A data processing method, apparatus and device

Abstract

This application discloses a data processing method, apparatus, and device, relating to the field of vehicle networking technology. The method includes: determining whether there is an obstruction between a first OBU and an RSU based on a first message from at least one OBU and a second message from an RSU within a first time period; the first message carries a first location of the OBU associated with the first message, and the second message carries a second location of the RSU and a third location of at least one other traffic participant; if there is an obstruction between the first OBU and the RSU, deleting measurement data used for testing the network coverage performance of the RSU, wherein the measurement data is associated with the first message of the first OBU, or the measurement data is associated with the second message of the RSU. The solution of this application can ensure the accuracy and reliability of the data used for RSU network coverage performance testing, thereby improving the authenticity of the RSU network coverage performance test results.

Description

Technical Field

[0001] This application relates to the field of vehicle networking technology, and in particular to a data processing method, apparatus and device. Background Technology

[0002] During the deployment and testing phase of Cell-Vehicle to Everything (C-V2X), road testing typically involves using an on-board unit (OBU) connected to road testing software. This allows for the reception of signals from roadside units (RSUs) in the roadside network to test and accept PC5 network coverage performance. With the widespread commercial deployment of V2X, it's also possible to collect network coverage data by receiving signals from commercial OBUs via RSUs. However, the surrounding environment can cause data instability and unreliability during OBU road testing or RSU network data collection, making it difficult to accurately assess network coverage quality. Summary of the Invention

[0003] The purpose of this application is to provide a data processing method, apparatus, and device to solve the problem of unstable and unreliable data in current network coverage quality assessment.

[0004] In a first aspect, to achieve the above objectives, embodiments of this application provide a data processing method applied to a first device, comprising:

[0005] Based on a first message from at least one vehicle-mounted unit (OBU) and a second message from a roadside unit (RSU) within a first time period, it is determined whether there is an obstruction between the first OBU and the RSU. The first message carries the first location of the OBU associated with the first message, and the second message carries the second location of the RSU and the third location of at least one other traffic participant. The at least one OBU includes the first OBU.

[0006] In the event of an obstruction between the first OBU and the RSU, the measurement data used to test the network coverage performance of the RSU is deleted, wherein the measurement data is related to the first message of the first OBU, or the measurement data is related to the second message of the RSU.

[0007] Optionally, based on a first message from at least one onboard unit (OBU) and a second message from a roadside unit (RSU) within a first time period, it is determined whether there is an obstruction between the first OBU and the RSU, including:

[0008] Based on the first location, the second location, and the third location, determine whether there are other traffic participants or other OBUs on the first straight line where the first OBU and the RSU are located;

[0009] If they exist, determine whether the other traffic participants or other OBUs on the first straight line are located between the first OBU and the RSU;

[0010] If the other traffic participants or other OBUs on the first straight line are located between the first OBU and the RSU, then based on the first planar distance between the first OBU and the RSU, the second planar distance between the other traffic participants or other OBUs on the first straight line and the first OBU, the first height of the first OBU, the second height of the RSU, and the third height of the other traffic participants or other OBUs on the first straight line, it is determined whether the other traffic participants or other OBUs on the first straight line are obstructions between the first OBU and the RSU.

[0011] Optionally, determining whether the other traffic participants or other OBUs on the first straight line are obstructions between the first OBU and the RSU includes:

[0012] When the product of the first difference between the second height and the first height, and the ratio of the second plane distance to the first plane distance, is less than or equal to the second difference between the third height and the first height, it is determined that the other traffic participant on the first straight line is an obstruction between the first OBU and the RSU.

[0013] Optionally, based on a first message from at least one onboard unit (OBU) and a second message from a roadside unit (RSU) within a first time period, it is determined whether there is an obstruction between the first OBU and the RSU, including:

[0014] Based on the first location, the second location, and the third location, determine whether there are other traffic participants or other OBUs on the first straight line where the first OBU and the RSU are located;

[0015] If they exist, determine whether the other traffic participants or other OBUs on the first straight line are located between the first OBU and the RSU;

[0016] If the other traffic participants or other OBUs on the first straight line are located between the first OBU and the RSU, then based on the distance between the first OBU and the other traffic participants or other OBUs on the first straight line and a predefined threshold value, it is determined whether the other traffic participants or other OBUs on the first straight line are obstructions between the first OBU and the RSU.

[0017] Optionally, before determining whether there is an obstruction between the first OBU and the RSU based on the first message from at least one on-board unit (OBU) and the second message from the roadside unit (RSU) within a first time period, the method further includes:

[0018] Within the first time period, acquire the first message sent by the at least one OBU and the second message sent by the RSU;

[0019] Message filtering is performed based on the vehicle identifier ID in each of the received first messages, and the stored first messages are updated.

[0020] Optionally, within the first duration, acquiring the first message sent by the at least one OBU and the second message sent by the RSU includes:

[0021] When the first device is a test device used to test the coverage performance of the RSU network, within the first time period, the device receives a first message sent by the first OBU, a first message forwarded by the first OBU from at least one second OBU, and a second message forwarded by the first OBU from the RSU, wherein the at least one OBU further includes the at least one second OBU.

[0022] or,

[0023] In the case where the first device is the first OBU, within the first duration, a first message sent by at least one second OBU and a second message sent by the RSU are received, wherein the at least one OBU further includes the at least one second OBU;

[0024] or,

[0025] If the first device is a cloud server, within the first time period, the second message sent by the RSU and the first message forwarded by the RSU from the at least one OBU are received.

[0026] or,

[0027] If the first device is the RSU, a first message sent by the at least one OBU is received within the first duration.

[0028] Optionally, when the first device is a cloud server, after receiving the second message sent by the RSU and the first message forwarded by the RSU from the at least one OBU within the first time period, the method further includes:

[0029] Based on the second message, update the stored information of other traffic participants, including the third location of the other traffic participants.

