Method and device for binding roadside equipment to a road user

Abstract

This application provides a method and device for binding roadside equipment and traffic participants, belonging to the field of road traffic control. The binding method primarily involves the roadside equipment retrieving re-identification features from the perception results within a preset storage space. If a target re-identification feature corresponding to the re-identification feature is found in the storage space, the corresponding vehicle identification can be obtained based on the target re-identification feature. The perception results are then bound to the vehicle corresponding to the identification, thereby eliminating the need for information interaction and feature matching between the roadside equipment and the vehicle. This improves the efficiency of binding both parties while ensuring accurate binding.

Description

Technical Field

[0001] This application belongs to the field of road traffic control, and in particular relates to a method and device for binding roadside equipment with traffic participants. Background Technology

[0002] With the rise of the Internet of Vehicles (IoV), the integration of the automotive and transportation industries is deepening, making IoV one of the most promising areas of the Internet of Things (IoT). The core of IoV is to achieve data exchange between vehicles, roads, and the cloud, and to fully utilize effective data to provide safe, intelligent, efficient, and practical road assistance for vehicles.

[0003] One of the foundations for effectively leveraging the capabilities of the Internet of Vehicles (IoV) is achieving precise pairing between vehicles and roadside equipment. Currently, this pairing relies primarily on the location information of both the vehicle and the roadside equipment. However, compared to when a vehicle is stationary or moving slowly, the location information obtained by the roadside equipment during normal driving can be significantly inaccurate, potentially causing the roadside equipment to miss pairings with some vehicles. Summary of the Invention

[0004] This application provides a method and device for binding roadside equipment and traffic participants. The method binds the actual traffic participants with the traffic participants detected by the roadside equipment based on the re-identification features of the traffic participants. This enables both parties to establish a binding relationship efficiently and accurately, solving the problem of easy omission or incorrect binding in the current process of binding roadside equipment and traffic participants.

[0005] Firstly, a method for binding roadside equipment to traffic participants is provided, applied to roadside equipment, the method comprising:

[0006] Obtain re-identification features of traffic participants;

[0007] The system searches a preset storage space to determine if a target re-identification feature matches the re-identification feature. The preset storage space includes re-identification features of multiple traffic participants, and each traffic participant is assigned a re-identification identifier. The traffic participants correspond to the perceived objects in the perception results of the roadside equipment. The identity identifier of the perceived object corresponds to the re-identification identifier of the perceived object in the storage space.

[0008] When the target re-identification feature is retrieved, the target sensing object in the roadside sensing result is determined according to the re-identification identifier corresponding to the target re-identification feature;

[0009] Based on the identity identifier of the target sensing object, the roadside equipment and the traffic participant are bound together, so that the target sensing object and the traffic participant are associated in the sensing result.

[0010] According to the binding method between roadside equipment and traffic participants provided in the embodiments of this application, the roadside equipment searches the database based on the re-identification features in the perception results. If vehicle information corresponding to the re-identification features can be retrieved from the database, the perception results are bound to the existing vehicle information, thereby realizing the binding between the roadside equipment and the vehicle. When binding between the roadside equipment and the vehicle for the first time, the information interaction and feature matching process between the roadside equipment and the vehicle can be eliminated, thereby improving the efficiency of binding on the basis of accurate binding.

[0011] In conjunction with the first aspect, in some implementations of the first aspect, the method further includes:

[0012] When the traffic participant enters the sensing range of the roadside equipment, it communicates with the traffic participant and obtains the traffic participant's interaction information;

[0013] The perception results are obtained, and the perception results include multiple traffic participants;

[0014] The interactive information is matched with multiple traffic participants in the perception results to obtain the target perception object;

[0015] Assign an identity identifier to the target sensing object;

[0016] Based on the identity identifier of the target sensing object, the target sensing object and the traffic participant in the sensing result are associated.

[0017] According to the binding method between roadside equipment and traffic participants provided in this application, the roadside equipment searches the database based on the re-identification features in the perception results. If no corresponding vehicle information is found, a match is made between the interaction information between the roadside equipment and the vehicle and the vehicle-mounted features in the perception results obtained by the roadside equipment. A re-identification identifier is assigned to the matching vehicle, and its corresponding re-identification features are stored in the database to achieve binding between the roadside equipment and the vehicle. This also facilitates subsequent vehicle filtering and binding by the roadside equipment based on the re-identification features. By storing the re-identification features corresponding to the vehicle in the database for vehicle filtering and binding by the roadside equipment, this method can eliminate the information interaction and feature matching process between the roadside equipment and the vehicle when binding them for the first time, thereby improving the efficiency of binding while maintaining accuracy.

[0018] In conjunction with the first aspect, in some implementations of the first aspect, the method further includes:

[0019] Based on the correspondence between the identity identifier and the re-identification identifier, a re-identification identifier for the target perceived object is created in the storage space;

[0020] The target object re-identification identifier and the target object re-identification feature are stored in the preset storage space.

[0021] In conjunction with the first aspect, in some implementations of the first aspect, the re-identification feature is an image feature.

[0022] In conjunction with the first aspect, in some implementations of the first aspect, the interactive information includes one or more of the type characteristics, color characteristics, and size characteristics of the traffic participant;

[0023] The step of matching the interaction information with multiple traffic participants in the perception results to obtain the target perception object specifically includes:

[0024] Match the traffic participants with one or more of the type, color, and size characteristics of the traffic participants in the perception results.

[0025] Secondly, a method for assisting driving is provided, applied to roadside equipment, the method comprising:

[0026] According to any one of claims 1 to 5, the vehicle and the roadside equipment are bound together to obtain the binding relationship between the vehicle and the roadside equipment;

[0027] Based on the perception results of the roadside equipment, the service information of the vehicle and the vehicle's identification are obtained;

[0028] Based on the identity of the target vehicle and the corresponding binding relationship, the service information is sent to the vehicle.

[0029] In conjunction with the second aspect, in some implementations of the second aspect, the service information includes path planning and / or security alerts.

[0030] Thirdly, a roadside device is provided, comprising:

[0031] One or more communication interfaces;

[0032] One or more memories are used to store computationally readable instructions;

[0033] One or more processors are configured to execute the computer-readable instructions, which, when executed, enable the functionality of the method described in either the first or second aspect above on the roadside device.

