Data processing method and apparatus

Abstract

Embodiments of the present application disclose a data processing method and device, which are applied to the field of electronic maps. By storing coverage information of roadside equipment in a map, the content of the map is enriched, so that the map can meet higher level use requirements of users. The coverage information includes coverage area information for indicating at least one coverage area of the roadside equipment and coverage capability information for indicating coverage capability of the roadside equipment in the at least one coverage area. The coverage information can be used to generate a control signal for controlling a vehicle, so that the safety of automatic driving or assisted driving can be improved.

Description

Technical Field

[0001] This application relates to the field of electronic maps, specifically to data processing methods and apparatus. Background Technology

[0002] With societal development, intelligent vehicles are gradually becoming a part of people's daily lives. Sensors play a crucial role in the assisted and autonomous driving capabilities of intelligent vehicles. Various sensors installed on vehicles, such as millimeter-wave radar, lidar, ultrasonic radar, or cameras, can perceive the surrounding environment, identify and track moving objects, and recognize stationary scenes (such as lane lines and signs) while the car is in motion. In short, sensors can anticipate potential hazards and promptly alert the driver, or assist the driver or automatically take measures to avoid danger, effectively increasing the safety and comfort of driving.

[0003] High-definition maps (HD maps), also known as high-definition maps or high-precision maps, are a key capability for achieving autonomous driving. They will effectively supplement existing sensors in autonomous driving, improving the safety of vehicle autonomous driving decisions. Compared with traditional navigation maps, HD maps serving autonomous driving have higher requirements in all aspects and can work with sensors and algorithms to support the decision-making level. Because the external environment dynamically changes and affects vehicle driving during autonomous driving, HD maps increasingly need more dynamic information in addition to static layers to meet the development needs of the transportation sector. However, the richness of existing map content is not yet sufficient to meet future needs. Summary of the Invention

[0004] This application provides a data processing method and apparatus that adds a new type of map information to the map, namely the coverage information of roadside equipment, thereby increasing the richness of map information and meeting higher-level map usage needs.

[0005] In a first aspect, embodiments of this application provide a data processing method, the method comprising:

[0006] Obtain coverage information of roadside equipment, the coverage information including coverage area information for indicating at least one coverage area of ​​the roadside equipment and coverage capability information for indicating the coverage capability of the roadside equipment in the at least one coverage area;

[0007] The coverage information is stored as map data.

[0008] This application maintains the coverage information of roadside equipment in the map, meeting user needs. When other devices subsequently use the information provided by the roadside equipment, they can obtain the coverage area and coverage capability of that roadside equipment from the map, providing a reference for how to use the information provided by the roadside equipment. For example, coverage information can more accurately determine the confidence level of the perception results of the roadside equipment in a certain area, or determine indicators such as the robustness of the communication connection between the roadside equipment and the roadside equipment in a certain area, improving the reliability of autonomous driving or assisted driving.

[0009] Obtaining coverage information for roadside devices can involve generating that information. Since cloud devices, roadside devices, and terminal devices all have information generation capabilities, the execution entity of this method can be a cloud device, a roadside device, or a terminal device, including but not limited to cloud-based map servers, application servers, roadside units (RSUs), edge processors (multi-access edge computing, MECs), vehicles, or portable terminals, or components, chips, software modules, or hardware modules within these devices.

[0010] Acquiring coverage information from roadside devices can also involve receiving coverage information from roadside devices. In one scenario, the receiving operation is a wireless or wired communication between devices. In this case, the executing entity of the method can be a cloud device, roadside device, or terminal device, including but not limited to cloud-based map servers, application servers, roadside units (RSUs), multi-access edge computing (MECs), vehicles, or portable terminals. Application scenarios include, but are not limited to, information transmission between vehicles, between roads, between vehicles and the cloud, or between vehicles and roads. Another scenario involves a receiving operation within a device based on a bus, wiring, interface, or parameters, where the executing entity of the method can be a component, chip, software module, or hardware module within the aforementioned device.

[0011] Storing the overlay information as map data means treating the overlay information as information carried in the map, and storing it in a map database using a compiled form or storage format of other information in the map. The execution entity of this method can be located in the cloud, on the roadside, or on a terminal, and the map data can be stored in the corresponding storage medium in the cloud, on the roadside, or on the terminal.

[0012] In another possible implementation, using the coverage information to generate or update a map includes:

[0013] A layer in the map is generated or updated based on the coverage information. Furthermore, the map can be a high-precision map.

[0014] In yet another possible implementation, the coverage information also includes the tile identifier.

[0015] By identifying tiles, overlay information can be associated with tiles, making it easier to maintain the overlay information using map data management methods.

[0016] In this context, a tile can be understood as a rectangular raster image created by cutting a map within a certain area into rows and columns according to specific sizes, formats, and resolutions. The higher the map resolution, the more cuts are made up, resulting in a larger number of tiles and a higher tile grade. When the cutting method is cross-cut, a tile of a certain grade is composed of four tiles of the next higher grade.

[0017] For example, tile 1 is a tile of a certain level on the map. Cutting tile 1 into four smaller tiles of a higher level, labeled 1-00, 1-01, 1-10, and 1-11, can be understood as the union of the geographic coverage areas of tile 1-00, tile 1-01, tile 1-10, and tile 1-11.

[0018] In yet another possible implementation, the coverage information may also include the identifier of the roadside equipment.

[0019] In one possible implementation, the at least one coverage area includes M communication coverage areas and N sensing coverage areas, wherein M and N are natural numbers, and M and N are not both 0.

[0020] In other words, the coverage area can include one or more communication coverage areas, one or more sensing coverage areas, or both communication coverage areas and sensing coverage areas.

[0021] The communication coverage area is used to reflect the communication capabilities of roadside equipment, while the sensing coverage area is used to reflect the sensing capabilities of roadside equipment.

[0022] In another possible implementation, the at least one coverage area is classified into levels based on its coverage capability. Specifically, the coverage information includes coverage area information indicating the M communication coverage areas and coverage capability information indicating the coverage capability of the roadside equipment within the M communication coverage areas, wherein the M communication coverage areas are classified into levels based on their coverage capabilities, and M is greater than 1.

[0023] The above describes the possible scenarios involving multiple communication coverage areas. Since different areas have different coverage capabilities, dividing communication coverage areas according to different coverage capability levels facilitates the determination of capability boundaries. Furthermore, using multiple communication coverage areas divided according to capability levels makes the structure of coverage information clearer, facilitating management and use.

[0024] In another possible implementation, the coverage information includes coverage area information for indicating the N sensing coverage areas and coverage capability information for indicating the coverage capability of the roadside equipment in the N sensing coverage areas, wherein the N sensing coverage areas are classified into levels according to their coverage capabilities, and N is greater than 1.

[0025] The above describes the possible scenarios involving multiple sensing coverage areas; please refer to the preceding description of communication coverage areas.

[0026] In another possible implementation, at least one of the N sensing coverage areas corresponds to a group of sensing devices, wherein the N sensing coverage areas include a multi-device sensing coverage area, and the coverage capability of the multi-device sensing coverage area and the roadside device within the multi-device sensing coverage area is determined based on the coverage capability of the multiple sensing devices associated with the roadside device.

[0027] The above describes possible designs for the sensing coverage area. The multiple sensing devices associated with the roadside equipment can be multiple sensing devices contained within the roadside equipment, or multiple sensing devices that send sensing information to the roadside equipment and are associated with each other. The sensing coverage area of ​​the roadside equipment can correspond to a single sensing device or a group of sensing devices. A group of sensing devices may contain one or more sensing devices associated with the roadside equipment.

[0028] For example, a group of sensing devices may include a lidar and a camera, and the information sensed by the lidar and the camera may be fused to obtain the sensing coverage area and the coverage capability corresponding to the sensing coverage area.

[0029] In another possible implementation, the N sensing coverage areas correspond to N sensing device groups; the coverage information also includes: the identifier of the sensing device group.

[0030] As can be seen, when the sensing coverage area corresponds to a sensing device group, the coverage information can include the identifier of the sensing device group, thus making the sensing coverage information structure clearer and easier to use and manage.

[0031] In another possible implementation, the N sensing coverage areas correspond to N sensing devices; the coverage information also includes: the identifiers of the sensing devices.

[0032] In another possible implementation, among the N sensing coverage areas, a portion of the sensing area corresponds to a sensing device group, and another portion corresponds to a sensing device; the coverage information also includes: the identifier of the sensing device group and the identifier of the sensing device.

[0033] For example, the coverage capability of a sensing device group can be obtained by fusing the sensing capabilities of multiple sensing devices. The fused coverage capability is then divided into regions according to levels to obtain the coverage area corresponding to the sensing device group.

[0034] For example, the coverage area of ​​a sensing device group can be obtained from the union of multiple sub-coverage areas, and each sub-coverage area can correspond to one sensing device in the sensing device group.

[0035] In another possible implementation, the roadside equipment is associated with a first sensing device and a second sensing device, the N sensing coverage areas include a first coverage area of ​​the first sensing device and a second coverage area of ​​the second sensing device, and the coverage capability information includes first coverage capability information for indicating the coverage capability of the first sensing device in the first coverage area and second coverage capability information for indicating the coverage capability of the second sensing device in the second coverage area.

[0036] In another possible implementation, the coverage information also includes information on blind spots, which include communication blind spots, perception blind spots, or both.

[0037] In yet another possible implementation, when the coverage capability refers to the coverage capability of the roadside equipment within the communication coverage area, the coverage capability information is used to indicate at least one of the following:

[0038] Data accuracy, packet loss rate, communication latency, communication stability, and signal strength.

[0039] This application provides several examples of coverage capability information indications (or indicators). By using coverage capability information to indicate one or more of the above-mentioned contents, the design rationality of coverage information can be improved, thereby facilitating subsequent use.

[0040] For example, vehicles can communicate with roadside equipment at any time while in motion, and the communication stability of the roadside equipment can indicate the communication status, making it easier to plan and adjust communication needs with the roadside equipment in a timely manner.

[0041] In yet another possible implementation, when the coverage capability is the coverage capability of the roadside device within the sensing coverage area, the coverage capability information is used to indicate at least one of the following:

[0042] The accuracy, false positive rate, false negative rate, recall rate, perception precision, detection stability, and detection location precision of the perception results.

[0043] For example, autonomous driving strategies cannot function without perception results. In this case, determining the confidence level of perception results based on the accuracy and recall rate of perception results indicated by perception capabilities can improve the reliability of autonomous driving strategies.

[0044] In yet another possible implementation, the coverage information indicates the coverage capability in various environments.

[0045] For example, the coverage area corresponding to coverage capability can differ under different environmental conditions such as sunny days, rainy days, and smoggy days. Similarly, the coverage area corresponding to coverage capability can vary depending on the time of day, temperature, humidity, and brightness. By understanding the coverage areas corresponding to different capabilities under various environments, scene factors can be reasonably considered when using coverage information subsequently, thus improving the accuracy of coverage information.

[0046] In another possible implementation, the coverage area is a section of road or a section of lane, which makes it easier to assist driving based on coverage information.

[0047] In another possible implementation, the coverage information is displayed on a display interface. The display interface includes, but is not limited to, a display screen on a vehicle, a display screen on a portable terminal, or a projection screen. By displaying the coverage information on the display interface, users can intuitively understand the coverage capability of the roadside equipment. The display method can be a graphical interface, such as overlaying the coverage area onto a map display interface, or further displaying the coverage capability corresponding to the coverage area; the display method can also be a text display.

[0048] In another possible implementation, the coverage information is sent. The map generation device can carry this coverage information in a map data packet and send it to the map user device.

[0049] In another possible implementation, the coverage information is used for information processing or to generate control signals for controlling the vehicle. For example:

[0050] When a vehicle is located in a certain coverage area, the safety level of the vehicle is determined based on the coverage area indicated by the coverage information and the coverage capability within that area; or the confidence level of the perception results from the roadside equipment is determined; or a first reminder message is triggered to remind the user to activate the vehicle's autonomous driving function or the vehicle's driver assistance function; or a second reminder message is triggered to remind the user to take over the vehicle.

[0051] The above examples illustrate various possible implementation scenarios, demonstrating that the reliability of sensing results (or communication data) can be more accurately determined based on the coverage information of roadside equipment. During driving, various information processing operations or vehicle control operations can be performed based on the coverage information, thereby improving driving safety.

[0052] Secondly, an embodiment of this application provides a data processing apparatus, comprising:

[0053] The acquisition unit is used to acquire coverage information of the roadside equipment, the coverage information including coverage area information for indicating at least one coverage area of ​​the roadside equipment and coverage capability information for indicating the coverage capability of the roadside equipment in the at least one coverage area;

[0054] A storage unit is used to store the coverage information as map data.

[0055] This application maintains the coverage information of roadside equipment in the map, meeting user needs. When other devices subsequently use the information provided by the roadside equipment, they can obtain the coverage area and coverage capability of that roadside equipment from the map, providing a reference for how to use the information provided by the roadside equipment. For example, coverage information can more accurately determine the confidence level of the perception results of the roadside equipment in a certain area, or determine indicators such as the robustness of the communication connection between the roadside equipment and the roadside equipment in a certain area, improving the reliability of autonomous driving or assisted driving.

[0056] The acquisition unit can be a processing unit used to generate coverage information for roadside devices. Since cloud devices, roadside devices, and terminal devices all have information generation capabilities, the data processing device in this case can be a cloud device, a roadside device, or a terminal device, including but not limited to cloud-based map servers, application servers, roadside units (RSUs), edge processors (multi-access edge computing, MECs), vehicles, or portable terminals, or components, chips, software modules, or hardware modules within these devices.

[0057] The acquisition unit can also be a communication unit used to receive coverage information from roadside equipment. In one scenario, the reception is a receiving operation between devices based on wireless or wired communication. In this case, the data processing device can be a cloud device, roadside equipment, or terminal device, including but not limited to cloud-based map servers, application servers, roadside units (RSUs), edge processors (multi-access edge computing, MECs), vehicles, or portable terminals. Application scenarios include, but are not limited to, information transmission between vehicles, between roads, between vehicles and the cloud, or between vehicles and roads. Another scenario involves a receiving operation within the device based on a bus, wiring, interface, or parameters being called by a module. In this case, the data processing device can be a component, chip, software module, or hardware module within the aforementioned device.

[0058] Storing the overlay information as map data means treating the overlay information as information carried in the map, and storing it in a map database using a compiled form or storage format of other information in the map. The execution entity of this method can be located in the cloud, on the roadside, or on a terminal, and the map data can be stored in the corresponding storage medium in the cloud, on the roadside, or on the terminal.

[0059] In another possible implementation, the processing unit included in the device uses the overlay information to generate or update a map. Specifically, this can be used to generate or update a layer in the map based on the overlay information. Further, the map can be a high-precision map.

[0060] In yet another possible implementation, the coverage information also includes the tile identifier.

[0061] By identifying tiles, overlay information can be associated with tiles, making it easier to maintain the overlay information using map data management methods.

[0062] In yet another possible implementation, the coverage information may also include the identifier of the roadside equipment.

[0063] In one possible implementation, the at least one coverage area includes M communication coverage areas and N sensing coverage areas, wherein M and N are natural numbers, and M and N are not both 0.

[0064] In other words, the coverage area can include one or more communication coverage areas, one or more sensing coverage areas, or both communication coverage areas and sensing coverage areas.

[0065] The communication coverage area is used to reflect the communication capabilities of roadside equipment, while the sensing coverage area is used to reflect the sensing capabilities of roadside equipment.

[0066] In another possible implementation, the at least one coverage area is classified into levels based on its coverage capability. Specifically, the coverage information includes coverage area information indicating the M communication coverage areas and coverage capability information indicating the coverage capability of the roadside equipment within the M communication coverage areas, wherein the M communication coverage areas are classified into levels based on their coverage capabilities, and M is greater than 1.

[0067] The above describes the possible scenarios involving multiple communication coverage areas. Since different areas have different coverage capabilities, dividing communication coverage areas according to different coverage capability levels facilitates the determination of capability boundaries. Furthermore, using multiple communication coverage areas divided according to capability levels makes the structure of coverage information clearer, facilitating management and use.

[0068] In another possible implementation, the coverage information includes coverage area information for indicating the N sensing coverage areas and coverage capability information for indicating the coverage capability of the roadside equipment in the N sensing coverage areas, wherein the N sensing coverage areas are classified into levels according to their coverage capabilities, and N is greater than 1.

[0069] The above describes the possible scenarios involving multiple sensing coverage areas; please refer to the preceding description of communication coverage areas.

[0070] In another possible implementation, at least one of the N sensing coverage areas corresponds to a group of sensing devices, wherein the N sensing coverage areas include a multi-device sensing coverage area, and the coverage capability of the multi-device sensing coverage area and the roadside device within the multi-device sensing coverage area is determined based on the coverage capability of the multiple sensing devices associated with the roadside device.

[0071] The above describes possible designs for the sensing coverage area. The multiple sensing devices associated with the roadside equipment can be multiple sensing devices contained within the roadside equipment, or multiple sensing devices that send sensing information to the roadside equipment and are associated with each other. The sensing coverage area of ​​the roadside equipment can correspond to a single sensing device or a group of sensing devices. A group of sensing devices may contain one or more sensing devices associated with the roadside equipment.

[0072] For example, a group of sensing devices may include a lidar and a camera, and the information sensed by the lidar and the camera may be fused to obtain the sensing coverage area and the coverage capability corresponding to the sensing coverage area.

[0073] In another possible implementation, the N sensing coverage areas correspond to N sensing device groups; the coverage information also includes: the identifier of the sensing device group.

[0074] As can be seen, when the sensing coverage area corresponds to a sensing device group, the coverage information can include the identifier of the sensing device group, thus making the sensing coverage information structure clearer and easier to use and manage.

[0075] In another possible implementation, the N sensing coverage areas correspond to N sensing devices; the coverage information also includes: the identifiers of the sensing devices.

[0076] In another possible implementation, among the N sensing coverage areas, a portion of the sensing area corresponds to a sensing device group, and another portion corresponds to a sensing device; the coverage information also includes: the identifier of the sensing device group and the identifier of the sensing device.

[0077] For example, the coverage capability of a sensing device group can be obtained by fusing the sensing capabilities of multiple sensing devices. The fused coverage capability is then divided into regions according to levels to obtain the coverage area corresponding to the sensing device group.

[0078] For example, the coverage area of ​​a sensing device group can be obtained from the union of multiple sub-coverage areas, and each sub-coverage area can correspond to one sensing device in the sensing device group.

[0079] In another possible implementation, the roadside equipment is associated with a first sensing device and a second sensing device, the N sensing coverage areas include a first coverage area of ​​the first sensing device and a second coverage area of ​​the second sensing device, and the coverage capability information includes first coverage capability information for indicating the coverage capability of the first sensing device in the first coverage area and second coverage capability information for indicating the coverage capability of the second sensing device in the second coverage area.

[0080] In another possible implementation, the coverage information also includes information on blind spots, which include communication blind spots, perception blind spots, or both.

[0081] In yet another possible implementation, when the coverage capability refers to the coverage capability of the roadside equipment within the communication coverage area, the coverage capability information is used to indicate at least one of the following:

[0082] Data accuracy, packet loss rate, communication latency, communication stability, and signal strength.

[0083] This application provides several examples of coverage capability information indications (or indicators). By using coverage capability information to indicate one or more of the above-mentioned contents, the design rationality of coverage information can be improved, thereby facilitating subsequent use.

[0084] For example, vehicles can communicate with roadside equipment at any time while in motion, and the communication stability of the roadside equipment can indicate the communication status, making it easier to plan and adjust communication needs with the roadside equipment in a timely manner.

[0085] In yet another possible implementation, when the coverage capability is the coverage capability of the roadside device within the sensing coverage area, the coverage capability information is used to indicate at least one of the following:

[0086] The accuracy, false positive rate, false negative rate, recall rate, perception precision, detection stability, and detection location precision of the perception results.

[0087] For example, autonomous driving strategies cannot function without perception results. In this case, determining the confidence level of perception results based on the accuracy and recall rate of perception results indicated by perception capabilities can improve the reliability of autonomous driving strategies.

[0088] In yet another possible implementation, the coverage information indicates the coverage capability in various environments.