[0030] Optionally, the method further includes:

[0031] If the first device is the RSU, the second message is generated based on the third location information of the other traffic participants received.

[0032] Based on the second message, update the stored information of other traffic participants, including the third location of the other traffic participants.

[0033] Secondly, in order to achieve the above objectives, embodiments of this application provide a data processing apparatus, applied to a first device, comprising:

[0034] The determining module is configured to determine whether there is an obstruction between the first OBU and the RSU based on a first message from at least one onboard unit (OBU) and a second message from a roadside unit (RSU) within a first time period. The first message carries the first location of the OBU associated with the first message, and the second message carries the second location of the RSU and the third location of at least one other traffic participant. The at least one OBU includes the first OBU.

[0035] The processing module is configured to delete measurement data used to test the network coverage performance of the RSU when there is an obstruction between the first OBU and the RSU, wherein the measurement data is related to the first message of the first OBU, or the measurement data is related to the second message of the RSU.

[0036] Thirdly, in order to achieve the above objectives, embodiments of this application provide a data processing device, including a transceiver, a memory, a processor, and a computer program stored in the memory and running on the processor, wherein the processor executes the computer program to implement the data processing method as described in the first aspect.

[0037] Fourthly, in order to achieve the above objectives, embodiments of this application provide a readable storage medium having a program or instructions stored thereon, which, when executed by a processor, implement the data processing method as described in the first aspect.

[0038] The above-mentioned technical solution of this application has at least the following beneficial effects:

[0039] The data processing method of this application embodiment, applied to a first device, includes: determining whether there is an obstruction between the first OBU and the RSU based on a first message from at least one on-board unit (OBU) and a second message from a roadside unit (RSU) within a first time period, wherein the first message carries a first location of the OBU related to the first message, and the second message carries a second location of the RSU and a third location of at least one other traffic participant, and the at least one OBU includes the first OBU; if there is an obstruction between the first OBU and the RSU, deleting measurement data used for testing the network coverage performance of the RSU, wherein the measurement data is related to the first message of the first OBU, or the measurement data is related to the second message of the RSU. This achieves filtering of measurement data to remove inaccurate data, thereby ensuring the accuracy and reliability of the data used for RSU network coverage performance testing, and improving the authenticity of the RSU network coverage performance test results. Attached Figure Description

[0040] Figure 1 This is a flowchart illustrating the data processing method according to an embodiment of this application;

[0041] Figure 2 This is a schematic diagram illustrating the occlusion determination process according to an embodiment of this application;

[0042] Figure 3 This is a schematic diagram of the structure of the data processing apparatus according to an embodiment of this application;

[0043] Figure 4 This is a schematic diagram of the structure of a data processing device according to an embodiment of this application. Detailed Implementation

[0044] To make the technical problems, technical solutions, and advantages of this application clearer, a detailed description will be provided below in conjunction with the accompanying drawings and specific embodiments. In the following description, specific details such as particular configurations and components are provided merely to aid in a comprehensive understanding of the embodiments of this application. Therefore, those skilled in the art should understand that various changes and modifications can be made to the embodiments described herein without departing from the scope and spirit of this application. Furthermore, for clarity and brevity, descriptions of known functions and structures have been omitted.

[0045] It should be understood that the phrase "one embodiment" or "an embodiment" throughout the specification means that a specific feature, structure, or characteristic related to the embodiment is included in at least one embodiment of this application. Therefore, "in one embodiment" or "in an embodiment" appearing throughout the specification does not necessarily refer to the same embodiment. Furthermore, these specific features, structures, or characteristics can be combined in any suitable manner in one or more embodiments.

[0046] In the various embodiments of this application, it should be understood that the sequence number of each process described below does not imply the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of this application.

[0047] In the embodiments provided in this application, it should be understood that "B corresponding to A" means that B is associated with A, and B can be determined based on A. However, it should also be understood that determining B based on A does not mean that B is determined solely based on A; B can also be determined based on A and / or other information.

[0048] In describing the embodiments of this application, the relevant prior art will first be described:

[0049] With the continuous maturation of C-V2X technology and the expansion of network construction, the work related to network technology, network planning, network optimization, and quality improvement required for large-scale deployment has gradually been put on the agenda. Vehicle-to-everything (V2X) networks have extremely high requirements for performance indicators such as latency, reliability, and speed; the network performance of V2X directly affects the performance of V2X services. From the roadside, V2X network performance evaluation influences the deployment plan of Roadside Units (RSUs); from the vehicle side, V2X network performance affects intelligent driving decisions. Therefore, after the installation of V2X roadside RSUs, it is necessary to conveniently and quickly verify the overall road coverage effect.

[0050] During the deployment and testing phase of C-V2X vehicle-to-everything (C-V2X) networks, road testing is a crucial method for network optimization. Actual measurements of network performance metrics provide insights into network conditions and pinpoint potential problems. Furthermore, evaluating and measuring whether network performance meets design requirements, and optimizing a network to its optimal state, necessitates specialized road testing tools to extract relevant information from vast amounts of road test data. The road test software connects to V2X OBU devices to conduct road tests, traversing the coverage area of ​​RSU devices and collecting standard message sets such as Road Side Message (RSM), Road Safety Information (RSI), Signal Phase Timing Message (SPAT), Map (MAP) messages, and Sensor Sharing Message (SSM) broadcast by RSU devices on PC5 port. At the same time, it measures values ​​such as Reference Signal Received Power (RSRP) and Received Signal Strength Indication (RSSI). Combined with the geographical location information of RSU and OBU parsed from the messages, it can quickly conduct preliminary tests on network coverage in the field, providing support for field coverage testing.

