A method, device and system for vehicle evidence collection based on V2X

Abstract

The embodiment of the present application provides a method, device and system for vehicle evidence collection based on V2X, which belongs to the field of road traffic technology. The method includes: when the vehicle enters the communication range of the roadside V2X device, the transaction is carried out with the vehicle-mounted V2X terminal of the vehicle, and the transaction information is stored in a preset storage space; the transaction information includes the identity information of the vehicle; the interactive message sent by the vehicle-mounted V2X terminal is received, and the interactive message includes the vehicle position and identity information; multiple checks are performed according to the vehicle position to determine that the vehicle enters the evidence collection area; the evidence collection area is within the communication range of the roadside V2X device; the camera on the gantry is controlled to shoot the evidence collection area to obtain evidence photos; according to the identity information in the interactive message, the target transaction information is obtained; the evidence photos are associated with the target transaction information to obtain the vehicle's transaction evidence. The method of the present application can solve the problem of low accuracy of vehicle transaction evidence collection.

Description

Technical Field

[0001] The present application relates to the field of road traffic control, and in particular to a method, device and system for vehicle evidence collection based on V2X. Background Art

[0002] At present, the main methods of road toll collection include manual toll collection or electronic toll collection (ETC). Among them, manual toll collection requires manpower and vehicle parking, which is inefficient. The ETC charging method has shortcomings such as complicated charging process and long transaction time. With the development of vehicle-road collaborative technology, the charging system based on vehicle to everything (V2X) wireless communication technology can overcome the shortcomings of the above charging methods and has the advantage of beyond-line-of-sight remote communication, but it also brings the problem of accurately identifying passing vehicles and improving the accuracy of vehicle charging evidence collection. Summary of the invention

[0003] The present application provides a method, device and system for vehicle evidence collection based on V2X, which controls a camera to take photos of passing vehicles for evidence collection through the vehicle's location information, and binds the evidence information with the charging information, thereby solving the problem of low accuracy of vehicle transaction evidence collection.

[0004] In a first aspect, a method for vehicle evidence collection based on V2X is provided, wherein the method comprises: when a vehicle enters the communication range of a roadside V2X device, conducting a transaction with an on-board V2X terminal of the vehicle, and storing the transaction information in a preset storage space; the transaction information includes the identity information of the vehicle; receiving an interactive message sent by the on-board V2X terminal, the interactive message including the location and identity information of the vehicle; performing multiple checks on the vehicle according to the location of the vehicle to determine that the vehicle enters an evidence collection area; the evidence collection area is within the communication range of the roadside V2X device; when the vehicle is located in the target evidence collection area, controlling a camera on a gantry to take a picture of the evidence collection area to obtain an evidence photo; according to the identity information in the interactive message, obtaining target transaction information from the transaction information in the preset storage space; associating the evidence photo with the target transaction information to obtain transaction evidence of the vehicle.

[0005] The target transaction information refers to the transaction information that matches the identity information in the interaction message, that is, the transaction information corresponding to the vehicle. For example, the identity information may be the vehicle's license plate or other information that can uniquely identify the vehicle.

[0006] According to the V2X-based vehicle evidence collection method provided in the embodiment of the present application, after establishing a transaction with the vehicle through the roadside V2X device and obtaining the vehicle's transaction information, the camera is controlled to take evidence photos according to the vehicle position in the message interacting with the vehicle, and the evidence photos are bound to the corresponding transaction information, and finally the evidence collection evidence corresponding to the vehicle is obtained, which can realize automatic and efficient vehicle evidence collection, effectively improve the accuracy of evidence collection, and avoid missing vehicle evidence information.

[0007] In combination with the first aspect, in certain implementations of the first aspect, the transaction information includes a license plate, and the method further includes: identifying the license plate in the evidence photo; obtaining other target transaction information from the transaction information in the preset storage space based on the license plate; the other target transaction information is different from the vehicle corresponding to the target transaction information; and associating the evidence photo with the other target transaction information to obtain transaction evidence of the vehicle corresponding to the other target transaction information.

[0008] In combination with the first aspect, in certain implementations of the first aspect, the evidence collection area covers multiple lanes, each evidence collection area corresponds to a group of cameras, and the group of cameras includes at least one camera.

[0009] Optionally, it can be divided into multiple evidence collection areas. For example, one vehicle can correspond to one evidence collection area, and one evidence collection area can correspond to a group of cameras, which are used to take evidence photos in the evidence collection area.

[0010] In combination with the first aspect, in certain implementations of the first aspect, evidence collection areas are provided on both sides of the gantry, and the shooting range of the camera on the gantry corresponds to the evidence collection areas on both sides of the gantry; when the vehicle is located in the evidence collection target area, the camera on the gantry is controlled to shoot the evidence collection area to obtain evidence photos, including: when the vehicle drives towards the gantry and enters the evidence collection area in front of the gantry, the camera is controlled to shoot the evidence collection area in front of the gantry to obtain a first evidence photo; when the vehicle drives away from the gantry and enters the evidence collection area behind the gantry, the camera is controlled to shoot the evidence collection area behind the gantry to obtain a second evidence photo; associating the evidence photos with the target transaction information to obtain transaction evidence of the vehicle, including: associating both the first evidence photo and the second evidence photo with the target transaction information as transaction evidence of the vehicle.

[0011] In combination with the first aspect, in certain implementations of the first aspect, the interaction message also includes the driving speed of the vehicle, and the method further includes: determining whether the vehicle is approaching or leaving the gantry based on the vehicle position included in the interaction message and the driving speed of the vehicle.

[0012] In combination with the first aspect, in certain implementations of the first aspect, obtaining the target transaction information corresponding to the vehicle from the transaction information in the preset storage space based on the identity information of the vehicle in the interaction message specifically includes: comparing the identity information of the vehicle with the identity information in the transaction information in the preset storage space; and taking the identity information in the transaction information that matches the identity information of the vehicle as the target transaction information.

[0013] In a second aspect, a device is provided, including: a transaction module, which is used to conduct transactions with the on-board V2X terminal of the vehicle when the vehicle enters the communication range of the roadside V2X device, and store the transaction information in a preset storage space; the transaction information includes the identity information of the vehicle; a communication module, which is used to receive an interactive message sent by the on-board V2X terminal, and the interactive message includes the location and identity information of the vehicle; a processing module, which is used to perform multiple checks on the vehicle according to the location of the vehicle to determine that the vehicle enters an evidence collection area; the evidence collection area is within the communication range of the roadside V2X device; when the vehicle is located in the target evidence collection area, the camera on the gantry is controlled to take a picture of the evidence collection area to obtain an evidence photo; according to the identity information in the interactive message, the target transaction information is obtained from the transaction information in the preset storage space; the evidence photo is associated with the target transaction information to obtain transaction evidence of the vehicle.

