtaining the positioning information p, the straight line equation L(p, O) is determined based on the positioning information p and the center O.

[0069] Finally, according to the straight line equation L(p,O), the feasible domain range and the vector The direction of the OBU can be determined. It is not difficult to understand that after obtaining the feasible range of the OBU, it is equivalent to Figure 5 As shown, the circle with O as the center and R as the radius is the above OBU (as shown in Figure 5 According to the linear equation L(p,O), we can determine the two positions where OBU intersects with the straight line L(p,O) at ☉O, and then use the vector The accurate position of the OBU can be obtained by the direction of

[0070] Through the above method, the location of the OBU can be accurately obtained even when RSU is not widely deployed. This breaks the situation in the existing technology that at least three RSUs are needed to obtain the OBU location information. It can reduce the cost of RSU hardware deployment while obtaining the accuracy of the OBU location information.

[0071] Optionally, the method for acquiring the speed and heading of the OBU includes: acquiring N pieces of position information of the OBU; and determining the speed and heading of the OBU according to the N pieces of position information.

[0072] In this embodiment, the location information pos of N OBUs is obtained. i , i=0,1,2,…,N-1; then obtain the speed and heading of the OBU according to the position information of the above N OBUs.

[0073] The formula for calculating OBU speed is:

[0074]

[0075] In the above formula, v obu Indicates the speed of OBU, pos i It represents the location information at time i in the timestamp corresponding to the OBU, and i represents the timestamp corresponding to the location information of the OBU.

[0076] The formula for calculating the OBU heading is:

[0077]

[0078] Among them, head obu Indicates the heading of the OBU, i indicates the timestamp corresponding to the location information of the OBU, x i and y i It represents the location information of OBU at time i.

[0079] Through the above process, the speed and heading information of the OBU are obtained using the location information of the OBU. Similarly, the same method can be used to obtain the mobile status information of M traffic participants including location information, speed and heading, and then the second traffic participant corresponding to the OBU can be found from the M traffic participants through similarity matching.

[0080] S105 , performing similarity matching between the OBU's movement state information and the movement state information of the M traffic participants, and obtaining a second traffic participant having the greatest similarity with the OBU's movement state information.

[0081] Since the number of traffic participants on the road is too large, in order to speed up the binding of the OBU and the second traffic participant among the M traffic participants, optionally, the above-mentioned similarity matching of the OBU's movement state information with the movement state information of the M traffic participants can include: establishing a k-dimensional tree (kd), i.e., a kd tree, based on the movement state information of the M traffic participants; selecting P traffic participants from the M traffic participants according to the kd tree, the P traffic participants being located in a circle with the OBU location as the center and a preset length as the radius, P being a positive integer and M≥P; and similarity matching of the OBU's movement state information with the movement state information of the P traffic participants.

[0082] It should be understood that establishing a kd tree can quickly locate each traffic participant that is close to the OBU position.

[0083] For example, assuming that step S104 obtains the mobility status information of M=50 traffic participants, in order to speed up binding, a kd tree is first established based on the mobility status information of the 50 traffic participants, and then 10 traffic participants in the circle with the OBU position as the center and a preset length of 5 meters as the radius are selected from the 50 traffic participants. These 10 traffic participants are the traffic participants closest to the OBU position, which narrows the scope of similarity matching and reduces the computational complexity of the similarity matching process.

[0084] After narrowing the scope of similarity matching, in a possible implementation, the similarity matching includes: for any traffic participant object, determining the distance similarity between the OBU and the traffic participant object based on the location information of the OBU and the location information of the traffic participant object; determining the speed similarity between the OBU and the traffic participant object based on the speed of the OBU and the speed of the traffic participant object; determining the heading similarity between the OBU and the traffic participant object based on the heading of the OBU and the heading of the traffic participant object.

[0085] In this embodiment, the calculation formula for similarity matching is:

[0086]

[0087] In the above formula, S obu ={x obu ,y obu , v obu , head obu} represents the status information parameters of the OBU, which include the position information, speed and heading of the OBU; similarly, S candiate ={x candiate ,y candiate , vcandiate , head candiate} represents the status information parameters of each of the P traffic participant objects mentioned above.