[0034] Fourthly, a roadside device is provided, comprising:

[0035] The acquisition module is used to acquire the re-identification features of traffic participants;

[0036] A retrieval module is used to search in a preset storage space for whether a target re-identification feature matching the re-identification feature exists; the preset storage space stores re-identification features of multiple traffic participants, and each of the multiple traffic participants is assigned a corresponding re-identification identifier; the multiple traffic participants correspond to multiple sensing objects in the roadside perception results, and the roadside perception results are the perception results of the roadside equipment; the identity identifier of the sensing object corresponds to the re-identification identifier of the corresponding traffic participant in the storage space;

[0037] The processing module is used to determine the identity identifier of the target sensing object in the roadside perception result based on the re-identification identifier corresponding to the target re-identification feature when the target re-identification feature is retrieved; and to bind the roadside device and the traffic participant based on the identity identifier of the target sensing object, so that the target sensing object and the traffic participant are associated in the perception result.

[0038] Fifthly, a V2X-based system is provided, characterized in that it includes roadside equipment and a vehicle, the vehicle being equipped with an on-board V2X terminal, the vehicle being used to communicate with the roadside equipment via the on-board V2X terminal, and the roadside equipment being used to perform the method described in either the first or second aspect above.

[0039] In a sixth aspect, a computer-readable storage medium is provided, the computer-readable storage medium including computer instructions that, when executed, enable the method described in any implementation of the first or second aspect above to be implemented.

[0040] In a seventh aspect, a computer product is provided, the computer product including computer instructions that, when executed in a computer, enable the method described in any implementation of the first aspect to be implemented. Attached Figure Description

[0041] Figure 1 This is a schematic diagram of the system architecture applicable to a method for binding roadside equipment and traffic participants provided in an embodiment of this application.

[0042] Figure 2A and Figure 2B This is a schematic diagram illustrating a possible application scenario for the binding method between roadside equipment and traffic participants provided in this application embodiment.

[0043] Figure 3 This is a schematic flowchart illustrating a method for binding roadside equipment and traffic participants according to an embodiment of this application.

[0044] Figure 4 This is a schematic flowchart illustrating another method for binding roadside equipment and traffic participants provided in this application embodiment.

[0045] Figure 5 This is a schematic flowchart illustrating another method for binding roadside equipment and traffic participants provided in the embodiments of this application.

[0046] Figure 6 This is a schematic flowchart of a method for assisting driving provided in an embodiment of this application.

[0047] Figure 7 This is a schematic diagram of the structure of a roadside device provided in an embodiment of this application.

[0048] Figure 8 This is a schematic diagram of the hardware structure of a roadside device provided in an embodiment of this application. Detailed Implementation

[0049] The embodiments of this application are described below with reference to the accompanying drawings.

[0050] It should be noted that the terminology used in the implementation section of the embodiments of this application is only used to explain the specific embodiments of this application and is not intended to limit this application. In the description of the embodiments of this application, unless otherwise stated, " / " means "or", for example, A / B can mean A or B; "and / or" in this document is merely a description of the association relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A existing alone, A and B existing simultaneously, and B existing alone. In addition, in the description of the embodiments of this application, unless otherwise stated, "multiple" means two or more, "at least one" or "one or more" means one, two or more.

[0051] Hereinafter, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature.

[0052] References to "one embodiment" or "some embodiments" as described in this specification mean that one or more embodiments of this application include a specific feature, structure, or characteristic described in connection with that embodiment. Therefore, the phrases "in one embodiment," "in some embodiments," "in other embodiments," "in still other embodiments," etc., appearing in different parts of this specification do not necessarily refer to the same embodiment, but rather mean "one or more, but not all, embodiments," unless otherwise specifically emphasized. The terms "comprising," "including," "having," and variations thereof mean "including but not limited to," unless otherwise specifically emphasized.

[0053] The technical solutions of this application embodiment can be applied to various communication systems, such as fifth-generation (5G) communication systems. th Generation 6 (5G) mobile communication systems, such as New Radio (NR), 6G (6G) th Generation 6G mobile communication systems and future communication systems, etc.

[0054] The technical solutions of this application can be applied to the fields of unmanned driving, driver assistance (ADAS), intelligent driving, connected driving, intelligent network driving, car sharing, smart / intelligent car, digital car, unmanned car, Internet of Vehicles (IoV), self-driving car, cooperative vehicle infrastructure (CVIS), intelligent transport system (ITS), vehicular communication, and other technical fields.

[0055] To facilitate understanding of the solutions described in the embodiments of this application, the following explanations are provided for some terms that may be used in the embodiments of this application:

[0056] 1. Vehicle-to-everything (V2X) wireless communication technology

[0057] V2X technology is a key technology for intelligent transportation systems. It enables communication between vehicles, between vehicles and base stations, and between base stations, thereby obtaining a range of traffic information such as real-time road conditions, road information, and pedestrian information. This improves driving safety, reduces congestion, increases traffic efficiency, and provides in-vehicle entertainment information.

[0058] 2. Roadside equipment

[0059] It can also be referred to as roadside V2X equipment, roadside base station, or smart base station, etc. The roadside V2X equipment in this application embodiment may include a roadside unit (RSU), roadside sensing equipment, and an automatic driving-intelligent conputing control unit-roadside (AV-ICCU-RS), etc. The roadside sensing equipment may include, for example, visual sensors such as cameras; or radar sensors such as millimeter-wave radar and lidar.

[0060] 3. Traffic participants

[0061] Traffic participants can refer to real-world entities that actually participate in traffic on roads (such as vehicles and pedestrians). In the embodiments of this application, traffic participants can specifically refer to various types of vehicles, such as ordinary driving vehicles, autonomous vehicles (or driverless vehicles, computer-driven vehicles, or wheeled mobile robots, etc.). This application does not limit the specific type of traffic participants.

[0062] 4. Perceiving the object

[0063] The perception results obtained by roadside equipment after sensing traffic participants include the objects, which can be presented in data form. There can be a correspondence between the perceived objects and the traffic participants. For example, if the roadside equipment senses vehicle 1, vehicle 2, and vehicle 3 traveling on the road and obtains perception results including at least 3 perceived objects, then any one of vehicle 1, vehicle 2, and vehicle 3 corresponds to one of these at least 3 perceived objects.