[0014] In combination with the second aspect, in certain implementations of the second aspect, the transaction information includes a license plate, and the processing module is further used to identify the license plate in the evidence photo; based on the license plate, other target transaction information is obtained from the transaction information in the preset storage space; the other target transaction information is different from the vehicle corresponding to the target transaction information; the evidence photo is associated with the other target transaction information to obtain transaction evidence of the vehicle corresponding to the other target transaction information.

[0015] In combination with the second aspect, in certain implementations of the second aspect, the evidence collection area covers multiple lanes, each evidence collection area corresponds to a group of cameras, and the group of cameras includes at least one camera.

[0016] In combination with the second aspect, in some implementations of the second aspect, evidence collection areas are provided on both sides of the gantry, and the shooting range of the camera on the gantry corresponds to the evidence collection areas on both sides of the gantry;

[0017] The processing module is also used to control the camera to photograph the evidence collection area in front of the gantry to obtain a first evidence collection photo when the vehicle drives towards the gantry and enters the evidence collection area in front of the gantry; when the vehicle drives away from the gantry and drives into the evidence collection area behind the gantry, control the camera to photograph the evidence collection area behind the gantry to obtain a second evidence collection photo; and associate the first evidence collection photo and the second evidence collection photo with the target transaction information as transaction evidence of the vehicle.

[0018] In combination with the second aspect, in certain implementations of the second aspect, the interactive message also includes the driving speed of the vehicle, and the processing module is further used to determine that the vehicle is approaching the gantry and entering the evidence collection area in front of the gantry based on the vehicle position included in the interactive message and the driving speed of the vehicle; or, to determine that the vehicle is leaving the gantry and entering the evidence collection area behind the gantry based on the vehicle position included in the interactive message and the driving speed of the vehicle.

[0019] In combination with the second aspect, in certain implementations of the second aspect, the processing module is also used to compare the identity information of the vehicle with the identity information in the transaction information in the preset storage space; and use the identity information in the transaction information that matches the identity information of the vehicle as the target transaction information.

[0020] In a third aspect, a roadside V2X device is provided, comprising: one or more communication interfaces; one or more memories for storing computer-readable instructions; and one or more processors for executing the computer-readable instructions. When the computer-readable instructions are executed, the method described in any implementation method of the first aspect above is implemented.

[0021] In a fourth aspect, a cloud server is provided, comprising: one or more communication interfaces; one or more memories for storing computer-readable instructions; and one or more processors for executing the computer-readable instructions. When the computer-readable instructions are executed, the function of the method described in any implementation method of the first aspect above is implemented on the cloud server.

[0022] In a fifth aspect, a system based on V2X vehicle forensics is provided, comprising: a cloud server, a V2X roadside V2X device and a vehicle, wherein the vehicle is equipped with a vehicle-mounted V2X terminal, and the vehicle is used to conduct transactions with the roadside V2X device through the vehicle-mounted V2X terminal and generate transaction information, and the cloud server is used to execute the function of the method described in any implementation method of the first aspect above on the cloud server.

[0023] In a sixth aspect, a computer-readable storage medium is provided, wherein the computer-readable storage medium includes computer instructions. When the computer instructions are executed, the method described in any implementation manner in the first aspect above is implemented.

[0024] In a seventh aspect, a computer product is provided, the computer product comprising computer instructions, and when the computer instructions are executed in a computer, the method described in any implementation manner of the first aspect is implemented. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 It is a schematic diagram of a system architecture applicable to a V2X-based vehicle evidence collection method provided in an embodiment of the present application.

[0026] Figure 2 It is a structural schematic diagram of a roadside V2X device 100 provided in an embodiment of the present application.

[0027] Figure 3 It is a schematic diagram of an application scenario applicable to a V2X-based vehicle evidence collection method provided in an embodiment of the present application.

[0028] Figure 4 This is a schematic flowchart of a method for vehicle evidence collection based on V2X provided in an embodiment of the present application.

[0029] Figure 5 It is a schematic flowchart of another V2X-based vehicle evidence collection method provided in an embodiment of the present application.

[0030] Figure 6 It is a schematic flowchart of another V2X-based vehicle evidence collection method provided in an embodiment of the present application.

[0031] Figure 7 It is a schematic diagram of an application scenario applicable to another V2X-based vehicle evidence collection method provided in an embodiment of the present application.

[0032] Figure 8 This is a schematic diagram of the hardware structure of a roadside V2X device provided in an embodiment of the present application.

[0033] Fig. 9 This is a schematic diagram of the hardware structure of a roadside V2X device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0034] The embodiments of the present application are described below in conjunction with the drawings in the embodiments of the present application.

[0035] It should be noted that the terms used in the implementation methods of the embodiments of the present application are only used to explain the specific embodiments of the present application, and are not intended to limit the present application. In the description of the embodiments of the present application, unless otherwise specified, " / " means or, for example, A / B can mean A or B; "and / or" in this article is only a description of the association relationship of associated objects, indicating that there can be three relationships, for example, A and / or B can mean: A exists alone, A and B exist at the same time, and B exists alone. In addition, in the description of the embodiments of the present application, unless otherwise specified, "multiple" means two or more than two, "at least one" and "one or more" mean one, two or more than two.

[0036] In the following, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, it is defined that the "first" and "second" features may explicitly or implicitly include one or more of the features.

[0037] References to "one embodiment" or "some embodiments" etc. described in this specification mean that a particular feature, structure or characteristic described in conjunction with the embodiment is included in one or more embodiments of the present application. Thus, the phrases "in one embodiment", "in some embodiments", "in some other embodiments", "in some other embodiments", etc. that appear at different places in this specification do not necessarily refer to the same embodiment, but mean "one or more but not all embodiments", unless otherwise specifically emphasized in other ways. The terms "including", "comprising", "having" and their variations all mean "including but not limited to", unless otherwise specifically emphasized in other ways.

[0038] The technical solution of the embodiment of the present application can be applied to various communication systems, such as the fifth generation (5 th generation, 5G) mobile communication systems, such as new radio (NR), sixth generation (6 th generation, 6G) mobile communication systems and future communication systems, etc.

[0039] The technical solutions of the embodiments of the present application can be applied to technical fields such as unmanned driving, driver assistance (ADAS), intelligent driving, connected driving, intelligent network driving, car sharing, smart / intelligent car, digital car, unmanned car, internet of vehicles (IoV), self-driving car, cooperative vehicle infrastructure (CVIS), intelligent transport system (ITS), and vehicular communication.