[0088] Among them, vel(S obu , S candiate ) represents the speed similarity between the OBU and each of the P traffic participants. The speed similarity is calculated as follows:

[0089]

[0090] head(S obu , S candiate ) represents the heading similarity between the OBU and each of the P traffic participants. The calculation formula for heading similarity is:

[0091] head(S obu , S candiate )=cos(head obu -head candiate )

[0092] dis(S obu , S candiate ) represents the distance similarity between the OBU and each of the P traffic participants. The calculation formula of the distance similarity is:

[0093]

[0094] The similarity between the OBU and each of the P traffic participants is determined based on the distance similarity, speed similarity, and heading similarity. It should be understood that the traffic participant with the largest F value can be obtained through the similarity matching calculation formula, and the traffic participant with the largest F value is the second traffic participant.

[0095] Step S106: Bind the OBU to the second traffic participant object.

[0096] According to the above embodiment, after determining the second traffic participant object having the greatest similarity to the movement status information of the OBU using distance similarity, speed similarity and heading similarity, the OBU is bound to the second traffic participant object.

[0097] To strengthen the binding relationship between the OBU and the second traffic participant, the second traffic participant is optionally the traffic participant whose mobility status information similarity with the OBU exceeds a second preset number of times during the multiple similarity matching processes. It is worth noting that the values ​​of the first preset number and the second preset number can be the same or different, and the second preset number can be set according to actual application requirements, and this application does not impose any restrictions on this.

[0098] In one possible implementation, assuming that the OBU has never been bound to the RSU, in order to expedite the subsequent binding of the OBU to the second traffic participant, after the second traffic participant is first bound to the OBU, the correspondence between the OBU identifier and the detection identifier assigned by the RSU to the second traffic participant can be saved in a preset feature library. The OBU identifier can be a device ID that uniquely identifies the OBU, and the detection identifier of the second traffic participant can be a detection ID assigned to the second traffic participant by the RSU when detecting each traffic participant.

[0099] Optionally, the first road detection data further includes feature information of M traffic participants, the feature information including license plate, vehicle model, vehicle body size and vehicle body color; and the feature information is stored in a preset feature library.

[0100] It should be understood that the characteristic information of the traffic participant object can be used in the subsequent road information detection process. For example, when the characteristic information of the vehicle is stored in the preset feature library, the detection result of the traffic participant object can be directly identified by RSU with the characteristic information of the vehicle corresponding to the OBU stored in the preset feature library to achieve rapid binding; the characteristic information of the traffic participant object can also cooperate with the OBU binding method provided in an embodiment of the present application to accelerate the binding process; the characteristic information of the traffic participant object can also be used to verify the binding result, that is, to verify the correspondence between the OBU identifier stored in the preset feature library and the detection identifier assigned by the RSU to the traffic participant object, so as to improve the stability and reliability of the binding.

[0101] In order to ensure the accuracy of the correspondence between the OBU identifier stored in the preset feature library and the detection identifier assigned by the RSU to the second traffic participant object, in another possible implementation, after the correspondence between the OBU identifier and the detection identifier assigned by the RSU to the second traffic participant object is saved in the preset feature library, the OBU binding method provided in this embodiment further includes:

[0102] First, in another time period, second road detection data detected by a smart base station deployed at a preset position on the road is obtained, and the second road detection data includes movement status information of K traffic participants.

[0103] Among them, the second road detection data is similar to the first road detection data, and both include the location information, speed and heading of multiple traffic participants. Of course, according to actual needs, when the movement status information of the multiple traffic participants included in the first road detection data changes, the movement status information of the multiple traffic participants included in the second road detection data will also change. Exemplarily, when the movement status information of the multiple traffic participants included in the first road detection data includes speed and heading, then the movement status information of the multiple traffic participants included in the corresponding second road detection data also includes speed and heading. Therefore, this application does not impose any restrictions on the information specifically included in the movement status information of the traffic participants.

[0104] Then, receive the updated OBU mobile state information sent by the OBU. It is not difficult to understand that the OBU mobile state information will also change with the movement of the traffic participant object. Therefore, the updated OBU mobile state information is different from the mobile state information sent by the OBU during the first binding process.

[0105] Secondly, the updated OBU's movement state information is re-matched with the movement state information of K traffic participants respectively to obtain the third traffic participant with the greatest similarity.

[0106] Finally, the detection identifier assigned by the RSU to the third traffic participant is compared with the detection identifier assigned by the RSU to the third traffic participant stored in the preset feature library corresponding to the OBU identifier. If the comparison result is inconsistent, the detection identifier assigned by the RSU to the third traffic participant is updated to the detection identifier assigned by the RSU to the third traffic participant stored in the preset feature library corresponding to the OBU identifier. The above process of binding the traffic participant to the OBU is repeated to further improve the accuracy of the binding.