[0064] 5. Re-identification (ReID)

[0065] This can also be called re-identification. Taking vehicles as an example, vehicle re-identification refers to the retrieval problem of determining whether vehicle images captured in non-overlapping areas belong to the same vehicle within a specific traffic monitoring scenario. Specifically, given an image of a target vehicle within a specific area, the task of vehicle re-identification is to find images of the target vehicle captured by other cameras, during which vehicle re-identification features (such as vehicle type, vehicle color, etc.) can be used.

[0066] As introduced in the background technology introduction, the binding between roadside equipment and road traffic objects is currently mostly based on location information. However, when the roadside equipment cannot accurately detect the vehicle position due to certain conditions, such as excessive vehicle speed or weather conditions, the deviation of the location information will lead to binding omissions or errors. Consequently, the roadside equipment will not be able to obtain information about the traffic participants, and therefore will not be able to provide corresponding traffic assistance to the traffic participants.

[0067] To address the aforementioned issues, this application provides a method for binding roadside equipment and traffic participants. By using the re-identification features of traffic participants, the roadside equipment binds the perceived objects in the perception results to the corresponding traffic participants in reality. This enables the roadside equipment and traffic participants to establish a binding relationship efficiently and accurately, thereby solving the problem of easy omissions or binding errors in the current process of binding roadside equipment and traffic participants.

[0068] For example, such as Figure 1 The diagram shown illustrates the system architecture applicable to a method for binding roadside equipment and traffic participants according to an embodiment of this application. For ease of understanding, this embodiment uses vehicles as an example to describe the system. Figure 1 As shown, the system architecture includes a vehicle subsystem 100 and a roadside subsystem 200.

[0069] In some embodiments, the vehicle subsystem 100 may include an onboard unit (OUB) 101, an automatic driving-intelligent control unit-onboard (AV-ICCU-OB) and an onboard sensing device 103 installed in the vehicle 101. The onboard sensing device 103 can be used to sense environmental information around the vehicle; the automatic driving-intelligent control unit-onboard (AV-ICCU-OB) can be used to acquire and process relevant sensing information sent by the onboard sensing device 103; the OUB 101 can also acquire vehicle characteristics and driving information, where vehicle characteristics may include, for example, the vehicle type, color characteristics, size characteristics, etc., and driving information may include, for example, the vehicle's speed, heading angle, acceleration, position, etc. Furthermore, the OUB 101 may also have communication capabilities, such as periodically sending basic safety messages (BSMs); and, for example, the OUB 101 can also establish communication with roadside equipment to send or receive interactive information, where interactive information may include, for example, BSMs, vehicle characteristic information, location information, etc.

[0070] In some embodiments, the roadside subsystem 200 may include a roadside unit (RSU) 201, an automated driving intelligent roadside computing control unit (AV-ICCU-RS) 202, and a roadside sensing device 203 (which may also be described as a sensing device in the following embodiments). The roadside sensing device 203 can be used to sense surrounding traffic information, such as road information and information about traffic participants. The roadside sensing device 203 may include, for example, visual sensors such as cameras or webcams, or radar sensors such as lidar or millimeter-wave radar. The RSU 201 and AV-ICCU-RS 202 can be used to process the sensing information acquired by the roadside sensing device 203 to obtain sensing results. Furthermore, the RSU 201 may also have communication capabilities. For example, after a vehicle enters the communication range of the RSU 201, it can establish communication with the vehicle and receive or send interactive information. For instance, the RSU 201 can receive interactive information sent by the vehicle's OUB101, which may include, for example, the vehicle's BSM, onboard characteristic information, and location information.

[0071] In some embodiments, communication can be established between OUB 101 in the vehicle subsystem and RSU 201 in the roadside subsystem via wireless communication technology. This wireless communication technology can be, for example, any wireless network based on a communication technology standard, such as Long Term Evolution (LTE) wireless network, Vehicle-to-Everything (V2X) network, or 5G mobile communication technology. th This application does not limit the scope of this embodiment to terms such as generation (5G, etc.).

[0072] The following describes the application scenarios applicable to the binding method between roadside equipment and traffic participants provided in the embodiments of this application. For example,... Figure 2A and Figure 2B The diagram shown illustrates an application scenario where the binding method for some roadside equipment and traffic participants provided in the embodiments of this application may be applicable.

[0073] First, combine Figure 2A As shown, in one possible application scenario, in traffic participants (i.e. Figure 2A After the vehicle (as shown) enters the sensing range of the roadside equipment, the sensing device (taking a camera as an example) in the roadside equipment can acquire an image including the vehicle and transmit the image to the processing unit (RSU) of the roadside equipment. The RSU performs recognition processing on the vehicle included in the image and obtains the corresponding sensing result. Then, the roadside equipment can perform re-identification feature retrieval in a preset storage space based on the acquired image. If a target re-identification feature matching the re-identification feature in the current image can be retrieved, the roadside equipment can obtain its corresponding re-identification identifier based on the target re-identification feature. Then, based on the re-identification identifier, the identity identifier of the sensing object corresponding to the vehicle is obtained. Then, a binding relationship is established between the sensing result and the corresponding vehicle based on the identity identifier, so that when road assistance is needed for a certain vehicle in the future, accurate traffic guidance or warning prompts can be provided based on the corresponding sensing result.

[0074] Then combine Figure 2B As shown, assume there are multiple traffic participants traveling on the road (such as...) Figure 2BVehicle 1 and Vehicle 2 are shown. When vehicles 1 and 2 enter the sensing area of ​​the roadside equipment, the sensing devices (e.g., cameras) in the roadside equipment can capture images of vehicles 1 and 2 and transmit these images to the processing unit (RSU) of the roadside equipment. The RSU performs identification processing on the vehicles included in the images and obtains the sensing results corresponding to vehicles 1 and 2. These sensing results include at least two sensing objects, which include the two sensing objects corresponding to vehicles 1 and 2 respectively. Then, the roadside equipment can extract the re-identification features of a certain sensing object (denoted as sensing object A) based on the sensing results, and then search in the storage space based on the re-identification features. If a target re-identification feature matching the re-identification feature can be retrieved, the corresponding re-identification identifier can be further obtained based on the target re-identification feature. The re-identification identifier is determined by the roadside equipment based on the identity identifier of the traffic participant in the sensing results, so the identity identifier corresponding to sensing object A can be obtained. Then, a binding relationship is established between the sensing results and the vehicle corresponding to sensing object A based on the identity identifier, so that when road assistance is needed for a certain vehicle in the future, accurate traffic guidance or warning prompts can be provided based on the corresponding sensing results.