[0040] In order to facilitate understanding of the solutions described in the embodiments of the present application, some of the terms that may be involved in the embodiments of the present application are explained below:

[0041] 1. V2X

[0042] V2X technology is a key technology of intelligent transportation system. It enables communication between vehicles, vehicles and base stations, and base stations, so as to obtain a series of traffic information such as real-time road conditions, road information, pedestrian information, etc., thereby improving driving safety, reducing congestion, improving traffic efficiency, and providing in-vehicle entertainment information.

[0043] 2. Roadside V2X equipment

[0044] The roadside V2X equipment in the embodiments of the present application may include a roadside unit (RSU) and roadside intelligent facilities, wherein the roadside intelligent equipment includes visual sensors such as cameras; optionally, the roadside intelligent equipment may also include radar sensors such as millimeter wave radars and lidars, intelligent traffic lights, intelligent signs, etc.

[0045] The roadside V2X equipment processing device can be connected to the camera or other cameras in the area where it is located by wire or wirelessly to obtain images of roads and vehicles in the area. In addition, the roadside V2X equipment can also interact with vehicles within its communication range. For example, the vehicle can report the vehicle's driving information to the roadside V2X equipment, and the roadside V2X equipment can also send road traffic information (such as traffic condition prompts or road warnings) in the area where the vehicle is located to the vehicle.

[0046] 3. Cloud Server

[0047] The cloud server can also be described as a cloud management platform or a cloud device. The cloud server in the embodiment of the present application refers to the cloud server corresponding to the roadside V2X device, which can communicate and interact with the roadside V2X device, store vehicle information, transaction information, etc., and analyze and process this information. Optionally, the cloud server can also communicate directly with the vehicle.

[0048] 4. Vehicle driving information

[0049] Information related to the vehicle's driving process includes the vehicle's position and the vehicle's driving speed. Optionally, the vehicle's driving information in the embodiment of the present application may also include the vehicle's acceleration, etc. Optionally, the vehicle's driving information may be collected by the vehicle's own on-board V2X terminal (on board unit, OBU).

[0050] At present, when a vehicle passes through a toll station on the road, the vehicle information is generally collected for evidence. However, the existing evidence collection method is prone to failure or omission of evidence due to factors such as obstacles (such as other vehicles).

[0051] In response to the above problems, an embodiment of the present application provides a V2X-based vehicle evidence collection method, which obtains the vehicle's location information based on V2X technology through a roadside V2X device. When the vehicle is detected to be in the evidence collection target area based on the vehicle's location, the camera (or camera) is instructed to capture an image including the vehicle, and the vehicle identification such as the license plate number is identified based on the image, and the corresponding vehicle order is bound, so as to more accurately obtain vehicle evidence collection information and avoid the problem of missing information.

[0052] For example, Figure 1 , which is a schematic diagram of a system architecture applicable to a method for obtaining vehicle evidence based on V2X provided in an embodiment of the present application. The system architecture includes a roadside V2X device 100, at least one vehicle 200 and a cloud server 300.

[0053] In some embodiments, the roadside V2X device 100 (or roadside fusion perception system, roadside base station or smart base station) is an important infrastructure of the intelligent traffic vehicle-road system, which may have charging transaction capabilities, communication capabilities and information storage capabilities. The roadside V2X device 100 may include but is not limited to a roadside unit RSU101 and at least one visual sensor (taking camera 102 as an example). Among them, RSU101 may be arranged on one side or both sides of the gantry; at least one camera group 102 may be arranged on the gantry. Exemplarily, RSU101 may correspond to a certain communication area, and when the vehicle enters the communication area, it can interact with the roadside V2X device. The front and / or rear side of the gantry may be provided with an evidence collection area, and the evidence collection area may be located within the range of the communication area. When the roadside V2X device 100 determines that the vehicle is located in the communication area, it may control the camera 102 on the gantry to take pictures of the evidence collection area, thereby obtaining photo information including the vehicle.

[0054] The roadside V2X device 100 can establish a communication connection with at least one camera 101 and at least one vehicle 200 through wireless communication technology to achieve interconnection. The wireless communication technology can be, for example, any wireless network based on a communication technology standard, such as a long term evolution (LTE) wireless network, a vehicle to everything (V2X), the fifth generation mobile communication technology (the 5 th generation, 5G) etc.

[0055] The roadside V2X device 100 can use the charging transaction capability to conduct a charging transaction with the vehicle, establish the transaction information corresponding to the vehicle during the transaction, and store the transaction information in a preset storage space. During the evidence collection process, the roadside V2X device 100 can receive the evidence collection photo sent by the camera 102. Optionally, the roadside V2X device 100 can also identify the vehicle 200 in the evidence collection photo, and bind the photo with the transaction information of the vehicle contained in the photo according to the identification result, so as to obtain more accurate evidence collection information.

[0056] In some embodiments, the vehicle 200 may include an on-road unit (ORU) (or on-road V2X terminal), which can communicate with the roadside V2X device 100 through the on-road V2X terminal. Exemplarily, the vehicle 200 can send vehicle driving information and vehicle identity information to the roadside V2X device 100 through a broadcast message, so that the roadside V2X device 100 can determine the location of the vehicle. The vehicle 200 in the embodiment of the present application can be an ordinary driving vehicle or an autonomous vehicle (or unmanned vehicle, computer-driven vehicle or wheeled mobile robot, etc.), and the present application does not impose any limitation on the specific type of the vehicle.

[0057] In some embodiments, the system architecture in the embodiments of the present application may further include a cloud server 300, which has communication capabilities and information analysis and processing capabilities. In one implementation, after obtaining the transaction information and photo information of the vehicle 200, the roadside V2X device 100 may send this information to the cloud server 300, and the cloud server 300 performs data analysis and processing to obtain the vehicle's forensic information.

[0058] For example, Figure 2 FIG. 1 is a schematic diagram of a roadside V2X device 100 provided in an embodiment of the present application. The roadside V2X device 100 can be used with Figure 1 In the example, the roadside V2X device 100 may include at least a communication system 1001, a computing system 1002, and a transaction system 1003.