[0107] like Figure 6 As shown, the present application provides an OBU binding device, which is applied to a roadside unit RSU. The device 200 includes a receiving unit 201, a determining unit 202 and a binding unit 203.

[0108] Receiving unit 201 is used for receiving the identification of this OBU that OBU sends;

[0109] A determining unit 202 is configured to determine, based on the identifier of the OBU, a first traffic participant object that has been bound to the identifier of the OBU in a preset feature library;

[0110] The binding unit 203 is configured to bind the OBU to the first traffic participant object if the number of times the OBU identifier is continuously bound to the first traffic participant object exceeds a first preset number.

[0111] Optionally, the binding unit 203 is further configured to:

[0112] If the number of consecutive bindings between the OBU and the first traffic participant does not exceed a first preset number, obtaining the movement state information of the OBU and first road detection data detected by a smart base station deployed at a preset position on the road, the first road detection data including the movement state information of M traffic participants;

[0113] Performing similarity matching between the mobile state information of the OBU and the mobile state information of the M traffic participants, and obtaining a second traffic participant having the greatest similarity to the mobile state information of the OBU;

[0114] The OBU is bound to the second traffic participant object.

[0115] Optionally, the second traffic participant object is a traffic participant object whose maximum similarity with the movement status information of the OBU exceeds a second preset number of times during multiple similarity matching processes.

[0116] Optionally, the movement status information includes location information, speed and heading.

[0117] Optionally, the method for acquiring the location information of the OBU includes: receiving the positioning information of the OBU sent by the OBU; and determining the location information of the OBU according to a preset position relationship between the RSU and the cellular base station and the positioning information.

[0118] The method for acquiring the speed and heading of the OBU includes: acquiring N pieces of position information of the OBU; and determining the speed and heading of the OBU according to the N pieces of position information.

[0119] Optionally, the binding unit 203 is configured to: establish a kd tree based on the mobility status information of the M traffic participants; select P traffic participants from the M traffic participants based on the kd tree, where the P traffic participants are located in a circle with the location of the OBU as the center and a preset length as the radius, where P is a positive integer and M≥P;

[0120] The mobile state information of the OBU is matched with the mobile state information of the P traffic participants respectively for similarity.

[0121] Optionally, the binding unit 203 is further configured to: for any of the traffic participant objects, determine the distance similarity between the OBU and the traffic participant object based on the location information of the OBU and the location information of the traffic participant object; determine the speed similarity between the OBU and the traffic participant object based on the speed of the OBU and the speed of the traffic participant object;

[0122] Determining a heading similarity between the OBU and the traffic participant object based on the heading of the OBU and the heading of the traffic participant object;

[0123] The similarity between the OBU and the traffic participant object is determined according to the distance similarity, the speed similarity and the heading similarity.

[0124] Those skilled in the art can clearly understand that, for the convenience and brevity of description, only the division of the above-mentioned functional units and modules is used as an example for illustration. In actual applications, the above-mentioned functions can be distributed and completed by different functional units and modules as needed, that is, the internal structure of the device can be divided into different functional units or modules to complete all or part of the functions described above. The functional units and modules in the embodiment can be integrated into one processing unit, or each unit can exist physically alone, or two or more units can be integrated into one unit. The above-mentioned integrated unit can be implemented in the form of hardware or in the form of software functional units. In addition, the specific names of the functional units and modules are only for the convenience of distinguishing each other, and are not used to limit the scope of protection of this application. The specific working process of the units and modules in the above-mentioned system can refer to the corresponding process in the aforementioned method embodiment, and will not be repeated here.

[0125] Based on the same concept, as an implementation of the above method, an embodiment of the present application provides an OBU binding device. The device embodiment corresponds to the aforementioned method embodiment. For ease of reading, this device embodiment will no longer repeat the details of the aforementioned method embodiment one by one, but it should be clear that the device in this embodiment can correspond to and implement all the contents of the aforementioned method embodiment.

[0126] Based on the same concept, an embodiment of the present application also provides a terminal device. Figure 7 A schematic diagram of a terminal device provided in an embodiment of the present application, such as Figure 7 As shown, the terminal device 300 provided in this embodiment includes: a memory 302 and a processor 301, the memory 302 is used to store a computer program 303; the processor 301 is used to execute the method described in the above method embodiment when calling the computer program 303, for example Figure 2 Alternatively, when the processor 301 executes the computer program, the functions of the modules / units in the above-mentioned device embodiments are realized, for example, Figure 6 The functions of the receiving unit 201 to the binding unit 203 are shown.