[0051] With the widespread commercial deployment of V2X, road testing methods are costly in terms of manpower and time. Therefore, collecting network coverage data through RSUs (Roadside Units) by collecting BSM (Basic Safety Message) standard message sets sent by commercial OBUs will gradually become the primary method. Each RSU in the network collects Basic Safety Messages (BSM) sent by each OBU, simultaneously measuring RSRP (Resistance to RSSI) and other values. Combined with the geographical location information of the RSUs and OBUs parsed from the messages, the collected information is aggregated and processed on a cloud server to obtain the coverage status of the entire V2X network.

[0052] By conducting OBU road tests or collecting RSU coverage data, the overall V2X network coverage can be obtained, identifying coverage blind spots. Network optimization personnel can then optimize sites based on this information to achieve better V2X network coverage. Simultaneously, by combining the geographical locations of RSUs and OBUs with theoretical coverage distribution calculations for network planning, faulty RSUs with low transmission power can be identified. Equipment maintenance personnel can then quickly troubleshoot based on this information.

[0053] Because the air interface transmission path between the OBU and RSU may be obstructed by other vehicles or pedestrians while the vehicle is in motion, the OBU road test receives and measures RSRP and RSSI values ​​from the RSU's RSM, RSI, SPAT, MAP, and SSM messages. Due to the obstruction, road loss increases, resulting in lower measured RSRP and RSSI values ​​compared to when there is no obstruction. Similarly, the RSU data acquisition receives and measures RSRP and RSSI values ​​from the OBU's BSM messages. Again, obstruction increases road loss, leading to lower measured RSRP and RSSI values ​​compared to when there is no obstruction.

[0054] Therefore, because the air interface transmission path between the OBU and RSU may be blocked by other vehicles or pedestrians during vehicle movement, the network coverage strength is worse than when there is no obstruction. Moreover, the results of multiple measurements of the same coverage vary significantly, making it unstable and unreliable. If network coverage assessment is performed based on this data, it is difficult to accurately evaluate the network coverage quality, and it is also easy to provide incorrect guidance to network optimization personnel and equipment maintenance personnel.

[0055] To address the aforementioned problems, this application provides a data processing method. This method is applied to a first device, which can be an OBU, RSU, testing equipment for testing RSU network coverage performance (such as drive test software), a cloud server, etc. Figure 1 As shown, the method includes:

[0056] Step 101: Based on the first message from at least one vehicle-mounted terminal (OBU) and the second message from the roadside unit (RSU) within the first time period, determine whether there is an obstruction between the first OBU and the RSU. The first message carries the first location of the OBU associated with the first message, and the second message carries the second location of the RSU and the third location of at least one other traffic participant. The at least one OBU includes the first OBU.

[0057] In this step, the OBU associated with the first message refers to the OBU that generates the first message and sends it to the surrounding V2X devices; the process of obtaining the third location of at least one other traffic participant is as follows: the camera acquires image information of other traffic participants such as vehicles or pedestrians around the RSU, and sends the image information to the Multi-access Edge Computing (MEC) unit for processing through the camera. The MEC unit sends the perception data information obtained from the image information processing to the RSU; wherein, the other traffic participants such as vehicles or pedestrians around the RSU acquired by the camera can be road traffic participants without V2X functionality.

[0058] Step 102: In the case of an obstruction between the first OBU and the RSU, delete the measurement data used to test the network coverage performance of the RSU, wherein the measurement data is related to a first message of the first OBU or a second message of the RSU.

[0059] In this step, measurement data related to the second message of the RSU means that the measurement data is the data measured by measuring the second data of the RSU, such as the RSRP or RSSI of the measured second message; similarly, measurement data related to the first message of the first OBU means that the measurement data is the data measured by measuring the first message of the first OBU, such as the RSRP or RSSI of the measured first message of the first OBU.

[0060] It should be noted that, when the first device is a test device for testing the network coverage performance of the RSU or the first OBU, the first OBU is connected to the measurement device, and the measurement data is related to the second message of the RSU, that is, the measurement data is the measurement result of the first OBU on the received second message; when the first device is an RSU or a cloud server, the measurement data is related to the first message of the first OBU, wherein, in this case, each of the at least one OBU is the first OBU; that is, the measurement data is the measurement result of the first message sent by each OBU received by the RSU.

[0061] The data processing method of this application embodiment involves a first device determining whether an obstruction exists between a first OBU and a roadside unit (RSU) based on a first message from at least one onboard unit (OBU) and a second message from at least one roadside unit (RSU) within a first time period. The first message carries the first location of the OBU associated with it, and the second message carries the second location of the RSU and the third location of at least one other traffic participant. The at least one OBU includes the first OBU. Then, if an obstruction exists between the first OBU and the RSU, measurement data used for testing the RSU network coverage performance is deleted. This measurement data is either related to the first message from the first OBU or to the second message from the RSU. This filtering of measurement data used for testing RSU network coverage performance removes measurement data affected by the surrounding environment (such as in obstruction scenarios), thereby providing accurate test data for RSU network coverage performance and improving the accuracy and reliability of the test.

[0062] As an optional implementation, step 101, based on the first message from at least one onboard unit (OBU) and the second message from the roadside unit (RSU) within a first time period, determines whether there is an obstruction between the first OBU and the RSU, including:

[0063] (1) Based on the first position, the second position and the third position, determine whether there are other traffic participants or other OBUs on the first straight line where the first OBU and the RSU are located;

[0064] In this step, the location information (first location, second location, and third location) includes at least latitude and longitude, and may also include elevation information. One specific implementation of this step is to determine whether the three locations are on the same straight line based on the plane coordinates converted from the latitude and longitude of the first, second, and third locations. For example, the equation of the straight line between the first OBU and RSU is obtained based on the plane coordinates converted from the first and second locations. Then, it is determined whether the plane coordinates converted from the third location satisfy the above straight line equation. If they do, it is determined that the other traffic participant is located on the straight line between the first OBU and RSU. Alternatively, it is determined whether the plane coordinates converted from the first location of the other OBU satisfy the above straight line equation. If they do, it is determined that the other OBU is located on the straight line between the first OBU and RSU.