[0075] In the binding method for roadside equipment and traffic participants provided in this application embodiment, unlike the method that only uses the vehicle's location information to bind the roadside equipment and traffic participants, the method in this application embodiment mainly searches the database based on the re-identification features in the perception results. If the vehicle information corresponding to the re-identification feature can be retrieved from the database, the perception results are bound to the existing vehicle information. This can save the information interaction and feature matching process between the roadside equipment and the vehicle. Even when the communication between the OBU and RSU is abnormal, the matching and binding can still be completed through the re-identification features. Based on accurate binding, the binding efficiency of both parties can be improved.

[0076] For example, taking vehicles as the traffic participants, the binding method between roadside equipment and traffic participants provided in this application embodiment will be described. Figure 3 The diagram shown is a schematic flowchart illustrating a method for binding roadside equipment and traffic participants according to an embodiment of this application. The process may include the following steps:

[0077] S301, the vehicle has entered the RSU's sensing range.

[0078] Among them, the RSU sensing range can correspond to Figure 2A or Figure 2B The sensing range of the roadside equipment shown can be, for example, the information acquisition range of the roadside sensing equipment, such as the image acquisition range of a camera.

[0079] S302, roadside sensing devices collect vehicle images.

[0080] In some embodiments, a camera mounted on a roadside or road gantry, or a camera mounted on a roadside or road gantry, can capture images within its sensing range. When a vehicle enters this sensing range, the roadside sensing device can acquire images including the vehicle.

[0081] In some embodiments, taking a camera as an example, the way a roadside sensing device acquires vehicle images may include: the camera periodically taking pictures of the sensing range, so that an image including the vehicle can be acquired after the vehicle enters the sensing range; or, when the vehicle enters the communication area of ​​the roadside device, a broadcast message can be sent, and upon receiving the broadcast message sent by the vehicle, the RSU of the roadside device can instruct the camera to acquire an image in response to the broadcast message. This application embodiment does not limit the specific triggering conditions for the sensing device to acquire vehicle images.

[0082] S303, roadside equipment retrieves identification (ID) from the database based on vehicle images.

[0083] This database can refer to a re-identification feature database, which can be located in a pre-defined storage space. This database may include information on multiple vehicles previously stored by roadside equipment. This vehicle information may include re-identification tags, vehicle images, vehicle-mounted features, and the correspondence between these information items.

[0084] In some embodiments, the vehicle images stored in the database may be images collected and stored in the database by the roadside device when the vehicle previously passed by, or images collected and stored in the database by other roadside devices when the vehicle previously passed by; the vehicle features stored in the database may be features obtained by the roadside device based on image perception when the vehicle previously passed by, or features included in the interaction information sent by the vehicle to the roadside device via OUB; the re-identification identifier stored in the database may be a re-identification identifier assigned to the vehicle by the roadside device when it was previously bound to the vehicle, and then assigned to the vehicle based on the identity identifier when the information corresponding to the vehicle is stored in the database.

[0085] Specifically, the process of obtaining a re-identification identifier may include, for example, the following: If the roadside equipment has previously established a binding relationship with the vehicle, an identity identifier will be assigned to the vehicle during the binding relationship establishment process. When the roadside equipment stores the vehicle image, vehicle features, etc., corresponding to the vehicle in the database, it will assign a re-identification identifier to the vehicle based on the identity identifier. In other words, the re-identification identifier corresponding to the vehicle in the database can correspond to the vehicle's identity identifier. For example, if the identity identifier is the vehicle's license plate number, then the re-identification identifier of the vehicle in the database can also be the license plate number.

[0086] In addition, vehicle information in the database may also include location information. For example, vehicle characteristics may include: vehicle type (such as bus, truck, etc.), vehicle color, vehicle size, etc.; vehicle location information may include: the geographical location of the vehicle at a certain time (such as latitude and longitude).

[0087] In some embodiments, the process by which a roadside device retrieves a re-identification identifier from a database based on an image may include: the roadside device may perform re-identification feature matching based on the currently acquired image and images stored in the database to retrieve whether a target re-identification feature corresponding to the re-identification feature of a vehicle in the image exists in the database.

[0088] S304, the roadside equipment determines whether a re-identification tag has been retrieved.

[0089] If the roadside device detects a re-identification identifier, it means that the roadside device has previously established a binding relationship with the vehicle, and the database stores images of the vehicle previously collected by the roadside device, as well as information such as the vehicle's onboard features. In this case, the roadside device can execute steps S305 and S306 below, performing re-identification feature matching using the images collected by the sensing device and the images in the database, thereby achieving the current binding between the roadside device and the vehicle. In this case, the process of establishing the binding relationship between the roadside device and the vehicle can be a case where the roadside device and the vehicle have not established a binding relationship for the first time.

[0090] If the roadside device does not find a re-identification tag, it means that the roadside device has not previously established a binding relationship with the vehicle, and the database does not store images and vehicle features previously collected by the roadside device. In this case, the roadside device can execute steps S308 to S311 below, matching the traffic information between the vehicle and the roadside device with the perception results obtained by the roadside device, and then establish a binding relationship. This process of establishing a binding relationship between the roadside device and the vehicle can be the first time the roadside device and the vehicle have established a binding relationship.

[0091] The following describes the binding process between the roadside equipment and the vehicle when the roadside equipment retrieves the re-identification tag. This process includes the following steps S305 to S307:

[0092] S305, roadside equipment acquires the perception results corresponding to vehicles.

[0093] The perception result may include the vehicle's corresponding re-identification features, such as one or more of the vehicle type, vehicle color, and vehicle size.

[0094] In some embodiments, roadside equipment can identify and perceive vehicles based on images collected by sensing devices and obtain perception results. For example, the method by which roadside equipment identifies and perceives images can be target recognition, or any existing one or more other feasible recognition methods; this application embodiment does not limit this approach.

[0095] S306, roadside equipment is associated with re-identification markers and perception results.

[0096] In some embodiments, the roadside device associates the acquired perception results with the retrieved re-identification tag. Specifically, the perception results can be stored in a database in the file corresponding to the re-identification tag. Furthermore, the roadside device can also associate the acquired vehicle image with the re-identification tag.

[0097] S307, roadside equipment and vehicles are now linked.

[0098] The following describes the binding process between the roadside equipment and the vehicle when the roadside equipment fails to retrieve the re-identification tag. This process includes the following steps S308 to S311 and step S307:

[0099] S308, the roadside equipment obtains the interactive information sent by OUB.