[0127] Exemplarily, the computer program may be divided into one or more modules / units, which are stored in the memory 302 and executed by the processor 301 to complete the present application. The one or more modules / units may be a series of computer program instruction segments capable of performing specific functions, and the instruction segments are used to describe the execution process of the computer program in the terminal device.

[0128] Those skilled in the art will understand that Figure 7 It is only an example of a terminal device and does not constitute a limitation of the terminal device. It may include more or fewer components than shown in the figure, or a combination of certain components, or different components. For example, the terminal device may also include input and output devices, network access devices, buses, etc.

[0129] The processor 301 may be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field-programmable gate arrays (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general-purpose processor may be a microprocessor or any conventional processor.

[0130] The memory 302 may be an internal storage unit of the terminal device, such as a hard disk or memory of the terminal device. The memory 302 may also be an external storage device of the terminal device, such as a plug-in hard disk equipped with the terminal device, a Smart Media Card (SMC), a Secure Digital (SD) card, a Flash Card, etc. Furthermore, the memory 302 may include both an internal storage unit of the terminal device and an external storage device. The memory 302 is used to store the computer program and other programs and data required by the terminal device. The memory 302 may also be used to temporarily store data that has been output or is about to be output.

[0131] The terminal device provided in this embodiment can execute the above method embodiment, and its implementation principle and technical effects are similar, which will not be repeated here.

[0132] An embodiment of the present application further provides a computer-readable storage medium having a computer program stored thereon. When the computer program is executed by a processor, the method described in the above method embodiment is implemented.

[0133] An embodiment of the present application further provides a computer program product, which, when executed on a terminal device, enables the terminal device to implement the method described in the above method embodiment.

[0134] The present application also provides a chip system, including a processor coupled to a memory, wherein the processor executes a computer program stored in the memory to implement the method described in the above method embodiment. The chip system can be a single chip or a chip module composed of multiple chips.

[0135] If the above-mentioned integrated unit is implemented as a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the present application can implement all or part of the processes in the above-mentioned method embodiments by instructing the relevant hardware through a computer program. The computer program can be stored in a computer-readable storage medium. When executed by a processor, the computer program can implement the steps of each of the above-mentioned method embodiments. The computer program includes computer program code, which can be in source code form, object code form, executable file, or some intermediate form. The computer-readable storage medium can at least include: any entity or device capable of carrying computer program code to the camera / terminal device, recording medium, computer memory, read-only memory (ROM), random access memory (RAM), electric carrier signal, telecommunication signal, and software distribution medium. For example, a USB flash drive, mobile hard drive, magnetic disk, or optical disk. In some jurisdictions, based on legislation and patent practice, computer-readable media cannot be electric carrier signals or telecommunication signals.

[0136] In the above embodiments, the description of each embodiment has its own focus. For parts that are not described or recorded in detail in a certain embodiment, reference can be made to the relevant description of other embodiments.

[0137] Those skilled in the art will appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of this application.

[0138] In the embodiments provided in this application, it should be understood that the disclosed devices / equipment and methods can be implemented in other ways. For example, the device / equipment embodiments described above are merely schematic. For example, the division of the modules or units is merely a logical function division. In actual implementation, there may be other division methods, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0139] It should be understood that when used in the present specification and the appended claims, the term "comprising" indicates the presence of described features, integers, steps, operations, elements and / or components, but does not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components and / or collections thereof.

[0140] It will also be understood that the term "and / or" used in this specification and the appended claims refers to and includes any and all possible combinations of one or more of the associated listed items.

[0141] As used in this specification and the appended claims, the term "if" can be interpreted as "when" or "upon" or "in response to determining" or "in response to detecting," depending on the context. Similarly, the phrase "if it is determined" or "if [described condition or event] is detected" can be interpreted as meaning "upon determination" or "in response to determining" or "upon detection of [described condition or event]" or "in response to detecting [described condition or event]," depending on the context.

[0142] In addition, in the description of the present application specification and the appended claims, the terms "first", "second", "third", etc. are only used to distinguish the descriptions and cannot be understood as indicating or implying relative importance.

[0143] References to "one embodiment" or "some embodiments" in this specification mean that a particular feature, structure, or characteristic described in conjunction with that embodiment is included in one or more embodiments of the present application. Thus, phrases such as "in one embodiment," "in some embodiments," "in other embodiments," and "in other embodiments" appearing in various places in this specification do not necessarily refer to the same embodiment, but rather mean "one or more but not all embodiments," unless otherwise specifically emphasized. The terms "including," "comprising," "having," and variations thereof all mean "including but not limited to," unless otherwise specifically emphasized.