[0065] (2) If they exist, determine whether the other traffic participants or other OBUs on the first straight line are located between the first OBU and the RSU. In this step, specifically, it can be determined whether the plane coordinates converted from the location information (third position) of the other traffic participants or the location information (first position) of other OBUs are located between the plane coordinates converted from the first position of the first OBU and the plane coordinates converted from the RSU.

[0066] (3) If the other traffic participants or other OBUs on the first straight line are located between the first OBU and the RSU, then based on the first plane distance between the first OBU and the RSU, the second plane distance between the other traffic participants on the first straight line and the first OBU, the first height of the first OBU, the second height of the RSU and the third height of the other traffic participants on the first straight line, it is determined whether the other traffic participants on the first straight line are obstructions between the first OBU and the RSU.

[0067] The method using this optional implementation can accurately determine whether there is an obstruction between the first OBU and the RSU, so that the measurement data can be processed based on the judgment result, thereby improving the accuracy of the test data for RSU network coverage performance.

[0068] As a specific implementation, determining whether other traffic participants or other OBUs on the first straight line are obstructions between the first OBU and the RSU includes:

[0069] When the product of the first difference between the second height and the first height, and the ratio of the second plane distance to the first plane distance, is less than or equal to the second difference between the third height and the first height, it is determined that the other traffic participant on the first straight line is an obstruction between the first OBU and the RSU.

[0070] Below, in conjunction with Figure 2 The implementation process of this specific implementation method is explained below:

[0071] First, based on the latitude and longitude information of the RSU, the first OBU, and other traffic participants (other traffic participants or other OBUs), determine whether the three are on a straight line.

[0072] Second, if the lines are straight and other traffic participants such as vehicles or pedestrians are determined to be between the RSU and the first OBU, calculate the distance between the three. The specific calculation process is as follows: convert the latitude and longitude coordinates to planar coordinates, and... Figure 2 For example, H RSU H is the height of the RSU (second height). OBU The height of the first OBU (first height), H other The height of other road users such as vehicles or pedestrians (third height), L OBU-RSU L is the distance from the first OBU to the RSU (distance in the first plane). OBU-other This is the distance from the OBU to other traffic participants such as vehicles or pedestrians (second-plane distance). If H other <H OBU +(H RSU -H OBU )* L OBU-other / L OBU-RSU If the RSU and the first OBU are not obstructed by other traffic participants such as vehicles or pedestrians, then obstruction exists.

[0073] As another optional implementation, step 101, based on the first message from at least one onboard unit (OBU) and the second message from the roadside unit (RSU) within the first time period, determines whether there is an obstruction between the first OBU and the RSU, including:

[0074] (1) Based on the first position, the second position and the third position, determine whether there are other traffic participants or other OBUs on the first straight line where the first OBU and the RSU are located;

[0075] (2) If they exist, determine whether other traffic participants or other OBUs on the first straight line are located between the first OBU and the RSU;

[0076] (3) If other traffic participants or other OBU on the first straight line are located between the first OBU and the RSU, determine whether other traffic participants or other OBU on the first straight line are obstacles between the first OBU and the RSU according to the distance between the first OBU and other traffic participants or other OBU on the first straight line and a predefined threshold value.

[0077] Here, it should be noted that in this optional implementation manner, the implementation processes of steps (1) and (2) are the same as those of steps (1) and (2) in the aforementioned another optional implementation manner, and will not be repeated here; step (3) in this optional implementation manner is to determine whether other traffic participants or other OBU on the first straight line are obstacles between the first OBU and the RSU based on the comparison between the distance between the first OBU and other traffic participants or other OBU on the first straight line and an empirical value (predefined threshold value). For example, if the distance between the first OBU and other traffic participants or other OBU on the first straight line is less than the predefined threshold value, it is determined that other traffic participants or other OBU on the first straight line are obstacles between the first OBU and the RSU.

[0078] Also take Figure 2 as an example to illustrate this optional implementation manner: According to the longitude and latitude and other information of the RSU, the first OBU, other traffic participants such as other vehicles or pedestrians (other traffic participants and / or other OBU), determine whether the three are on the same straight line. If they are on the straight line, and other traffic participants such as vehicles or pedestrians are between the RSU and the first OBU, calculate L OBU-other as the distance from the first OBU to other traffic participants. If L OBU-other < L (L is a threshold set according to the empirical value), it is considered that there is an occlusion, otherwise there is no occlusion.

[0079] Further, as an optional implementation manner, before determining whether there is an obstacle between the first OBU and the RSU according to the first message of at least one on-vehicle terminal OBU and the second message of the roadside device RSU within the first time period, the method further includes:

[0080] Within the first time period, obtain the first message sent by at least one OBU and the second message sent by the RSU;

[0081] [[ID=二十一]] Filter the messages according to the vehicle identification ID in each received first message, and update the stored first message. [[ID=二十二]] [[ID=二十三]]

[0082] Specifically, this step involves determining whether the vehicle ID in the stored first message is the same as the vehicle ID carried in the current first message. If it is, the stored first message is updated by replacing the stored first message containing the same vehicle ID with the currently received first message. If not, the currently received first message is stored directly.

[0083] As a specific implementation, within the first duration, at least one first message sent by the OBU and one second message sent by the RSU are acquired, including:

[0084] When the first device is a test device used to test the coverage performance of the RSU network, within a first time period, a first message sent by the first OBU, a first message forwarded by the first OBU from at least one second OBU, and a second message forwarded by the first OBU from the RSU, wherein the at least one OBU further includes the at least one second OBU;

[0085] In other words, when the first device is a test device used to test the RSU network coverage performance, this step is that within the first time period, the first device obtains the first message sent by other OBUs (second OBUs) forwarded by the first OBU, the second message sent by the RSU forwarded by the first OBU, and the first message that the first OBU itself needs to send out.