[0089] For example, the coverage area corresponding to coverage capability can differ under different environmental conditions such as sunny days, rainy days, and smoggy days. Similarly, the coverage area corresponding to coverage capability can vary depending on the time of day, temperature, humidity, and brightness. By understanding the coverage areas corresponding to different capabilities under various environments, scene factors can be reasonably considered when using coverage information subsequently, thus improving the accuracy of coverage information.

[0090] In another possible implementation, the coverage area is a section of road or a section of lane, which makes it easier to assist driving based on coverage information.

[0091] In another possible implementation, the device includes a display unit that displays the coverage information on a display interface. The display interface includes, but is not limited to, a display screen on a vehicle, a display screen on a portable terminal, or a projection screen. By displaying the coverage information on the display interface, users can intuitively understand the coverage capability of the roadside equipment. The display method can be a graphical interface, such as overlaying the coverage area onto a map display interface, or further displaying the coverage capability corresponding to the coverage area; the display method can also be a text display.

[0092] In another possible implementation, the apparatus includes a communication unit for transmitting the coverage information. The map generation side device can carry the coverage information in a map data packet and send it to the map user side device.

[0093] In another possible implementation, the device includes a processing unit that uses the overlay information to perform information processing or generate control signals for controlling the vehicle. For example:

[0094] When a vehicle is located in a certain coverage area, the safety level of the vehicle is determined based on the coverage area indicated by the coverage information and the coverage capability within that area; or the confidence level of the perception results from the roadside equipment is determined; or a first reminder message is triggered to remind the user to activate the vehicle's autonomous driving function or the vehicle's driver assistance function; or a second reminder message is triggered to remind the user to take over the vehicle.

[0095] Thirdly, embodiments of this application provide a data processing apparatus, which may include a processor for implementing the data processing method described in the first aspect or any possible implementation of the first aspect.

[0096] In one possible implementation, the device may further include a memory coupled to a processor, which, when executing a computer program stored in the memory, can implement the data processing method described in the first aspect or any possible implementation of the first aspect.

[0097] In yet another possible implementation, the device may further include a communication interface for receiving computer execution instructions and transmitting them to the processor, which executes the computer execution instructions to cause the data processing device to perform the data processing method described in the first aspect or any possible implementation thereof.

[0098] It should be noted that the computer program in the memory of this application embodiment can be pre-stored or downloaded from the network and stored when using the device. This application embodiment does not specifically limit the source of the computer program in the memory. The coupling in this application embodiment is an indirect coupling or connection between devices, units, or modules, which can be electrical, mechanical, or other forms, and is used for information interaction between devices, units, or modules.

[0099] Fourthly, embodiments of this application provide a computer-readable storage medium storing a computer program that is executed by a processor to implement the data processing method described in the first aspect or any possible implementation of the first aspect.

[0100] Fifthly, embodiments of this application provide a computer program product, which, when read and executed by a processor, executes the data processing method described in the first aspect or any possible implementation of the first aspect.

[0101] The solutions provided in the third to fifth aspects above are used to implement or cooperate with the methods provided in the first aspect above, and therefore can achieve the same or corresponding beneficial effects as the first aspect, which will not be elaborated here.

[0102] Sixthly, embodiments of this application provide a vehicle that includes the data processing apparatus described in the second aspect or any possible implementation thereof, or includes the data processing apparatus described in the third aspect or any possible implementation thereof.

[0103] In a seventh aspect, embodiments of this application provide a map, the map including coverage information of roadside equipment, the coverage information including coverage area information for indicating at least one coverage area of ​​the roadside equipment and coverage capability information for indicating the coverage capability of the roadside equipment in the at least one coverage area.

[0104] The map in this embodiment of the invention is a map product. Specifically, it can be a map data product that carries map information, such as a map update data package; or it can be a map application product that loads map information, such as a map application that can be installed on a vehicle or portable terminal; or it can be a map display product that presents map information, such as a paper map or an electronic navigator.

[0105] This application maintains the coverage information of roadside equipment in the map, meeting user needs. When other devices subsequently use the information provided by the roadside equipment, they can obtain the coverage area and coverage capability of that roadside equipment from the map, providing a reference for how to use the information provided by the roadside equipment. For example, coverage information can more accurately determine the confidence level of the perception results of the roadside equipment in a certain area, or determine indicators such as the robustness of the communication connection between the roadside equipment and the roadside equipment in a certain area, improving the reliability of autonomous driving or assisted driving.

[0106] Furthermore, the map can be a high-precision map.

[0107] In yet another possible implementation, the coverage information also includes the tile identifier.

[0108] By identifying tiles, overlay information can be associated with tiles, making it easier to maintain the overlay information using map data management methods.

[0109] In yet another possible implementation, the coverage information may also include the identifier of the roadside equipment.

[0110] In one possible implementation, the at least one coverage area includes M communication coverage areas and N sensing coverage areas, wherein M and N are natural numbers, and M and N are not both 0.

[0111] In other words, the coverage area can include one or more communication coverage areas, one or more sensing coverage areas, or both communication coverage areas and sensing coverage areas.

[0112] The communication coverage area is used to reflect the communication capabilities of roadside equipment, while the sensing coverage area is used to reflect the sensing capabilities of roadside equipment.

[0113] In another possible implementation, the at least one coverage area is classified into levels based on its coverage capability. Specifically, the coverage information includes coverage area information indicating the M communication coverage areas and coverage capability information indicating the coverage capability of the roadside equipment within the M communication coverage areas, wherein the M communication coverage areas are classified into levels based on their coverage capabilities, and M is greater than 1.

[0114] The above describes the possible scenarios involving multiple communication coverage areas. Since different areas have different coverage capabilities, dividing communication coverage areas according to different coverage capability levels facilitates the determination of capability boundaries. Furthermore, using multiple communication coverage areas divided according to capability levels makes the structure of coverage information clearer, facilitating management and use.

[0115] In another possible implementation, the coverage information includes coverage area information for indicating the N sensing coverage areas and coverage capability information for indicating the coverage capability of the roadside equipment in the N sensing coverage areas, wherein the N sensing coverage areas are classified into levels according to their coverage capabilities, and N is greater than 1.

[0116] The above describes the possible scenarios involving multiple sensing coverage areas; please refer to the preceding description of communication coverage areas.

[0117] In another possible implementation, at least one of the N sensing coverage areas corresponds to a group of sensing devices, wherein the N sensing coverage areas include a multi-device sensing coverage area, and the coverage capability of the multi-device sensing coverage area and the roadside device within the multi-device sensing coverage area is determined based on the coverage capability of the multiple sensing devices associated with the roadside device.

[0118] The above describes possible designs for the sensing coverage area. The multiple sensing devices associated with the roadside equipment can be multiple sensing devices contained within the roadside equipment, or multiple sensing devices that send sensing information to the roadside equipment and are associated with each other. The sensing coverage area of ​​the roadside equipment can correspond to a single sensing device or a group of sensing devices. A group of sensing devices may contain one or more sensing devices associated with the roadside equipment.

[0119] For example, a group of sensing devices may include a lidar and a camera, and the information sensed by the lidar and the camera may be fused to obtain the sensing coverage area and the coverage capability corresponding to the sensing coverage area.

[0120] In another possible implementation, the N sensing coverage areas correspond to N sensing device groups; the coverage information also includes: the identifier of the sensing device group.

[0121] As can be seen, when the sensing coverage area corresponds to a sensing device group, the coverage information can include the identifier of the sensing device group, thus making the sensing coverage information structure clearer and easier to use and manage.

[0122] In another possible implementation, the N sensing coverage areas correspond to N sensing devices; the coverage information also includes: the identifiers of the sensing devices.

[0123] In another possible implementation, among the N sensing coverage areas, a portion of the sensing area corresponds to a sensing device group, and another portion corresponds to a sensing device; the coverage information also includes: the identifier of the sensing device group and the identifier of the sensing device.

[0124] For example, the coverage capability of a sensing device group can be obtained by fusing the sensing capabilities of multiple sensing devices. The fused coverage capability is then divided into regions according to levels to obtain the coverage area corresponding to the sensing device group.

[0125] For example, the coverage area of ​​a sensing device group can be obtained from the union of multiple sub-coverage areas, and each sub-coverage area can correspond to one sensing device in the sensing device group.

[0126] In another possible implementation, the roadside equipment is associated with a first sensing device and a second sensing device, the N sensing coverage areas include a first coverage area of ​​the first sensing device and a second coverage area of ​​the second sensing device, and the coverage capability information includes first coverage capability information for indicating the coverage capability of the first sensing device in the first coverage area and second coverage capability information for indicating the coverage capability of the second sensing device in the second coverage area.

[0127] In another possible implementation, the coverage information also includes information on blind spots, which include communication blind spots, perception blind spots, or both.

[0128] In yet another possible implementation, when the coverage capability refers to the coverage capability of the roadside equipment within the communication coverage area, the coverage capability information is used to indicate at least one of the following:

[0129] Data accuracy, packet loss rate, communication latency, communication stability, and signal strength.

[0130] This application provides several examples of coverage capability information indications (or indicators). By using coverage capability information to indicate one or more of the above-mentioned contents, the design rationality of coverage information can be improved, thereby facilitating subsequent use.

[0131] For example, vehicles can communicate with roadside equipment at any time while in motion, and the communication stability of the roadside equipment can indicate the communication status, making it easier to plan and adjust communication needs with the roadside equipment in a timely manner.

[0132] In yet another possible implementation, when the coverage capability is the coverage capability of the roadside device within the sensing coverage area, the coverage capability information is used to indicate at least one of the following:

[0133] The accuracy, false positive rate, false negative rate, recall rate, perception precision, detection stability, and detection location precision of the perception results.

[0134] For example, autonomous driving strategies cannot function without perception results. In this case, determining the confidence level of perception results based on the accuracy and recall rate of perception results indicated by perception capabilities can improve the reliability of autonomous driving strategies.

[0135] In yet another possible implementation, the coverage information indicates the coverage capability in various environments.

[0136] For example, the coverage area corresponding to coverage capability can differ under different environmental conditions such as sunny days, rainy days, and smoggy days. Similarly, the coverage area corresponding to coverage capability can vary depending on the time of day, temperature, humidity, and brightness. By understanding the coverage areas corresponding to different capabilities under various environments, scene factors can be reasonably considered when using coverage information subsequently, thus improving the accuracy of coverage information.

[0137] In another possible implementation, the coverage area is a section of road or a section of lane, which makes it easier to assist driving based on coverage information.

[0138] Eighthly, embodiments of this application provide a computer-readable storage medium storing a map as described in the seventh aspect or any implementation thereof. Attached Figure Description

[0139] The accompanying drawings used in the embodiments of this application will be described below.

[0140] Figure 1 This is a schematic diagram illustrating an application scenario applicable to an embodiment of this application;

[0141] Figure 2 This is a schematic diagram of a sensing coverage area provided in an embodiment of this application;

[0142] Figure 3 This is a schematic diagram illustrating a communication coverage area provided in an embodiment of this application;

[0143] Figure 4 This is a flowchart illustrating a data processing method provided in an embodiment of this application;

[0144] Figure 5A This is a schematic diagram of a method for indicating a coverage area provided in an embodiment of this application;

[0145] Figure 5B This is a schematic diagram of another method for indicating a coverage area provided in an embodiment of this application;

[0146] Figure 6 This is a schematic diagram of another method for indicating a coverage area provided in an embodiment of this application;

[0147] Figure 7 This is a schematic diagram illustrating a use case of a data processing method provided in an embodiment of this application;

[0148] Figure 8A This is another scenario illustration provided in the embodiments of this application;

[0149] Figure 8B This is a schematic diagram of a coverage area provided in an embodiment of this application;

[0150] Figure 9 This is a schematic diagram of a blind zone provided in an embodiment of this application;

[0151] Figure 10A This is a schematic diagram of a map layer provided in an embodiment of this application;

[0152] Figure 10B This is a schematic diagram of a map provided in an embodiment of this application;

[0153] Figure 11 This is a schematic diagram of a data structure for overlay information provided in an embodiment of this application;

[0154] Figure 12 This is a schematic diagram of another data structure for overlay information provided in an embodiment of this application;

[0155] Figure 13 This is a flowchart illustrating another data processing method provided in an embodiment of this application;

[0156] Figure 14 This is a schematic diagram of the structure of a data processing device provided in an embodiment of this application;

[0157] Figure 15 This is a schematic diagram of the structure of another data processing device provided in the embodiments of this application;

[0158] Figure 16 This is a schematic diagram of another data processing apparatus provided in the embodiments of this application;

[0159] Figure 17 A flowchart illustrating the perception capability information generation method provided in an embodiment of this application is shown.

[0160] Figure 18A This paper shows a schematic diagram of the communication system provided in an embodiment of the present application;

[0161] Figure 18B This paper shows a schematic diagram of the communication system provided in an embodiment of the present application;

[0162] Figure 18C This paper shows a schematic diagram of the communication system provided in an embodiment of the present application;

[0163] Figure 19A This diagram illustrates the first set of location points and their corresponding trajectories in an embodiment of this application.

[0164] Figure 19B This diagram illustrates the second set of location points and their corresponding trajectories in an embodiment of this application.

[0165] Figure 19C A schematic diagram showing the matching results in an embodiment of this application is provided.

[0166] Figure 19D This diagram illustrates trajectory matching in an embodiment of this application.

[0167] Figure 20A This illustration shows an exemplary diagram of the region to be divided in an embodiment of this application;

[0168] Figure 20B An exemplary schematic diagram of the grid in an embodiment of this application is shown;

[0169] Figure 20C The diagram shows the merging result of the grid in an embodiment of this application;

[0170] Figure 21 An exemplary schematic diagram showing the perception blind spot of an embodiment of this application;

[0171] Figure 22 A flowchart illustrating the communication capability information generation method provided in an embodiment of this application is shown.

[0172] Figure 23 This paper shows a schematic diagram of the communication system provided in an embodiment of the present application;

[0173] Figure 24 An exemplary schematic diagram of the first distribution scenario is shown;

[0174] Figure 25 This paper shows a schematic diagram of the communication system provided in an embodiment of the present application;

[0175] Figure 26 This diagram illustrates the distribution of the terminal devices.

[0176] Figure 27 An exemplary schematic diagram of the grid in an embodiment of this application is shown;

[0177] Figure 28An exemplary schematic diagram showing the merging result of the grid in an embodiment of this application is shown;

[0178] Figure 29 An exemplary schematic diagram of the grid in an embodiment of this application is shown;

[0179] Figure 30 An exemplary schematic diagram showing the merging result of the grid in an embodiment of this application is shown;

[0180] Figure 31 An exemplary schematic diagram illustrating a communication blind spot according to an embodiment of this application is shown. Detailed Implementation

[0181] The embodiments of this application will now be described with reference to the accompanying drawings.

[0182] Please see Figure 1 , Figure 1 This is a schematic diagram of an application scenario applicable to an embodiment of this application, specifically a schematic diagram of a communication system, including roadside equipment, vehicles, and a server. Wherein:

[0183] (1) Roadside equipment can be installed on the roadside (or at intersections, on the side of the road); roadside equipment can communicate with the server and / or vehicles to provide various functional services. For example, roadside equipment can collect surrounding information and provide it to the server and / or vehicles, and provide vehicles with one or more services such as vehicle identification, electronic toll collection, and electronic demerit points. Roadside equipment may include sensing devices (or sensors) and / or communication devices.

[0184] The roadside equipment's sensing devices can collect surrounding information (e.g., road information) to provide vehicle-to-infrastructure (V2I) services. Optionally, the sensing devices may include one or more of millimeter-wave radar, lidar, or visual sensors (e.g., cameras).

[0185] Roadside equipment has a certain coverage area, which characterizes the area where the roadside equipment can provide services. Further, the coverage area may include at least one of the following: sensing coverage area, communication coverage area, etc.

[0186] For example, taking a roadside device that includes a lidar unit as an example, the roadside device can detect targets using the lidar unit, and the field of view of the lidar unit can be regarded as a sensing coverage area of ​​the roadside device. For example, please see Figure 2 , Figure 2This is a schematic diagram illustrating a possible sensing coverage area provided in an embodiment of this application. The sensing device 201 can be considered as a roadside device or a module within a roadside device (or the sensing device 201 can be connected to a roadside device). The coverage area of ​​the sensing device 201 is shown in the figure, where different areas within the coverage area correspond to different coverage capabilities. Figure 2 As shown, taking accuracy as an example to describe coverage capability, different areas within the coverage range correspond to different accuracy rates of perception results. Generally speaking, as the distance between the sensor and the sensing device 201 increases, the accuracy of the perception results decreases, that is to say, the coverage capability gradually weakens.

[0187] The communication equipment of roadside devices enables communication between the roadside device and other devices (such as vehicles, the cloud, or other roadside devices). The communication equipment can receive and / or send data externally. For example, the communication equipment may include modules or interfaces related to wired links such as Ethernet cables, or modules or interfaces related to wireless links (Wi-Fi, Bluetooth, general wireless transmission, vehicular short-range communication technology, etc.), or both wired and wireless link-related modules or interfaces. When a roadside device includes communication equipment (e.g., when the roadside device includes a roadside unit (RSU) or is a roadside unit), the roadside device can communicate with surrounding vehicles, other roadside devices, servers, or terminals via the communication equipment. Terminals can be electronic devices, such as mobile phones, laptops, or smart wearable devices. The area that can communicate with the communication equipment in the roadside device can be considered the communication coverage area of ​​that roadside device.

[0188] In one possible design, the communication equipment of the roadside device can include a radio frequency (RF) section and a baseband section. The RF section includes an antenna and RF circuitry. The area that the wireless signal emitted by the roadside device through the antenna can reach can be considered the communication coverage area of ​​the roadside device. Alternatively, the area that the roadside device can receive signals through the antenna can be considered the communication coverage area of ​​the roadside device.

[0189] For example, please see Figure 3 , Figure 3This is a schematic diagram illustrating a possible communication coverage area provided in an embodiment of this application. The communication device 301 can be considered as a roadside device or a module within a roadside device (or the communication device 301 can be connected to a roadside device). The coverage area of ​​the communication device 301 is shown in the figure, where different areas within the coverage area correspond to different coverage capabilities. Taking accuracy as an example, different areas correspond to different accuracy rates of communication results. Generally, as the distance between the communication device 301 increases, the accuracy rate of data transmission results during communication decreases. That is to say, the communication capability gradually weakens.

[0190] In this embodiment of the application, providing the coverage information of the roadside equipment to the vehicle enables the vehicle to select or process the environmental information provided by the roadside equipment based on the coverage information, thereby improving the accuracy of the environmental information used by the vehicle and enhancing the driving safety of the vehicle.

[0191] It should be noted that roadside equipment can be a standalone device or integrated into other devices. For example, roadside equipment can be integrated into smart gas stations, charging stations, smart traffic lights, streetlights, utility poles, or traffic signs. Furthermore, the aforementioned roadside (or intersection, roadside) can be an outdoor road, including various main roads, auxiliary roads, elevated roads, or temporary roads, or it can be an indoor road, such as the road in an indoor parking lot.

[0192] above Figure 2 and Figure 3 The coverage range in the text is for illustrative purposes only and is not intended to limit the form of coverage. Different sensing devices may have coverage ranges in different forms (e.g., shape, range), and different communication devices may have coverage ranges in different forms (e.g., shape, range).

[0193] (2) The vehicle involved in the embodiments of this application is a device that moves by power drive, and typically includes various subsystems, such as, but not limited to, a driving system, a sensor system, a control system, one or more peripheral devices, a power supply, and a user interface, etc. Optionally, the vehicle may also include more or fewer subsystems, and each subsystem may include multiple components. In addition, each subsystem and component of the vehicle can be interconnected by wired or wireless means.

[0194] It should be noted that the vehicle in this application embodiment can be a car, an electric vehicle, a rail-operated vehicle, an intelligent vehicle (such as a driverless vehicle), an intelligent mobile robot, etc. Among them, the intelligent vehicle supports sensing the road environment through an onboard sensing system, automatically planning a driving route, and controlling the vehicle to reach a predetermined target location. Intelligent vehicles integrate technologies such as computers, modern sensing, information fusion, communication, artificial intelligence, and automatic control, and are high-tech complexes integrating environmental perception, planning and decision-making, and multi-level assisted driving functions. For example, an intelligent vehicle can specifically be a car with an assisted driving system or a fully automated driving system, a wheeled mobile robot, etc.