[0100] The interactive information may include vehicle onboard information and / or vehicle location information. For example, vehicle onboard characteristics may include: vehicle type, vehicle color, vehicle size, etc.; vehicle location information may include the vehicle's geographical location (such as latitude and longitude) at a certain time.

[0101] S309, the RSU of the roadside equipment acquires the perception results corresponding to the vehicle.

[0102] The perception result may include the vehicle's corresponding re-identification features, such as one or more of the vehicle type, vehicle color, and vehicle size.

[0103] In some embodiments, roadside equipment can identify and perceive vehicles based on images collected by sensing devices and obtain perception results. For example, the method by which roadside equipment identifies and perceives images can be target recognition, or any existing one or more other feasible recognition methods; this application embodiment does not limit this approach.

[0104] S310, matching vehicle features and perception results in the roadside equipment's interactive information.

[0105] In some embodiments, the interactive information may be a broadcast message sent by the vehicle to the roadside equipment, or information received by the roadside equipment after establishing communication with the vehicle.

[0106] In some embodiments, after matching the interactive information and the perception results, the roadside equipment can identify the target sensing vehicle. The target sensing vehicle refers to the vehicle that sends interactive information to the roadside equipment, and the roadside equipment obtains its perception results based on the image. In other words, it refers to a vehicle whose interactive information and perception results match perfectly.

[0107] In some embodiments, after acquiring the interaction information sent by the vehicle and the corresponding perception result, the roadside device can match the vehicle and the perception result based on one or more vehicle features. For example, the roadside device can identify one or more of the vehicle type, vehicle color, and vehicle size in the image acquired by the perception device, and then match the identified vehicle type and vehicle color with the vehicle in the interaction information based on the corresponding information in the received interaction information (i.e., one or more of the vehicle type, vehicle color, and vehicle size) to obtain the target perceived vehicle.

[0108] For example, assuming the image acquired by the roadside equipment includes vehicle 1, vehicle 2, and vehicle 3, after the roadside equipment processes the image for recognition, it can obtain the perception results corresponding to vehicle 1, vehicle 2, and vehicle 3 respectively. These perception results may include, for example, one or more of the vehicle type, vehicle color, and vehicle size corresponding to each of vehicle 1, vehicle 2, and vehicle 3. For instance, the information corresponding to vehicle 1 to vehicle 3 in the perception results can be shown in Table 1:

[0109] Table 1

[0110] Vehicle number Vehicle type Vehicle color <![CDATA[Vehicle dimensions (length * width * height / m 3 )]]> Vehicle 1 car black 3.8*1.8*1.5 Vehicle 2 van White 3.7*1.5*1.8 Vehicle 3 truck blue 4.2*1.9*1.8

[0111] The roadside equipment can then match the vehicle features included in the acquired interaction information with the information in the perception results. For example, the vehicle features included in the interaction information can be shown in Table 2:

[0112] Table 2

[0113] Vehicle Identification Vehicle type Vehicle color <![CDATA[Vehicle dimensions (length * width * height / m 3 )]]> Current Location Vehicle 1 car black 3.8*1.8*1.5 (X, Y)

[0114] Subsequently, the roadside equipment can identify vehicle 1 as the target object by comparing one or more of the following information: vehicle type, vehicle color, and vehicle size.

[0115] S311, roadside equipment assigns re-identification tags, associates re-identification tags, vehicle images, and vehicle features, and stores the associated information in the database.

[0116] In some embodiments, after acquiring a target sensing object, the roadside device assigns an identification identifier to the target sensing object and determines the re-identification identifier corresponding to the vehicle based on the identification identifier. Then, the re-identification identifier, vehicle image, and vehicle features are associated, and the associated information is stored in a database.

[0117] S307, roadside equipment and vehicles are now linked.

[0118] According to the binding method between roadside equipment and traffic participants provided in this application embodiment, the roadside equipment searches a database based on the re-identification features in the perception results. If vehicle information corresponding to the re-identification features can be found in the database, the perception results are bound to the existing vehicle information, thereby achieving binding between the roadside equipment and the vehicle. If no corresponding vehicle information is found, a match is made between the interaction information between the roadside equipment and the vehicle and the vehicle-mounted features in the perception results obtained by the roadside equipment. A re-identification identifier is assigned to the matching vehicle, and its corresponding re-identification features are stored in the database to achieve binding between the roadside equipment and the vehicle. This also facilitates subsequent vehicle filtering and binding by the roadside equipment based on the re-identification features. By storing the re-identification features corresponding to the vehicle in the database for vehicle filtering and binding by the roadside equipment, this method eliminates the information interaction and feature matching process between the roadside equipment and the vehicle during non-first-time binding, improving the efficiency of binding while maintaining accuracy.

[0119] For example, such as Figure 4 The diagram shown is a schematic flowchart illustrating another method for binding roadside equipment and traffic participants according to an embodiment of this application. The method includes the following steps, and the entity performing these steps can be a roadside device.

[0120] S401, Obtain the re-identification features of traffic participants.

[0121] The re-identification features are image features. The traffic participants in this step can correspond to those in Figure 2 above. Figure 3 The vehicle in the example. In addition, the traffic participant can also be other objects, such as pedestrians.

[0122] In some embodiments, the roadside device can acquire images that may include the traffic participant. For example, when a traffic participant enters the sensing range of the roadside device, the sensing device in the roadside device can acquire an image that may include the traffic participant.

[0123] In some embodiments, the roadside equipment can extract re-identification features of traffic participants from the image. For example, if the traffic participant is a vehicle, the re-identification features may include one or more of the vehicle's type, color, and size.

[0124] For example, the roadside equipment may extract the re-identification features of traffic participants from the image in a manner that includes target recognition or other identification methods, and this application embodiment does not limit this.

[0125] S402, search in a preset storage space for whether there is a target re-identification feature that matches the re-identification feature. The preset storage space stores the re-identification features of multiple traffic participants, and each of the multiple traffic participants is assigned a corresponding re-identification identifier. The multiple traffic participants correspond to multiple sensing objects in the roadside perception results, and the roadside perception results are the perception results of the roadside equipment. The identity identifier of the sensing object corresponds to the re-identification identifier of the corresponding traffic participant in the storage space.