[0144] The above description is only a preferred embodiment of the present application and is not intended to limit the present application. Any modifications, equivalent replacements and improvements made within the spirit and principles of the present application should be included in the scope of protection of the present application.

Claims

1. An OBU binding method, applied to a roadside unit RSU, characterized in that: The method comprises: Receive the identification of the described OBU that OBU sends; Determine a first traffic participant object bound to the identifier of the OBU in a preset feature library according to the identifier of the OBU; If the number of consecutive bindings between the OBU identifier and the first traffic participant object exceeds a first preset number, the OBU is bound to the first traffic participant object, and the binding between the OBU and the first traffic participant object is used by the RSU to determine the corresponding relationship between the OBU and the first traffic participant object; The feature library includes the OBU identification information bound to each traffic participant and the detection identification assigned by the RSU to each detected traffic participant; The step of determining, according to the identifier of the OBU, a first traffic participant object that has been bound to the identifier of the OBU in a preset feature library comprises: Determine the first detection identification bound to the identification of the OBU; The first traffic participant is determined according to the first detection identifier.

2. The method according to claim 1, characterized in that The method further comprises: If the number of consecutive bindings between the OBU and the first traffic participant does not exceed a first preset number, obtaining the movement status information of the OBU and first road detection data detected by a smart base station deployed at a preset position on the road, where the first road detection data includes the movement status information of M traffic participants; Performing similarity matching on the mobile state information of the OBU and the mobile state information of the M traffic participants, respectively, to obtain a second traffic participant having the greatest similarity to the mobile state information of the OBU; Bind the OBU to the second traffic participant object.

3. The method according to claim 2, characterized in that The second traffic participant object is a traffic participant object whose maximum similarity with the movement status information of the OBU exceeds a second preset number of times during multiple similarity matching processes.

4. The method according to claim 2 or 3, characterized in that The movement status information includes location information, speed and heading.

5. The method according to claim 4, wherein The method for obtaining the location information of the OBU includes: Receive the positioning information of the OBU sent by the OBU; Determine the location information of the OBU according to the preset location relationship between the RSU and the cellular base station and the positioning information; The method for obtaining the speed and heading of the OBU includes: Obtaining N pieces of location information of the OBU; The speed and heading of the OBU are determined according to the N pieces of position information.

6. The method according to claim 4, wherein The similarity matching includes: For any of the traffic participant objects, determining the distance similarity between the OBU and the traffic participant object based on the location information of the OBU and the location information of the traffic participant object; Determine the speed similarity between the OBU and the traffic participant object according to the speed of the OBU and the speed of the traffic participant object; Determine the heading similarity between the OBU and the traffic participant object according to the heading of the OBU and the heading of the traffic participant object; The similarity between the OBU and the traffic participant object is determined according to the distance similarity, the speed similarity and the heading similarity.

7. The method according to claim 2 or 3, wherein: The performing similarity matching on the movement state information of the OBU and the movement state information of the M traffic participants respectively includes: Establishing a kd tree based on the movement status information of the M traffic participants; According to the kd tree, P traffic participants are selected from the M traffic participants, where the P traffic participants are located in a circle with the location of the OBU as the center and a preset length as the radius, where P is a positive integer and M≥P; The mobile state information of the OBU is matched with the mobile state information of the P traffic participants respectively for similarity.

8. An OBU binding device, applied to a roadside unit RSU, characterized in that: The device comprises: Receiving unit, is used to receive the mark of the described OBU that OBU sends; A determining unit, configured to determine, based on the identifier of the OBU, a first traffic participant object that has been bound to the identifier of the OBU in a preset feature library; a binding unit, configured to bind the OBU to the first traffic participant object if the number of consecutive bindings between the OBU identifier and the first traffic participant object exceeds a first preset number, wherein the binding between the OBU and the first traffic participant object is used by the RSU to determine a corresponding relationship between the OBU and the first traffic participant object; The feature library includes the OBU identification information bound to each traffic participant and the detection identification assigned by the RSU to each detected traffic participant; The determining unit is further configured to: Determine the first detection identification bound to the identification of the OBU; The first traffic participant is determined according to the first detection identifier.

9. A terminal device, 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 call and run the computer program from the memory, so that the device executes the method according to any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that The computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the processor is caused to perform the method according to any one of claims 1 to 7.

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