[0195] (3) The server can be implemented through devices such as servers, mobile terminals, hosts, virtual machines, or robots. When the server is a server, it can include a single server or a server cluster consisting of multiple servers. In some scenarios, the server can also be in the cloud, which can include cloud servers and / or cloud virtual machines. Optionally, the cloud can be deployed on a public cloud, private cloud, or hybrid cloud.

[0196] The communication link between any two of the above three can include one or more types of connection media, including wired links (such as fiber optics), wireless links, or a combination of wired and wireless links. For example, the connection media can be a wireless link using short-range connection technologies, such as 802.11b / g, Bluetooth, Zigbee, Radio Frequency Identification (RFID), Ultra Wideband (UWB), short-range wireless communication (such as vehicular short-range wireless communication), or vehicle-to-everything (V2X) technology. Alternatively, the wireless link can use long-range connection technologies, such as Global System for Mobile Communications (GSM), General Packet Radio Service (GPRS), Universal Mobile Telecommunications System (UMTS), LTE, or 5G.

[0197] In one design, the server can communicate with the vehicle to provide various services, such as high-definition map services, autonomous driving or assisted driving services, etc. In another possible design, the vehicle can interact with the server to use various services provided in the cloud, such as using high-definition map services to enhance autonomous driving or assisted driving functions, thereby improving vehicle driving safety and travel efficiency.

[0198] In another possible design, vehicles can download high-definition map data from a server to obtain high-definition maps, providing users with more accurate navigation services. Through cloud-based high-definition map services, vehicles can access high-definition maps in real time while driving, improving the safety of autonomous driving decisions. Because the environment is dynamic, high-definition maps increasingly need more dynamic information in addition to static layers to meet the evolving needs of the transportation sector.

[0199] Roadside equipment is a crucial source of dynamic information for high-definition maps. Currently, roadside equipment provides environmental information about the road surface, such as traffic light and obstacle information. However, the coverage of roadside equipment is limited, and the reliability of the services (such as perception and communication results) provided by roadside equipment varies depending on the coverage area. Designing the coverage area of ​​roadside equipment and providing this coverage area to the cloud as information for high-definition maps can improve the service quality of high-definition maps. Alternatively, providing the coverage area to vehicles to determine driving strategies can improve the reliability of vehicle driving decisions.

[0200] Please see Figure 4 , Figure 4 This is a schematic flowchart illustrating a data processing method provided in an embodiment of this application. Optionally, Figure 4 The data processing method shown can be applied to the above. Figure 1 The scenario is shown. This data processing method may include at least steps S401 and S402, as detailed below:

[0201] Step S401: Obtain coverage information of the roadside equipment. The coverage information includes coverage area information and coverage capability information, wherein the coverage area information is used to indicate at least one coverage area of ​​the roadside equipment, and the coverage capability information is used to indicate the coverage capability of the roadside equipment within the at least one coverage area.

[0202] Specifically, this step is performed by a data processing device, which can be located at a server, roadside equipment, or vehicle.

[0203] Roadside equipment can be installed at the roadside (or intersection, roadside). Roadside equipment has a certain coverage area, which characterizes the area where the roadside equipment can provide services. Further, the coverage area can include at least one of the following: sensing coverage area, communication coverage area, etc. For descriptions of roadside equipment, coverage area, communication coverage area, sensing coverage area, etc., please refer to the foregoing descriptions. Figure 1 The relevant explanations will not be repeated here.

[0204] Furthermore, coverage areas can be categorized into different types, such as sensing coverage areas and communication coverage areas. Coverage areas can be indicated by geometric shapes, coordinates, or relative positions. Three possible designs are illustrated below:

[0205] Design 1: Using the location of the roadside equipment as a reference point, the coverage area can be indicated by the relative positions of the endpoints of the coverage area with respect to the roadside equipment. For an example of describing coverage capability through accuracy, please refer to [link to relevant documentation]. Figure 5A , Figure 5A This is a schematic diagram of a possible method for indicating a coverage area according to an embodiment of this application. Using the location of a roadside device (or a sensing device associated with the roadside device) 501 as a reference point, the relative positions of points A, B, C, and D with respect to the roadside device 501 can indicate a coverage area with an accuracy rate ≥ 90%. Similarly, using the location of the roadside device 501 and the relative positions of points A, B, E, and F with respect to the roadside device 501, a coverage area with an accuracy rate ≥ 75% can be determined. Other coverage areas can be determined similarly.

[0206] It should be understood that multiple coverage areas can also be described in a non-overlapping manner. For example... Figure 5A As shown, the coverage area with an accuracy rate of 90% or higher and 75% or higher can be determined by the location of the roadside device 501 and the relative positions of points C, D, E, and F with respect to the roadside device 501.

[0207] Design 2: The coverage area can be indicated by the position of its endpoints relative to reference point O. See also... Figure 5B , Figure 5B This is a schematic diagram of another possible method for indicating a coverage area provided in this application embodiment. By using the positions of points I, J, K, and L relative to reference point O, a coverage area with an accuracy rate ≥ 90% can be determined. Similarly, by using the positions of points I, J, M, and N relative to reference point O, a coverage area with an accuracy rate ≥ 75% can be determined. Other coverage areas can be determined in the same way.

[0208] Similarly, multiple coverage areas can also be described using a non-overlapping method. For example... Figure 5BAs shown, the coverage area with an accuracy of 90% or higher and 75% or higher can be determined by the positions of points K, L, M, and N relative to the reference point O.

[0209] Design 3: Using geometry to indicate the coverage area. See also Figure 3 Taking a circular communication coverage area as an example, the coverage area can be indicated by the location of the communication device 301 (or the roadside equipment where the communication device is located) and its radius. For example, if the accuracy rate is 98% within a radius of 15 meters (m), then the coverage area is a circle with the communication device 301 (or a pre-configured center point) as its center and a radius of 15 meters. The shape of this communication coverage area is not limited; for example, it can also be a fan-shaped area.

[0210] Optionally, endpoints can be described using longitude, latitude, etc., to indicate the coverage area. Alternatively, for three-dimensional coverage areas, six-degree-of-freedom pose, etc., can be used to indicate the coverage area, which will not be elaborated here.

[0211] In another possible design, the coverage area can be processed through cropping, splicing, intersection, union, and other methods. For example, the coverage area may include road segments or lane segments. See, for an example, [link to example]. Figure 6 , Figure 6 This is a schematic diagram illustrating another possible method for indicating the coverage area provided in this application embodiment. It can be seen that the coverage area of ​​the roadside device 601 is the intersection of the actual coverage area of ​​the roadside device 601 and the road segment. It should be understood that this also applies to cases where the coverage area includes lane segments. Similarly, in some implementations, the coverage area may also include areas within a certain range from the road edge line. Or in some implementations, the coverage area may also include sidewalks, auxiliary roads, etc.

[0212] The aforementioned coverage capability specifically refers to the coverage capability of roadside equipment within the coverage area, which can be described by coverage capability information. Specifically, sensing coverage capability refers to the coverage capability of roadside equipment within the sensing coverage area, and communication coverage capability refers to the coverage capability of roadside equipment within the communication coverage area.

[0213] Coverage capability information can specifically indicate different metrics, or content. In one possible design, coverage capability refers to the coverage ability of roadside equipment within the communication coverage area. Coverage capability information can be used to indicate at least one of the following (or metrics): data accuracy, packet loss rate, communication latency, communication stability, or signal strength, etc. In one design, the aforementioned content can also be referred to as basic metrics.

[0214] In another possible design, coverage capability refers to the coverage ability of roadside equipment within the sensing coverage area. Coverage capability information is used to indicate at least one of the following (or indicators): sensing result accuracy, false detection rate, false negative rate, recall rate, sensing precision, average precision (AP), detection stability, or detection location accuracy, etc. Optionally, the foregoing can also be referred to as basic indicators. For example, sensing result accuracy indicates the ratio of correctly detected results to the total detected results; false negative rate refers to the ratio of incorrectly detected results to the total detected results; false negative rate refers to the ratio of undetected results to the total detected results; recall (also known as complete detection) refers to the ratio of correctly detected results to all results (or all results that should be detected); sensing precision and average precision can be used to evaluate accuracy and / or recall; detection stability indicates the ability of each detection indicator to remain constant over time; detection location accuracy describes the correspondence between the location of the sensing result and the actual location.

[0215] It should be understood that the above explanations are for reference only, and the above metrics may have other interpretations in different application scenarios. Taking recall as an example, in one possible scenario, recall is related to the true results and detection results of the samples. Specifically, the relationship between the true results and detection results of the samples can be categorized as follows: True Positive (TP), True Negative (TN), True Positive (FP), and False Negative (FN). True and False are used to determine whether the result is correct or not, while Positive and Negative are used to determine whether it is a positive or negative class. Therefore, the total number of samples = TP + FP + TN + FN. For example, recall can satisfy the following formula: Recall = TP / (TP + FN), and precision can satisfy the following formula: Precision = TP / (TP + FP).

[0216] The coverage information can include one or more coverage areas. Correspondingly, the coverage capability information can also be one or more. Furthermore, due to different types of coverage areas, coverage areas can also be of different types, such as sensing coverage areas and communication coverage areas. Coverage information can contain one type of coverage area or multiple types of coverage areas, for example, including both communication coverage areas and sensing coverage areas.

[0217] In one possible design, the coverage information indicating at least one coverage area may include M communication coverage areas and N sensing coverage areas, where M and N are natural numbers, and M and N are not both 0. Several possible scenarios are illustrated below:

[0218] Case 1: N > 0. The coverage information includes coverage area information for at least two sensing coverage areas. Further, it may also include coverage capability information corresponding to these at least two sensing coverage areas. For example, please refer to Table 1, which provides a possible coverage information in an embodiment of this application. This coverage information can be used to describe, for example... Figure 2 The sensing coverage area is shown. Taking accuracy as an example to describe coverage capability, different areas correspond to different accuracy rates of communication results. Within coverage area 1, the corresponding communication result accuracy rate is ≥98%.

[0219] Table 1 Coverage Information

[0220] {Coverage capability: Perception result accuracy ≥ 90%; Coverage area: Coverage area 1} {Coverage capability: Perception result accuracy ≥ 75%; Coverage area: Coverage area 2} {Coverage capability: Perception result accuracy ≥ 60%; Coverage area: Coverage area 3} ……

[0221] Optionally, when multiple sensing coverage areas are included, the coverage capability can be reflected by the sensing capability, and the multiple sensing coverage areas can be divided according to the level of sensing capability. For example, the sensing capability can be divided into multiple levels, such as level 1, level 2, level 3, etc. Among them, coverage area 1 corresponds to level 1, coverage area 2 corresponds to level 2, and coverage area 3 corresponds to level 3.

[0222] Optionally, the level of perception capability in the embodiments of this application may be determined based on the strength of perception capability (e.g., the accuracy rate), or it may be predefined, preconfigured, or obtained according to the protocol.

[0223] Case 2: M > 0. The coverage information includes coverage area information for at least two communication coverage areas. Further, it may also include coverage capability information corresponding to these at least two communication coverage areas. For example, please refer to Table 2, which provides a possible coverage information in an embodiment of this application. This coverage information can be used to describe, for example... Figure 3 The communication coverage area is shown. Taking accuracy as an example to describe coverage capability, different areas correspond to different accuracy rates of communication results. Within coverage area 1, the data accuracy rate of the corresponding communication is ≥98%.

[0224] Table 2 Coverage Information

[0225] {Coverage capability: Data accuracy ≥ 98%; Coverage area: Coverage area 4} {Coverage capability: Data accuracy ≥ 95%; Coverage area: Coverage area 5} ……

[0226] Optionally, when multiple communication coverage areas are included, the coverage capability can be reflected by the communication capability, and the multiple communication coverage areas can be divided according to the level of communication capability. For example, the communication capability can be divided into multiple levels, such as level one, level two, level three, etc. Among them, coverage area 4 corresponds to level one, and coverage area 5 corresponds to level two.

[0227] Alternatively, the level of communication capability can also be related to other indicators. For example, the first level is a coverage area with a data accuracy of ≥98% and a communication latency of <50ms; the second level is a coverage area with a data accuracy of ≥95% and a communication latency of <70ms, etc.

[0228] It should be understood that situations 1 and 2 can coexist. The above description only uses the accuracy of coverage capability indication as an example; this application also applies to situations where coverage capability indicates other content.

[0229] In one possible design, the coverage information may not include coverage capability information. For example, as shown in Table 3, the coverage information can be indexed by data numbers, where the data content corresponding to the data number can be pre-configured, defined by a protocol, or obtained through negotiation. For example, according to the protocol, the content of data number 1001 corresponds to a communication coverage area with an accuracy rate >98% (i.e., coverage area 4), the content of data number 1001 corresponds to a communication coverage area with an accuracy rate >95% (i.e., coverage area 5), ​​and so on. By pre-defining the format of the coverage information, redundant coverage capability information can be reduced, improving data transmission efficiency. It should be understood that this is only an example of using data numbers for indexing; in specific implementations, data numbers can also be replaced by data identifiers, bit positions, etc., which will not be elaborated here.

[0230] Table 3 Coverage Information

[0231] …… …… 1001 {Coverage Area: Coverage Area 1} 1002 {Coverage Area: Coverage Area 2} …… ……

[0232] The data processing device acquires coverage information from roadside equipment, which can be achieved in the following ways:

[0233] Implementation Method 1: The data processing device receives coverage information sent by other devices. Two possible examples are given below:

[0234] Example 1: The data processing device can receive coverage information sent by roadside devices. For example, see [link to example]. Figure 7 , Figure 7 This is a schematic diagram of a possible scenario for which the embodiments of this application may be applied. The data processing device may be included in the vehicle 702 (or the cloud 703) and may receive coverage information sent from the roadside equipment 701.

[0235] Example 2: The data processing device can receive coverage information sent from a server (or the cloud). For example, the data processing device can be included in vehicle 702, which can obtain coverage information of roadside equipment from cloud 703 (e.g., map cloud, or assisted driving cloud). Alternatively, the data processing device can also be included in roadside equipment 701, which can receive coverage information sent from vehicle 702 (or cloud 703). This coverage information may include coverage information from roadside equipment 701, and optionally, may also include coverage information from other roadside equipment. Figure 7 Coverage information (not shown in the image).

[0236] Implementation Method 2: The data processing device generates coverage information for roadside equipment. The coverage information for the sensing and communication capabilities of roadside equipment is described below.

[0237] (1) Regarding the sensing capability of roadside equipment, the coverage area of ​​the roadside equipment is the sensing area, and the coverage capability information used to indicate the coverage capability of the roadside equipment in the at least one coverage area is the sensing capability information.

[0238] Figure 17 A flowchart illustrating the perception capability information generation method provided in an embodiment of this application is shown. Figure 17 As shown, the method includes:

[0239] Step S1701: Obtain roadside perception results and multi-source fusion perception results.

[0240] Step S1702: Match the roadside perception results with the multi-source fusion perception results to obtain matching results for multiple target location points.

[0241] Step S1703: Based on the matching result, generate the first sensing capability information of the first roadside device.

[0242] Here, "first roadside device" refers to the roadside device whose sensing capability needs to be determined. The first roadside device can be any single roadside device. "First sensing capability information" can represent the sensing capability of the first roadside device. This information can be used to indicate the sensing capability of the first roadside device, such as the areas it can and cannot perceive. The first sensing capability information can be generated based on the matching results of roadside sensing results and multi-source fusion sensing results.

[0243] The roadside perception results can be used to indicate the first set of location points of traffic participants perceived by the first roadside device within a preset time period. The first set of location points can be the location points of traffic participants perceived by one sensor in the first roadside device; or it can be a set of location points obtained by fusing multiple sets of location points of traffic participants perceived by multiple sensors in the first roadside device within the first roadside device.

[0244] The multi-source fusion sensing results can be used to indicate a second set of location points obtained by fusing multiple sets of location points of the traffic participant acquired by multiple sensing devices within a preset time period. These multiple sensing devices can be the same or different sensing devices; and they can be located on different carriers, and the different carrier types can be the same or different, such as at least one of roadside equipment, vehicles, or portable terminals (also known as mobile terminals). That is, they can be located on multiple roadside equipment, or multiple vehicles, or multiple portable terminals, or two or three of these three types of equipment.

[0245] The preset time period can represent any time period, such as a month, week, day, or hour. For example, the preset time period can be 1 month, 1 week, or 1 day. The preset time period can be set as needed, and this application does not impose any restrictions on it. It is understood that when the preset time period is longer and more location points of traffic participants are used, the accuracy of the first perception information obtained is higher.

[0246] Roadside perception results and multi-source fusion perception results are the perception results of traffic participants around the same roadside device within the same time period. Roadside perception results reflect the traffic participants actually perceived by the first roadside device within a preset time period. Multi-source fusion perception results use data from multiple sensing devices, reflecting the traffic participants actually perceived by these devices within the preset time period. Because these sensing devices compensate for each other's perspectives and limitations, multi-source fusion perception results have higher confidence levels and can serve as a reference standard for roadside perception results to determine their accuracy, thereby determining the perception capability of the first roadside device. Understandably, if the first roadside device perceives the traffic participants indicated by the multi-source fusion perception results well, it means these traffic participants are within the first roadside device's perception range; if the first roadside device does not perceive the traffic participants indicated by the multi-source fusion perception results, it means these traffic participants are outside the first roadside device's perception range. For example, a pedestrian crosses a roadside green belt. This pedestrian did not report their location information via a mobile device, and because the greenery partially obscures their view, vehicles from some angles may not detect them, but those from other angles may. Therefore, the pedestrian is present in the multi-source fusion sensing results. If the pedestrian is also present in the roadside sensing results, it indicates that the pedestrian is within the sensing range of the first roadside device. If the pedestrian is not present in the roadside sensing results, it indicates that the pedestrian is not within the sensing range of the first roadside device. Therefore, by matching the roadside sensing results of the first roadside device with the multi-source fusion sensing results, the sensing range of the first roadside device can be conveniently and accurately determined.

[0247] The process of acquiring roadside sensing results and multi-source fusion sensing results is described below. Considering that the above method can be executed by a cloud server or by the first roadside device, we will describe them separately here. Figures 18A to 18C The system structure diagram shown illustrates the process of acquiring roadside perception results and multi-source fusion perception results.

[0248] Figure 18A A schematic diagram of the communication system provided in an embodiment of this application is shown. Figure 18A As shown, the communication system includes a cloud server 11, a first roadside device 12, a vehicle-mounted device 13, a mobile terminal 14, and a second roadside device 15. The first roadside device 12 can represent any single roadside device. The second roadside device 15 can represent any roadside device other than the first roadside device 12 that has established a communication connection with the cloud server 11. There can be one or more second roadside devices 15. The second roadside device 15 may or may not have established a communication connection with the first roadside device 12. For ease of understanding, in this embodiment, the roadside device among the second roadside devices 15 that has established a communication connection with the first roadside device 12 is referred to as a third roadside device.

[0249] like Figure 18A As shown, the first roadside device 12, the second roadside device 15, the vehicle-mounted device 13, and the mobile terminal 14 have established communication connections with the cloud server 11. The vehicle-mounted device 13 and the mobile terminal 14 have also established communication connections with the first roadside device 12. In one example, the first roadside device 12, the second roadside device 15, the vehicle-mounted device 13, and the mobile terminal 14 can establish communication connections with the cloud server 11 via cellular networks (e.g., 3G, 4G, or 5G). The mobile terminal 14 and the first roadside device 12 can also establish a communication connection via a cellular network. The vehicle-mounted device 13 and the first roadside device 12 can establish a communication connection via vehicle-to-X (V2X) technologies such as dedicated short-range communication (DSRC). Specifically, the vehicle-mounted device 13 and the first roadside device 12 can establish a communication connection via the on-board unit (OBU) and the communication equipment of the roadside devices. The first roadside device 12 and the second roadside device 15 can also establish a communication connection through V2X technology.