[0059] In some embodiments, the communication system 1001 may include at least one antenna, a wireless communication module, a modulation and demodulation processor, etc. Among them, the antenna can be used to transmit and / or receive electromagnetic wave signals. Each antenna in the roadside V2X device 100 can be used to cover a single or multiple communication frequency bands. The wireless communication module can receive electromagnetic wave signals from the antenna, filter, amplify and other processes the received electromagnetic wave signals, and transmit them to the modulation and demodulation processor for demodulation. The wireless communication module can also amplify the signal modulated by the modulation and demodulation processor, and convert it into electromagnetic waves for radiation through the antenna. In a possible implementation, the communication system 1001 of the roadside V2X device 100 can be used to receive interactive messages sent by the on-board V2X terminal (such as OBU) in the vehicle 300. The communication system 1001 of the roadside V2X device 100 can also be used to send instruction messages to road equipment such as at least one camera group 200 to control the camera group to perform shooting operations; it can also receive evidence photos sent by at least one camera group 200.

[0060] In addition, in other embodiments, if the cloud server 300 performs the operation of processing and analyzing data to obtain transaction evidence, the roadside V2X device 100 can also communicate and interact with the cloud server 300 through the communication system 1001, such as sending the vehicle's transaction information, evidence photos, etc. to the cloud server 300. The communication process between the communication system 1001 and other communication devices can be based on an existing communication protocol, which is not limited in the embodiments of the present application.

[0061] In some embodiments, if the roadside V2X device 100 performs the operation of processing and analyzing data to obtain transaction evidence, the computing system 1002 may be responsible for analyzing and processing the transaction information, evidence photos, etc. to obtain evidence evidence corresponding to the vehicle. Exemplarily, after the communication system 1001 receives the evidence photos collected by at least one group of cameras 200, the evidence photo data stream may be transmitted to the computing system 1002. After the computing system 1002 obtains the evidence photos, it may obtain the transaction information matching the identity information of the vehicle from the storage space according to the obtained vehicle identity information, and associate the transaction information with the evidence photos to obtain the transaction evidence corresponding to the vehicle.

[0062] In addition, the computing system 1002 can also be used to control the camera group 200 to take photos for evidence collection after determining that the vehicle has entered the evidence collection area.

[0063] In some embodiments, the transaction system 1003 can be used to perform transactions with the vehicle V2X terminal and create transaction information. For example, when a vehicle enters the communication range of the roadside V2X device 100, the transaction system 1003 can create transaction information corresponding to the vehicle (such as a road toll order), and the transaction information can include the vehicle's identity information (such as the vehicle's license plate number), the timestamp of the transaction creation, the name of the toll station, etc.

[0064] It should be noted that the above Figure 2 The systems included in the roadside V2X device 100 shown are only examples. In actual applications, the roadside V2X device 100 may include more or fewer systems than shown in the figure. The above-mentioned systems can be implemented in hardware, software, or a combination of software and hardware.

[0065] According to the V2X-based vehicle evidence collection method provided in the embodiment of the present application, after establishing a transaction with the vehicle through the roadside V2X device and obtaining the vehicle's transaction information, the camera is controlled to take evidence photos according to the vehicle position in the vehicle's interactive message, and the evidence photos are bound to the corresponding transaction information, and finally the evidence collection evidence corresponding to the vehicle is obtained, which can realize automatic and efficient vehicle evidence collection, effectively improve the accuracy of evidence collection, and avoid missing vehicle evidence information.

[0066] The V2X-based vehicle evidence collection method provided in the embodiment of the present application can be applied to application scenarios such as when a vehicle needs to collect evidence after passing through a road toll station for a toll transaction. Figure 3 The application scenario schematic diagram shown introduces the V2X-based vehicle evidence collection method provided in an embodiment of the present application.

[0067] like Figure 3 As shown, in a possible scenario, multiple groups of cameras are arranged above the gantry set in the road, wherein each group of cameras may include at least one camera; and roadside V2X devices RSU are arranged on both sides of the gantry. The front side of the gantry (the direction of vehicle entry) and the rear side of the gantry (the direction of vehicle departure) may include the communication area of ​​the RSU, and the communication area includes the evidence collection area. Among them, the gantry communication area refers to the area in the road where vehicles can communicate wirelessly with the RSU through the on-board V2X terminal. The evidence collection area refers to the area where the vehicle is photographed and evidence is collected. The area can be the image acquisition area of ​​the camera or the area covered by the image acquisition range of the camera. The evidence collection area can cover multiple lanes, and each group of cameras can correspond to one evidence collection area.

[0068] In a possible scenario, a vehicle may periodically broadcast messages (e.g., basic safety messages (BSM)) during driving, and the broadcast messages are used to indicate the driving information of the vehicle, such as the vehicle location, the vehicle speed, and the vehicle identity information. When the vehicle enters the communication range of the RSU, the vehicle establishes a transaction with the RSU through the on-board V2X terminal; the RSU generates transaction information corresponding to the vehicle (including the vehicle identity information (such as the license plate number, etc.)), and stores the transaction information in a preset storage space. At the same time, the RSU also receives the broadcast message sent by the vehicle through the V2X terminal, and the RSU can obtain the vehicle's location and vehicle identity information based on the broadcast message. When the RSU determines that the vehicle enters the evidence collection area based on the vehicle location and the scope of the evidence collection area, the RSU can control the camera corresponding to the evidence collection area to take evidence photos and obtain evidence photos. Then, according to the vehicle's identity information, the transaction information of the vehicle matching the identity information is obtained from the storage space, and the evidence photos are bound to the transaction information to obtain the transaction evidence of the vehicle.

[0069] According to the V2X-based vehicle evidence collection method provided in the embodiment of the present application, after establishing a transaction with the vehicle through the roadside V2X device and obtaining the vehicle's transaction information, the camera is controlled to take evidence photos according to the vehicle position in the message interacting with the vehicle, and the evidence photos are bound to the corresponding transaction information, and finally the evidence collection evidence corresponding to the vehicle is obtained, which can realize automatic and efficient vehicle evidence collection, effectively improve the accuracy of evidence collection, and avoid missing vehicle evidence information.

[0070] For example, Figure 4 As shown, it is a schematic flow chart of a method for collecting vehicle evidence based on V2X provided in an embodiment of the present application. The method may specifically include the following steps:

[0071] S401, when the vehicle enters the communication range of the roadside V2X device, it conducts a transaction with the vehicle's onboard V2X terminal and stores the transaction information in a preset storage space. The transaction information includes the vehicle's identity information.

[0072] The vehicle may be equipped with an on-board V2X terminal, which may be an on-board unit OBU. The roadside V2X equipment may be arranged on a gantry of the road, which may be arranged at a road toll station, such as an entrance of a highway, an exit of a highway, etc.

[0073] In some embodiments, when a vehicle enters the communication range of a roadside V2X device, the roadside V2X device may establish a wireless connection with the vehicle and conduct transactions with the vehicle-mounted V2X terminal of the vehicle through the wireless connection. The transaction may include, for example, a transaction created when the vehicle enters a highway, or a transaction may include a transaction when the vehicle exits a highway.