[0086] or,

[0087] In the case where the first device is the first OBU, within a first duration, a first message sent by at least one second OBU and a second message sent by the RSU are received, wherein the at least one OBU further includes the at least one second OBU;

[0088] In other words, when the first device is the first OBU, this step involves obtaining the first message sent by the other OBU (second OBU) and the second message sent by the RSU within the first time period, as well as the first message that the first OBU itself needs to send out.

[0089] or,

[0090] In the case where the first device is a cloud server, within a first duration, a second message sent by the RSU and a first message forwarded by the RSU from the at least one OBU are received;

[0091] In other words, when the first device is a cloud server, this step involves the first device acquiring the first message sent by the OBU forwarded by the RSU and the second message sent by the RSU itself within the first time period. The OBU corresponding to the first message currently received by the first device is the first OBU, and the OBUs corresponding to other first messages received before the currently received first message are other OBUs. Therefore, when performing occlusion judgment, it is necessary to determine whether other OBUs and other traffic road participants cause occlusion to the first OBU and the RSU.

[0092] or,

[0093] If the first device is the RSU, a first message sent by the at least one OBU is received within the first duration.

[0094] In other words, when the first device is an RSU, this step involves obtaining the first message sent by any OBU within the first time period, as well as the second message that the RSU itself needs to send out. The sender of the currently received first message is the first OBU, and the senders of other first messages received before the current first message are other OBUs. That is, the RSU measures the currently received first message to obtain measurement data. At this time, other OBUs are traffic participants that may affect the measurement data.

[0095] Furthermore, as an optional implementation, if the first device is a cloud server, after receiving the second message sent by the RSU and the first message forwarded by the RSU from at least one OBU within the first duration, the method further includes:

[0096] According to the second message, update the stored information of other traffic participants, including their third location.

[0097] One example of this optional implementation method is that when a second message is received from the same RSU, the previously received second message is replaced with the latest received second message. That is, the stored second message is updated based on the currently received second message. Alternatively, when the first device receives a second message from the RSU, the previously stored information of other traffic participants is cleared, and then the information of other traffic participants (location information, such as latitude and longitude, elevation, etc.) in the currently received second message is stored.

[0098] Furthermore, as an optional implementation, the method also includes:

[0099] In the case that the first device is an RSU, a second message is generated based on the third location information received from other traffic participants;

[0100] In this step, the process of generating the third location information is as follows: image information of other traffic participants such as vehicles or pedestrians around the RSU is obtained through roadside cameras, and the image information is sent to the MEC for processing through the cameras. The perception data information obtained by the MEC is sent to the RSU. That is, the RSU receives the third information of other traffic participants from the MEC.

[0101] Based on the second message, update the stored information of other traffic participants, including their third location. This step can be performed specifically when the RSU sends the second message outward.

[0102] Further, as an optional implementation, step 102, in the case of obstructions between the first OBU and the RSU, specifically demonstrates the following example of deleting measurement data used to test the network coverage performance of the RSU: When the first device is the first OBU or a test device used to test the network coverage performance of the RSU (OBU road test), if the obstruction judgment process finds that there are other traffic participants obstructing the OBU and RSU, then the RSM / SSM measurement data reported by the RSU in this instance is discarded; when the first device is an RSU or a cloud server (RSU data acquisition), if the obstruction judgment process finds that there are other traffic participants obstructing the OBU and RSU, then the BSM measurement data reported by the OBU in this instance is discarded. In this way, the filtered information ensures that there is no obstruction, and the detection data is more accurate, but at the same time, the amount of effective data is also less. To compensate for the lack of data, if the effective data cannot cover the entire road during OBU road testing, multiple road tests can be performed, and the obstructed data from the multiple road tests can be filtered out and then aggregated. If the valid data cannot cover the entire road during RSU data collection, the collection time can be extended, and the coverage data from multiple OBUs collected over a long period of time can be filtered to remove obscured data before being aggregated and processed.

[0103] The data processing method of this application embodiment will be described below with reference to specific examples:

[0104] Example 1: The first device is a test device used to test the coverage performance of the RSU network.

[0105] In this example, the first OBU (Data Reporting OBU) is connected to the test device to send the first message generated by the first OBU, the first message received from other OBUs (the second OBU), and the second message received from the RSU to the test device. The specific implementation process of this example is as follows:

[0106] First, the first device stores the vehicle ID and location information (including latitude, longitude and elevation information, where elevation information is optional) from all other BSM messages sent by OBUs received within a set period T (e.g., 1 second).

[0107] Second, the received BSM messages from other OBUs forwarded by the first OBU are filtered based on the vehicle ID, retaining only the latest information. Specifically, when a new BSM message is received and its vehicle ID information is parsed, the vehicle ID in the BSM message is compared with the vehicle IDs in previously stored BSM messages; if a matching vehicle ID exists, the location information of the message replaces the previously stored information; otherwise, the message is stored directly.

[0108] Third, when receiving RSM / SSM messages forwarded by the first OBU from the RSU, the processing is initially consistent with receiving BSM messages from other OBUs, storing the latitude, longitude, and elevation information of other traffic participants in the messages. Then, the stored information on other traffic participants in the BSMs reported by other OBUs and the RSM / SSMs sent by the RSUs is iterated to determine whether each other traffic participant or other OBU has caused obstruction between the data reporting OBU and the RSU. Specifically, for example, obstruction is determined by using the stored location information of other traffic participants or other OBUs, the location information of the data reporting OBU itself, and the RSU location information. Measurement data with obstruction is filtered, and then the filtered measurement data (RSRP / RSSI information) is statistically processed. Based on the statistically processed measurement data, the RSU network coverage performance is tested.

[0109] Example 2: The first device is the first OBU

[0110] In this example, the first OBU (data reporting OBU) is connected to the RSU network coverage performance test device; the specific implementation process of this example is as follows:

[0111] First, the first OBU stores the vehicle ID and location information (including latitude, longitude and elevation information, where elevation information is optional) from all other OBUs (second OBUs) that it receives within a set period T (e.g., 1 second).