[0250] like Figure 18AAs shown, mobile terminal 14 can obtain terminal location data through a terminal positioning device, and then report the terminal location data to the first roadside device 12 via a V2X network and to the cloud server 11 via a cellular network. Vehicle-side device 13 can obtain vehicle location data through a vehicle positioning device and vehicle perception data through a vehicle sensing device. Then, vehicle-side device 13 can report the vehicle location data and vehicle perception data to the first roadside device 12 via a V2X network and to the cloud server 11 via a cellular network. The first roadside device 12 can obtain roadside perception data through roadside sensing devices, terminal location data through mobile terminal 14, and vehicle location data and vehicle perception data through vehicle-side device 13. The terminal location data, vehicle location data, and vehicle perception data can be referred to as the roadside collected data of the first roadside device 12. Optionally, if the second roadside device 15 contains a third roadside device that has established a communication connection with the first roadside device 12, the third roadside device can send its collected roadside data to the first roadside device 12. In this case, the roadside data collected by the first roadside device 12 also includes the roadside data collected by the third roadside device. Thus, even if the communication connection between the third roadside device and the cloud server 11 fails, the roadside data collected by the third roadside device can still be reported to the cloud server, thereby improving the reliability of the communication system. Afterwards, the first roadside device 12 can report the roadside sensing data and roadside collected data to the cloud server via the cellular network. Similarly, the second roadside device 15 can also report the roadside sensing data and roadside collected data to the cloud server via the cellular network. The method by which the second roadside device 15 obtains the roadside sensing data and roadside collected data can be the same as the method by which the first roadside device 12 obtains the roadside sensing data and roadside collected data, and will not be repeated here.

[0251] As can be seen, the data received by the cloud server 11 includes: roadside perception data from the first roadside device 12, roadside collection data from the first roadside device 12, roadside perception data from the second roadside device 15, roadside collection data from the second roadside device 15, vehicle location data and vehicle perception data from the vehicle-side device 13, and terminal location data from the mobile terminal 14.

[0252] Subsequently, the cloud server 11 can obtain roadside perception results based on the roadside perception data from the first roadside device 12, and obtain the multi-source fusion perception results corresponding to the first roadside device based on the received data. In one example, the cloud server 11 can filter roadside perception data within a preset time period from the roadside perception data from the first roadside device 12 to obtain the roadside perception results of the first roadside device; it can also filter data within a preset time period and within a pre-selected range from the received data, and fuse the filtered data to obtain the multi-source fusion perception results of the first roadside device. The pre-selected range is the area surrounding the first roadside device, which can be determined based on the factory specifications of the first roadside device's perception range and its installation direction. For example, based on the factory specifications of the first roadside device's perception range, a certain margin can be reserved in the installation direction (e.g., expanding by 3 meters, 5 meters, etc.) to obtain the pre-selected range. Filtering and fusing data within a preset time period and within the pre-selected range can reduce the amount of data to be fused and matched, thereby reducing computational load and improving efficiency. It is understandable that in the process of obtaining multi-source fusion perception results, the more side-sensing devices involved, the more traffic participants involved, or the longer the preset time period, the more accurate the multi-source fusion perception results will be.

[0253] After acquiring the roadside perception results and the multi-source fusion perception results, the cloud server 11 can match the roadside perception results with the multi-source fusion perception results to obtain matching results for multiple target location points, and based on the matching results, generate the first perception capability information of the first roadside device. Then, as... Figure 18A As shown, the cloud server 11 can distribute the first sensing capability information to the first roadside device 12, the vehicle-mounted device 13, the mobile terminal 14, and the second roadside device 15. After receiving the first sensing capability information, the first roadside device 12 can forward it to the third roadside device among the vehicle-mounted device 13, the mobile terminal 14, and the second roadside device 15. The process of matching the roadside sensing results with the multi-source fusion sensing results to obtain matching results for multiple target location points, and generating the first sensing capability information of the first roadside device based on the matching results, will be described in detail in the following sections of this application's embodiments.

[0254] Figure 18B A schematic diagram of the communication system provided in an embodiment of this application is shown. Figure 18B The communication system shown includes devices and the connections between them, which can be referenced. Figure 18A The communication system shown will not be described in detail here. Figure 18B In the process of cloud server 11 receiving data, you can refer to... Figure 18A The process of cloud server 11 receiving data will not be described in detail here.

[0255] exist Figure 18B In this process, the cloud server 11 receives data including: roadside perception data from the first roadside device 12, roadside collected data from the first roadside device 12, roadside perception data from the second roadside device 15, roadside collected data from the second roadside device 15, vehicle location data and vehicle perception data from the vehicle-side device 13, and terminal location data from the mobile terminal 14. The cloud server 11 can obtain the multi-source fusion perception result corresponding to the first roadside device based on the received data. Then, the cloud server 11 can send the multi-source fusion perception result corresponding to the first roadside device 12. The first roadside device 12 can obtain the roadside perception result based on its own roadside perception data.

[0256] After acquiring the roadside perception results and the multi-source fusion perception results, the first roadside device 12 can match the roadside perception results and the multi-source fusion perception results to obtain matching results for multiple target location points, and based on the matching results, generate the first perception capability information of the first roadside device. Then, as... Figure 18B As shown, the first roadside device 12 can send the first perception capability information to the vehicle-mounted device 13, the mobile terminal 14, and the third roadside device in the second roadside device 15. The process of matching the roadside perception results with the multi-source fusion perception results to obtain matching results for multiple target location points, and generating the first perception capability information of the first roadside device based on the matching results, will be described in detail in the following sections of the embodiments of this application.

[0257] Figure 18C A schematic diagram of the communication system provided in an embodiment of this application is shown. Figure 18C As shown, the communication system may include a first roadside device 12, a vehicle-mounted device 13, a mobile terminal 14, and a third roadside device 16. The vehicle-mounted device 13, the mobile terminal 14, and the third roadside device 16 have established communication connections with the first roadside device 12.

[0258] like Figure 18CAs shown, vehicle-mounted device 13 reports vehicle location data and vehicle perception data to first roadside device 12, mobile terminal 14 reports terminal location data to first roadside device 12, and third roadside device 16 sends roadside perception data and roadside collected data to first roadside device 12. Thus, the data acquired by first roadside device 12 includes: vehicle location data and vehicle perception data from vehicle-mounted device 13, terminal location data from mobile terminal 14, roadside perception data and roadside collected data from third roadside device 16, and its own roadside perception data. Afterwards, first roadside device 12 can obtain roadside perception results based on its own roadside perception data and obtain multi-source fusion perception results based on the data acquired above. The methods by which first roadside device 12 obtains roadside perception results and multi-source fusion perception results can be referred to... Figure 18A The methods by which the cloud server 11 obtains roadside perception results and multi-source fusion perception results are not described here.

[0259] After acquiring the roadside perception results and the multi-source fusion perception results, the first roadside device 12 can match the roadside perception results and the multi-source fusion perception results to obtain matching results for multiple target location points, and based on the matching results, generate the first perception capability information of the first roadside device. Then, as... Figure 18B As shown, the first roadside device 12 can send the first perception capability information to the vehicle-mounted device 13, the mobile terminal 14, and the third roadside device in the second roadside device 15. The process of matching the roadside perception results with the multi-source fusion perception results to obtain matching results for multiple target location points, and generating the first perception capability information of the first roadside device based on the matching results, will be described in detail in the following sections of the embodiments of this application.

[0260] The first roadside device can detect one or more traffic participants within a preset time period. Each detected traffic participant corresponds to a set of location points, referred to as the first set of location points. In other words, the roadside sensing results can indicate the first set of location points for each of the one or more traffic participants detected by the first roadside device within the preset time period. Specifically, the roadside sensing results can include at least one of the following: time information, location information, motion parameters, and attribute information for each location point in the indicated first set of location points.

[0261] Within a preset time period, the location change information of the same traffic participant may be acquired by multiple sensing devices. For example, within a preset time period, the location change information of vehicle 1 may be acquired by its own vehicle-mounted device, sensed by surrounding roadside devices, and sensed by the vehicle-mounted devices of other surrounding vehicles. For a single traffic participant: each sensing device that acquires the location change information of that traffic participant within the preset time period can acquire a set of location points for that traffic participant; after fusing the sets of location points acquired by all sensing devices that have acquired the location change information of that traffic participant, a second set of location points corresponding to that traffic participant can be obtained. For example, in the embodiments of this application, Kalman filtering, multi-Bayes estimation, fuzzy logic reasoning, or artificial neural networks can be used to fuse the data acquired by multiple sensing devices.

[0262] It can be seen that the first set of location points of a traffic participant is a set of location points sensed by the first roadside device, and the second set of location points of a traffic participant is a set of location points obtained by fusing multiple sets of location points acquired by multiple sensing devices.

[0263] In one possible implementation, the location points indicated by the roadside sensing results and the multi-source fusion sensing results (including a first set of location points and a second set of location points) are discrete location points. The roadside sensing results include at least one of the following for each location point in the first set: time information, location information, motion parameters, and attribute information. The multi-source fusion sensing results include at least one of the following for each location point in the second set: time information, location information, motion parameters, and attribute information. Matching the roadside sensing results with the multi-source fusion sensing results involves performing point-by-point matching between the first set of location points and the second set of location points. Here, point-by-point matching eliminates the need for temporal relationships, reducing the difficulty of obtaining the roadside sensing results and the multi-source fusion sensing results.

[0264] In one possible implementation, the location points indicated by the roadside perception results and the multi-source fusion perception results (including the first set of location points and the second set of location points) are the location points in the trajectory. Figure 19A This is a schematic diagram showing the first set of location points and their corresponding trajectories in an embodiment of this application. Figure 19BThis diagram illustrates the second set of location points and their corresponding trajectories in an embodiment of this application. The roadside sensing results include the temporal relationship between the location points in the first set, and at least one of the following: time information, location information, motion parameters, and attribute information for each location point in the first set. The multi-source fusion sensing results include the temporal relationship between the location points in the second set, and at least one of the following: time information, location information, motion parameters, and attribute information for each location point in the second set. Matching the roadside sensing results with the multi-source fusion sensing results includes trajectory matching. For example, the trajectory matching algorithm may include, but is not limited to, the Hungarian Algorithm and the K-means algorithm. This embodiment of the application does not limit the algorithm used for trajectory matching. Here, the trajectory matching incorporates temporal relationships, which can improve the accuracy and confidence of the matching results.

[0265] After matching the roadside perception results with the multi-source fusion perception results, multiple target location points can be obtained. Here, a target location point is either a location point in the first group of location points or a location point in the second group of location points. The matching result of a target location point is one of the following: True Positive (TP), False Negative (FN), and False Positive (FP).

[0266] A target location point is denoted as TP, meaning that the target location point is in the second group of location points, and there is a matching location point in the first group of location points. A target location point is denoted as FN, meaning that the target location point is in the second group of location points, and there is no matching location point in the first group of location points. A target location point is denoted as FP, meaning that the target location point is in the first group of location points, and there is no matching location point in the second group of location points.

[0267] Figure 19C This diagram illustrates the matching results in an embodiment of this application. Figure 19CAs shown, k1, k2, and k3 are the trajectories corresponding to the roadside sensing results, and the position points on k1, k2, and k3 are the position points in the first group of position points; h1, h2, and h3 are the trajectories corresponding to the multi-source fusion sensing results, and the position points on h1, h2, and h3 are the position points in the second group of position points. Trajectory matching revealed that h1 matches k1, h2 matches k2, but there is no trajectory that matches h3 or k3. For the position points on h1 and h2, they belong to the second group of position points, and there are matching position points in the first group; therefore, the position points on h1 and h2 are the target position points, and the matching result is TP. For the position point on h3, it belongs to the second group of position points, and there are no matching position points in the first group; therefore, the position point on h3 is the target position point, and the matching result is FN. For k3, it belongs to the first group of position points, and there are no matching position points in the second group; therefore, the position point on k3 is the target position point, and the matching result is FP.

[0268] Figure 19D This diagram illustrates trajectory matching in an embodiment of this application. Figure 19D As shown, k4, k5, and k6 are the trajectories corresponding to the roadside perception results, and the location points on k4, k5, and k6 are the location points in the first group of location points; h4, h5, and h6 are the trajectories corresponding to the multi-source fusion perception results, and the location points on h4, h5, and h6 are the location points in the second group of location points. Trajectories of different traffic participants may intersect, such as... Figure 19D As shown, k4 and k5 intersect, and k4 and k6 intersect as well. If the portion of k4 from t to t+3 and the portion of k5 from t+3 to t+7 are mistakenly identified as a single trajectory, the combined trajectory of k4 and k5 will be matched with h4, thus misidentifying the location point on h4 as the target location point with the matching result TP. If the portion of k4 from t+5 to t+7 and the portion of k6 from t to t+5 are mistakenly identified as a single trajectory, the combined trajectory of k4 and k6 will be matched with h6, thus misidentifying the location point on h6 as the target location point with the matching result TP. In this embodiment, the roadside perception results and multi-source fusion perception results include attribute information such as geometric shape, size, and color, which can reduce the possibility of trajectory misidentification when the trajectories of different traffic participants intersect, thereby improving the accuracy and confidence of the target location point.

[0269] In one possible implementation, for a target location point with a matching result of TP, it can be associated with indicator information to indicate the status of that target location point. In one example, the indicator information may include one or more of motion indicator error, shape and size error, target tracking stability, and location point correct matching rate. Motion indicator error includes position error and / or velocity error. For example, the position error can be dx / dy, where dx represents the difference between the target location point and its first matched location point in the horizontal or longitude direction, and dy represents the difference between the target location point and its first matched location point in the vertical or latitude direction. Velocity error can be one or more of velocity difference, velocity ratio, acceleration difference, and acceleration ratio. Shape and size error can be a difference or ratio of sizes. Target tracking stability represents the deviation between the estimated location point and the acquired location point, reflecting the reliability of a set of location points. Higher target tracking stability indicates higher reliability of the set of location points, and lower target tracking stability indicates lower reliability of the set of location points. In determining target tracking stability, methods such as Kalman filtering, hidden Markov models, or mean shift can be used to estimate the location points. The location point correct match rate represents the ratio of the number of location points in the second group that match as TP to the total number of location points in the second group. It is understood that for the same target location point in the same second group, the associated tracking stability is the same, and the associated location point correct match rate is also the same. It is also understood that the above is only an illustrative explanation of the indicator information; target location points that match as TP can also be associated with other indicator information.

[0270] At this point, multiple target location points and matching results for each target location point have been obtained. The process of generating the first sensing capability information of the first roadside device based on the matching results is described below.

[0271] In one possible implementation, generating the first perception capability information of the first roadside device based on the matching result may include: determining multiple grids based on the pre-selected range of the first roadside device; merging grids whose grid indicators meet a first condition among the multiple grids to obtain a merged grid, and continuing to merge existing grids whose grid indicators meet the first condition until no grids meet the first condition; for any given grid, defining the grid as a perception area, and determining the perception capability level of the grid based on the indicator range to which the grid indicators belong; and determining the perception capability information of the first roadside device based on the location information and perception capability level of each grid.

[0272] The pre-selected range for the first roadside device can be the area surrounding the device. This pre-selected range can be determined based on the device's factory-specified sensing range and its installation direction. In one example, the pre-selected range for the first roadside device is larger than the range indicated by the factory-specified sensing range in the installation direction.

[0273] In one possible implementation, determining multiple grids based on the pre-selected range of the first roadside device may include: performing gridding processing on the pre-selected range of the first roadside device to obtain multiple grids.

[0274] In another possible implementation, determining multiple grids based on the pre-selected range of the first roadside device may include: taking the intersection of the pre-selected range of the first roadside device and the first road to obtain the area to be divided; and performing gridding processing on the area to be divided to obtain multiple grids. Here, the first road may represent the road where the first roadside device is located or the road perceived by the first roadside device, and the association between the first road and the first roadside device can be pre-set when deploying the first roadside device.

[0275] Figure 20A This diagram illustrates an exemplary schematic of the region to be divided in an embodiment of this application. For example... Figure 20A As shown, the area to be divided does not exceed the road edge line of the first road. This ensures that the number of perceived traffic participants is not reduced, while also facilitating subsequent grid division and fusion. Figure 20B An exemplary schematic diagram of a grid is shown in an embodiment of this application. For example... Figure 20B As shown, the area to be divided can be divided into multiple grids. In one example, the area to be divided is evenly divided into multiple grids, which facilitates statistical management. Of course, other methods can also be used to divide the area to be divided into multiple grids. For example, the area of ​​the grids divided in the region closer to the first roadside device is smaller than the area of ​​the grids divided in the region farther from the first roadside device.

[0276] After the grid is divided, the grid metrics for each grid can be determined. In one example, for any given grid, the grid metrics can be determined based on the metric information of the target location points within that grid. In one example, the grid metrics include one or more of detection metrics, motion metrics, and tracking metrics, wherein the detection metrics include accuracy and / or recall, the motion metrics include velocity and / or acceleration, and the tracking metrics include location point correct matching rate and / or target tracking stability.

[0277] After determining the grid indicators for each grid, the grids whose indicators satisfy a first condition can be merged to obtain a merged grid. The first condition includes one or more of the following: the difference in detection indicators is less than a first threshold; the difference in motion indicators is less than a second threshold; and the difference in tracking indicators is less than a third threshold. The first, second, and third thresholds can be set as needed; for example, the first threshold can be 90%, the second threshold can be 1 m / s, and the third threshold can be 95%. This application embodiment does not limit the first, second, and third thresholds.

[0278] Next, determine the grid indices of each grid obtained after the previous round of merging, and continue to merge existing grids whose grid indices satisfy the first condition, until there are no more grids that satisfy the first condition. Figure 20C A diagram showing the merged mesh result in an embodiment of this application is illustrated. For example... Figure 20C As shown, the divided grid is merged to obtain three regions: Region 1, Region 2, and Region 3. (See also...) Figure 20C In Area 1, the proportion of target locations matching as FN is relatively large, the proportion matching as FP is very small, and the proportion matching as TP is extremely small (even zero). This indicates that the first roadside device failed to detect traffic participants in Area 1, and therefore lacks detection capability in Area 1. In Area 2, the proportion of target locations matching as TP is relatively small, while the proportions matching as FN and FP are relatively large. This indicates that the first roadside device can detect some traffic participants in Area 2, and therefore has detection capability in Area 2, but the detection capability is poor. In Area 3, the proportion of target locations matching as TP is relatively large, while the proportions matching as FN and FP are very small. This indicates that the first roadside device has detection capability in Area 3, and the detection capability is relatively strong.

[0279] In the absence of a grid that meets the first condition, i.e., when the grid cannot be merged further, for any given grid, the grid is defined as a sensing area, and the sensing capability level of the sensing area is determined based on the index range to which the grid index of the sensing area belongs; the sensing capability information of the first roadside device is determined based on the location information and sensing capability level of each sensing area.

[0280] In this embodiment of the application, each indicator range corresponds to a perception capability level. Determining the perception capability level of a perception area based on the indicator range to which its grid indicators belong includes: if the grid indicators of the perception area belong to a first indicator range, determining the perception capability level of the perception area as a first perception capability level. Here, the first indicator range is any one of the indicator ranges, and the first perception capability level is the perception capability level corresponding to the first indicator range. Figure 20C For example, suppose there are three sensing areas: area 1, area 2 and area 3. The grid index of area 1 belongs to index range 1, the grid index of area 2 belongs to index range 2, and the index of area 3 belongs to index range 3. Then the sensing capability level of the first roadside device in area 1 is level 1, the sensing capability level in area 2 is level 2, and the sensing capability level in area 3 is level 3.

[0281] In one example, the grid indicators of the sensing area belonging to the first indicator range may include: detection indicators in the first range, and / or motion indicators in the second range, and / or tracking indicators in the third range. The first, second, and third ranges can be set as needed, and this embodiment does not impose any limitations.

[0282] In one example, perception capability levels may include: blind spot, weak perception capability, moderate perception capability, and strong perception capability. In another example, perception capability levels may include: low, medium, and high. In yet another example, perception capability levels may include: level one, level two, level three, and level four, etc. It is understood that the above are merely exemplary descriptions of perception capability levels, and the embodiments of this application do not limit the method or number of perception capability levels.

[0283] In one possible implementation, the first sensing capability information can be used to indicate the sensing capability of the first roadside device. For example, the first sensing capability information can indicate the areas that the first roadside device can sense and the areas that it cannot sense. For instance, the first roadside device can sense areas within 200 meters but cannot sense areas beyond 200 meters.

[0284] In one possible implementation, the first sensing capability information can be used to indicate the sensing capabilities of the first area and the first roadside equipment within the first area.