[0074] In some embodiments, when the roadside V2X device conducts a transaction with a vehicle for the first time, the roadside V2X device may create transaction information corresponding to the vehicle. The transaction information may include, for example, the vehicle's identity information (such as a license plate number, etc.), a timestamp of the transaction creation, the transaction location information (such as a toll station name, road name, geographic coordinates, etc.), the vehicle owner information corresponding to the vehicle, etc. For example, a possible transaction information may be as shown in Table 1:

[0075] Table 1

[0076] License plate number Transaction creation time Location Information Owner information Beijing AXXXX 2021-09-14 11:00:00 XXX Toll Station XXX

[0077] It should be understood that the transaction information shown in Table 1 above is only an example. In actual applications, the transaction information may include more or less information than the above-mentioned information, and the embodiments of the present application are not limited to this.

[0078] In some embodiments, the roadside V2X device can store the created transaction information in a preset storage space, which can be, for example, a local memory space of the roadside V2X device, or the storage space can be, for example, a storage space on the cloud server side corresponding to the roadside V2X device.

[0079] S402, receiving an interaction message sent by a vehicle-mounted V2X terminal, where the interaction message includes the location and identity information of the vehicle.

[0080] The interactive message may be, for example, a broadcast message periodically sent by the vehicle-mounted V2X terminal, or may be a message unicasted by the vehicle-mounted V2X terminal to the roadside V2X device based on the communication protocol. Exemplarily, the interactive message may be a BSM message. The interactive message includes the identity information of the vehicle and the driving information of the vehicle, wherein the driving information of the vehicle may be the location of the vehicle, the driving speed of the vehicle, the acceleration, etc.

[0081] In some embodiments, the roadside V2X device may receive an interaction message sent by the vehicle-mounted V2X terminal, and obtain the real-time position and driving speed of the vehicle according to the interaction message.

[0082] S403, performing multiple checks on the vehicle according to the location of the vehicle to determine that the vehicle has entered a proof collection area, which is within the communication range of the roadside V2X device.

[0083] It should be noted that, in the embodiment of the present application, the execution subject of steps S403 to S406 may be a roadside V2X device or a cloud server corresponding to the roadside V2X device. When the execution subject of step S403 is a cloud server, before step S403, it may also include: the roadside V2X device sends an interaction message to the cloud server, so that the cloud server determines the user's location according to the interaction message.

[0084] In some embodiments, when this step is performed by a roadside V2X device, the roadside V2X device can determine the real-time position of the vehicle based on the position of the vehicle indicated by the interaction message, and determine whether the vehicle enters the evidence collection area based on the range of the evidence collection area acquired in advance, wherein when the real-time position of the vehicle is within the range of the evidence collection area, the roadside V2X device can determine that the vehicle enters the evidence collection area.

[0085] In other embodiments, when this step is performed by a cloud server, the cloud server can determine the real-time position of the vehicle based on the vehicle position indicated by the interaction message, and determine whether the vehicle enters the evidence collection area based on the range of the evidence collection area acquired in advance, wherein when the real-time position of the vehicle is within the range of the evidence collection area, the cloud server can determine that the vehicle enters the evidence collection area.

[0086] For example, the vehicle position here may refer to the geographic coordinates (x, y) of the vehicle. After receiving the interaction message, the roadside V2X device or the cloud server may determine whether the vehicle position (x, y) included in the interaction message belongs to the coordinate range of the pre-acquired evidence collection area. If it does, it may be determined that the vehicle has entered the evidence collection area.

[0087] In some embodiments, in order to more accurately determine that the vehicle has entered the evidence collection area, the roadside V2X device can perform multiple checks based on the vehicle's position to determine that the vehicle has entered the evidence collection area. Exemplarily, when the vehicle positions in multiple interactive messages continuously obtained by the roadside V2X device are all within the evidence collection area, the roadside V2X device can determine that the vehicle has entered the evidence collection area. It should be understood that in the embodiments of the present application, the roadside V2X device can also perform a single check on the vehicle, and the present application does not limit the number of checks.

[0088] Optionally, the scope of the evidence collection area can be divided in a variety of ways, such as based on the camera's shooting parameters (such as shooting angle, shooting distance, etc.), or it can also be divided by the management personnel according to actual needs. Figure 3 As shown, the evidence collection area can be set on both sides of the gantry, that is, it can be divided into the evidence collection area in front of the gantry and the evidence collection area behind the gantry, wherein the evidence collection area in front of the gantry can refer to the evidence collection area that the vehicle passes when approaching the gantry, and the evidence collection area behind the gantry can refer to the evidence collection area that the vehicle passes when leaving the gantry; alternatively, the evidence collection area can also be set on one side of the gantry, that is, only the evidence collection area in front of the gantry or only the evidence collection area behind the gantry.

[0089] In some embodiments, the evidence collection area can cover multiple lanes. Figure 3 As shown in Table 2, each evidence collection area may correspond to a group of cameras, wherein a group of cameras may include at least one camera. The roadside V2X device or the cloud server may pre-acquire the camera information corresponding to different evidence collection areas, and the camera information may include the identification and communication information of the camera group. For example, the camera information corresponding to different possible evidence collection areas may be shown in Table 2:

[0090] Table 2

[0091] Evidence Collection Area Sign Camera logo Communication Information A1 C1 XXXXXX A2 C2 XXXXXXX

[0092] In some embodiments, the roadside V2X device or cloud server may obtain the scope of the evidence collection area and camera information by input by a management personnel or by acquisition by other devices, etc. This embodiment of the present application is not limited to this.

[0093] S404, when the vehicle is located in the evidence collection target area, the camera on the gantry is controlled to take pictures of the evidence collection area to obtain evidence collection photos.

[0094] In some embodiments, after the roadside V2X device or the cloud server determines through the above step S403 that the vehicle has entered the evidence collection area, it can control the camera on the gantry to take pictures of the evidence collection area.

[0095] Exemplarily, when the camera is controlled by the roadside V2X device to take pictures, the process may include: when the roadside V2X device determines that the vehicle has entered the evidence collection area, the roadside V2X device may send an instruction message to the corresponding camera based on the camera information corresponding to the evidence collection area where the vehicle is located, to instruct the camera to take pictures of the evidence collection area.

[0096] Alternatively, when the camera is controlled by the cloud server to take pictures, the process may include: when the cloud server determines that the vehicle has entered the evidence collection area, the cloud server can send an instruction message to the corresponding camera through the roadside V2X device based on the camera information corresponding to the evidence collection area where the vehicle is located, to instruct the camera to take pictures of the evidence collection area.

