Vehicle positioning detection method and system in vehicle networking, storage medium and electronic device

Abstract

The application discloses a vehicle positioning detection method and system in Internet of Vehicles, a storage medium and an electronic device. The method comprises the following steps: acquiring position information of a target vehicle and a map message received by the target vehicle; determining a road section where the target vehicle is located and a target plane corresponding to the road section where the target vehicle is located according to the position information and the map message; determining other planes where other vehicles are located according to a road safety message sent by a target roadside device and vehicle safety messages sent by the other vehicles, wherein the road safety message comprises state information of the vehicles in a road covered by the target roadside device, and the vehicle safety message comprises state information of the other vehicles; and determining whether the other vehicles are in the same plane as the target vehicle according to the other planes and the target plane.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of wireless communication for vehicles, in particular, to a vehicle positioning detection method and system in vehicle networking, a storage medium and an electronic device. BACKGROUND

[0002] At present, with the wide application of vehicles in people's daily life and travel, vehicle information interaction, transmission and control can be performed through vehicle networking. In the application of vehicle networking, based on V2X (vehicle to everything) technology, through the communication of various applications such as vehicle-to-vehicle, vehicle-to-person, vehicle-to-infrastructure, the vehicle can select the best driving path, and through the analysis of the current position of the vehicle and other surrounding environment information, the early warning of possible traffic accidents (such as collision warning) can be realized to reduce the occurrence of traffic accidents.

[0003] However, the V2X application scenario is strongly dependent on vehicle location information, and the related application algorithm is realized by sharing vehicle location information. The positioning detection of vehicles in vehicle networking usually obtains the current latitude and longitude information of the vehicle by using a global navigation satellite system (GNSS). However, for vehicles on roads with physical stratification (such as overpasses and viaducts), it is easy to misjudge the collision warning by only judging the current position according to the latitude and longitude information. For two vehicles not on the same layer of the road but with similar latitude and longitude, collision warning misjudgment often occurs.

[0004] Therefore, the vehicle positioning detection method in the related art has the problem that collision warning misjudgment is easy to occur when the vehicle position is judged based on latitude and longitude information for collision warning. SUMMARY

[0005] The embodiments of the present application provide a vehicle positioning detection method and system in vehicle networking, a storage medium and an electronic device to at least solve the problem that collision warning misjudgment is easy to occur when the vehicle position is judged based on latitude and longitude information for collision warning in the related art vehicle positioning detection method in vehicle networking.

[0006] According to one aspect of an embodiment of the present application, a vehicle positioning detection method in a vehicle network is provided, including: obtaining position information of a target vehicle and a map message received by the target vehicle; determining a road section where the target vehicle is located, and a target plane corresponding to the road section where the target vehicle is located, based on the position information and the map message; determining other planes where the other vehicles are located, based on a road safety message sent by a target roadside device and a vehicle safety message sent by other vehicles received by the target vehicle, wherein the road safety message includes status information of vehicles on the road covered by the target roadside device, and the vehicle safety message includes status information of the other vehicles; and determining whether the other vehicles are in the same plane as the target vehicle based on the other planes and the target plane.

[0007] According to another aspect of an embodiment of the present application, a vehicle positioning detection system in an Internet of Vehicles is also provided, including: a data processing component for obtaining position information of a target vehicle and a map message received by the target vehicle; determining the road section where the target vehicle is located and a target plane corresponding to the road section where the target vehicle is located based on the position information and the map message; determining other planes where the other vehicles are located based on road safety messages sent by a target roadside device and vehicle safety messages sent by other vehicles received by the target vehicle, wherein the road safety message includes status information of vehicles on the road covered by the target roadside device, and the vehicle safety message includes status information of the other vehicles; determining whether the other vehicles are in the same plane as the target vehicle based on the other planes and the target plane.

[0008] According to another aspect of the embodiments of the present application, a computer-readable storage medium is provided, in which a computer program is stored, wherein the computer program is configured to execute the above-mentioned vehicle positioning detection method in the Internet of Vehicles when running.

[0009] According to another aspect of an embodiment of the present application, an electronic device is also provided, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the vehicle positioning detection method in the Internet of Vehicles through the computer program.

[0010] In an embodiment of the present application, a method of combining vehicle position information, received map messages, road safety messages, and vehicle safety messages sent by other vehicles to determine whether other vehicles are in the same plane as the target vehicle is adopted, by obtaining the position information of the target vehicle and the map message received by the target vehicle; determining the section of the road where the target vehicle is located and the target plane corresponding to the section of the road where the target vehicle is located based on the position information and the map message; determining other planes where other vehicles are located based on the road safety messages sent by the target roadside equipment received by the target vehicle and the vehicle safety messages sent by other vehicles, wherein the road safety messages include status information of vehicles on the road covered by the target roadside equipment, and the vehicle safety messages include status information of other vehicles; determining whether other vehicles are in the same plane as the target vehicle based on the other planes and the target plane. Since the vehicle position is determined by combining map messages, roadside equipment and safety messages sent by other vehicles, compared with determining the relative position of the target vehicle and other vehicles based on positioning data alone, the road section and plane where the target vehicle is located are determined based on the target vehicle position information and the received map information, and then combined with the safety messages sent by the roadside equipment and other vehicles, the vehicles on the same plane as the target vehicle are determined through the known roadside equipment information on the plane. After determining the vehicles on the same plane, corresponding collision detection can be performed, which can achieve the purpose of enriching the reference factors of the vehicle position and achieve the technical effect of improving the accuracy of vehicle collision warning, thereby solving the problem of vehicle positioning detection method in the Internet of Vehicles in related technologies, which is prone to misjudgment of collision warning when judging the vehicle position based on latitude and longitude information. BRIEF DESCRIPTION OF THE DRAWINGS

[0011] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and, together with the description, serve to explain the principles of the present application.