[0112] Second, BSM messages received from other OBUs are filtered based on the vehicle ID, retaining only the latest information. Specifically, when a new BSM message is received and its vehicle ID information is parsed, the vehicle ID in the new BSM message is compared with the vehicle IDs in previously stored BSM messages. If a matching vehicle ID exists, the location information of the new message replaces the previously stored information; otherwise, the message is stored directly.

[0113] Third, upon receiving an RSM / SSM message from an RSU, the process is the same as when receiving BSM messages from other OBUs, storing the latitude, longitude, and elevation information of other traffic participants in the message. Then, the stored information on other traffic participants from the BSMs reported by other OBUs and the RSM / SSMs sent by the RSU is iterated to determine whether each other traffic participant causes obstruction between the data reporting OBU and the RSU. Specifically, for example, obstruction is determined by using the stored location information of other traffic participants, the location information of the data reporting OBU, and the RSU location information, and filtering is performed for cases of obstruction. The processed measurement data (RSRP / RSSI information), RSU / OBU location information, and RSM / SSM messages are then sent to the test equipment (drive test software) used to test the RSU network coverage performance for statistical processing.

[0114] Example 3: The first device is a cloud server.

[0115] In summary, in this example, the RSU forwards the BSM messages received from the OBU, as well as the RSM / SSM messages sent out by the RSU, to the cloud server. The specific process is as follows:

[0116] First, when the cloud server receives the RSM / SSM message sent by the RSU, it first clears the previously stored information of other traffic participants, and then stores the location information (latitude, longitude and elevation information) of other traffic participants in the RSM / SSM message.

[0117] Second, the cloud server stores the vehicle ID and location information (including latitude, longitude and elevation information, of which elevation information is optional) from all other BSM messages sent by OBUs that are forwarded by RSM within a set period T (e.g., 1 second).

[0118] Third, when the cloud server receives a new BSM message forwarded by RSM, it parses the vehicle ID information within it, reports the OBU that sent the BSM message as data to the OBU, and compares the vehicle ID in the BSM message with the vehicle IDs in previously stored BSM messages. If a matching vehicle ID is found, the previously stored information is deleted.

[0119] Fourth, the system iterates through the BSM reported by other OBUs and the RSM / SSM sent by RSUs to determine whether each other traffic participant or other OBU has caused obstruction between the data reporting OBU and the RSU. Specifically, obstruction is determined by using the location information of other traffic participants, other OBUs, the location information of the data reporting OBU, and the RSU location information. Obstruction cases are filtered out, and then the filtered measurement data (RSRP / RSSI information) is statistically processed.

[0120] Example 4: The first device is an RSU

[0121] First, when the RSU sends out RSM / SSM messages, it first clears the previously stored information of other traffic participants, and then stores the location information (latitude, longitude and elevation information) of other traffic participants in the RSM / SSM message.

[0122] Second, the RSU stores the vehicle ID and location information (including latitude, longitude and elevation information, where elevation information is optional) from all other BSM messages sent by OBUs received within the set period T (e.g., 1 second).

[0123] Third, when the RSU receives a new BSM message, it parses the vehicle ID information within it, reports the OBU that sent the BSM message as data to the OBU, and compares the vehicle ID in the BSM message with the vehicle IDs in previously stored BSM messages. If a matching vehicle ID is found, the previously stored information is deleted.

[0124] Fourth, the system iterates through the BSMs reported by other OBUs and the RSMs / SSMs sent by RSUs to determine whether each other traffic participant or other OBU has caused obstruction between the data reporting OBU and the RSU. Specifically, obstruction is determined by using the location information of other traffic participants, other OBUs, the location information of the data reporting OBU, and the RSU location information, and filtering is performed for cases of obstruction. Then, the processed measurement data (RSRP / RSSI information), RSU / OBU location information, and BSM messages are sent to the cloud server for statistical processing.

[0125] The data processing method embodiments of this application address the problem that the air interface transmission path between the OBU and RSU may be obstructed by other vehicles or pedestrians during vehicle movement. By combining the information of other traffic participants in the second message (RSM / SSM) sent by the RSU and the vehicle information in the first message (BSM) sent by other OBUs, it is possible to determine whether obstruction has occurred. Furthermore, data filtering is performed for obstructed scenarios to obtain more accurate network coverage data. Simultaneously, this invention can improve the data accuracy in both OBU road testing and RSU coverage data collection scenarios.

[0126] like Figure 3 As shown in the illustration, this application also provides a data processing apparatus, applied to a first device, comprising:

[0127] The determining module 301 is used to determine whether there is an obstruction between the first OBU and the RSU based on a first message from at least one vehicle-mounted terminal OBU and a second message from a roadside unit RSU within a first time period. The first message carries the first location of the OBU associated with the first message, and the second message carries the second location of the RSU and the third location of at least one other traffic participant. The at least one OBU includes the first OBU.

[0128] The processing module 302 is configured to delete measurement data used to test the network coverage performance of the RSU when there is an obstruction between the first OBU and the RSU, wherein the measurement data is related to the first message of the first OBU or the measurement data is related to the second message of the RSU.

[0129] Optionally, the determining module 301 includes:

[0130] The first determining submodule is used to determine, based on the first position, the second position, and the third position, whether there are other traffic participants or other OBUs on the first straight line where the first OBU and the RSU are located;

[0131] The second determining submodule is used to determine, if present, whether the other traffic participants or other OBUs on the first straight line are located between the first OBU and the RSU;

[0132] The third determining submodule is used to determine whether the other traffic participants or other OBUs on the first straight line are obstructions between the first OBU and the RSU if the other traffic participants or other OBUs on the first straight line are located between the first OBU and the RSU, based on the first plane distance between the first OBU and the RSU, the second plane distance between the other traffic participants or other OBUs on the first straight line and the first OBU, the first height of the first OBU, the second height of the RSU, and the third height of the other traffic participants or other OBUs on the first straight line.