[0285] The first region can represent any area. In one example, the first region can be an area on the first road. The first region can be rectangular, sector-shaped, or polygonal, etc. This application does not limit the shape and area of ​​the first region. For example, the roadside device has a good perception effect within 100 meters, i.e., strong perception capability; a moderate perception effect within 100 to 150 meters, i.e., medium perception capability; a poor perception effect within 150 to 200 meters, i.e., weak perception capability; and no perception capability beyond 200 meters, i.e., no perception capability.

[0286] In one possible implementation, the first perception capability information can be used to indicate the perception capabilities of the first scenario, the first area, and the first roadside device in the first scenario and the first area.

[0287] In this embodiment of the invention, "scene" is used to identify the environment in which a device with sensing capabilities operates, or the environment in which a target sensed by a device with sensing capabilities is located. The first scene can represent any scenario. For example, the first scene includes, but is not limited to, daytime, nighttime, sunny, cloudy, sandstorm, rain / snow, and foggy weather, all of which affect sensing capabilities. It is understood that the sensing range of the first roadside device is greater during the day than at night, and its sensing range on a sunny day is greater than on a cloudy, sandstorm, rain / snow, or foggy day. The sensing range of the first roadside device varies depending on the size of the sandstorm, the intensity of the rain / snow, or the level of fog. Therefore, in this embodiment, the sensing capabilities of the first roadside device can be described by scenario, thereby improving the accuracy of the first roadside device's sensing capabilities. For example, in a sunny scenario, the first roadside device... Figure 20C The sensory ability of region 2 shown is moderate. Figure 20C The perception capability of area 3 shown is strong; in foggy conditions, the first roadside device... Figure 20C The sensory ability of region 2 shown is weak. Figure 20C The sensory ability of area 3 shown is moderate.

[0288] It should be noted that when the first perception capability information is used to indicate the perception capabilities of the first scenario, the first area, and the first roadside device in the first scenario and the first area, scenario tags can be added to the aforementioned roadside perception data, vehicle perception data, vehicle location data, and terminal location data. This allows the roadside perception results and multi-source fusion perception results in the first scenario to be obtained. If scenario tags are not added to the aforementioned roadside perception data, vehicle perception data, vehicle location data, and terminal location data, then before obtaining the roadside perception results and multi-source fusion perception results in the first scenario, third-party information (such as time information and historical weather information) can be combined to obtain the roadside perception data, vehicle perception data, vehicle location data, and terminal location data in the first scenario.

[0289] Thus, the first sensing capability information of the first roadside device has been obtained. In this embodiment of the application, for any second roadside device, the second sensing capability information of the second roadside device can be obtained by referring to the first sensing capability information of the first roadside device. The method of obtaining the second sensing capability information of the second roadside device can refer to the method of obtaining the sensing capability information of the first roadside device, and will not be described again here.

[0290] In one possible implementation, the initial sensing capability information of the first roadside device can be associated with road markings. This allows for the retrieval of sensing capability information from various roadside devices along a road or road segment before route planning or before traffic participants plan to enter the road or segment. This enables the determination of roadside sensing effectiveness in different areas of the road or segment, thereby improving safety.

[0291] The application of perceptual information is explained below.

[0292] Considering that blind spots may still exist under multiple roadside devices due to obstructions or other reasons on the road, this embodiment of the application can integrate the sensing capability information of each roadside device to form an overall sensing coverage capability. In one possible implementation, the method further includes: generating multiple sensing capability information of multiple roadside devices; and generating sensing blind spot information based on the multiple sensing capability information.

[0293] The multiple sensing capability information items are used to indicate the sensing capabilities of the multiple roadside devices. Specifically, if the multiple roadside devices include a first roadside device, then the multiple sensing capability information items include first sensing capability information. Additionally, the multiple roadside devices may also include one or more second roadside devices, then the multiple sensing capability information items include one or more second sensing capability information items.

[0294] The blind spot information is used to indicate areas not covered by one or more of the plurality of roadside devices. In one example, the areas not covered by one or more of the plurality of roadside devices include: absolute blind spots and / or relative blind spots. Specifically, each of the plurality of roadside devices fails to meet the perception capability standard within the absolute blind spot, and some of the plurality of roadside devices fail to meet the perception capability standard within the relative blind spot.

[0295] The perception capability standards can be set as needed, and this application does not impose any restrictions on the perception capability standards. In one example, meeting the perception capability standards includes, but is not limited to: meeting a preset perception capability level (e.g., corresponding to a perception capability level of level one or two), or being within a preset index range (e.g., detection indicators falling within a preset index range, and / or motion indicators falling within a preset index range, and / or tracking indicators falling within a preset index range). If a roadside device fails to meet the perception capability standards in a certain area, it indicates that the perception effect of the roadside device in that area is poor, and the confidence level of the information perceived in that area is low. Therefore, that area is a blind spot for the roadside device. Figure 21 An exemplary schematic diagram illustrating the perception blind spot of an embodiment of this application is shown. Figure 21 The diagram shows the boundary lines between the blind spots and non-blind spots of roadside equipment 1 and roadside equipment 2. The area within the boundary lines is the non-blind spot, and the area outside the boundary lines is the blind spot. The intersection of the blind spots of roadside equipment 1 and the non-blind spots of roadside equipment 2, as well as the intersection of the non-blind spots of roadside equipment 1 and the blind spots of roadside equipment 2, constitutes the relative blind spot. The intersection of the blind spots of roadside equipment 1 and the blind spots of roadside equipment 2 constitutes the absolute blind spot.

[0296] by Figure 21 Taking the roadside equipment 1 and roadside equipment 2 shown as examples, the process of determining the relative and absolute perception blind spots will be explained.

[0297] When a communication connection is established between roadside device 1 and roadside device 2, the perception capability of a given area is determined by the best perception capability of either device. If neither the perception capability of roadside device 1 nor the perception capability of roadside device 2 meets the perception capability standard for a given area, then that area can be identified as an absolute perception blind spot. In this case, a relative perception blind spot does not need to be marked.

[0298] In the absence of a communication connection between roadside device 1 and roadside device 2, the areas where the sensing capability of roadside device 1 does not meet the sensing capability standard but the sensing capability of roadside device 2 does meet the sensing capability standard, as well as the areas where the sensing capability of roadside device 2 does not meet the sensing capability standard but the sensing capability of roadside device 1 does meet the sensing capability standard, are defined as relative sensing blind spots; the areas where the sensing capability of neither meets the sensing capability standard are defined as absolute sensing blind spots.

[0299] In one example, different identifiers can be added for absolute and relative blind spots. For instance, a first identifier can be added for absolute blind spots, and a second identifier for relative blind spots. This way, the identifier can be used to determine whether a blind spot is absolute or relative. Optionally, when identifying relative blind spots, they can also be associated with the identifiers of roadside equipment to clarify which roadside equipment's blind spot a relative blind spot belongs to.

[0300] In another example, the sensing capability information of a roadside device can be linked to other roadside devices with which it has established a communication connection. This allows users to determine which other roadside devices their current device is communicating with, thus identifying absolute and relative sensing blind spots.

[0301] In one possible implementation, the method further includes: generating a warning message based on the first perception capability information. The warning message is used to prompt the driver to take over the vehicle in the second area, to perform fault detection on the first roadside equipment, reduce the confidence level of the information about the second area perceived by the first roadside equipment, or avoid the second area during route planning.

[0302] The first sensing capability information indicates that the sensing capability of the first roadside device in the second area is lower than the sensing threshold. The sensing threshold can be set as needed. In one example, being lower than the sensing threshold may include, but is not limited to, one or more of the following: failing to reach a threshold sensing capability level (e.g., failing to reach a first-level sensing capability level or a second-level sensing capability level), failing to reach a preset detection indicator threshold for a detection indicator, failing to reach a preset motion indicator threshold for a motion indicator, and failing to reach a preset tracking indicator threshold for a tracking indicator. The detection indicator threshold, motion indicator threshold, and tracking indicator threshold can be set as needed, and this application embodiment does not impose any limitations. Considering that the sensing capability standard is used to determine sensing blind spots, and the sensing threshold is used for early warning, an early warning is needed in areas that are not sensing blind spots but have poor sensing effects. Therefore, in one example, the sensing threshold can be greater than (higher than) or equal to the sensing capability standard.

[0303] Because the perception capability of the first roadside device in the second area is below the perception threshold, its perception effect is poor, and it cannot accurately and comprehensively perceive traffic participants in the second area. Therefore, the risk of autonomous driving in the second area is high, and the driver may need to take over the vehicle in this area. Simultaneously, fault detection can be performed on the first roadside device to check if a malfunction is causing its poor perception effect in the second area, especially when the second area is close to the first roadside device. Furthermore, because the first roadside device's perception effect is poor in the second area, the accuracy of the information it obtains about the second area is also relatively low, which can reduce the confidence level of the information obtained by the first roadside device. In one example, the information obtained by the first roadside device about the second area includes: the location points of traffic participants in the second area, and one or more of the following: time information, location information, motion parameters, and attribute information of each location point. Since the first roadside equipment has poor perception in the second area, it can avoid the second area during path planning. This can reduce the possibility of accidents after the vehicle enters the second area. Especially for autonomous vehicles, avoiding the second area means that the driver does not need to take over the vehicle, which can effectively improve the user experience.

[0304] In one possible scenario, roadside equipment can report parameters about its coverage area to a data processing unit. Accordingly, the data processing unit generates coverage information for the roadside equipment based on the coverage parameters reported by one or more roadside devices. The coverage parameters reported by the roadside devices can be pre-configured, pre-defined, or pre-designed in the roadside equipment, or they can be obtained through actual detection. Optionally, the coverage parameters or coverage information may include information indicating the source of coverage capability (e.g., pre-design, actual measurement, estimation, etc.).

[0305] Optionally, roadside equipment may include one or more sensing devices, or may be connected to one or more sensing devices. The sensing capabilities of the roadside equipment can be specifically implemented through the sensing devices. Further optionally, sensing devices can be combined, and one or more sensing devices can form a sensing device group. For example, cameras and LiDAR can be used as a fusion sensing device group to perform fusion sensing that combines image and laser detection.

[0306] Further optionally, when the roadside equipment includes multiple sensing devices (or is connected to multiple sensing devices), the sensing coverage area in the coverage information can correspond to a sensing device or a group of sensing devices. For example, when the coverage information of the roadside equipment includes multiple sensing coverage areas, each sensing coverage area can correspond to one sensing device, or each sensing coverage area can correspond to a group of sensing devices, or some sensing coverage areas in the multiple sensing coverage areas can correspond to sensing devices and some sensing areas can correspond to groups of sensing devices.

[0307] In one possible design, the sensing coverage area and coverage capability within the sensing coverage area of ​​a group of sensing devices are determined based on the coverage capabilities of the sensing devices within the group. For example, the coverage capability of the sensing device group can be obtained by fusing the sensing capabilities of multiple sensing devices. Furthermore, the fused coverage capability is divided into regions according to levels, thereby obtaining the coverage area corresponding to the sensing device group.

[0308] The sensing coverage area corresponding to the sensing device group can be called the multi-device sensing coverage area. The coverage capability of the multi-device sensing coverage area and the roadside equipment within this area is determined based on the coverage capability of the multiple sensing devices in the sensing device group. "The multiple sensing devices are related to the roadside equipment" means that each of the multiple sensing devices is related to the roadside equipment. "The sensing device is related to the roadside equipment" means that the sensing device sends the information it senses to the roadside equipment. Physically, this includes, but is not limited to, the sensing device being installed within the roadside equipment, or being installed outside the roadside equipment and connected to it wirelessly or via a wired connection.

[0309] (2) Regarding the communication capabilities of roadside equipment, the coverage area of ​​the roadside equipment is the communication area, and the coverage capability information used to indicate the coverage capability of the roadside equipment in the at least one coverage area is the communication capability information.

[0310] Figure 22 A flowchart illustrating a communication capability information generation method provided in an embodiment of this application is shown. Figure 22 As shown, the method may include:

[0311] Step S2201: Obtain the first communication status indication information.

[0312] Step S2202: Based on the first communication status indication information, determine the first distribution of the plurality of location points around the first roadside device.

[0313] Step S2203: Generate the first communication capability information of the first roadside device based on the first distribution.

[0314] Here, "first roadside device" refers to the roadside device whose communication capabilities are to be determined. The first roadside device can be any roadside device. "First communication capability information" can represent the communication capability information of the first roadside device. This information can be used to indicate the communication capabilities of the first roadside device, such as the areas where the first roadside device can communicate and the areas where it cannot communicate.

[0315] The first communication status indication information can be used to indicate that multiple terminal devices establish communication connections with the first roadside device at multiple location points. When a terminal device establishes a communication connection with the first roadside device at a location point, it indicates that the location point is within the communication range of the first roadside device, and the communication capability of the first roadside device can reach that location point. Therefore, based on the distribution of multiple location points of the multiple terminal devices that have established communication connections with the first roadside device, the area that the communication capability of the first roadside device can reach can be determined, thereby conveniently and accurately obtaining the communication range of the first roadside device.

[0316] It is understood that the multiple terminal devices indicated by the first communication status indication information at multiple location points can include: the location points of different terminal devices at the same time, the location points of the same terminal device at different times, and the location points of different terminal devices at different times. For example, multiple terminal devices at multiple location points can include: location point 1 of vehicle 1 at 1:00 AM on Monday and location point 2 of vehicle 2 at 1:00 AM on Monday, location point 1 of vehicle 1 at 1:00 AM on Monday and location point 3 of vehicle 1 at 1:00 PM on Monday, and location point 4 of vehicle 3 at 1:00 AM on Tuesday and location point 5 of vehicle 4 at 1:00 PM on Tuesday. That is to say, the embodiments of this application do not limit whether the multiple location points indicated by the first communication status indication information are the location points of the same terminal device or whether they are location points collected at the same time.

[0317] In one possible implementation, the first communication status indication information may include: location information of the indicated multiple location points, operating status information of multiple communication modules in the indicated multiple terminal devices, connection status information between the indicated multiple terminal devices and the first roadside device, identification information of the first roadside device, and time information. The location information of the location points, the operating status information of the communication modules, and the time information are as described above and will not be repeated here.

[0318] The connection status information between a terminal device and a roadside device can be either connected or disconnected. A connected status indicates that the terminal device has established a communication connection with the roadside device, while a disconnected status indicates that the terminal device has not established a communication connection with the roadside device. Since the first communication status indication information indicates that multiple terminal devices have established communication connections with the first roadside device at multiple locations, the connection status information with the first roadside device in the first communication status indication information is always "connected".

[0319] Identification information for roadside equipment can be used to identify different roadside equipment. For example, the identification information for roadside equipment can be the name, number, location information, identifier of the communication module configured on it, or other user-defined identifiers. Therefore, the identification information for the first roadside equipment can be the name, number, RSU_ID of the first roadside equipment, or other user-defined identifiers for the first roadside equipment.

[0320] The process of obtaining the first communication status indication information is described below.

[0321] Figure 23 A schematic diagram of the communication system provided in an embodiment of this application is shown. Figure 23 As shown, the communication system includes a first roadside device 11 and a first terminal device 12. The first roadside device 11 can represent any roadside device, and the first terminal device 12 represents a terminal device that establishes a communication connection with the first roadside device 11. The first terminal device 12 includes, but is not limited to, vehicle-mounted devices and mobile terminals. The first roadside device 11 can connect to one or more first terminal devices 12. Specifically, the first roadside device 11 can establish a communication connection with the first terminal device 12 through the communication module in the first terminal device 12. After acquiring its own traffic participant data, the first terminal device 12 can report the acquired traffic participant data to the first roadside device 11.

[0322] In one possible implementation, the traffic participant data of a terminal device may include the location information of the terminal device when the traffic participant data was collected, the time information of the time the traffic participant data was collected, the working status information of the communication module in the terminal device, and the identification information of the roadside device connected to the terminal device. In one example, the location information can be denoted as Position, the working status information can be denoted as Connection, the identification information of the roadside device can be denoted as RSU_ID, and the time information can be denoted as Time. Then, the traffic participant data of a terminal device can be denoted as (Position, Device, Connection, RSU_ID, Time). Since the first terminal device 12 is the terminal device that establishes a communication connection with the first roadside device 11, the working status information of the communication module in the traffic participant data of the first terminal device 12 is "normal working status", and the identification information of the roadside device includes "the identification information of the first roadside device 11". After receiving the traffic participant data reported by each of the first terminal devices 12, the first roadside device 11 can generate first communication status indication information based on the received information.

[0323] It should be noted that, referring to Figure 23 It is known that the first terminal device 12, which has established a communication connection with the first roadside device 11, can directly report traffic participant data to the first roadside device 11. Other terminal devices that have not established a communication connection with the first roadside device 11 cannot directly report their traffic participant data to the first roadside device 11 (we do not consider the case of forwarding through other roadside devices; even if the first roadside device receives traffic participant data forwarded by other roadside devices, it can still filter out the traffic participant data that has established a communication connection with the first roadside device 12 based on the identification information of the roadside devices). Therefore, the traffic participant data collected by the first roadside device 11 all comes from the first terminal device 12 that has established a communication connection with the first roadside device 11.

[0324] After obtaining the first communication status indication information, the first roadside device can execute step S2202 to obtain the first distribution situation. In one example, the first roadside device can determine the first distribution situation based on the location information of the first location point (i.e., the location point of the first terminal device indicated by the first communication status indication information).

[0325] Figure 24 An exemplary schematic diagram of the first distribution scenario is shown. For example... Figure 24 As shown, the first terminal device (i.e., the terminal device that establishes a communication connection with the first roadside device) establishes communication connections with the first roadside device at multiple location points. The location information of these location points constitutes the first distribution scenario. See also... Figure 24It can be seen that there are more locations that can establish communication connections with the first roadside equipment in the area close to it, and fewer locations that can establish communication connections with the first roadside equipment in the area far away from it.

[0326] Then, the first roadside device 11 can execute step S2203 to obtain the first communication capability information.

[0327] Figure 25 A schematic diagram of the communication system provided in an embodiment of this application is shown. Figure 25 As shown, the communication system includes a first roadside device 11, a second terminal device 13, and a server 14. The first roadside device 11 can be any roadside device. The second terminal device 13 can represent a terminal device that has established a communication connection with the server 14. Both the first roadside device 11 and the second terminal device 13 can establish a communication connection with the server 14 via a cellular network. After acquiring its own traffic participant data, the second terminal device 13 can report the acquired traffic participant data to the server 14. Considering that the second terminal device 13 may include a first terminal device 12 that has established a communication connection with the first roadside device 11, that is, some second terminal devices 13 may have established communication connections with both the server 14 and the first roadside device 11, after receiving the traffic participant data reported by each second terminal device 13, the server 14 can filter out the traffic participant data that has established a communication connection with the first roadside device based on the working status information and the identification information of the roadside device in each traffic participant data. Specifically, server 14 can filter the working status information of the communication module as "normal working status" from the received traffic participant data. The identification information of the roadside device includes traffic participant data of "identification information of the first roadside device 11". Based on the filtered traffic participant data, server 14 generates first communication status indication information.

[0328] In one possible implementation, after the server 14 generates the first communication status indication information, it can execute step S2202 to obtain the first distribution situation, or send the first communication status indication information to the first roadside device 11, and the first roadside device 11 executes step S2202 to obtain the first distribution situation.

[0329] In one possible implementation, during the process of server 14 generating the first communication status indication information, server 14, while filtering traffic participant data, can first find traffic participant data within a pre-selected range of the first roadside device from the collected traffic participant data. Then, it filters out traffic participant data whose working status information is "normal working status" from the traffic participant data within the pre-selected range. For ease of description, in this embodiment, the dataset composed of the traffic participant data filtered at this time is called dataset A. Afterwards, server 14 can filter out traffic participant data from dataset A whose identification information includes "identification information of the first roadside device 11". In this embodiment, the dataset composed of the traffic participant data filtered at this time is called dataset B. The dataset composed of traffic participant data in dataset A other than the traffic participant data in dataset B is called dataset C. The pre-selected range is the area surrounding the first roadside device 11. The pre-selected range can be determined based on the factory specifications of the communication range of the first roadside device 11 and the installation direction of the first roadside device. For example, based on the factory specifications of the communication range of the first roadside device, a certain margin can be reserved in the installation direction (e.g., expanding by 3 meters, 5 meters, etc.) to obtain the pre-selected range.