[0012] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, for ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0013] Figure 1 Schematic diagram of a hardware environment for an optional vehicle positioning detection method in an Internet of Vehicles according to an embodiment of the present application;

[0014] Figure 2 This is a flow chart of an optional method for detecting vehicle positioning in an Internet of Vehicles according to an embodiment of the present application;

[0015] Figure 3 is a schematic diagram of an optional multi-layer road according to an embodiment of the present application;

[0016] Figure 4 is a schematic diagram of an optional vehicle positioning detection method in a connected vehicle network according to an embodiment of the present application;

[0017] Figure 5 This is a structural block diagram of an optional electronic device according to an embodiment of the present application. DETAILED DESCRIPTION

[0018] In order to enable those skilled in the art to better understand the present invention, the following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments in the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts should fall within the scope of protection of this application.

[0019] It should be noted that the terms "first", "second", etc. in the specification and claims of the present application and the above-mentioned drawings are used to distinguish similar objects and are not necessarily used to describe a specific order or sequential order. It should be understood that the data used in this way can be interchangeable where appropriate, so that the embodiments of the present application described herein can be implemented in a sequence other than those illustrated or described herein. In addition, the terms "including" and "having" and any of their variations are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device comprising a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0020] According to one aspect of the embodiment of the present application, a method for detecting vehicle positioning in a vehicle network is provided. Optionally, in this embodiment, the above-mentioned method for detecting vehicle positioning in a vehicle network can be applied to Figure 1 In the hardware environment shown, the vehicle networking device 102 and the server 104 are included. Figure 1 As shown, the server 104 is connected to the IoV device 102 via a network and can be used to locate the vehicle based on messages from the IoV device 102. A database can be set up on the server or independently of the server to provide data storage services for the server 104. Here, the IoV device 102 can be a V2X device such as a roadside device or an in-vehicle device.

[0021] The aforementioned network may include, but is not limited to, at least one of the following: a wired network and a wireless network. The aforementioned wired network may include, but is not limited to, at least one of the following: a wide area network, a metropolitan area network, and a local area network. The aforementioned wireless network may include, but is not limited to, at least one of the following: Wi-Fi (Wireless Fidelity) and Bluetooth.

[0022] The vehicle positioning detection method in the vehicle network of the embodiment of the present application can be executed by the server 104, or can be executed by the server 104 and the vehicle network device 102 together. Taking the vehicle positioning detection method in the vehicle network of the embodiment executed by the server 104 as an example, Figure 2 FIG. 1 is a flow chart of an optional vehicle positioning detection method in a vehicle network according to an embodiment of the present application, such as Figure 2 As shown, the process of the method may include the following steps:

[0023] Step S202: Acquire the location information of the target vehicle and the map message received by the target vehicle.

[0024] The vehicle positioning detection method in the connected vehicle network described in this embodiment can be applied to scenarios involving real-time positioning of a target vehicle and surrounding vehicles within the connected vehicle network. This connected vehicle network can utilize moving vehicles as information sensing targets. Through next-generation information and communication technologies, network connections between vehicles and cloud platforms, vehicles and vehicles, vehicles and roads, and vehicles and people can be established, enhancing overall intelligent driving capabilities and improving traffic efficiency. The information and communication technology within the connected vehicle network can be vehicle-to-everything (V2X) technology, enabling information exchange between vehicles to improve road safety. Information exchange between vehicles and surrounding roadside equipment provides vehicles with road information.

[0025] During a vehicle's travel, its onboard V2X communication terminal can receive information such as the speed and location of surrounding vehicles and broadcast its own speed and location information. By determining the driving status of surrounding vehicles and the vehicle's own driving status, it can analyze whether there is a collision risk and, upon determining the existence of a risk, issue a corresponding collision warning to the driver. A collision warning here can be an advance warning given when it is determined that the vehicle is at risk of colliding with another vehicle or building. It may include but is not limited to emergency automatic braking warnings, preceding vehicle warnings, overtaking warnings, intersection warnings, and vehicle loss of control warnings. Various V2X application scenarios strongly rely on vehicle location information. Sharing vehicle location information is used to implement related application algorithms, especially collision warnings, which require detection based on the vehicle's real-time location.