[0133] Optionally, the third determining submodule is specifically used for:

[0134] When the product of the first difference between the second height and the first height, and the ratio of the second plane distance to the first plane distance, is less than or equal to the second difference between the third height and the first height, it is determined that the other traffic participant on the first straight line is an obstruction between the first OBU and the RSU.

[0135] Optionally, the determining module 301 includes:

[0136] The fourth determining submodule is used to determine, based on the first position, the second position, and the third position, whether there are other traffic participants or other OBUs on the first straight line where the first OBU and the RSU are located;

[0137] The fifth determining submodule is used to determine, if present, whether the other traffic participants or other OBUs on the first straight line are located between the first OBU and the RSU;

[0138] The sixth determining submodule is used to determine whether other traffic participants or other OBUs on the first straight line are obstructions between the first OBU and the RSU if the other traffic participants or other OBUs on the first straight line are located between the first OBU and the RSU, based on the distance between the first OBU and the other traffic participants or other OBUs on the first straight line and a predefined threshold value.

[0139] Optionally, the device further includes:

[0140] The acquisition module is used to acquire, within the first time period, a first message sent by the at least one OBU and a second message sent by the RSU;

[0141] The first update module is used to filter messages based on the vehicle identifier ID in each of the received first messages and update the stored first messages.

[0142] Optionally, the acquisition module is specifically used for:

[0143] When the first device is a test device used to test the coverage performance of the RSU network, within the first time period, the device receives a first message sent by the first OBU, a first message forwarded by the first OBU from at least one second OBU, and a second message forwarded by the first OBU from the RSU, wherein the at least one OBU further includes the at least one second OBU.

[0144] or,

[0145] In the case where the first device is the first OBU, within the first duration, a first message sent by at least one second OBU and a second message sent by the RSU are received, wherein the at least one OBU further includes the at least one second OBU;

[0146] or,

[0147] If the first device is a cloud server, within the first time period, the second message sent by the RSU and the first message forwarded by the RSU from the at least one OBU are received.

[0148] or,

[0149] If the first device is the RSU, a first message sent by the at least one OBU is received within the first duration.

[0150] Optionally, the device further includes:

[0151] The second update module is used to update the stored information of other traffic participants according to the second message, wherein the information of other traffic participants includes the third location of other traffic participants.

[0152] Optionally, the device further includes:

[0153] The generation module is configured to generate the second message based on the received third location information of the other traffic participants, when the first device is the RSU;

[0154] The third update module is used to update the stored information of other traffic participants according to the second message, wherein the information of other traffic participants includes the third location of other traffic participants.

[0155] It should be noted that the data processing apparatus provided in this application embodiment can implement all the method steps implemented in the above data processing method embodiment and can achieve the same technical effect. Here, the parts that are the same as those in the method embodiment and the beneficial effects will not be described in detail.

[0156] like Figure 4 As shown, this application embodiment also provides a data processing device, including a transceiver 410, a processor 400, a memory 420, and a program or instructions stored in the memory 420 and executable on the processor 400; when the processor 400 executes the program or instructions, it implements the above-described data processing method.

[0157] The transceiver 410 is used to receive and send data under the control of the processor 400.

[0158] Among them, Figure 4 In this context, the bus architecture may include any number of interconnected buses and bridges, specifically linking various circuits together, represented by one or more processors (processor 400) and memory (memory 420). The bus architecture may also link together various other circuits such as peripheral devices, voltage regulators, and power management circuits, which are well known in the art and therefore will not be described further herein. The bus interface provides an interface. The transceiver 410 may be multiple elements, including transmitters and receivers, providing a unit for communicating with various other devices over a transmission medium. The processor 400 is responsible for managing the bus architecture and general processing, and the memory 420 may store data used by the processor 400 during operation.

[0159] In addition, this application embodiment also provides a computer-readable storage medium storing a program. When executed by a processor, the program implements the various processes of the data processing method embodiment described above and achieves the same technical effect. To avoid repetition, it will not be described again here. The computer-readable storage medium may be a read-only memory (ROM), a random access memory (RAM), a magnetic disk, or an optical disk, etc.

[0160] Furthermore, it should be noted that in the apparatus and method of this application, it is obvious that the components or steps can be decomposed and / or recombined. These decompositions and / or recombinations should be considered equivalent solutions of this application. Moreover, the steps performing the above series of processes can naturally be executed in the order described or in chronological order, but are not necessarily required to be executed in chronological order; some steps can be executed in parallel or independently of each other. Those skilled in the art will understand that all or any step or component of the method and apparatus of this application can be implemented in any computing device (including processors, storage media, etc.) or network of computing devices, in hardware, firmware, software, or a combination thereof. This is something that those skilled in the art can achieve by using their basic programming skills after reading the description of this application.

[0161] Therefore, the object of this application can also be achieved by running a program or a set of programs on any computing device. The computing device can be a known general-purpose device. Therefore, the object of this application can also be achieved simply by providing a program product containing program code implementing the method or apparatus. That is, such a program product also constitutes this application, and a storage medium storing such a program product also constitutes this application. Obviously, the storage medium can be any known storage medium or any storage medium developed in the future.

[0162] Finally, it should be noted that in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or terminal apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0163] The above description is the preferred embodiment of this application. It should be noted that for those skilled in the art, several improvements and modifications can be made without departing from the principles described in this application, and these improvements and modifications should also be considered within the scope of protection of this application.