[0126] It should be noted that the preset storage space can correspond to the storage space occupied by the database mentioned above. This preset storage space can refer to the local storage space of the roadside device, or it can refer to the storage space located on a cloud server.

[0127] In some embodiments, the preset storage space may include re-identification features and re-identification identifiers of multiple traffic participants, wherein the re-identification identifiers are assigned by the roadside equipment to the multiple traffic participants respectively based on the identity identifiers of the multiple sensing objects in the sensing results, and the multiple sensing objects correspond one-to-one with the multiple traffic participants.

[0128] Specifically, the re-identification identifier corresponding to each traffic participant in the preset storage space can be assigned to it by the roadside device. For example, when the roadside device first establishes a binding relationship with the traffic participant, and the traffic participant matches the perception result, the roadside device can assign the corresponding re-identification identifier to the traffic participant based on the perceived identity identifier of the traffic participant.

[0129] In some embodiments, the re-identification identifier assigned by the roadside equipment to a traffic participant can correspond to the identity identifier of the traffic participant perceived by the roadside equipment. For example, the re-identification identifier assigned by the roadside equipment to a traffic participant can be the same as the perceived identity identifier of the traffic participant (such as a license plate number). For instance, if the roadside equipment perceives the license plate number of vehicle 1 as "1234" based on an image, the re-identification identifier assigned by the roadside equipment to vehicle 1 can also be "1234". Subsequently, the roadside equipment can bind vehicle features and other relevant information with the re-identification identifier of the vehicle being "1234" and store them together in the storage space. That is, the re-identification identifier corresponding to the traffic participant in the storage space can correspond to the identity identifier of the traffic participant obtained by the roadside equipment.

[0130] In some embodiments, the roadside device can perform a search in a preset storage space based on the re-identification features of traffic participants and obtain search results, which are used to indicate that the preset storage space includes target re-identification features that match the re-identification features.

[0131] For example, if the re-identification feature is vehicle type + vehicle color + vehicle size, and the re-identification feature of the traffic participant is sedan + black + 3.8*1.8*1.5, and the search result is that the preset storage space also includes the re-identification feature sedan + black + 3.8*1.8*1.5, then the re-identification feature in the storage space is the target re-identification feature that matches the re-identification feature of the traffic participant.

[0132] In other embodiments, the roadside device can search a preset storage space based on the re-identification features of the traffic participant and obtain search results. These search results indicate that the preset storage space does not include target re-identification features matching the re-identification features. This indicates that the roadside device has not yet established a binding relationship with the traffic participant. The roadside device can then establish communication with the traffic participant and, based on the interaction information sent by the traffic participant and the vehicle-mounted features in the perception results, perform the binding relationship creation process.

[0133] S403, when a target re-identification feature is retrieved, the identity identifier of the target perception object in the roadside perception result is determined according to the re-identification identifier corresponding to the target re-identification feature.

[0134] Among them, the target perception object can be the perception object corresponding to the target traffic participant in the perception result.

[0135] In some embodiments, the preset storage space includes the correspondence between the re-identification features of the traffic participant and the re-identification identifier of the traffic participant. Therefore, when the target re-identification feature is retrieved, the roadside device can determine the re-identification identifier corresponding to the traffic participant based on the correspondence between the target re-identification feature and the re-identification identifier.

[0136] There is a correspondence between the re-identification identifier of a traffic participant and the identity identifier of that traffic participant. Therefore, roadside equipment can determine the identity identifier of the target perception object in the roadside perception result based on the re-identification identifier corresponding to the target re-identification feature.

[0137] For example, the re-identification identifier can be the identity information of the traffic participant sensed by the roadside equipment, such as the license plate number.

[0138] S404 binds roadside equipment and traffic participants based on the identity of the target sensing object, so that the target sensing object and traffic participants are associated in the sensing results.

[0139] In some embodiments, after obtaining the identity of the target sensing object, the roadside device can associate the obtained sensing results, vehicle features, etc., with the corresponding traffic participant. For example, the roadside device can also store the sensing results, vehicle features, re-identification features, and other related information in a file containing the re-identification identifier corresponding to the traffic participant, thus completing the binding between the roadside device and the traffic participant.

[0140] According to the binding method between roadside equipment and traffic participants provided in the embodiments of this application, the roadside equipment searches the database based on the re-identification features in the perception results. If vehicle information corresponding to the re-identification features can be retrieved from the database, the perception results are bound to the existing vehicle information, thereby realizing the binding between the roadside equipment and the vehicle. When binding between the roadside equipment and the vehicle for the first time, the information interaction and feature matching process between the roadside equipment and the vehicle can be eliminated, thereby improving the efficiency of binding on the basis of accurate binding.

[0141] For example, such as Figure 5 The diagram shown is a schematic flowchart of another method for binding roadside equipment and traffic participants according to an embodiment of this application. The process may include the following steps:

[0142] S501, when the traffic participant enters the sensing range of the roadside device, communication is established with the traffic participant to obtain the interaction information of the traffic participant.

[0143] S502, Obtain the perception results, which include the perception objects corresponding to multiple traffic participants.

[0144] S503, match the interactive information with the perception objects corresponding to multiple traffic participants in the perception results to obtain the target perception object.

[0145] In some embodiments, the interactive information includes one or more of the type characteristics, color characteristics, and size characteristics of the traffic participant; the roadside device matches the interactive information with multiple sensing objects in the perception result to obtain the target sensing object, which may specifically include: the roadside device matching the type characteristics, color characteristics, and size characteristics of the traffic participant with the characteristics corresponding to the multiple sensing objects in the perception result. If a match is found, the target sensing object corresponding to the target traffic participant is obtained.

[0146] S504, Assign an identity identifier to the target perceived object.

[0147] For a detailed explanation of how roadside equipment assigns identification tags to target sensing objects, please refer to the above text, which will not be repeated here.

[0148] S505, based on the identity identifier of the target perception object, associates the target perception object and the traffic participant in the perception result.

[0149] In some embodiments, the roadside device can create a re-identification identifier for the target sensing object in the storage space based on the correspondence between the identity identifier and the re-identification identifier of the target sensing object; then, the re-identification identifier and the re-identification feature of the target sensing object are stored in the preset storage space.