[0026] In related technologies, V2X usually obtains vehicle positioning data through GNSS. Although the positioning data obtained by GNSS includes the vehicle's current latitude, longitude, and elevation data, the accuracy of the elevation data in GNSS is low and the error is large. In addition, many vehicle information does not provide elevation data. However, the actual road structure is complex, and many roads have physical layers, such as overpasses, viaducts, and pedestrian bridges. Figure 3 Without high-precision elevation data, relying solely on GNSS positioning, V2X will still determine that two vehicles are on the same road surface, even if they are not on the same lane. This can lead to frequent vehicle warnings due to collision risk or overlap. However, since the two vehicles are not actually on the same lane, collision warnings due to similar or overlapping longitude and latitude data are false positives, reducing the practicality of V2X and affecting the user experience.

[0027] In order to at least solve some of the above problems, in this embodiment, based on the received map message (Map), basic safety message (Business Service Management, abbreviated as BSM) and roadside safety message (RoadSafety Message, abbreviated as RSM), the roadside equipment on the same plane as the vehicle can be first determined, and then other vehicles matching the message sent by the roadside equipment can be determined, and then the vehicles on the same plane can be determined. Finally, corresponding collision detection is performed on the vehicles on the same plane, thereby avoiding collision warning misjudgment caused by collision warning for two vehicles in lanes on different levels.

[0028] In this embodiment, when determining the current position of the target vehicle, the position information of the target vehicle and the map message received by the target vehicle can be obtained first. Here, the target vehicle is a vehicle equipped with an on-board V2X terminal device, and the position information of the target vehicle can be the real-time position information of the vehicle obtained by satellite positioning (for example, the aforementioned GNSS), which can include longitude and latitude information. The map message can be sent to the target vehicle by the roadside device, and can include information about each road section near the location of the target vehicle, as well as the location and ID (Identity Document) of the roadside device and other information. The road section in the map message can be a road from one node to another adjacent node.

[0029] Optionally, the vehicle-mounted V2X terminal device may include a GNSS module, an antenna module, a central processing module, a security authentication module, a CAN (an intelligent electronic control device that forwards communication data between various electronic control devices in a vehicle) module, and other related modules for receiving V2X message sets over the air and periodically broadcasting V2X messages. The GNSS module is used to obtain real-time positioning data for the vehicle; the CAN module can connect to the vehicle-mounted V2X communication terminal via a USB interface and / or serial port, enabling the V2X communication terminal to provide driving advice to the vehicle; and the central processing module can integrate and calculate received V2X messages (such as BSM, MAP, RSM, etc.) to generate decision-making information. Correspondingly, the roadside equipment may include a roadside detection module (such as laser, radar, camera, etc.) and a roadside V2X communication terminal. The roadside detection module can be connected to the roadside V2X communication terminal via a network port (TCP (C / S) (Transmission Control Protocol client / Server, a transmission control protocol) and UDP (User Datagram Protocol)) to provide vehicle driving status data to the roadside V2X communication terminal. The roadside V2X communication terminal can be connected to the roadside detection module via a network port (TCP (C / S), UDP) to receive vehicle driving status data and GPS (Global Positioning System) data detected by the detection module, as well as receive and broadcast V2X messages.

[0030] Step S204: determining the road section where the target vehicle is located and the target plane corresponding to the road section where the target vehicle is located according to the location information and the map message.

[0031] In this embodiment, based on the acquired location information and map message, the road section where the target vehicle is located and the target plane corresponding to the road section where the target vehicle is located can be determined. Here, the road section where the target vehicle is located can be selected from various road sections in the map message based on the vehicle's location information.

[0032] Optionally, there may be multiple ways to determine the road section where the target vehicle is located. For example, based on the location information of the target vehicle, the positional relationship between the target vehicle and each node in the map message may be determined. Then, according to the corresponding positions of the vehicle and the road section where it is located in the map message in the actual scenario, two adjacent nodes that meet the corresponding positions and are closest to the target vehicle are selected from the map message as the road section where the target vehicle is located. It may also be determined by other methods, which is not limited in this embodiment.

[0033] When determining the target plane corresponding to the road section where the target vehicle is located, since the map message can include the location information of the sender, in this embodiment, the plane where the sender of the map message (i.e., the roadside equipment) is located can be determined based on the map message corresponding to the road section where the target vehicle is located. This plane is the target plane corresponding to the road section where the target vehicle is located.

[0034] Optionally, since each roadside device can broadcast map messages within its own area to nearby vehicles, if the target vehicle's road section is located on one of a multi-layered road surface, the target vehicle can simultaneously receive map messages from roadside devices on its own layer and the layers above and below it. Whether the target vehicle's road section is located on one of the multi-layered road surfaces can be determined by determining whether the sender of each received map message is located on multiple planes. If multiple planes are determined, the target vehicle's road section can be determined to be on one of the multi-layered road surfaces.

[0035] Optionally, when the road section where the target vehicle is located is on a road surface in a multi-layer road surface, while determining the plane corresponding to the road section where the target vehicle is located as the target plane, the sender of other received map messages (i.e., other roadside equipment) can be determined to be on a different plane from the target vehicle.