[0097] In some embodiments, the camera can send the captured evidence photo to the roadside V2X device. Optionally, the roadside V2X device can further send the evidence photo to a cloud server.

[0098] S405, acquiring target transaction information from the transaction information in the preset storage space according to the identity information in the interaction message.

[0099] The target transaction information refers to the transaction information corresponding to the vehicle matching the identity information in the interaction message.

[0100] In some embodiments, the roadside V2X device or cloud server can obtain the identity information of the vehicle based on the interaction information, and then retrieve the transaction information matching the identity information in the preset storage space to obtain the target transaction information. Exemplarily, the process may include: the roadside V2X device or cloud server obtains the identity information of the vehicle based on the interaction information; then compares the identity information of the vehicle with the identity information in the transaction information in the preset storage space; and uses the transaction information matching the identity information of the vehicle in the interaction information as the target transaction information.

[0101] S406, associating the evidence-collecting photo with the target transaction information to obtain transaction evidence of the vehicle.

[0102] In some embodiments, the specific method of associating the forensic photo with the target transaction information may include: storing the forensic photo in a file where the target transaction information is located, integrating it with the target transaction information, thereby obtaining transaction evidence including the transaction information and the forensic photo.

[0103] It should be noted that the above embodiments are only introduced by taking evidence photos taken by a camera as an example. In other embodiments, a camera may also be provided on the gantry, and the evidence photos may also be evidence videos. The embodiments of the present application do not limit this.

[0104] According to the V2X-based vehicle evidence collection method provided in the embodiment of the present application, after establishing a transaction with the vehicle through the roadside V2X device and obtaining the vehicle's transaction information, the camera is controlled to take evidence photos according to the vehicle position in the message interacting with the vehicle, and the evidence photos are bound to the corresponding transaction information, and finally the evidence collection evidence corresponding to the vehicle is obtained, which can realize automatic and efficient vehicle evidence collection, effectively improve the accuracy of evidence collection, and avoid missing vehicle evidence information.

[0105] In order to better understand the V2X-based vehicle evidence collection method provided in the embodiment of the present application, the process of taking evidence photos is introduced in more detail below.

[0106] For example, Figure 5 As shown, it is a schematic flow chart of another method of vehicle evidence collection based on V2X provided in an embodiment of the present application. The execution subject of the process can be a roadside V2X device or a cloud server, and specifically can include the following steps:

[0107] S501, when the vehicle drives towards the gantry and enters the evidence collection area in front of the gantry, the camera is controlled to photograph the evidence collection area in front of the gantry to obtain a first evidence collection photo.

[0108] S502, when the vehicle leaves the gantry and enters the evidence collection area behind the gantry, the camera is controlled to photograph the evidence collection area behind the gantry to obtain a second evidence collection photo.

[0109] S503: Associating the first evidence photo and the second evidence photo with the target transaction information as transaction evidence of the vehicle.

[0110] In some embodiments, the roadside V2X device or cloud server can determine that the vehicle is approaching the gantry and driving into the evidence collection area in front of the gantry based on the vehicle's driving speed included in the interactive message; or, the roadside V2X device or cloud server can determine that the vehicle is leaving the gantry and driving into the evidence collection area behind the gantry based on the vehicle's position and the vehicle's driving speed included in the interactive message. For example, when the driving direction is determined to be toward the gantry based on the vehicle's driving speed, and the vehicle is determined to be located in the evidence collection area in front of the gantry based on the vehicle's position information, it can be determined that the vehicle is approaching the gantry and driving into the evidence collection area in front of the gantry. For another example, when the driving direction is determined to be away from the gantry based on the vehicle's driving speed, and the vehicle is determined to be located in the evidence collection area behind the gantry based on the vehicle's position information, it can be determined that the vehicle is approaching the gantry and driving into the evidence collection area behind the gantry.

[0111] According to the V2X-based vehicle evidence collection method provided in the embodiment of the present application, after establishing a transaction with the vehicle through the roadside V2X device and obtaining the vehicle's transaction information, the camera is controlled to take evidence photos according to the vehicle position in the message interacting with the vehicle, and the evidence photos are bound to the corresponding transaction information, and finally the evidence collection evidence corresponding to the vehicle is obtained, which can realize automatic and efficient vehicle evidence collection, effectively improve the accuracy of evidence collection, and avoid missing vehicle evidence information.

[0112] It should be understood that in some possible situations, when the camera takes a picture of the evidence collection area, the evidence collection area may include multiple vehicles, and the evidence collection photos taken may also include other vehicles. In view of this situation, taking the transaction information including the license plate as an example, the vehicle evidence collection method based on V2X provided in the embodiment of the present application may also include: Figure 6 The process shown.

[0113] S601, identifying a license plate in a forensic photo.

[0114] S602, obtaining other target transaction information from the transaction information in the preset storage space according to the license plate; the other target transaction information is different from the vehicle corresponding to the target transaction information.

[0115] S603, associating the evidence-collecting photo with other target transaction information to obtain transaction evidence of the vehicle corresponding to the other target transaction information.

[0116] In some embodiments, after obtaining the evidence photo, the roadside V2X device or cloud server can also identify the license plate of the vehicle in the evidence photo based on the evidence photo. When the photo also includes images of other vehicles, the roadside V2X device or cloud server can also identify the license plates of other vehicles, where other vehicles may include vehicles that have not sent interactive messages to the roadside V2X device. Afterwards, matching transaction information can be queried from the preset storage space based on the license plates of other vehicles, and these transaction information are also the transaction information corresponding to other vehicles. Then, the evidence photo can be associated with the transaction information corresponding to other vehicles respectively, so as to obtain transaction evidence corresponding to other vehicles.

[0117] For example, Figure 7 As an example, assume that vehicle 1 enters the roadside V2X device (such as Figure 7After the vehicle 1 enters the communication range of the RSU shown in the figure, the vehicle 1 conducts a transaction with the RSU, and the RSU obtains the transaction information corresponding to the vehicle 1. After that, the RSU receives the interactive message sent by the vehicle 1, and performs multiple checks based on the vehicle position and vehicle speed in the interactive message to determine that the vehicle has entered the camera's evidence collection area. After that, the RSU can control the camera 1 above the gantry to take a picture of the evidence collection area where the vehicle 1 is located, and obtain the evidence photo. Since the evidence collection area where the vehicle 1 is located also includes vehicles 2 and 3, the evidence photo includes images of vehicles 2 and 3. After that, the RSU (or cloud server) can identify the license plates in the evidence photos, obtain the license plates of vehicles 1, 2, and 3, and then query whether there is matching transaction information (that is, the transaction information corresponding to vehicles 1 and 2) from the preset storage space based on the license plates 2 and 3. If there is, the evidence photo can be associated with the transaction information corresponding to vehicles 1 and 2 respectively to obtain the transaction evidence of vehicles 1 and 2.