[0150] According to the binding method between roadside equipment and traffic participants provided in this application, the roadside equipment searches the database based on the re-identification features in the perception results. If no corresponding vehicle information is found, a match is made between the interaction information between the roadside equipment and the vehicle and the vehicle-mounted features in the perception results obtained by the roadside equipment. A re-identification identifier is assigned to the matching vehicle, and its corresponding re-identification features are stored in the database to achieve binding between the roadside equipment and the vehicle. This also facilitates subsequent vehicle filtering and binding by the roadside equipment based on the re-identification features. By storing the re-identification features corresponding to the vehicle in the database for vehicle filtering and binding by the roadside equipment, this method can eliminate the information interaction and feature matching process between the roadside equipment and the vehicle when binding them for the first time, thereby improving the efficiency of binding while maintaining accuracy.

[0151] For example, such as Figure 6 The diagram shown is a schematic flowchart of a method for assisted driving provided in an embodiment of this application. The flowchart includes the following steps:

[0152] S601, bind the vehicle and the roadside equipment, and obtain the binding relationship between the vehicle and the roadside equipment.

[0153] In this embodiment, the roadside equipment binds the vehicle and the roadside equipment according to the binding method between the roadside equipment and the traffic participant provided in the above-described embodiments of this application. The specific binding process can be found in the relevant descriptions above, and will not be repeated here.

[0154] S602 obtains vehicle service information and vehicle identification based on the perception results of roadside equipment.

[0155] In some embodiments, roadside equipment can sense vehicles, such as by using images to identify vehicle features or by using point clouds to identify the vehicle's driving status.

[0156] In some embodiments, service information may include route planning and / or security alerts.

[0157] In some embodiments, roadside equipment can obtain service information corresponding to the vehicle based on the sensing results. This acquisition can be achieved by the roadside equipment determining the appropriate service information for the vehicle based on its current driving status. For example, if the roadside equipment determines that the vehicle is speeding based on its driving status, the obtained service information could be a reminder to slow down. Alternatively, when road conditions are special at certain locations, the roadside equipment can determine, based on road condition information and the sensed vehicle location information, that it needs to provide road condition alerts to vehicles located in those special road conditions; in this case, the obtained service information could be road condition alert information.

[0158] S603 sends service information to the vehicle based on its identity and corresponding binding relationship.

[0159] In some embodiments, after obtaining service information, the roadside device can send the service information to the vehicle based on the vehicle's identity and binding relationship. For example, the roadside device can store the correspondence between the vehicle's identity and the vehicle's OUB communication address. For instance, after the vehicle enters the sensing range of the roadside device, it can send interactive information to the roadside device, which may include the correspondence between the vehicle's identity and the vehicle's OUB communication address.

[0160] In other embodiments, if the road conditions at certain road locations are special, the roadside equipment can also obtain the vehicle identification identifiers located at these special road condition locations based on the sensed vehicle locations, and then send (unicast or broadcast) the corresponding service information to these vehicles.

[0161] According to the assisted driving method provided in the embodiments of this application, after the roadside equipment and the vehicle are bound together, the roadside equipment can issue relevant service information to a specific vehicle based on the perceived road conditions and vehicle driving information, and provide route guidance, thereby improving the safety of vehicle driving and enhancing the user's driving experience.

[0162] For example, such as Figure 7 The diagram shown is a structural schematic of a roadside device provided in an embodiment of this application. The roadside device 700 includes a receiving module 701, a retrieval module 702, and a processing module 703.

[0163] In some embodiments, the receiving module 701 can be used to acquire the re-identification features of traffic participants.

[0164] The retrieval module 702 can be used to retrieve whether a target re-identification feature matching the re-identification feature exists in a preset storage space; the preset storage space stores re-identification features of multiple traffic participants, and each of the multiple traffic participants is assigned a corresponding re-identification identifier; the multiple traffic participants correspond to multiple sensing objects in the roadside perception results, and the roadside perception results are the perception results of the roadside equipment; the identity identifier of the sensing object corresponds to the re-identification identifier of the corresponding traffic participant in the storage space.

[0165] The processing module 703 can be used to determine the identity identifier of the target sensing object in the roadside sensing result based on the re-identification identifier corresponding to the target re-identification feature when the target re-identification feature is retrieved; and bind the roadside device and the traffic participant based on the identity identifier of the target sensing object, so that the target sensing object and the traffic participant are associated in the sensing result.

[0166] In some embodiments, the receiving module 701 can also be used to communicate with the traffic participant when the traffic participant enters the sensing range of the roadside device, to obtain the interaction information of the traffic participant, and to obtain the sensing result, wherein the sensing result includes multiple sensing objects.

[0167] The processing module 703 can also be used to match the interaction information with multiple sensing objects in the sensing result to obtain the target sensing object; assign the identity identifier to the target sensing object; and associate the target sensing object and the traffic participant in the sensing result based on the identity identifier of the target sensing object.

[0168] In some embodiments, the processing module 703 can also be used to create a re-identification identifier for the target sensing object in the storage space based on the correspondence between the identity identifier and the re-identification identifier; and store the re-identification identifier of the target sensing object and the re-identification features of the target sensing object in the preset storage space.

[0169] In some embodiments, the processing module 703 can also be used to match multiple traffic participants in the perception result with one or more of the type features, color features, and size features of the traffic participants.

[0170] In addition, the roadside device may also include a communication module. In some embodiments, the processing module 703 may also be used to obtain the service information of the vehicle and the vehicle's identification based on the perception results of the roadside device.

[0171] The communication module can send the service information to the vehicle based on the target vehicle's identity and the corresponding binding relationship.

[0172] For example, such as Figure 8 The diagram shown is a hardware structure schematic of a roadside device according to an embodiment of this application. The roadside device 800 may include one or more communication interfaces 801, one or more processors 802, one or more memories 803, and a universal serial bus 804 connecting the communication interfaces 801, processors 802 and memories 803.

[0173] One or more memories 803 are used to store computationally readable instructions, and one or more processors 802 are used to execute the computationally readable instructions.

[0174] In some embodiments, when the computer-readable instructions are executed, the roadside equipment is caused to perform the following steps:

[0175] Obtain re-identification features of traffic participants;

[0176] The system searches a preset storage space to determine if a target re-identification feature matching the re-identification feature exists. The preset storage space stores re-identification features of multiple traffic participants, and each of the multiple traffic participants is assigned a corresponding re-identification identifier. The multiple traffic participants correspond to multiple sensing objects in the roadside perception results, where the roadside perception results are the perception results of the roadside equipment. The identity identifier of the sensing object corresponds to the re-identification identifier of the corresponding traffic participant in the storage space.