[0036] Step S206, determining other planes where other vehicles are located based on the road safety messages sent by the target roadside equipment and the vehicle safety messages sent by other vehicles received by the target vehicle, wherein the road safety messages include status information of vehicles on the road covered by the target roadside equipment, and the vehicle safety messages include status information of other vehicles.

[0037] When it is determined that the road section where the target vehicle is located is on a road surface in a multi-layer road surface, since the target vehicle can simultaneously receive vehicle safety messages sent by vehicles on this layer and the upper and lower layers, in this embodiment, the other planes where other vehicles are located can be determined by combining the road safety messages sent by the target roadside equipment and the vehicle safety messages sent by other vehicles received by the target vehicle. Here, the other vehicles can be one vehicle or multiple vehicles, and this embodiment does not limit this. The target roadside equipment can be the roadside equipment near the target vehicle, and can include the roadside equipment located on the target plane, and can also include the roadside equipment located on other planes different from the target plane. The road safety message can be the aforementioned roadside safety message, i.e., RSM, and can include the status information of vehicles on the road covered by the target roadside equipment. The vehicle safety message can be the aforementioned basic safety message, i.e., BSM, and can include the status information of other vehicles.

[0038] Optionally, since the map message sent by the roadside device carries its own location information and ID information, the roadside device ID information can be used as a unique tag to match the road safety message it sends. This can then determine the plane where the target roadside device is located when broadcasting the road safety message to the target vehicle.

[0039] Furthermore, to facilitate locating the target roadside device's plane, relevant information (including location and ID information) for the roadside device corresponding to the target vehicle's target plane can be added to the same-plane data source search list. Map messages received for roadside devices in other planes are then extracted and added to the different-plane data source search list. Here, "same plane" refers to the same plane as the target vehicle's target plane.

[0040] Optionally, when determining other planes where other vehicles are located, the status information of the vehicle in the road safety message and the status information of the vehicle in the vehicle safety message can be compared, and the matching road safety message can be determined based on the vehicle safety message sent by other vehicles, and the other planes where other vehicles are located can be determined based on the plane where the sender of the corresponding road safety message is located.

[0041] If it is determined that the target vehicle's road section does not belong to a multi-layer road surface, the other planes where other vehicles are located can be presumed to be on the same plane as the target vehicle. However, considering that the other planes where other vehicles are located may not belong to the same road as the target plane where the target vehicle is located, and the other vehicles may be on multiple layers of road, the other planes where other vehicles are located can still be determined using the aforementioned method of combining road safety messages and vehicle safety messages to determine the plane.

[0042] Step S208: Determine whether the other vehicles are in the same plane as the target vehicle based on the other planes and the target plane.

[0043] In this embodiment, the other planes determined for the other vehicles can be combined with the target plane determined for the target vehicle to determine whether the other vehicles are in the same plane as the target vehicle. Alternatively, if the other planes are a single plane, and that single plane is the target plane, then the other vehicles can be determined to be in the same plane as the target vehicle. If the other planes are multiple planes, if one of the other planes is in the same plane as the target plane, then the vehicle corresponding to that single plane can be determined to be in the same plane as the target vehicle.

[0044] Through the above steps S202 to S208, the position information of the target vehicle and the map message received by the target vehicle are obtained; based on the position information and the map message, the road section where the target vehicle is located and the target plane corresponding to the road section where the target vehicle is located are determined; based on the road safety message sent by the target roadside equipment and the vehicle safety message sent by other vehicles received by the target vehicle, other planes where other vehicles are located are determined, wherein the road safety message includes the status information of vehicles on the road covered by the target roadside equipment, and the vehicle safety message includes the status information of other vehicles; based on the other planes and the target plane, it is determined whether the other vehicles are in the same plane as the target vehicle, which solves the problem in the related art that the vehicle positioning detection method in the Internet of Vehicles based on the latitude and longitude information is prone to collision warning misjudgment, thereby improving the accuracy of the vehicle's collision warning.

[0045] In an exemplary embodiment, determining the road section where the target vehicle is located based on the location information and the map information includes:

[0046] S11, obtaining a set of node pairs of a set of associated road segments corresponding to the location information from the map message, wherein each node pair in the set of node pairs represents a start point and an end point of an associated road segment corresponding to the set of associated road segments;

[0047] S12, selecting a target node pair that meets preset conditions from a group of node pairs based on the relationship between the position information and each node pair in the group of node pairs, and determining the road section where the target vehicle is located based on the target node pair.

[0048] When determining the road section where the target vehicle is located, a target node pair can be selected from the various nodes in the map message based on the target vehicle's location information, and the road section corresponding to the target node pair can be used as the road section where the target vehicle is located. In this embodiment, a set of node pairs corresponding to a set of associated road sections can be obtained from the map message. Here, each node pair in the set of node pairs can represent the starting point and end point of a corresponding associated road section in the set of associated road sections. Corresponding to the location information can mean being identical to or close to the target vehicle's latitude and longitude and other relevant location information.

[0049] Based on the relationship between the location information and each node pair in the set of node pairs, a target node pair that meets a preset condition can be selected from the set of node pairs, and the road section where the target vehicle is located can be determined based on the target node pair. Here, the relationship between the location information and each node pair can include, for example, a relationship between the target vehicle's location point and the two nodes of each node pair. The preset condition can be a pre-set condition for selecting the target node pair.