Claims

1. A data processing method, characterized in that, Applied to the first device, including: Based on a first message from at least one vehicle-mounted unit (OBU) and a second message from a roadside unit (RSU) within a first time period, it is determined whether there is an obstruction between the first OBU and the RSU. The first message carries the first location of the OBU associated with the first message, and the second message carries the second location of the RSU and the third location of at least one other traffic participant. The at least one OBU includes the first OBU. In the case where there is an obstruction between the first OBU and the RSU, the measurement data used to test the network coverage performance of the RSU is deleted. Wherein, when the first device is an RSU or a cloud server, the measurement data is related to the first message of the first OBU, or when the first device is a test device or the first OBU used to test the network coverage performance of the RSU, the measurement data is related to the second message of the RSU. Specifically, based on a first message from at least one onboard unit (OBU) and a second message from a roadside unit (RSU) within a first time period, determining whether there is an obstruction between the first OBU and the RSU includes: Based on the first location, the second location, and the third location, determine whether there are other traffic participants or other OBUs on the first straight line where the first OBU and the RSU are located; If they exist, determine whether the other traffic participants or other OBUs on the first straight line are located between the first OBU and the RSU; If the other traffic participants or other OBUs on the first straight line are located between the first OBU and the RSU, then based on the first planar distance between the first OBU and the RSU, the second planar distance between the other traffic participants or other OBUs on the first straight line and the first OBU, the first height of the first OBU, the second height of the RSU, and the third height of the other traffic participants or other OBUs on the first straight line, it is determined whether the other traffic participants or other OBUs on the first straight line are obstructions between the first OBU and the RSU; or, if the other traffic participants or other OBUs on the first straight line are located between the first OBU and the RSU, then based on the distance between the first OBU and the other traffic participants or other OBUs on the first straight line and a predefined threshold value, it is determined whether the other traffic participants or other OBUs on the first straight line are obstructions between the first OBU and the RSU.

2. The method according to claim 1, characterized in that, Determining whether other traffic participants or other OBUs on the first straight line are obstructions between the first OBU and the RSU includes: When the product of the first difference between the second height and the first height, and the ratio of the second plane distance to the first plane distance, is less than or equal to the second difference between the third height and the first height, it is determined that the other traffic participant on the first straight line is an obstruction between the first OBU and the RSU.

3. The method according to claim 1, characterized in that, Before determining whether there is an obstruction between the first OBU and the RSU based on a first message from at least one on-board unit (OBU) and a second message from the roadside unit (RSU) within a first time period, the method further includes: Within the first time period, acquire the first message sent by the at least one OBU and the second message sent by the RSU; Message filtering is performed based on the vehicle identifier ID in each of the received first messages, and the stored first messages are updated.

4. The method according to claim 3, characterized in that, Within the first time period, acquiring the first message sent by the at least one OBU and the second message sent by the RSU includes: When the first device is a test device used to test the coverage performance of the RSU network, within the first time period, the device receives a first message sent by the first OBU, a first message forwarded by the first OBU from at least one second OBU, and a second message forwarded by the first OBU from the RSU, wherein the at least one OBU further includes the at least one second OBU. or, In the case where the first device is the first OBU, within the first duration, a first message sent by at least one second OBU and a second message sent by the RSU are received, wherein the at least one OBU further includes the at least one second OBU; or, If the first device is a cloud server, within the first time period, the second message sent by the RSU and the first message forwarded by the RSU from the at least one OBU are received. or, If the first device is the RSU, a first message sent by the at least one OBU is received within the first duration.

5. The method according to claim 4, characterized in that, When the first device is a cloud server, after receiving the second message sent by the RSU and the first message forwarded by the RSU from the at least one OBU within the first time period, the method further includes: Based on the second message, update the stored information of other traffic participants, including the third location of the other traffic participants.

6. The method according to claim 1 or 4, characterized in that, The method further includes: If the first device is the RSU, the second message is generated based on the third location information of the other traffic participants received. Based on the second message, update the stored information of other traffic participants, including the third location of the other traffic participants.

7. A data processing apparatus, characterized in that, Applied to the first device, including: The determining module is configured to determine whether there is an obstruction between the first OBU and the RSU based on a first message from at least one onboard unit (OBU) and a second message from a roadside unit (RSU) within a first time period. The first message carries the first location of the OBU associated with the first message, and the second message carries the second location of the RSU and the third location of at least one other traffic participant. The at least one OBU includes the first OBU. The processing module is configured to delete measurement data used to test the network coverage performance of the RSU when there is an obstruction between the first OBU and the RSU, wherein, when the first device is an RSU or a cloud server, the measurement data is related to the first message of the first OBU, or, when the first device is a test device or the first OBU used to test the network coverage performance of the RSU, the measurement data is related to the second message of the RSU. The determining module includes: The first determining submodule is used to determine, based on the first position, the second position, and the third position, whether there are other traffic participants or other OBUs on the first straight line where the first OBU and the RSU are located; The second determining submodule is used to determine, if present, whether the other traffic participants or other OBUs on the first straight line are located between the first OBU and the RSU; The third determining submodule is used to determine whether other traffic participants or other OBUs on the first straight line are obstructions between the first OBU and the RSU if the other traffic participants or other OBUs on the first straight line are located between the first OBU and the RSU, based on the first plane distance between the first OBU and the RSU, the second plane distance between the other traffic participants or other OBUs on the first straight line and the first OBU, the first height of the first OBU, the second height of the RSU, and the third height of the other traffic participants or other OBUs on the first straight line; or, the sixth determining submodule is used to determine whether other traffic participants or other OBUs on the first straight line are obstructions between the first OBU and the RSU if the other traffic participants or other OBUs on the first straight line are located between the first OBU and the RSU, based on the distance between the first OBU and the other traffic participants or other OBUs on the first straight line and a predefined threshold value.

8. A data processing device, comprising a transceiver, a memory, a processor, and a computer program stored in the memory and running on the processor, characterized in that, When the processor executes the computer program, it implements the data processing method as described in any one of claims 1 to 6.

9. A readable storage medium having a program or instructions stored thereon, characterized in that, When the program or instructions are executed by the processor, they implement the data processing method as described in any one of claims 1 to 6.

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