[0118] It should be noted that the process of obtaining the transaction evidence corresponding to vehicle 1 can refer to the introduction in the above embodiment 4. Alternatively, it can also be achieved through the Figure 6 The process in the embodiment obtains transaction evidence corresponding to vehicle 1 .

[0119] It should also be noted that this application only uses the license plate as an example of a vehicle identification. In actual applications, any information that can uniquely determine the identity of the vehicle can be used to query the transaction information corresponding to the vehicle after being identified by the RSU (or cloud server). The embodiments of this application do not limit this.

[0120] According to the V2X-based vehicle evidence collection method provided in the embodiment of the present application, when the evidence photos include images of other vehicles, the license plates of other vehicles are identified, and the transaction information corresponding to the other vehicles is obtained based on the identification results. The evidence photos are then associated with the transaction information respectively to obtain the transaction evidence corresponding to the other vehicles. The information in the evidence photos can be fully utilized to improve the evidence collection of multiple vehicles, thereby improving the efficiency of vehicle evidence collection.

[0121] For example, Figure 8 800 is a schematic diagram of the hardware structure of a roadside V2X device provided in an embodiment of the present application. The roadside V2X device 800 may include a communication interface 801, a processor 802, a memory 803, a camera 804, and a bus 805.

[0122] Among them, the communication interface 801 is used to communicate with other communication devices; the camera 804 is used to take evidence photos according to instructions; the memory 803 is used to store computer-readable instructions; and the processor 802 is used to execute the computer-readable instructions.

[0123] In some embodiments, when the computer-readable instructions are executed, the roadside V2X device performs the following steps: when a vehicle enters the communication range of the roadside V2X device, conduct a transaction with the vehicle-mounted V2X terminal of the vehicle, and store the transaction information in a preset storage space; the transaction information includes the identity information of the vehicle; receive an interactive message sent by the vehicle-mounted V2X terminal, the interactive message including the location and identity information of the vehicle; perform multiple checks on the vehicle according to the location of the vehicle to determine that the vehicle enters an evidence collection area; the evidence collection area is within the communication range of the roadside V2X device; when the vehicle is located in the target evidence collection area, control the camera on the gantry to take a picture of the evidence collection area to obtain an evidence photo; according to the identity information in the interactive message, obtain the target transaction information from the transaction information in the preset storage space; associate the evidence photo with the target transaction information to obtain transaction evidence of the vehicle.

[0124] In some embodiments, when the computer-readable instructions are executed, the roadside V2X device performs the following steps: identifying the license plate in the evidence photo; obtaining other target transaction information from the transaction information in the preset storage space based on the license plate; the other target transaction information is different from the vehicle corresponding to the target transaction information; and associating the evidence photo with the other target transaction information to obtain transaction evidence of the vehicle corresponding to the other target transaction information.

[0125] In some embodiments, the evidence collection area covers multiple lanes, each evidence collection area corresponds to a group of cameras, and the group of cameras includes at least one camera.

[0126] In some embodiments, evidence collection areas are provided on both sides of the gantry, and the shooting range of the camera on the gantry corresponds to the evidence collection areas on both sides of the gantry; when the computer-readable instructions are executed, the roadside V2X device performs the following steps: when the vehicle drives towards the gantry and enters the evidence collection area in front of the gantry, the camera is controlled to shoot the evidence collection area in front of the gantry to obtain a first evidence collection photo; when the vehicle drives away from the gantry and enters the evidence collection area behind the gantry, the camera is controlled to shoot the evidence collection area behind the gantry to obtain a second evidence collection photo; the first evidence collection photo and the second evidence collection photo are both associated with the target transaction information as transaction evidence of the vehicle.

[0127] In some embodiments, when the computer-readable instructions are executed, the roadside V2X device performs the following steps: determining that the vehicle is approaching the gantry and entering the evidence collection area in front of the gantry based on the vehicle position included in the interaction message and the vehicle's driving speed; or determining that the vehicle is leaving the gantry and entering the evidence collection area behind the gantry based on the vehicle position included in the interaction message and the vehicle's driving speed.

[0128] In some embodiments, when the computer-readable instructions are executed, the roadside V2X device performs the following steps: comparing the identity information of the vehicle with the identity information in the transaction information in the preset storage space; and using the identity information in the transaction information that matches the identity information of the vehicle as the target transaction information.

[0129] For example, Fig. 9 FIG. 9 is a schematic diagram of a hardware structure of a cloud server provided in an embodiment of the present application. The cloud server 900 may include a processor 901 , a memory 902 , a communication interface 903 and a bus 904 .

[0130] The communication interface 903 is used to communicate with other communication devices; the memory 902 is used to store computer-readable instructions; and the processor 901 is used to execute the computer-readable instructions.

[0131] In some embodiments, when the computer-readable instructions are executed, the cloud server performs the following steps: performing multiple checks on the vehicle based on the location of the vehicle to determine that the vehicle has entered an evidence collection area; the evidence collection area is located within the communication range of the roadside V2X device; when the vehicle is located in the evidence collection target area, controlling the camera on the gantry to take a picture of the evidence collection area to obtain an evidence photo; based on the identity information in the interactive message, obtaining target transaction information from the transaction information in the preset storage space; associating the evidence photo with the target transaction information to obtain transaction evidence of the vehicle.

[0132] In some embodiments, when the computer-readable instructions are executed, the cloud server performs the following steps: identifying the license plate in the forensic photo; obtaining other target transaction information from the transaction information in the preset storage space based on the license plate; the other target transaction information is different from the vehicle corresponding to the target transaction information; and associating the forensic photo with the other target transaction information to obtain transaction evidence of the vehicle corresponding to the other target transaction information.

[0133] In some embodiments, the evidence collection area covers multiple lanes, each evidence collection area corresponds to a group of cameras, and the group of cameras includes at least one camera.

[0134] In some embodiments, when the computer-readable instructions are executed, the cloud server performs the following steps: determining that the vehicle is approaching the gantry and entering the evidence collection area in front of the gantry based on the vehicle position and the vehicle's driving speed included in the interactive message; or determining that the vehicle is leaving the gantry and entering the evidence collection area behind the gantry based on the vehicle position and the vehicle's driving speed included in the interactive message.