[0050] Through this embodiment, a target node pair is selected from each node in the map message according to the location information of the target vehicle to determine the road section where the target vehicle is located, which can improve the accuracy of determining the road section where the vehicle is located.

[0051] In an exemplary embodiment, selecting a target node pair that meets a preset condition from a group of node pairs based on a relationship between the location information and each node pair in the group of node pairs includes:

[0052] S21, determining, based on the position information, a first distance and a second distance between the position of the target vehicle and each node pair, a third distance between two nodes in each node pair, and a perpendicular distance between the position of the target vehicle and a line connecting the nodes of each node pair, wherein the first distance is the distance between the position of the target vehicle and one node in each node pair, and the second distance is the distance between the position of the target vehicle and the other node in each node pair;

[0053] S22, select a node pair that meets the preset conditions from a group of node pairs as the target node pair, wherein the preset conditions are that the sum of the square of the first distance and the square of the third distance is greater than or equal to the square of the second distance, the sum of the square of the second distance and the square of the third distance is greater than or equal to the square of the first distance, and the vertical distance is less than or equal to the preset path width.

[0054] For the selection of target node pair, the distance according to the position information of target vehicle and each node pair and the relationship with the perpendicular distance of the node line that each node is right can be determined.In the present embodiment, the first distance and the second distance that can be determined according to the position information of target vehicle and each node pair, the third distance between two nodes in each node pair and the perpendicular distance of the node line that the position of target vehicle and each node pair are right.Here, the first distance can be the distance between the position of target vehicle and a node in each node pair, and the second distance can be the distance between the position of target vehicle and another node in each node pair.

[0055] Correspondingly, the preset conditions for selecting a target node pair may be that the sum of the square of the first distance and the square of the third distance is greater than or equal to the square of the second distance, the sum of the square of the second distance and the square of the third distance is greater than or equal to the square of the first distance, and the vertical distance is less than or equal to a preset path width. Based on the determined values ​​of the first distance, the second distance, the third distance, and the vertical distance, a node pair that meets the preset conditions may be selected from a group of node pairs as the target node pair.

[0056] For example, two nodes (starting point and end point) of each road section are obtained from the map message to form a node set. Any two nodes in the node set are determined as the first candidate node pair, and the squares of the distances from the current position of the vehicle to the two nodes in the first candidate node pair are calculated to obtain the first distance value and the second distance value, as well as the square of the distance between the two nodes in the first candidate node pair to obtain the third distance value. Determine whether the sum of the first distance value and the third distance value is greater than or equal to the second distance value, and whether the sum of the second distance value and the third distance value is greater than or equal to the first distance value. If so, the first candidate node pair is determined as the second candidate node pair. Then calculate the vertical distance from the vehicle to the node connection line of the two nodes in the second candidate node pair, and determine the second candidate node pair whose vertical distance is less than or equal to the preset road section width as the third candidate node pair. Figure 4 As shown, (B1, B2) is one of the first candidate node pairs composed of any two nodes, and the current position A of the vehicle includes A1, A2, A3 and A4. Among them, for vehicles A1, A2 and A4, AB1 is satisfied. 2 +B1B2 2 ≥AB2 2 , and AB2 2 +B1B2 2 ≥AB1 2 , then (B1, B2) is determined as the second candidate node pair for vehicles A1, A2, and A4. For vehicle A3, (B1, B2) does not satisfy the above equation, so (B1, B2) is not the second candidate node pair for A3. d1 is the vertical distance from A1 to road section B1B2, and d2 is the vertical distance from A2 to road section B1B2. If d1 < the preset road section width < d2, then for vehicle A1, (B1, B2) can be determined as the third candidate node pair.

[0057] Through this embodiment, the preset conditions for selecting the target node pair are set according to the distance between the vehicle position and each road section node and the vertical distance to the road section, which can improve the accuracy of the target node pair selection.

[0058] In an exemplary embodiment, determining the road section where the target vehicle is located according to the target node pair includes:

[0059] S31, when the number of target node pairs is 1, determining the associated road section corresponding to the target node pair as the road section where the target vehicle is located, wherein the target node pair is the starting point and the end point of the associated road section corresponding to the target node pair; and / or

[0060] S32. When the target node pairs include N node pairs and N is a positive integer greater than or equal to 2, determine the N weights corresponding to the N node pairs based on the angle between the target vehicle's driving direction and the node line connecting each of the N node pairs, and the vertical distance between the target vehicle's position and the node line connecting each of the N node pairs; determine the associated road section corresponding to the node pair with the smallest weight among the N node pairs as the road section where the target vehicle is located, wherein the node pair with the smallest weight is the starting point and end point of the associated road section corresponding to the node pair with the smallest weight.

[0061] Based on the determined target node pair, the road section corresponding to the target node pair can be used as the road section where the target vehicle is located. Considering that the number of target node pairs selected according to the preset conditions may not be unique, in this embodiment, another selection can be made among the target node pairs to determine the most accurate node pair to help determine the road section where the target vehicle is located.