[0177] When the target re-identification feature is retrieved, the identity identifier of the target perception object in the roadside perception result is determined according to the re-identification identifier corresponding to the target re-identification feature.

[0178] Based on the identity identifier of the target sensing object, the roadside equipment and the traffic participant are bound together, so that the target sensing object and the traffic participant are associated in the sensing result.

[0179] In some embodiments, when the computer-readable instructions are executed, the roadside equipment is caused to perform the following steps:

[0180] When the traffic participant enters the sensing range of the roadside equipment, it communicates with the traffic participant and obtains the traffic participant's interaction information;

[0181] The perception result is obtained, and the perception result includes multiple perception objects;

[0182] The interaction information is matched with multiple sensing objects in the sensing results to obtain the target sensing object;

[0183] Assign the identity identifier to the target perceived object;

[0184] Based on the identity identifier of the target sensing object, the target sensing object and the traffic participant in the sensing result are associated.

[0185] In some embodiments, when the computer-readable instructions are executed, the roadside equipment is caused to perform the following steps:

[0186] Based on the correspondence between the identity identifier and the re-identification identifier, a re-identification identifier for the target perceived object is created in the storage space;

[0187] The target object re-identification identifier and the target object re-identification feature are stored in the preset storage space.

[0188] In some embodiments, when the computer-readable instructions are executed, the roadside equipment is caused to perform the following steps:

[0189] Match the traffic participants with one or more of the type, color, and size characteristics of the traffic participants in the perception results.

[0190] In some embodiments, when the computer-readable instructions are executed, the roadside equipment is caused to perform the following steps:

[0191] Based on the perception results of the roadside equipment, the service information of the vehicle and the vehicle's identification are obtained;

[0192] Based on the identity of the target vehicle and the corresponding binding relationship, the service information is sent to the vehicle.

[0193] This application also provides a computer-readable storage medium including computer instructions that, when executed in a computer, enable the above-mentioned method for binding roadside equipment to traffic participants and the method for driving assistance to be implemented.

[0194] This application also provides a computer product, which includes computer instructions. When the computer instructions are executed in the computer, the above-mentioned method for binding roadside equipment with traffic participants and the method for driving assistance are implemented.

[0195] 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 as a computer program product. The computer program product includes one or more computer commands. When the computer program commands 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 commands can be stored in a computer-readable storage medium or transmitted through the computer-readable storage medium. The computer commands 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 disk (SSD)).

[0196] Those skilled in the art will understand that implementing all or part of the processes in the methods of the above embodiments can be accomplished 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.

[0197] The above description is merely a specific implementation of the embodiments of this application, but the protection scope of the embodiments of this application is not limited thereto. Any changes or substitutions within the technical scope disclosed in the embodiments of this application should be covered within the protection scope of the embodiments of this application. Therefore, the protection scope of the embodiments of this application should be determined by the protection scope of the claims.

Claims

1. A method for binding roadside equipment with traffic participants, characterized in that, Applied to roadside equipment, the roadside equipment including a roadside unit (RSU), the method includes: Obtain re-identification features of traffic participants; The system searches a preset storage space to determine if a target re-identification feature matching the re-identification feature exists. The preset storage space stores re-identification features of multiple traffic participants, and each of the multiple traffic participants is assigned a corresponding re-identification identifier. The multiple traffic participants correspond to multiple sensing objects in the roadside perception results, where the roadside perception results are the perception results of the roadside equipment. The identity identifier of the sensing object corresponds to the re-identification identifier of the corresponding traffic participant in the storage space. When the target re-identification feature is retrieved, the identity identifier of the target perception object in the roadside perception result is determined according to the re-identification identifier corresponding to the target re-identification feature. Based on the identity of the target sensing object, the roadside equipment and the traffic participant are bound together, so that the target sensing object and the traffic participant are associated in the sensing result, so as to provide traffic guidance or early warning prompts to the traffic participant based on the corresponding sensing result.

2. The binding method according to claim 1, characterized in that, The method further includes: When the traffic participant enters the sensing range of the roadside equipment, it communicates with the traffic participant and obtains the traffic participant's interaction information; The perception result is obtained, and the perception result includes multiple perception objects; The interaction information is matched with multiple sensing objects in the sensing results to obtain the target sensing object; Assign the identity identifier to the target perceived object; Based on the identity identifier of the target sensing object, the target sensing object and the traffic participant in the sensing result are associated.

3. The binding method according to claim 1, characterized in that, The method further includes: Based on the correspondence between the identity identifier and the re-identification identifier, a re-identification identifier for the target perceived object is created in the storage space; The target object re-identification identifier and the target object re-identification feature are stored in the preset storage space.

4. The binding method according to any one of claims 1-3, characterized in that, The re-identification features are image features.

5. The binding method according to any one of claims 2, characterized in that, The interactive information includes one or more of the type characteristics, color characteristics, and size characteristics of the traffic participant; The step of matching the interaction information with multiple perception objects in the perception results to obtain the target perception object specifically includes: Match the traffic participants with one or more of the type, color, and size characteristics of the traffic participants in the perception results.

6. A method for assisting driving, characterized in that, Applied to roadside equipment, the method includes: According to any one of claims 1 to 5, the vehicle and the roadside equipment are bound together to obtain the binding relationship between the vehicle and the roadside equipment; Based on the perception results of the roadside equipment, the service information of the vehicle and the vehicle's identification are obtained; Based on the vehicle's identity and the corresponding binding relationship, the service information is sent to the vehicle.

7. The method according to claim 6, characterized in that, The service information includes route planning and / or security alerts.

8. A roadside device, characterized in that, include: One or more communication interfaces; One or more memories for storing computer-readable instructions; One or more processors are configured to execute the computer-readable instructions, which, when executed, enable the function of the method as claimed in any one of claims 1 to 5 or 6 or 7 on the roadside equipment.

9. A V2X-based system, characterized in that, The system includes roadside equipment and a vehicle, the vehicle being equipped with an onboard V2X terminal, the vehicle being used to communicate with the roadside equipment via the onboard V2X terminal, and the roadside equipment being used to perform the method as claimed in any one of claims 1 to 5 or 6 or 7.

10. A computer-readable storage medium, characterized in that, The computer-readable storage medium includes computer instructions that, when executed, enable the method as claimed in any one of claims 1 to 5 or 6 or 7 to be implemented.

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