[0330] Figure 26 A schematic diagram showing the distribution of terminal devices is provided. Figure 26 As shown, within a pre-selected range, the location points of multiple terminal devices are displayed. At some location points, the terminal devices can establish communication connections with the first roadside device, while at other location points, the terminal devices cannot establish communication connections with the first roadside device. The traffic participant data corresponding to the location points that can establish communication connections with the first roadside device is in dataset B, and the traffic participant data corresponding to the location points that cannot establish communication connections with the first roadside device is in dataset C. Figure 26 The location information of the points in dataset B shown represents the first distribution. (Refer to...) Figure 26 It can be seen that there are more locations that can establish communication connections with the first roadside equipment in the area close to it, and fewer locations that can establish communication connections with the first roadside equipment in the area far away from it.

[0331] Then, the server 14 or the first roadside device 11 can obtain the first communication capability information in step S2203.

[0332] The following describes the process of generating the first communication capability information based on the first distribution in step S2203. (Refer to...) Figure 23 and Figure 25As can be seen, step S2203 can be executed by the first roadside device or by the server. The following description takes the execution of step S2203 by the first roadside device as an example. The process of the server executing step S2203 can be referred to the process of the first roadside device executing step S2203. It will not be described again in this embodiment.

[0333] In one possible implementation, step S2203 may include: the first roadside device directly generating first communication capability information based on a first distribution pattern. Here, the first distribution pattern can be the density of first location points, where each first location point represents a location of the first terminal device. In areas with a higher density of first location points, the first roadside device has stronger communication capabilities; in areas with a lower density of first location points, the first roadside device has weaker communication capabilities. Therefore, the first roadside device can generate the first communication capability information based on the density of the first location points.

[0334] In one possible implementation, the first roadside device can acquire second communication status indication information, determine a second distribution situation based on the second status indication information, and then generate first communication capability information in step S2203 based on the first distribution situation and the second distribution situation.

[0335] The second communication status indication information is used to instruct at least one terminal device (for ease of description, in this embodiment, at least one terminal device is referred to as at least one third terminal device) to establish a communication connection with the second roadside device at at least one location point (for ease of description, in this embodiment, at least one location point is referred to as at least one third location point), and the distance between the at least one third location point and the first roadside device is less than a preset threshold. The process of obtaining the second communication status indication information can refer to the process of obtaining the first communication status indication information, except that the first roadside device in the process of obtaining the first communication status indication information is replaced by the second roadside device, and the location information in the traffic participant information is limited to a distance less than the preset threshold from the first roadside device. The preset threshold can be set as needed; for example, the preset threshold can be 100 meters, 200 meters, 500 meters, or 1000 meters. In one example, the first roadside device can determine the second distribution based on the location information of the third location point (i.e., the location point indicated by the second communication status indication information). The second distribution can be referred to... Figure 26 The location information of the points in dataset B is added to the location information of the points in dataset C.

[0336] A terminal device establishes a communication connection with a second roadside device at a location less than a preset threshold from the first roadside device. This indicates that the terminal device's communication module is in "normal working state," and that the terminal device is located near the first roadside device. At this point, the terminal device is the aforementioned third terminal device, and the location is the aforementioned third location point. A third terminal device may establish a communication connection with the first roadside device at a third location point (e.g., Figure 26 The location points in dataset B shown may not have established a communication connection with the first roadside device (e.g., Figure 26 (Location points in dataset C shown). In this embodiment, the second distribution can be used as a comparison object with the first distribution. The second distribution reflects the actual location points around the first roadside device that can establish communication connections with it, while the first distribution reflects the location points around the first roadside device that have actually established communication connections. In this embodiment, the stable connection rate can be determined based on the first and second distributions. The stable connection rate can be the ratio of the number of first location points to the number of third location points. It is understood that a higher stable connection rate indicates that the number of location points around the first roadside device that have actually established communication connections is close to the number of location points around the first roadside device that can establish communication connections, indicating good communication capability of the first roadside device. A lower stable connection rate indicates a larger gap between the number of location points around the first roadside device that have actually established communication connections and the number of location points around the first roadside device that can establish communication connections, indicating poor communication capability of the first roadside device. Therefore, the first roadside device can generate first communication capability information based on the stable connection rate.

[0337] In one possible implementation, the first roadside device can acquire third communication status indication information, then determine a third distribution situation based on the third communication status indication information, and then generate first communication capability information in step S2203 based on the first distribution situation and the third distribution situation.

[0338] The third communication status indication information is used to instruct at least one terminal device (for ease of description, in this embodiment, at least one terminal device is referred to as at least one second terminal device) to establish a communication connection with the server at at least one location point (for ease of description, in this embodiment, at least one location point is referred to as at least one second location point), and the at least one second terminal device has the ability to connect to the first roadside device, and the distance between the at least one second location point and the first roadside device is less than a preset threshold. The process of obtaining the third communication status indication information can be as follows: Figure 25The third communication status indication is obtained by the server through filtering the received traffic participant information. Specifically, the server can filter traffic participant data from the received traffic participant information that whose location information is less than a preset threshold from the distance to the first roadside device and whose communication module's working status information is "normal working status". Then, based on the filtered traffic participant data, the server obtains the third communication status indication information. In one example, the first roadside device can determine the third distribution based on the location information of the second location point (i.e., the location point indicated by the third communication status indication information). The third distribution can be referred to... Figure 26 The location information of the points in dataset B is added to the location information of the points in dataset C.

[0339] A terminal device establishes a communication connection with a server at a location less than a preset threshold distance from a first roadside device, and the terminal device's communication module is in "normal working state," indicating that the terminal device is near the first roadside device and has the ability to connect to it. In this case, the terminal device is the aforementioned second terminal device, and the location is the aforementioned second location point. If the first roadside device does not establish a communication connection with the third terminal device, it indicates that the first roadside device has poor communication capabilities at the corresponding second location point; if the first roadside device establishes a communication connection with the third terminal device, it indicates that the first roadside device has strong communication capabilities at the corresponding third location point. Therefore, in this embodiment, the third distribution can be used as a comparison object with the first distribution. The third distribution reflects the actual location points around the first roadside device that can establish a communication connection with it, while the first distribution reflects the location points where the first roadside device has actually established a communication connection. In this embodiment, the stable connection rate can be determined based on the first and third distributions. The stable connection rate can be the ratio of the number of first location points to the number of second location points. Understandably, a high stable connection rate indicates that the number of location points where the first roadside device has actually established communication connections is close to the number of location points around the first roadside device that can actually establish communication connections with it, indicating good communication capability of the first roadside device. Conversely, a low stable connection rate indicates a significant discrepancy between the number of location points where the first roadside device has actually established communication connections and the number of location points around the first roadside device that can actually establish communication connections with it, indicating poor communication capability of the first roadside device. Therefore, the first roadside device can generate first communication capability information based on the stable connection rate.

[0340] In one possible implementation, step S2203 may include: determining multiple grids based on the pre-selected range of the first roadside device; merging grids whose grid indicators meet a first condition among the multiple grids to obtain a merged grid, and continuing to merge existing grids whose grid indicators meet the first condition until no grids meet the first condition; for any given grid, defining the grid as a communication area, and determining the communication capability level of the grid based on the indicator range to which the grid indicators belong; and determining first communication capability information based on the location information and communication capability level of each grid.

[0341] In one example, determining multiple grids based on the pre-selected range of the first roadside device may include: performing gridding processing on the pre-selected range of the first roadside device to obtain multiple grids. In another example, determining multiple grids based on the pre-selected range of the first roadside device may include: taking the intersection of the pre-selected range of the first roadside device and the first road to obtain the area to be divided; performing gridding processing on the area to be divided to obtain multiple grids. Here, the first road may represent the road where the first roadside device is located or the roads surrounding the first roadside device, and the association between the first road and the first roadside device can be pre-set when deploying the first roadside device.

[0342] The grid index is defined as either the density or stable connectivity rate of the first location point in the grid. The corresponding first condition is that the density difference is less than a first threshold or the stable connectivity rate difference is less than a second threshold. The first and second thresholds can be set as needed; for example, the first threshold could be 0.2 points / m², and the second threshold could be 0.1 points / m². This application does not impose limitations on the first and second thresholds.

[0343] Figure 27 An exemplary schematic diagram of a grid is shown in an embodiment of this application. For example... Figure 27 As shown, based on Figure 24 The first distribution shown divides the pre-selected area of ​​the first roadside device into multiple grids. In one example, the area to be divided is uniformly divided into multiple grids (e.g., Figure 27 As shown in the diagram, this facilitates statistical management. Of course, other methods can also be used to divide the area to be divided into multiple grids. For example, the area of ​​the grid divided in the region closer to the first roadside equipment can be smaller than the area of ​​the grid divided in the region farther from the first roadside equipment (not shown). This reduces the number of calculations and merging operations.

[0344] After the grid is generated, the density of the first location point in each grid can be determined as the grid index for each grid. After determining the grid index for each grid, grids whose grid indexes satisfy the first condition can be merged to obtain the merged grid.

[0345] Next, determine the grid indices of each grid obtained after the previous round of merging, and continue to merge existing grids whose grid indices satisfy the first condition, until there are no more grids that satisfy the first condition. Figure 28 An exemplary schematic diagram showing the mesh merging result in an embodiment of this application is provided. Figure 28 As shown, Figure 27 The grid shown was eventually merged to obtain Region 1 and Region 2. In Region 1, the density of the first location point is relatively low, while in Region 2, the density of the first location point is relatively high. It can be seen that the first roadside device has communication capability in Region 1, but the communication capability is relatively poor, while in Region 2, it has communication capability and the communication capability is relatively strong.

[0346] Figure 29 An exemplary schematic diagram of a grid is shown in an embodiment of this application. For example... Figure 29 As shown, based on Figure 26 The distribution of terminal devices is shown, with the pre-selected area of ​​the first roadside device divided into multiple grids. After grid division, the stable connectivity rate of each grid can be determined as the grid index for each grid. After determining the grid index for each grid, grids whose grid indexes satisfy the first condition can be merged to obtain a merged grid. Then, the grid indexes of each grid obtained after the previous round of merging are determined, and the merging of existing grids whose grid indexes satisfy the first condition continues until no grids satisfy the first condition remain. Figure 30 An exemplary schematic diagram showing the mesh merging result in an embodiment of this application is provided. Figure 30 As shown, Figure 29 The grid shown was eventually merged into Region 1 and Region 2. Region 1 has a lower stable connectivity rate, while Region 2 has a higher stable connectivity rate. This indicates that the first roadside device has communication capability in Region 1, but its communication capability is relatively poor, while it has communication capability in Region 2, and its communication capability is relatively strong.

[0347] In the absence of a grid that meets the first condition, i.e., when the grid cannot be merged further, for any given grid, the grid is defined as a communication area, and the communication capability level of the communication area is determined based on the index range to which the grid index of the communication area belongs; the communication capability information of the first roadside equipment can be determined based on the location information and communication capability level of each communication area.

[0348] In this embodiment of the application, each indicator range corresponds to a communication capability level. Determining the perception capability level of a communication area based on the indicator range to which its grid indicators belong includes: if the grid indicators of the communication area belong to a first indicator range, determining the perception capability boundary of the communication area as a first perception capability level. Here, the first indicator range is any one of the indicator ranges, and the first communication capability level is the communication capability level corresponding to the first indicator range. Figure 28 and Figure 30 For example, there are two communication zones: Zone 1 and Zone 2. The grid index of Zone 1 belongs to index range 1, and the grid index of Zone 2 belongs to index range 2. Therefore, the communication capability level of the first roadside device in Zone 1 is determined to be level 1, and the communication capability level in Zone 2 is level 2.

[0349] In one example, the grid indicators of the communication area falling within the first indicator range may include: density within the first range, and / or, stable connection rate within the second range. The first and second ranges can be set as needed, and this embodiment does not impose any limitations.

[0350] In one example, communication capability levels may include: communication dead zone, weak communication capability, general communication capability, and strong communication capability. In another example, communication capability levels may include: low level, medium level, and high level. In yet another example, communication capability levels may include: level one, level two, level three, and level four, etc. It is understood that the above are merely exemplary descriptions of communication capability levels, and the embodiments of this application do not limit the method or number of communication capability levels.

[0351] In one possible implementation, the first communication capability information can be used to indicate the communication capabilities of the first roadside device. For example, the first communication capability information can indicate the areas where the first roadside device can communicate and the areas where it cannot communicate. For instance, the first roadside device can communicate with terminal devices within 200 meters but cannot communicate with terminal devices beyond 200 meters.

[0352] In one possible implementation, the first communication capability information can be used to indicate the communication capabilities of the first area and the first roadside equipment within the first area.

[0353] The first region can represent any area. In one example, the first region can be the first region on the first road. The first region can be rectangular, sector-shaped, elliptical, or other shapes. This application does not limit the shape and area of ​​the first region. For example, the communication performance of the first roadside equipment is good within 100 meters, i.e., strong communication capability; the communication performance is average between 100 and 150 meters, i.e., medium communication capability; the communication performance is poor between 150 and 200 meters, i.e., weak communication capability; and communication is impossible with areas beyond 200 meters, i.e., no communication capability.

[0354] In one possible implementation, the first communication capability information can be used to indicate the communication capabilities of the first scenario, the first area, and the first roadside device within the first area under the first scenario.

[0355] In this application embodiment, the term "scenario" is used to identify the environment in which the device with communication capabilities is located (e.g., the environment in which the first roadside device is located), or to identify the environment in which the communication object of the device with communication capabilities is located (e.g., the environment in which vehicles or pedestrians are located). The first scenario can represent any scenario. For example, the first scenario includes, but is not limited to, daytime, nighttime, sunny, cloudy, windy / sandstorm, rainy / snowy, and foggy weather, which affect perception capabilities. It is understood that the communication range of the first roadside device on a sunny day is greater than that on a cloudy, windy / sandstorm, rainy / snowy, or foggy day. The communication range of the first roadside device also varies depending on the size of the wind / sandstorm, the intensity of the rain / snow, or the level of fog. The communication range may be smaller during the day when traffic is heavy, and larger at night when traffic is light. Therefore, in this application embodiment, the communication capabilities of the first roadside device can be described by scenario, thereby improving the accuracy of the communication capabilities of the first roadside device. For example, in a sunny scenario, the first roadside device... Figure 30 The communication capability of area 1 shown is medium. Figure 30 The communication capability of area 2 shown is strong; in foggy conditions, the first roadside device... Figure 30 The communication capability of area 1 shown is weak. Figure 30 The communication capability of area 2 shown is medium.

[0356] It should be noted that when the first communication capability information indicates the communication capabilities of the first scenario, the first area, and the first roadside equipment within the first area under the first scenario, scenario tags can be added to the aforementioned traffic participant data. This allows the acquisition of the first communication status indication information, the second communication status indication information, and the third communication status indication information under the first scenario. If scenario tags are not added to the aforementioned traffic participant data, then before acquiring the traffic participant data under the first scenario, third-party information (such as time information and historical weather information) can be combined to obtain the traffic participant data under the first scenario.

[0357] Thus, the first communication capability information of the first roadside device has been obtained. In this embodiment, the method for obtaining communication capability information of other roadside devices can refer to the method for obtaining the first communication capability information of the first roadside device, and will not be repeated here. For example, the method for obtaining the second communication capability information of the second roadside device can refer to the method for obtaining the first communication capability information of the first roadside device.

[0358] In one possible implementation, the first communication capability information of the first roadside device can be associated with road markings. This allows the communication capability information of each roadside device on a road or road segment to be retrieved before a route is planned or traffic participants intend to include it in the road or road segment. This determines the roadside communication capabilities of different areas on the road or road segment, which helps improve safety.

[0359] In one possible implementation, the first communication capability information can be stored as map data. This allows the vehicle to retrieve the first communication capability information from the map during autonomous driving, thereby determining whether driver intervention is needed in a certain area, whether the confidence level of information from the first roadside device needs to be reduced in a certain area, or whether a certain area needs to be avoided during route planning, thus improving safety. It is understood that the first communication capability information can be associated with the first roadside device and stored as map data. Communication capability information from other roadside devices (e.g., the second communication capability information of a second roadside device) can also be stored as map data to further enhance safety.

[0360] The application of communication capability information is explained below.

[0361] Considering that road obstructions and other factors may lead to communication blind spots even under multiple roadside devices, this embodiment of the application can integrate the communication capability information of multiple roadside devices to form overall communication coverage. In one possible implementation, the method further includes: generating multiple communication capability information for multiple roadside devices; and generating communication blind spot information based on the multiple communication capability information.

[0362] The plurality of communication capability information is used to indicate the communication capabilities of a plurality of roadside devices. Specifically, the plurality of roadside devices includes the first roadside device, and the plurality of communication capability information includes the first communication capability information. Additionally, the plurality of roadside devices may also include one or more second roadside devices, in which case the plurality of communication capability information may include one or more second communication capability information.

[0363] Communication blind spot information is used to indicate areas not covered by one or more of the plurality of roadside devices. In one example, the areas not covered by one or more of the plurality of roadside devices include: absolute blind spots and / or relative blind spots, wherein any one of the plurality of roadside devices cannot reach a threshold T1 in the absolute blind spot, and some of the plurality of roadside devices cannot reach a threshold T2 in the relative blind spot.

[0364] Thresholds T1 and T2 can be set as needed, and this application embodiment does not limit thresholds T1 and T2. Thresholds T1 and T2 can be used to indicate expected or acceptable communication effects. When a roadside device fails to reach threshold T1 or threshold T2, it indicates that the communication effect of the roadside device has not met expectations or is unacceptable. When a roadside device reaches threshold T1 or threshold T2, it indicates that the communication effect of the roadside device is expected or acceptable. In one example, thresholds T1 and T2 include, but are not limited to: meeting a preset communication capability level (e.g., corresponding to a communication capability level of level one or two), or being within a preset index range (e.g., density falling within a preset index range, stable connection rate falling within a preset index range), etc. If a roadside device fails to reach threshold T1 in a certain area, it indicates that the communication effect of the roadside device in that area is poor, and the reliability and accuracy of the information obtained by the roadside device in that area are low (low confidence, incomplete), therefore, that area is a blind spot for the roadside device. In this application embodiment, thresholds T1 and T2 can be the same or different, and there is no limitation on this.

[0365] Figure 31 An exemplary schematic diagram illustrating a communication blind spot according to an embodiment of this application is shown. Figure 31 The diagram shows the boundary lines between the communication blind spots and non-communication blind spots of roadside equipment 1 and roadside equipment 2. The area within the boundary lines is the non-communication blind spot, and the area outside the boundary lines is the communication blind spot. The intersection of the communication blind spot of roadside equipment 1 and the non-communication blind spot of roadside equipment 2, as well as the intersection of the non-communication blind spot of roadside equipment 1 and the communication blind spot of roadside equipment 2, constitutes the relative communication blind spot. The intersection of the communication blind spots of roadside equipment 1 and the communication blind spot of roadside equipment 2 constitutes the absolute communication blind spot.

[0366] by Figure 31 Taking roadside equipment 1 and roadside equipment 2 as examples, and assuming that threshold T1 and threshold T2 are the same, the process of determining the relative communication blind zone and the absolute communication blind zone will be explained.

[0367] In one possible implementation, when a communication connection is established between roadside device 1 and roadside device 2, the communication capability of a region is determined by the best communication capability of roadside device 1 and roadside device 2. If the communication capabilities of both roadside device 1 and roadside device 2 fail to reach a threshold T1 for a given region, then that region can be defined as an absolute communication blind zone. In this case, a relative communication blind zone does not need to be marked.

[0368] In one possible implementation, when no communication connection is established between roadside device 1 and roadside device 2, the area where the communication capability of roadside device 1 does not reach the threshold T1 but the communication capability of roadside device 2 reaches the threshold T1, and the area where the communication capability of roadside device 2 does not reach the threshold T1 but the communication capability of roadside device 1 reaches the threshold T1, are defined as relative communication blind zones; the area where the communication capability of both does not reach the threshold T1 is defined as an absolute communication blind zone.

[0369] In one example, different identifiers can be added for absolute and relative communication blind spots. For instance, a first identifier can be added for absolute communication blind spots, and a second identifier can be added for relative communication blind spots. This way, the identifier can be used to determine whether a communication blind spot is an absolute or relative blind spot. Optionally, when identifying relative communication blind spots, they can also be associated with the identifiers of roadside equipment to clarify which roadside equipment's communication blind spot a relative communication blind spot belongs to.