[0062] In this embodiment, when the number of target node pairs is 1, the associated road section corresponding to the target node pair can be determined as the road section where the target vehicle is located. Here, the target node pair can be the starting point and the end point of the associated road section corresponding to the target node pair.

[0063] When the target node pairs include N node pairs, and N is a positive integer greater than or equal to 2, N weights corresponding to the N node pairs can be determined based on the angle between the target vehicle's travel direction and the node line connecting each of the N node pairs, as well as the vertical distance between the target vehicle's position and the node line connecting each of the N node pairs, and the associated road section corresponding to the node pair with the smallest weight among the N node pairs is determined as the road section where the target vehicle is located. Here, the node pair with the smallest weight can be the starting point and end point of the associated road section corresponding to the node pair with the smallest weight.

[0064] For example, Figure 4 As shown, a weighted calculation is performed on the angle and vertical distance between the node line formed by the two nodes in the third candidate node pair and the driving direction, and the calculation method is weight R = W1*vertical distance value + W2*angle value. Here, W1 is the weight coefficient of the distance feature, W2 is the weight coefficient of the angle feature, and W1+W2=1. To ensure the accuracy of the weight, the unit of measurement of the vertical distance from each vehicle to each node line can be unified before calculation. By taking the vertical distance and angle as the numerical value for weight calculation, the obtained weight can represent the possibility of the vehicle moving away from the node line. The smaller the weight, the closer the vehicle is to the node line. Therefore, the weight of the vehicle and each third candidate node pair can be calculated, and the road section to which the third candidate node pair corresponding to the minimum weight belongs is determined as the road section where the vehicle is located.

[0065] Through this embodiment, the weight of the node pair is calculated according to the angle and vertical distance between the vehicle and the node, so as to select the most appropriate node pair from the target node pairs, which can improve the accuracy of determining the road section where the target vehicle is located.

[0066] In an exemplary embodiment, determining other planes where other vehicles are located based on a road safety message sent by a target roadside device and a vehicle safety message sent by other vehicles and received by the target vehicle includes:

[0067] S41, when the target roadside devices include M roadside devices, and M is a positive integer greater than or equal to 2, determining a plane on which each of the M roadside devices is located based on road safety messages sent by the M roadside devices and received by the target vehicle;

[0068] S42, matching the received vehicle safety messages sent by other vehicles with the road safety messages sent by the M roadside devices;

[0069] S43, when there is a road safety message that successfully matches the vehicle safety message among the road safety messages sent by the M roadside devices, the plane where the roadside device that sent the road safety message that successfully matched the vehicle safety message is located is determined as the other plane where other vehicles are located.

[0070] Since the vehicle safety messages sent by other vehicles may include the status information of the other vehicles themselves, and the road safety messages sent by the roadside equipment may include the status information of each vehicle near the roadside equipment, it can be determined that the road safety messages sent by the roadside equipment on the same plane as other vehicles must include the status information of other vehicles.

[0071] In this embodiment, when the target roadside equipment includes M roadside equipment and M is a positive integer greater than or equal to 2, the plane where each of the M roadside equipment is located can be determined based on the road safety messages sent by the M roadside equipment and received by the target vehicle.

[0072] Optionally, based on the road safety messages received from the M roadside devices, the plane where each of the M roadside devices is located can be determined by searching the ID and other information of the target roadside device in the aforementioned same plane data source retrieval list and the different plane data source retrieval list.

[0073] Optionally, a roadside device sends a road safety message. The target roadside devices include M roadside devices, and the number of road safety messages is M. Accordingly, the road safety messages sent by the M roadside devices may represent M road safety messages. A roadside device may also send multiple road safety messages. Accordingly, the road safety messages sent by M roadside devices may represent multiple road safety messages sent by the M roadside devices. This embodiment is not limited to this.

[0074] For the received vehicle safety messages sent by other vehicles and the road safety messages sent by the M roadside devices, the vehicle safety messages and the road safety messages may be matched to determine the other planes where the other vehicles are located.

[0075] In this embodiment, when there is a road safety message that successfully matches the vehicle safety message among the road safety messages sent by M roadside devices, the plane where the roadside device that sent the road safety message that successfully matched the vehicle safety message is located can be determined as the other plane where other vehicles are located.

[0076] Optionally, for a road safety message that successfully matches a vehicle safety message, relevant information about the roadside device that sent the message (i.e., location information and ID information, etc.) can be extracted to confirm its data source. The roadside device's ID information is then used as a search keyword to search for the other vehicle in different planes and the same plane data source. If the vehicle is found in the different plane data source search list, it is assumed that the other vehicle that successfully matched the message appeared as a traffic participant in the roadside device in a different plane, and the target vehicle is not considered to be on the same road surface as the other vehicle corresponding to the received vehicle safety message. Conversely, if the vehicle is found in the same plane data source search list, it is assumed that the target vehicle is on the same road surface as the other vehicle corresponding to the received vehicle safety message.