[0135] In some embodiments, when the computer-readable instructions are executed, the cloud server performs the following steps: comparing the identity information of the vehicle with the identity information in the transaction information in the preset storage space; and using the identity information in the transaction information that matches the identity information of the vehicle as the target transaction information.

[0136] An embodiment of the present application also provides a system for V2X-based vehicle forensics, including a cloud server, a roadside V2X device and a vehicle, wherein the vehicle is equipped with a vehicle-mounted V2X terminal, the vehicle is used to conduct transactions with the roadside V2X device through the vehicle-mounted V2X terminal and generate transaction information, and the cloud server is used for the function of the V2X-based vehicle forensics method on the cloud server.

[0137] An embodiment of the present application also provides a computer-readable storage medium, which includes computer instructions. When the computer instructions are executed in a computer, the above-mentioned V2X-based vehicle evidence collection method can be implemented.

[0138] An embodiment of the present application also provides a computer product, which includes computer instructions. When the computer instructions are executed in a computer, the above-mentioned V2X-based vehicle evidence collection method can be implemented.

[0139] 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 commands. When the computer program command is 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 may be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer command may be stored in a computer-readable storage medium or transmitted through the computer-readable storage medium. The computer command may be transmitted from a website site, computer, server or data center to another website site, computer, server or data center by wired (e.g., coaxial cable, optical fiber, digital subscriber line) or wireless (e.g., infrared, wireless, microwave, etc.) means. The computer-readable storage medium may be any available medium that a computer can access 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 (e.g., a floppy disk, a hard disk, a tape), an optical medium (e.g., a DVD), or a semiconductor medium (e.g., a solid state drive (SSD)), etc.

[0140] Those skilled in the art can understand that to implement all or part of the processes in the above-mentioned embodiments, the processes can be completed by a computer program to instruct the relevant hardware, and the program can be stored in a computer-readable storage medium. When the program is executed, it can include the processes of the above-mentioned method embodiments. The aforementioned storage medium includes: ROM or random access memory RAM, magnetic disk or optical disk and other media that can store program codes.

[0141] The above is only a specific implementation of the embodiment of the present application, but the protection scope of the embodiment of the present application is not limited thereto, and any changes or replacements within the technical scope disclosed in the embodiment of the present application should be included in the protection scope of the embodiment of the present application. Therefore, the protection scope of the embodiment of the present application should be based on the protection scope of the claims.

Claims

1. A vehicle evidence collection method based on V2X, characterized in that: The method comprises: When the vehicle enters the communication range of the roadside V2X device, a transaction is conducted with the vehicle-mounted V2X terminal of the vehicle, and the transaction information is stored in a preset storage space; the transaction information includes the identity information of the vehicle; Receiving an interaction message sent by the vehicle-mounted V2X terminal, the interaction message including the location and identity information of the vehicle; Performing multiple checks on the vehicle according to the position of the vehicle to determine that the vehicle has entered a forensics area; the forensics area is within the communication range of the roadside V2X device; When the vehicle is located in the evidence collection area, the camera on the gantry is controlled to take pictures of the evidence collection area to obtain evidence collection photos; Acquiring target transaction information from the transaction information in the preset storage space according to the identity information in the interaction message; The evidence photo is associated with the target transaction information to obtain transaction evidence of the vehicle; when the camera takes a photo of the evidence collection area, the photographed evidence photo also includes other vehicles, and the method further includes: identifying the license plate in the forensic photograph; According to the license plate, other target transaction information is obtained from the transaction information in the preset storage space; the other target transaction information is different from the vehicle corresponding to the target transaction information; The evidence-collecting photo is associated with the other target transaction information to obtain transaction evidence of the vehicle corresponding to the other target transaction information.

2. The method according to claim 1, characterized in that The evidence collection area covers multiple lanes, each evidence collection area corresponds to a group of cameras, and the group of cameras includes at least one camera.

3. The method according to claim 1, characterized in that Evidence collection areas are provided on both sides of the gantry, and the shooting range of the camera on the gantry corresponds to the evidence collection areas on both sides of the gantry; When the vehicle is located in the evidence collection area, the camera on the gantry is controlled to take pictures of the evidence collection area to obtain evidence collection photos, including: When the vehicle drives toward the gantry and enters the evidence collection area in front of the gantry, the camera is controlled to photograph the evidence collection area in front of the gantry to obtain a first evidence collection photo; When the vehicle leaves the gantry and enters the evidence collection area behind the gantry, the camera is controlled to photograph the evidence collection area behind the gantry to obtain a second evidence collection photo; The step of associating the evidence-collecting photo with the target transaction information to obtain transaction evidence of the vehicle includes: The first forensic photo and the second forensic photo are both associated with the target transaction information as transaction evidence of the vehicle.

4. The method according to any one of claims 1 to 3, characterized in that The interaction message also includes the driving speed of the vehicle, and the method further includes: Determine, based on the vehicle position and the vehicle speed included in the interactive message, that the vehicle is driving toward the gantry and into the evidence collection area in front of the gantry; or According to the vehicle position and the driving speed of the vehicle included in the interactive message, it is determined that the vehicle has left the gantry and entered the evidence collection area behind the gantry.

5. The method according to claim 4, characterized in that The acquiring, according to the identity information of the vehicle in the interaction message, target transaction information corresponding to the vehicle from the transaction information in the preset storage space specifically includes: comparing the identity information of the vehicle with the identity information in the transaction information in the preset storage space; The identity information in the transaction information that matches the identity information of the vehicle is used as the target transaction information.

6. A roadside V2X device, characterized in that: include: one or more communication interfaces; one or more memories for storing computer-readable instructions; One or more processors are used to execute the computer-readable instructions. When the computer-readable instructions are executed, the functions of the method according to any one of claims 1 to 5 are implemented on the roadside V2X device.

7. A cloud server, characterized in that: include: one or more communication interfaces; one or more memories for storing computer-readable instructions; One or more processors are used to execute the computer-readable instructions. When the computer-readable instructions are executed, the functions of the method according to any one of claims 1 to 5 are implemented on the cloud server.

8. A system for V2X vehicle evidence collection, characterized in that: It includes a cloud server, a roadside V2X device and a vehicle, wherein the vehicle is equipped with a vehicle-mounted V2X terminal, the vehicle is used to conduct transactions with the roadside V2X device through the vehicle-mounted V2X terminal and generate transaction information, and the cloud server is used to enable the function of the method as described in any one of claims 1 to 5 to be implemented on the cloud server.

9. A computer-readable storage medium, characterized in that: The computer-readable storage medium comprises computer instructions, and when the computer instructions are executed, the method according to any one of claims 1 to 5 is implemented.

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