[0370] In another example, the communication capability information of a roadside device can be associated with the roadside devices that have established communication connections with it. This allows users to determine which roadside devices their current device has established communication connections with, thereby identifying absolute and relative communication blind spots.

[0371] In one possible implementation, the method further includes: generating warning information based on the first communication capability information. The warning information can be used to prompt the driver to take over the vehicle in the second area, to perform fault detection on the first roadside equipment, to update the software of the first roadside equipment, or to adjust the deployment of the first roadside equipment, to reduce the confidence level of information from the first roadside equipment in the second area, or to avoid the second area when planning a route, wherein the first communication capability information indicates that the communication capability of the first roadside equipment in the second area is lower than a first threshold.

[0372] The first communication capability information indicates that the communication capability of the first roadside device in the second area is lower than a first threshold. The first threshold can be set as needed. In one example, being lower than the first threshold may include, but is not limited to, one or more of the following: not reaching a preset communication capability level (e.g., not reaching level 1 or level 2 communication capability), the density of the first location point not reaching a preset density threshold, and the stable connection rate not reaching a preset stability threshold. The density threshold and stability threshold can be set as needed, and this application embodiment does not impose any limitations. Considering that thresholds T1 and T2 are used to determine communication blind spots, and the first threshold is used for early warning, early warning is required in areas that are not communication blind spots but have poor communication performance. Therefore, in one example, the first threshold can be greater than (higher than) or equal to thresholds T1 and T2.

[0373] Because the communication capability of the first roadside device in the second area is below a first threshold, its communication performance is poor. The first roadside device cannot communicate accurately and comprehensively with the terminal devices in the second area, thus failing to guarantee that it can transmit all the information it obtains (including its own perception and information collected from other devices) to every terminal device in the second area. Therefore, when vehicles are operating autonomously in the second area, the data sources may be insufficient, posing a higher risk. The driver may take over the vehicle in the second area. Simultaneously, fault checks can be performed on the first roadside device to check if a malfunction is causing the poor communication performance in the second area, especially when the second area is close to the first roadside device. The software of the first roadside device can also be updated, or its deployment adjusted, to make its communication capability range more reasonable. Furthermore, because the first roadside device's communication performance is poor in the second area, the information collected from the terminal devices in the second area may not accurately represent the actual situation. Therefore, the confidence level of the information obtained by the first roadside device needs to be reduced in the second area. Since the communication performance of the first roadside equipment is poor in the second area, the second area can be avoided during route planning. This can reduce the possibility of accidents after the vehicle enters the second area. In particular, for autonomous vehicles, avoiding the second area means that the driver does not need to take over the vehicle, which can effectively improve the user experience.

[0374] For example, please see Figure 8A and Figure 8B , Figure 8A This is a schematic diagram illustrating a possible scenario to which an embodiment of this application applies. Figure 8BThis is a schematic diagram of a possible coverage area provided in an embodiment of this application. Sensing device 801 and sensing device 802 belong to the same sensing device group and can sense road conditions. The sensing coverage areas of sensing device 801 and sensing device 802 are as follows: Figure 8B As shown.

[0375] Please refer to Table 4, which provides one possible coverage information in an embodiment of this application. The coverage information shown in Table 4 is used to describe the application by way of example. Figure 8A as well as Figure 8B The coverage area is shown. For example, the coverage capability corresponding to sensing device group 1 is obtained by fusing the coverage capabilities of sensing device 1 and sensing device 2; the coverage area of ​​sensing device group 1 is obtained based on the fused coverage capability. Optionally, when sensing device group 1 contains multiple coverage areas, the multiple coverage areas are divided into levels according to the fused coverage capability.

[0376] Table 4 Coverage Information

[0377]

[0378] Optionally, the coverage area in the coverage information can be obtained by fusing the coverage areas of multiple devices. Further optionally, the coverage capability information in the coverage information can also be obtained by fusing the coverage capabilities of multiple devices. For example, taking the coverage area 6 of sensing device group 1 as an example, coverage area 6 can be obtained by fusing the coverage area 7 of sensing device 1 and the coverage area 8 of sensing device 2. Here, fusion can be understood as: coverage area 6 is obtained through the overlapping portion of coverage area 7 and coverage area 8. Of course, in some specific implementations, fusion can also be performed through fitting, reinforcement learning models, deep learning models, or preset calculation methods; this application is equally applicable to the above-mentioned method of fusing sensing areas. The coverage capability information of the coverage area 6 of sensing device group 1 can be determined based on the coverage capability information of sensing device 1 and the coverage capability information of sensing device 2. Exemplarily, the coverage capability of sensing device group 1 within coverage area 6 is obtained by fusing the coverage capabilities of sensing device 1 and sensing device 2. Here, the fusion of coverage capability information can also be performed through fitting, reinforcement learning models, deep learning models, or preset calculation methods; this application is equally applicable to the above-mentioned multiple fusion methods.

[0379] In another possible design, when the coverage information includes multiple coverage areas, there may be overlapping areas between these coverage areas. Optionally, the coverage information may also include information about the coverage capabilities corresponding to the multiple coverage areas. For example, see... Figure 8BThere may be overlapping areas between the coverage area 7 of sensing device 801 and the coverage area 8 of sensing device 802. For ease of description, please refer to Table 5, which shows another possible coverage information provided in this application embodiment. The coverage information shown in Table 5 is used for illustrative description. Figure 8A as well as Figure 8B The coverage area is shown in Table 5. The coverage information may include the coverage area 7 of the sensing device 801 and the coverage capability information of the corresponding coverage area 7 (for example, the corresponding coverage capability information may be a sensing result accuracy > 98% and a recall > 94%), and may also include the coverage area 8 of the sensing device 802 and the coverage capability information of the corresponding coverage area 8 (for example, the corresponding coverage capability information may be a sensing result accuracy > 95% and a recall > 90%).

[0380] Table 5 Coverage Information

[0381]

[0382] It should be understood that multiple coverage areas may not overlap, and this application still applies to the case where multiple coverage areas do not overlap.

[0383] Optionally, the coverage information may also include blind spot information, where the blind spot may include at least one of communication blind spots, perception blind spots, etc. It should be understood that the coverage area in the coverage information can be divided according to different levels of coverage capability; therefore, blind spots can also correspond to different blind spot levels. For example, areas with a perception accuracy rate below 40% can be designated as Level 1 perception blind spots, and areas with a perception accuracy rate below 10% can be designated as Level 2 perception blind spots.

[0384] Optionally, the communication blind zone and the perception blind zone can be separated or processed, such as by taking their intersection. For example, see Figure 9 , Figure 9 This is a schematic diagram of a possible blind spot provided in an embodiment of this application. Scope 1 is a coverage area of ​​the sensing device 901, and Scope 2 is a coverage area corresponding to the communication capability of the communication device 902. Road segment A is within both coverage areas, while road segments B and C are sensing blind spots, but not entirely communication blind spots. Therefore, vehicles or other devices located in road segments B and C can still receive sensing results from the sensing device 901.

[0385] Optionally, the coverage capability information of the roadside equipment within the at least one coverage area indicates multiple capabilities under various environments. For example, the coverage capability information may differ under different weather conditions such as sunny days, rainy days, and foggy / hazy days. Furthermore, the coverage capability information of the roadside equipment may differ at different times of day, such as daytime or nighttime, or under different temperature, humidity, and brightness conditions.

[0386] In one possible design, the coverage information may include information indicating the applicable scenarios. For example, see Table 6, where the coverage information includes an applicable scenario field. This field indicates the coverage capability of the sensing device 3 in different environments. When using the coverage information subsequently, scenario factors can be reasonably considered to improve the accuracy of the coverage range and enhance reliability.

[0387] Table 6 Coverage Information

[0388]

[0389] It should be understood that Table 6 is an example of an applicable scenario. In actual implementation, the coverage information may also include one or more fields such as season, time period, weather, temperature, humidity, brightness, etc.

[0390] Optionally, the overlay information may also include one or more of the following: roadside device identifiers, tile identifiers (IDs), etc. A tile is a component of a tile map. In one possible design, when the overlay information is map data, it may include tile IDs.

[0391] Overlay information can be associated with tiles via tile IDs, making it easier to update maps using overlay information and to store and manage overlay information.

[0392] Step S402: The data processing device stores the coverage information as map data.

[0393] The data processing device can store the acquired overlay information directly, or it can process the overlay information before storing it. The processed overlay information is more in line with the storage requirements of map data. The format may be different from the acquired overlay information, but the content it indicates is the same.

[0394] Storing the overlay information as map data means treating this overlay information as information carried within a map, and storing it in a cloud, roadside, or terminal storage medium using a compiled format or storage format similar to other information in the map. For example, please refer to... Figure 11 , Figure 11This is a schematic diagram of a possible data structure for using coverage information as map data, provided in an embodiment of this application. Tile IDs are used to identify map tiles, and roadside IDs are used to identify roadside devices. Taking communication coverage as an example, the lower layer of each roadside ID contains information about the communication coverage area corresponding to that roadside ID, specifically including a default usage range level and at least one level of coverage area. The default usage range level indicates which level of coverage capability corresponds to the coverage area displayed by default. The level (e.g., Level 1, Level 2, Level 3, etc.) indicates different coverage capabilities. The lower layer of the range level may contain the coverage area and optionally also include the content indicated by that level (i.e., the indicators shown in the diagram).

[0395] Optional, Figure 11 In the data structure shown, the lower level of the range level can contain the indicator (or content, indicator item) indicated by that level and the corresponding value (or value range) of the indicator, for example, "Indicator: accuracy, value range: ≥90".

[0396] Figure 11 The data structure shown is merely an example. When a roadside device includes multiple sensing devices or communication devices, the lower level of the roadside device's ID can contain the IDs of multiple sensing devices (or groups of sensing devices) or the IDs of communication devices (or groups of communication devices). For an example, please refer to [link to example]. Figure 12 , Figure 12 This is a schematic diagram of another possible coverage information structure provided in this application embodiment. Each roadside ID includes, at its lower layer, a sensor (or sensing device) ID, or a sensor group ID, etc. For example, Figure 12In the data structure shown, the lower layer of the roadside device ID can include the sensor group identifier, sensor identifier, etc. The lower layer of the sensor group identifier includes one or more of the following: the sensor list of the sensor group, the operating status of each sensor in the sensor list (e.g., normal operation, fault, etc.), the default usage range level, and the operating mode (including fusion mode, single sensor mode, etc.). The default usage range level indicates which level of coverage capability corresponds to the coverage area displayed by default. The level (e.g., Level 1 range, Level 2 range, Level 3 range, etc.) indicates different coverage capabilities. The lower layer of the range level can include the coverage area, and optionally also the content indicated by that level (i.e., the indicators shown in the figure). This includes the sensor's operating status, fault status, whether the default range level is used, whether it is in fusion mode, etc. Taking a fusion sensor group containing both a lidar and a vision sensor (camera, image sensor, or camera, etc.) as an example, the coverage information data structure can include the fused sensing area and coverage capability, the sensing area and coverage capability of a single lidar, and the sensing area and coverage capability of a single vision sensor.

[0397] In one possible design, the data processing device can generate a first layer based on the coverage capability, which belongs to the aforementioned map. For example, please refer to... Figure 10A , Figure 10A This is a schematic diagram of a possible map layer provided in an embodiment of this application. Figure 10A The map shown may contain layers such as coverage layer, road layer, building layer, congestion status layer, etc. (for example only).

[0398] This overlay information can be displayed on the interface. Specifically, the map layer containing the overlay information can be displayed separately or overlaid on other map layers on the map display interface. For an example, please refer to [link to example]. Figure 10B , Figure 10B This is a schematic diagram of a possible map provided in an embodiment of this application. By overlaying the coverage layer, congestion status layer, road layer, and building layer, the following can be obtained: Figure 10B The map shown.

[0399] It should be understood that the data processing device can also update the coverage layer in the map based on coverage information. Updating the map includes one or more of the following: adding coverage areas, reducing coverage areas, modifying coverage areas, and modifying capability information. For example, it may select coverage areas to display under different environmental conditions based on changes in the environment, or stop displaying the coverage area of ​​a roadside device that has malfunctioned when that device fails. In one design, the data processing device can receive update instruction information to update the map.

[0400] In another possible design, the data processing device can determine the corresponding data structure of the map based on the coverage information. The subsequent data processing device can then update the map using this corresponding data structure.

[0401] Optionally, the above Figure 11 or Figure 12 The data structure can contain blind zones. Blind zones can also contain different levels, as detailed above, and will not be repeated here.

[0402] In one possible design, the data processing device acts as a map generation device, which can send the map to other devices (vehicles, roadside equipment, driver assistance servers, etc.) after generating or updating a map that includes the coverage information.

[0403] The data processing device can also utilize coverage information for information processing. For example, the data processing device can determine one or more of the following based on coverage capabilities: the vehicle's safety level, the vehicle's driving strategy, etc.

[0404] For example, embodiments of this application illustrate the following two possible designs:

[0405] Design 1: The data processing device determines the vehicle's safety level based on coverage capabilities. The vehicle's safety level can be used to determine the weight of the autonomous driving device's participation in vehicle operation. Please refer to Table 7, which is a table illustrating one possible vehicle safety level according to an embodiment of this application. It can be seen that when the vehicle is located within the area corresponding to Level 1, the safety level is Level 1. In this case, the data processing device can respond to driving scenarios based on the perception results or communication data from roadside equipment, without requiring a driver. Other safety levels can be found in the description.

[0406] Table 7 Vehicle Safety Levels

[0407]

[0408] Design 2: The data processing device determines the vehicle's driving strategy based on coverage capability. This driving strategy may include one or more of the following: safety level, confidence level of perception results, whether driver intervention is required, and whether to activate autonomous driving (or assisted driving). For example, coverage capability corresponds to a first coverage area; the vehicle can determine the current roadside equipment's coverage capability based on whether it is within the first coverage area, and then adjust the driving strategy accordingly.

[0409] For example, in response to the first vehicle being located within the first coverage area, the safety level of the first vehicle is determined to be high. Alternatively, in response to the first vehicle being located within the first coverage area, the confidence level of the perception results of the roadside equipment is increased. Alternatively, in response to the first vehicle being located within the first coverage area, a first alert message is triggered, which reminds the user to activate the first vehicle's autonomous driving function or assisted driving function. Alternatively, in response to the first vehicle leaving the first coverage area, a second alert message is triggered, which reminds the user to take over the first vehicle.

[0410] This application illustrates one possible design; please refer to [link / reference]. Figure 7 Taking a data processing device included in vehicle 702 as an example, when vehicle 702 is within a perception coverage area with a 90% accuracy rate, the vehicle's safety level can be improved. Similarly, when vehicle 702 is within a perception coverage area with a 90% accuracy rate, the confidence level of the roadside equipment's perception results can be improved. Likewise, when a vehicle is approximately within a perception coverage area with a 90% accuracy rate, a first alert message can be triggered, which reminds the user to activate the vehicle's autonomous driving function or its driver assistance function.

[0411] Optionally, when the vehicle leaves the 90% accuracy perception coverage area, a second alert message can be triggered to remind the user to take over the first vehicle. It can be seen that when the vehicle is within the 90% accuracy perception coverage area, the roadside equipment's perception of vehicle 702 and its surrounding environment is relatively accurate. Increasing the confidence level of the perception results at this point allows for more reliable driving actions to be determined based on the perception results, thereby improving safety.

[0412] In one possible design, the data processing unit can determine blind spots based on coverage information, thereby controlling the vehicle's movements. For example, see... Figure 9 , Figure 9This is a schematic diagram of a possible blind zone range provided in the embodiments of this application. When the vehicle is in the communication blind zone of the communication device 902, the communication connection with the communication device 902 can be actively cut off to avoid unstable connections occupying the vehicle's communication and processing resources. When the vehicle is in the perception blind zone of the sensing device 901 or the detection result required by the vehicle is in the perception blind zone of the sensing device 901, the confidence of the perception result of the sensing device 901 can be reduced or the perception result from the sensing device 901 can be not used.

[0413] The coverage information in this embodiment is designed to meet the usage requirements of the coverage range of roadside equipment. Subsequently, when vehicles or service providers use the services provided by the roadside equipment, the coverage information can be used to determine the coverage area and coverage capability of the roadside equipment within that area, thus obtaining the reliability, robustness, and other parameters of the services provided by the roadside equipment. For example, coverage information can more accurately obtain indicators such as the confidence level of the perception results of the roadside equipment in a certain area, or the robustness of the communication connection between the roadside equipment and the roadside equipment in a certain area, thereby improving the reliability of autonomous driving or assisted driving.

[0414] Please see Figure 13 , Figure 13 This is a flowchart illustrating another data processing method provided in an embodiment of this application. Optionally, Figure 13 The data processing method shown can be applied to the above. Figure 1 The scenario is shown. This data processing method may include at least the following steps:

[0415] Step S1301: The first data processing device generates coverage information for the roadside equipment.

[0416] The first data processing device can be a terminal device (such as a roadside device or a vehicle) or a network-side device (such as a server or a cloud).

[0417] Optionally, the parameters used to generate the coverage information of the roadside equipment can be reported by the roadside equipment, collected by the first data processing device itself, or calculated by the first data processing device based on the sensing results and communication results of the roadside equipment.

[0418] Coverage information, also known as coverage data, includes the coverage area of ​​roadside equipment and the coverage capability information of the roadside equipment within that coverage area. The coverage area of ​​the roadside equipment is within its coverage range. Coverage capability specifically refers to the coverage ability of the roadside equipment within the coverage area, and can be described by coverage capability information. For detailed descriptions of coverage information, coverage area, and coverage capability, please refer to the relevant explanations in step S401, which will not be repeated here.

[0419] Coverage capability can specifically indicate different metrics, or content. In one possible design, coverage capability refers to the coverage ability of the roadside equipment within the communication coverage area. Coverage capability information can be used to indicate at least one of the following (or metrics): data accuracy, packet loss rate, communication latency, communication stability, or signal strength, etc. In another possible design, coverage capability refers to the coverage ability of the roadside equipment within the sensing coverage area. The coverage capability information is used to indicate at least one of the following (or metrics): sensing result accuracy, false detection rate, false negative rate, recall rate, sensing precision, average sensing precision, detection stability, or detection location precision, etc. A detailed description of the content (metrics) can be found in the relevant explanation in step S401, and will not be repeated here.

[0420] The coverage information can include one or more coverage areas. Correspondingly, the coverage capability information can also include one or more. Optionally, when multiple sensing coverage areas are included, these areas can be categorized according to their sensing capability levels. Similarly, when multiple communication coverage areas are included, they can be categorized according to their communication capability levels.

[0421] Optionally, when the coverage information includes multiple coverage areas, there may be overlapping areas between the multiple coverage areas.

[0422] Optionally, the roadside equipment may include one or more sensing devices, or may be connected to one or more sensing devices. The sensing capabilities of the roadside equipment can be specifically implemented through the sensing devices. Further optionally, the sensing devices can be combined, and one or more sensing devices can form a sensing device group.

[0423] Further optionally, when the roadside equipment includes multiple sensing devices (or is connected to multiple sensing devices), the sensing coverage area in the coverage information can correspond to a sensing device or a group of sensing devices. In one possible design, the sensing coverage area corresponding to a group of sensing devices and the coverage capability within that area are determined based on the coverage capabilities of the sensing devices within the group. For example, the coverage area in the coverage information can be obtained by merging the coverage areas of multiple individual devices.

[0424] Optionally, the coverage information may also include information on blind spots, which may include at least one of communication blind spots, perception blind spots, etc.

[0425] Optionally, the coverage capability information of the roadside equipment within the at least one coverage area indicates multiple capabilities under various environments.

[0426] Optionally, the coverage information may also include one or more of the following: the identification of the roadside equipment, the tile ID, etc.

[0427] For a detailed description of the relevant concepts in step S1301, please refer to the relevant explanation in step S401, which will not be repeated here.

[0428] Step S1302: The first data processing device sends coverage information.