[0077] Through this embodiment, the plane where the sender of the vehicle safety message is located is determined by matching the received vehicle safety message with the road safety message, which can improve the accuracy of determining the planes where other vehicles are located.

[0078] In an exemplary embodiment, matching received vehicle safety messages sent by other vehicles with road safety messages sent by M roadside devices includes:

[0079] S51: Perform the following steps on a road safety message sent by an i-th roadside device among M roadside devices, where i is a positive integer greater than or equal to 1 and less than or equal to M:

[0080] determining whether the state information of the other vehicle in the vehicle safety message is same as the state information of the vehicle in the road safety message sent by the i th road side device, wherein the state information comprises at least one of the following: vehicle latitude and longitude, vehicle speed, vehicle heading angle, and vehicle size; and in the case that the state information of the other vehicle in the vehicle safety message is same as the state information of the vehicle in the road safety message sent by the i th road side device, determining that the road safety message sent by the i th road side device matches the vehicle safety message successfully; or

[0081] determining whether the difference between the state information of the other vehicle in the vehicle safety message and the state information of the vehicle in the road safety message sent by the i th road side device is less than a preset threshold, wherein the state information comprises at least one of the following: vehicle latitude and longitude, vehicle speed, vehicle heading angle, and vehicle size; and in the case that the difference between the state information of the other vehicle in the vehicle safety message and the state information of the vehicle in the road safety message sent by the i th road side device is less than the preset threshold, determining that the road safety message sent by the i th road side device matches the vehicle safety message successfully.

[0082] Since the vehicle latitude and longitude, the vehicle speed, the vehicle heading angle, and the vehicle size and other state information of the vehicle are included in both the road safety message and the vehicle safety message, when the information matching of the vehicle safety message sent by the other vehicle and the road safety message sent by the M road side devices is performed, the vehicle latitude and longitude, the vehicle speed, the vehicle heading angle, and the vehicle size and other state information of the vehicle can be used as the reference factors for the matching.

[0083] In the embodiment, for the determination process of whether the road safety message matches the vehicle safety message, the following steps can be performed on the road safety message sent by the i th road side device in the M road side devices: determining whether the state information of the other vehicle in the vehicle safety message is same as the state information of the vehicle in the road safety message sent by the i th road side device. Here, i is a positive integer greater than or equal to 1 and less than or equal to M. The state information can comprise at least one of the following: vehicle latitude and longitude, vehicle speed, vehicle heading angle, and vehicle size.

[0084] In the case that the state information of the other vehicle in the vehicle safety message is same as the state information of the vehicle in the road safety message sent by the i th road side device, it can be determined that the road safety message sent by the i th road side device matches the vehicle safety message successfully.

[0085] For example, the vehicle data in the real-time detected road condition information sent by the roadside equipment is received and stored in a local list. The license plate number, vehicle type or other description that can be used as a unique identifier is used as the search keyword, and matched with the received BSM message. When the longitude and latitude are equal, the real-time speed is equal, the heading angle is equal, the vehicle size and other information are equal, the match is considered successful.

[0086] Considering that there may be a difference between the vehicle status information detected by the vehicle itself and the vehicle status information detected by the roadside equipment, a preset threshold can be set in advance to determine whether the road safety message matches the vehicle safety message.

[0087] In this embodiment, the process for determining whether a road safety message matches a vehicle safety message may also include the following steps: determining whether the difference between the status information of other vehicles in the vehicle safety message and the status information of the vehicle in the road safety message sent by the i-th roadside device is less than a preset threshold. Here, the status information may include at least one of the following: vehicle latitude and longitude, vehicle speed, vehicle heading angle, and vehicle size. The preset threshold may be a set of thresholds set for each of the vehicle latitude and longitude, vehicle speed, vehicle heading angle, and vehicle size in the status information. Each threshold may be different or the same, and this embodiment does not limit this.

[0088] If the difference between the status information of other vehicles in the vehicle safety message and the status information of the vehicle in the road safety message sent by the i-th roadside device is less than a preset threshold, it can be determined that the road safety message sent by the i-th roadside device successfully matches the vehicle safety message. Here, the difference between the status information of the vehicles being less than the preset threshold may mean that the difference between the vehicle's latitude and longitude, vehicle speed, vehicle heading angle, and vehicle size in the status information in the vehicle safety message and the road safety message is less than the corresponding preset threshold.

[0089] Through this embodiment, by comparing relevant information such as vehicle latitude and longitude, vehicle speed, vehicle heading angle, and vehicle size, it is determined whether the road safety message and the vehicle safety message match, which can avoid matching errors caused by the same individual information of the vehicles, thereby improving the accuracy of determining the plane where the vehicle is located.

[0090] In an exemplary embodiment, determining whether the other vehicle is in the same plane as the target vehicle based on the other plane and the target plane includes: if the other plane and the target plane are in the same plane, determining that the other vehicle is in the same plane as the target vehicle. Correspondingly, the above method further includes:

[0091] S61 , when it is determined that the other vehicle and the target vehicle are in the same plane, performing collision detection on the other vehicle and the target vehicle.