[0429] Specifically, the first data processing device can communicate with other devices via wired, wireless, or a combination of wired and wireless links, thereby sending coverage information to other devices. Optionally, the data link for sending and receiving information between the first data processing device and other devices can include various types of connection media, specifically wired links (such as fiber optics), wireless links, or a combination of wired and wireless links. Examples include 802.11b / g, Bluetooth, Zigbee, vehicular short-range wireless communication technology, Global System for Mobile Communications (GSM), General Packet Radio Service (GPRS), Universal Mobile Telecommunications System (UMTS), Ultra Wideband (UWB) technology, and vehicular wireless transmission technology. Of course, other technologies may also be used to support communication between the first data processing device and other devices.

[0430] Step S1303: The second data processing device acquires the coverage information of the roadside equipment.

[0431] Understandably, the first data processing device can send coverage information of the roadside equipment to the second data processing device. Correspondingly, the second data processing device receives coverage information of the roadside equipment from the first data processing device.

[0432] The second data processing device can be a terminal device (such as a roadside device or a vehicle) or a network-side device (such as a server or a cloud).

[0433] For example, see Figure 7 The first data processing device can be a roadside device 701, and the second data processing device can be a vehicle 702 (or a cloud-based device 703). The roadside device can generate coverage information based on its own coverage capabilities, and can also send the coverage information to the vehicle 702 (or the cloud-based device 703). Accordingly, the vehicle 702 (or the cloud-based device 703) obtains the coverage information.

[0434] For example, the first data processing device can be a cloud-based device 703, and the second data processing device can be a vehicle 702 (roadside device 701). The first data processing device can send coverage information to the vehicle 702 (roadside device 701), and correspondingly, the vehicle 702 (roadside device 701) can receive the coverage information sent by the cloud-based device 703. Optionally, the coverage information can include the coverage information of the roadside device 701, and optionally also include coverage information of other roadside devices (…). Figure 7 Coverage information (not shown in the image).

[0435] Step S1304: The second data processing device uses the coverage information to update the map or control the vehicle's actions, that is, to generate control signals for controlling the vehicle.

[0436] For details, please refer to the relevant description in step S402, which will not be repeated here.

[0437] This application embodiment also provides coverage data, which is used to describe the coverage range of roadside equipment. Specifically, the coverage data includes a coverage area, the coverage capability of the roadside equipment within the coverage area, etc. The coverage area of ​​the roadside equipment, within its coverage range, can include a sensing coverage area or a communication coverage area, etc. Coverage capability specifically refers to the coverage ability of the roadside equipment within the coverage area, and can be described by coverage capability information. Coverage capability can specifically indicate different indicators, or content.

[0438] In one possible design, coverage capability refers to the coverage capability of roadside equipment within the communication coverage area. Coverage capability information can be used to indicate at least one of the following (or indicators): data accuracy, packet loss rate, communication latency, communication stability, or signal strength, etc.

[0439] In another possible design, coverage capability refers to the coverage capability of the roadside equipment within the sensing coverage area. The coverage capability information is used to indicate at least one of the following (or indicators): sensing result accuracy, false detection rate, false negative rate, recall rate, sensing precision, average precision (AP), detection stability, or detection location precision, etc.

[0440] The coverage information can include one or more coverage areas. Correspondingly, the coverage capability information can also include one or more. Optionally, when multiple sensing coverage areas are included, these areas can be categorized according to their sensing capability levels. Similarly, when multiple communication coverage areas are included, they can be categorized according to their communication capability levels.

[0441] Further optionally, when the roadside equipment includes multiple sensing devices (or is connected to multiple sensing devices), the sensing coverage area in the coverage information can correspond to a sensing device or a group of sensing devices. In one possible design, the sensing coverage area corresponding to a group of sensing devices and the coverage capability within that area are determined based on the coverage capabilities of the sensing devices within the group. For example, the coverage area in the coverage information can be obtained by merging the coverage areas of multiple individual devices.

[0442] Optionally, the coverage information may also include one or more of the following: roadside device identifier, tile ID, blind spot information, roadside device ID, etc., where the blind spot may include at least one of the following: communication blind spot, perception blind spot, etc.

[0443] Optionally, the covered data can be represented in multiple levels.

[0444] In one possible communication coverage data structure, the first level is the roadside device ID. The next level below the roadside device ID (referred to as the second level for convenience) contains multiple range levels. Each range level's next level (referred to as the third level for convenience) contains coverage capability information and coverage area (or coverage area indication information). For example, the structure of the communication coverage data can be as follows: Figure 11 As shown.

[0445] In one possible sensing coverage data, the first level is the roadside device ID. The next level after the roadside device ID (conveniently referred to as the second level) contains the sensing device ID or sensing device group ID. The next level after the sensing device ID (or sensing device group ID) (conveniently referred to as the third level) contains multiple range levels. The next level after the range levels (conveniently referred to as the fourth level) contains coverage capability information and coverage area (or coverage area indication information). For example, the structure of the communication coverage data can be as follows: Figure 12 As shown.

[0446] The methods and coverage data of the embodiments of this application have been described in detail above. The apparatus of the embodiments of this application is provided below.

[0447] Please see Figure 14 , Figure 14 This is a schematic diagram of the structure of a data processing device 140 (hereinafter referred to as device 140) provided in an embodiment of this application. The device 140 can be an independent device or a component in an independent device, such as a chip or integrated circuit.

[0448] In one possible design, the device 140 can be Figure 4 The data processing device in the illustrated embodiment may be a component within the data processing device, such as a chip or integrated circuit.

[0449] In yet another possible design, the device 140 can be Figure 13 The second data processing device in the illustrated embodiment may be a component within the second data processing device, such as a chip or integrated circuit.

[0450] The device 140 includes an acquisition unit 1401 and a storage unit 1402.

[0451] The acquisition unit 1401 is used to acquire coverage information of the roadside equipment. The coverage information includes coverage area information for indicating at least one coverage area of ​​the roadside equipment and coverage capability information for indicating the coverage capability of the roadside equipment in the at least one coverage area.

[0452] The storage unit 1402 is used to store the coverage information as map data.

[0453] For information on coverage information, coverage area, coverage area information, coverage capability, and coverage capability information, please refer to the description above; it will not be repeated here.

[0454] It is understood that in the various device embodiments of this application, the division of multiple units or modules is only a logical division based on function and is not intended to limit the specific structure of the device. In specific implementations, some functional modules may be subdivided into more smaller functional modules, and some functional modules may be combined into a single functional module. However, regardless of whether these functional modules are subdivided or combined, the general flow executed by device 140 during data processing is the same. Typically, each unit corresponds to its own program code (or program instructions). When the program code corresponding to each unit runs on the processor, it causes the unit to be controlled by the processor to execute the corresponding flow and thus achieve the corresponding function.

[0455] Please see Figure 15 , Figure 15 This is a schematic diagram of the structure of a data processing device 150 (hereinafter referred to as device 150) provided in an embodiment of this application. The device 150 can be an independent device or a component in an independent device, such as a chip or integrated circuit.

[0456] The device 150 includes a processing unit 1501, a storage unit 1502, a communication unit 1503, and a display unit 1504.

[0457] In one scenario, the processing unit 1501 generates coverage information for roadside equipment, the coverage information including coverage area information indicating at least one coverage area of ​​the roadside equipment and coverage capability information indicating the coverage capability of the roadside equipment within the at least one coverage area; the storage unit 1502 stores the coverage information generated by the processing unit 1501 as map data.

[0458] In another scenario, the communication unit 1503 is used to receive coverage information from a roadside device, the coverage information including coverage area information indicating at least one coverage area of ​​the roadside device and coverage capability information indicating the coverage capability of the roadside device within the at least one coverage area; the storage unit 1502 is used to store the coverage information received by the communication unit 1503 as map data.

[0459] For information on coverage information, coverage area, coverage area information, coverage capability, and coverage capability information, please refer to the description above; it will not be repeated here.

[0460] Display unit 1504 is an optional unit within device 150, used to display the aforementioned overlay information on a display interface.

[0461] Optionally, the communication unit 1503 is used to transmit the coverage information.

[0462] Optionally, the processing unit 1501 is further configured to use the coverage information to generate a control signal for controlling the vehicle.

[0463] Optionally, the processing unit 1501 is further configured to use the coverage information to perform information processing, such as determining the confidence level of the perceived information or determining the safety level of the vehicle.

[0464] Please see Figure 16 , Figure 16 This is a schematic diagram of the structure of a data processing device 160 provided in an embodiment of this application. The device 160 can be an independent device (e.g., a node, terminal, etc.) or a component within an independent device, such as a chip or integrated circuit. The device 160 may include at least one processor 1601 and a communication interface 1602. Further optionally, the device 160 may also include at least one memory 1603. Even more optionally, it may also include a bus 1604, wherein the processor 1601, the communication interface 1602, and the memory 1603 are connected via the bus 1604.

[0465] The processor 1601 is a module that performs arithmetic and / or logical operations. Specifically, it can be one or a combination of processing modules such as a central processing unit (CPU), a graphics processing unit (GPU), a microprocessor unit (MPU), an application-specific integrated circuit (ASIC), a field-programmable gate array (FPGA), a complex programmable logic device (CPLD), a coprocessor (to assist the central processing unit in completing corresponding processing and applications), and a microcontroller unit (MCU).

[0466] The communication interface 1602 can be used to provide information input or output to the at least one processor. And / or, the communication interface 1602 can be used to receive data transmitted externally and / or transmit data externally, and can be a wired link interface including an Ethernet cable, or a wireless link interface (Wi-Fi, Bluetooth, general wireless transmission, vehicular short-range communication technology, and other short-range wireless communication technologies, etc.). Optionally, the communication interface 1602 may also include a transmitter (such as a radio frequency transmitter, antenna, etc.) or a receiver coupled to the interface.

[0467] For example, the communication interface 1602 may also include an antenna. Electromagnetic waves are received by the antenna, and the communication interface 1602 can also frequency modulate and filter the electromagnetic wave signal, sending the processed signal to the processor 1601. Alternatively, the communication interface 1602 can also receive a signal to be transmitted from the processor 1601, frequency modulate and amplify it, and then convert it into electromagnetic waves for radiation via the antenna.

[0468] The memory 1603 provides storage space, in which data such as the operating system and computer programs can be stored. The memory 1603 can be one or a combination of several of the following: random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM), or compact disc read-only memory (CD-ROM).

[0469] At least one processor 1601 in the device 160 is used to invoke a computer program stored in at least one memory 1603 to perform the aforementioned method, for example... Figure 4 , Figure 13 The method described in the illustrated embodiment.

[0470] In one possible design, the device 160 can be Figure 4 The data processing device in the illustrated embodiment may be a component within the data processing device, such as a chip or integrated circuit.

[0471] In yet another possible design, the device 160 can be Figure 13 The second data processing device in the illustrated embodiment may be a component within the second data processing device, such as a chip or integrated circuit.

[0472] This application embodiment also provides a terminal, the terminal being used to implement... Figure 4 or Figure 13 The method described in the illustrated embodiments. The terminal includes, but is not limited to, a vehicle or a portable terminal.

[0473] In one design, the terminal includes the aforementioned device, for example... Figure 14 , Figure 15 or Figure 16 The apparatus shown.

[0474] This application also provides a computer-readable storage medium storing a computer program that, when executed on one or more processors, implements... Figure 4 or Figure 13 The method described in the illustrated embodiments.

[0475] This application also provides a computer program product that, when run on one or more processors, implements... Figure 4 The method described in the illustrated embodiment.

[0476] This application embodiment also provides a chip system, which includes a communication interface and at least one processor. The communication interface is used to provide information input / output to the at least one processor, and / or to send or receive data. The processor is used to invoke a computer program (or computer instructions) to implement... Figure 4 or Figure 13 The method described in the illustrated embodiment.

[0477] It should be noted that the computer program in the memory of this application can be pre-stored or downloaded from the Internet and stored after use of the device. This application does not specifically limit the source of the computer program in the memory. The coupling in the embodiments of this application is an indirect coupling or connection between devices, units, or modules, which can be electrical, mechanical, or other forms, for information interaction between devices, units, or modules.

[0478] In the above embodiments, implementation can be achieved entirely or partially through software, hardware, firmware, or any combination thereof. When implemented using software, it can be implemented entirely or partially in the form of a computer program product. The computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, all or part of the processes or functions described in the embodiments of this application are generated. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer instructions can be stored in a computer-readable storage medium or transmitted from one computer-readable storage medium to another. For example, the computer instructions can be transmitted from one website, computer, server, or data center to another website, computer, server, or data center via wired (e.g., coaxial cable, fiber optic, digital subscriber line) or wireless (e.g., infrared, wireless, microwave, etc.) means. The computer-readable storage medium can be any available medium that a computer can access or a data storage device such as a server or data center that integrates one or more available media. The available medium can be a magnetic medium (e.g., floppy disk, hard disk, magnetic tape), an optical medium (e.g., DVD), or a semiconductor medium (e.g., solid-state drive), etc.

[0479] Those skilled in the art will understand that all or part of the processes in the methods of the above embodiments can be implemented by a computer program instructing related hardware. This program can be stored in a computer-readable storage medium, and when executed, it can include the processes described in the above method embodiments. The aforementioned storage medium includes various media capable of storing program code, such as ROM or random access memory (RAM), magnetic disks, or optical disks.

Claims

1. A data processing method, characterized in that, include: The coverage information of the roadside equipment is obtained. The coverage information includes coverage area information and coverage capability information. The coverage area information is used to indicate at least one coverage area of ​​the roadside equipment. The at least one coverage area is divided into levels according to coverage capability. The coverage capability information is used to indicate the coverage capability of the roadside equipment in the at least one coverage area. The coverage capability includes sensing capability and / or communication capability. The coverage information is used to obtain the reliability of the service provided by the roadside equipment. Different areas within the coverage range of the roadside equipment correspond to different coverage capabilities. The coverage information is stored as map data; Wherein, the at least one coverage area includes M communication coverage areas and / or N sensing coverage areas, wherein M and N are natural numbers greater than 1; The coverage information of the roadside equipment is generated based on the coverage range parameters reported by the roadside equipment, and the coverage range parameters are pre-configured, pre-defined, or pre-designed in the roadside equipment; Alternatively, the M sensing coverage areas of the roadside equipment and the sensing capability in the M sensing coverage areas are obtained by matching the roadside sensing results of the roadside equipment with the multi-source fusion sensing results and based on the matching results; Furthermore, the N communication coverage areas of the roadside equipment and the communication capabilities of the N communication coverage areas are generated based on a first distribution of multiple location points around the roadside equipment, wherein the multiple location points are the location points where multiple terminal devices establish communication connections with the roadside equipment.

2. The method according to claim 1, characterized in that, The N sensing coverage areas include multi-device sensing coverage areas, and the coverage capability of the multi-device sensing coverage areas and the roadside equipment within the multi-device sensing coverage areas is determined based on the coverage capability of the multiple sensing devices associated with the roadside equipment.

3. The method according to claim 1, characterized in that, The roadside equipment is associated with the first sensing device and the second sensing device. The N sensing coverage areas include the first coverage area of ​​the first sensing device and the second coverage area of ​​the second sensing device. The coverage capability information includes first coverage capability information for indicating the coverage capability of the first sensing device in the first coverage area and second coverage capability information for indicating the coverage capability of the second sensing device in the second coverage area.

4. The method according to any one of claims 1-3, characterized in that, The coverage information also includes information for indicating blind spots, which include communication blind spots, perception blind spots, or both.

5. The method according to any one of claims 1-3, characterized in that, When the coverage capability refers to the coverage capability of the roadside equipment within the communication coverage area, the coverage capability information is used to indicate at least one of the following: Data accuracy, packet loss rate, communication latency, communication stability, and signal strength.

6. The method according to any one of claims 1-3, characterized in that, When the coverage capability refers to the coverage capability of the roadside equipment within the sensing coverage area, the coverage capability information is used to indicate at least one of the following: The accuracy, false positive rate, false negative rate, recall rate, perception precision, detection stability, and detection location precision of the perception results.

7. The method according to any one of claims 1-3, characterized in that, The coverage information indicates the coverage capability in various environments.

8. The method according to any one of claims 1-3, characterized in that, The coverage information also includes the identification of the roadside equipment.

9. The method according to any one of claims 1-3, characterized in that, The coverage information also includes tile identifiers.

10. The method according to any one of claims 1-3, characterized in that, The method further includes: The coverage information is displayed on the display interface.

11. The method according to any one of claims 1-3, characterized in that, The method further includes: Send the coverage information.

12. The method according to any one of claims 1-3, characterized in that, The method further includes: The coverage information is used to perform information processing or generate control signals for controlling the vehicle.

13. A data processing apparatus, characterized in that, include: An acquisition unit is used to acquire coverage information of a roadside device. The coverage information includes coverage area information and coverage capability information. The coverage area information is used to indicate at least one coverage area of ​​the roadside device. The at least one coverage area is divided into levels according to coverage capability. The coverage capability information is used to indicate the coverage capability of the roadside device in the at least one coverage area. The coverage capability includes sensing capability and / or communication capability. The coverage information is used to obtain the reliability of the service provided by the roadside device. Different areas within the coverage range of the roadside device correspond to different coverage capabilities. Storage unit, used to store the coverage information as map data; Wherein, the at least one coverage area includes M communication coverage areas and / or N sensing coverage areas, wherein M and N are natural numbers greater than 1; The coverage information of the roadside equipment is generated based on the coverage range parameters reported by the roadside equipment, and the coverage range parameters are pre-configured, pre-defined, or pre-designed in the roadside equipment; Alternatively, the M sensing coverage areas of the roadside equipment and the sensing capability in the M sensing coverage areas are obtained by matching the roadside sensing results of the roadside equipment with the multi-source fusion sensing results and based on the matching results; Furthermore, the N communication coverage areas of the roadside equipment and the communication capabilities of the N communication coverage areas are generated based on a first distribution of multiple location points around the roadside equipment, wherein the multiple location points are the location points where multiple terminal devices establish communication connections with the roadside equipment.

14. The apparatus according to claim 13, characterized in that, The N sensing coverage areas include multi-device sensing coverage areas, and the coverage capability of the multi-device sensing coverage areas and the roadside equipment within the multi-device sensing coverage areas is determined based on the coverage capability of the multiple sensing devices associated with the roadside equipment.

15. The apparatus according to claim 13, characterized in that, The roadside equipment is associated with the first sensing device and the second sensing device. The N sensing coverage areas include the first coverage area of ​​the first sensing device and the second coverage area of ​​the second sensing device. The coverage capability information includes first coverage capability information for indicating the coverage capability of the first sensing device in the first coverage area and second coverage capability information for indicating the coverage capability of the second sensing device in the second coverage area.

16. The apparatus according to any one of claims 13-15, characterized in that, The coverage information also includes information for indicating blind spots, which include communication blind spots, perception blind spots, or both.

17. The apparatus according to any one of claims 13-15, characterized in that, When the coverage capability refers to the coverage capability of the roadside equipment within the communication coverage area, the coverage capability information is used to indicate at least one of the following: Data accuracy, packet loss rate, communication latency, communication stability, and signal strength.

18. The apparatus according to any one of claims 13-15, characterized in that, When the coverage capability refers to the coverage capability of the roadside equipment within the sensing coverage area, the coverage capability information is used to indicate at least one of the following: The accuracy, false positive rate, false negative rate, recall rate, perception precision, detection stability, and detection location precision of the perception results.

19. The apparatus according to any one of claims 13-15, characterized in that, The coverage information indicates the coverage capability in various environments.

20. The apparatus according to any one of claims 13-15, characterized in that, The coverage information also includes the identification of the roadside equipment.

21. The apparatus according to any one of claims 13-15, characterized in that, The coverage information also includes tile identifiers.

22. The apparatus according to any one of claims 13-15, characterized in that, The device further includes: The display unit is used to display the coverage information on the display interface.

23. The apparatus according to any one of claims 13-15, characterized in that, The device further includes: A communication unit for transmitting the coverage information.

24. The apparatus according to any one of claims 13-15, characterized in that, The device further includes: The processing unit is used to process information using the coverage information or to generate control signals for controlling the vehicle.

25. A data processing apparatus, characterized in that, Including processor and communication interface, The communication interface is used to receive computer execution instructions and transmit them to the processor; The processor is configured to execute the computer execution instructions to cause the data processing apparatus to perform the method as described in any one of claims 1-12.

26. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program that is executed by a processor to implement the method as described in any one of claims 1-12.

27. A vehicle, characterized in that, The vehicle includes a data processing device as described in any one of claims 13-24.

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