[0092] In this embodiment, determining whether the other vehicles are in the same plane as the target vehicle based on the other planes and the target plane may include: determining that the other vehicles are in the same plane as the target vehicle when the other planes and the target plane are in the same plane.

[0093] If it is determined that the other vehicle and the target vehicle are in the same plane, a collision detection can be performed on the other vehicle and the target vehicle. Correspondingly, if it is determined that the other vehicle and the target vehicle are not in the same plane, there is no need to perform a collision detection on the other vehicle and the target vehicle, and there is no need to avoid the other vehicle when planning the path for the target vehicle.

[0094] Through this embodiment, collision detection is enabled when it is determined that other vehicles are in the same plane as the target vehicle, thereby improving the accuracy of collision detection.

[0095] The following is an explanation of the vehicle positioning detection method in the vehicle network in the embodiment of the present application with reference to an optional example. In this optional example, the target vehicle is the current vehicle.

[0096] This optional example provides a V2X-based solution and prompt system for false warnings in elevated bridge scenarios, which determines the vehicle's location and plane by combining map messages, roadside equipment, and safety messages sent by other vehicles.

[0097] The process of the vehicle positioning detection method in the Internet of Vehicles in this optional example may include the following steps:

[0098] Step 1: Determine the road section where the current vehicle is located based on the current position of the current vehicle and the MAP message.

[0099] Step 2: Determine the roadside equipment on the same plane according to the road section where the vehicle is currently located, and establish a same-plane data source retrieval list and a different-plane data source retrieval list according to the plane where the roadside equipment is located.

[0100] Step 3: Receive BSM messages sent by other vehicles and RSM messages sent by roadside equipment near the current vehicle to match vehicle information.

[0101] Step 4: Based on the successfully matched vehicle information, determine the plane where the roadside equipment that sent the message is located, and then determine the plane where the vehicle is located.

[0102] When the current vehicle is on the same road surface as other vehicles, collision detection is performed and they are avoided during path planning.

[0103] Through this optional example, the plane in which the vehicle is located is determined by the vehicle position information and the received map information, and then combined with the roadside equipment and safety messages sent by other vehicles, other vehicles in the same plane as the vehicle are determined. After the vehicles in the same plane are determined, corresponding collision detection can be performed, which can improve the accuracy of the vehicle's collision warning.

[0104] It should be noted that for the aforementioned method embodiments, for the sake of simplicity, they are all expressed as a series of action combinations, but those skilled in the art should be aware that this application is not limited by the order of the actions described, because according to this application, certain steps can be performed in other orders or simultaneously. Secondly, those skilled in the art should also be aware that the embodiments described in the specification are all preferred embodiments, and the actions and modules involved are not necessarily required by this application.

[0105] Through the description of the above implementation methods, those skilled in the art can clearly understand that the method according to the above embodiment can be implemented by means of software plus the necessary general hardware platform, and of course it can also be implemented by hardware, but in many cases the former is a better implementation method. Based on this understanding, the technical solution of the present application, or the part that contributes to the prior art, can be embodied in the form of a software product, which is stored in a storage medium (such as ROM (Read-Only Memory, Read-Only Memory) / RAM (Random Access Memory, Random Access Memory), a magnetic disk, or an optical disk), and includes a number of instructions for enabling a terminal device (which can be a mobile phone, a computer, a server, or a network device, etc.) to execute the methods of each embodiment of the present application.

[0106] According to another aspect of the embodiments of the present application, a vehicle positioning detection system in a connected vehicle network is provided for implementing the above-mentioned vehicle positioning detection method in a connected vehicle network. The vehicle positioning detection system in a connected vehicle network may include:

[0107] A data processing component is used to obtain the position information of the target vehicle and the map message received by the target vehicle; determine the road section where the target vehicle is located and the target plane corresponding to the road section where the target vehicle is located based on the position information and the map message; determine other planes where other vehicles are located based on the road safety message sent by the target roadside equipment and the vehicle safety message sent by other vehicles received by the target vehicle, wherein the road safety message includes the status information of vehicles on the road covered by the target roadside equipment, and the vehicle safety message includes the status information of other vehicles; and determine whether other vehicles are in the same plane as the target vehicle based on the other planes and the target plane.

[0108] It should be noted that the data processing component may be a component on a server or a processing device that performs the aforementioned determination of the target plane and other planes, and determination of whether other vehicles are in the same plane as the target vehicle based on the target plane and other planes, such as a processor, controller, etc. The methods for determining the target plane and other planes, and determining whether other vehicles are in the same plane as the target vehicle based on the target plane and other planes, are similar to those in the aforementioned embodiments and have already been described, so they will not be repeated here.

[0109] Through the above-mentioned vehicle positioning detection system in the Internet of Vehicles, the location information of the target vehicle and the map message received by the target vehicle are obtained; based on the location information and the map message, the road section where the target vehicle is located and the target plane corresponding to the road section where the target vehicle is located are determined; based on the road safety message sent by the target roadside equipment and the vehicle safety message sent by other vehicles received by the target vehicle, other planes where other vehicles are located are determined, wherein the road safety message includes the status information of the vehicle on the road covered by the target roadside equipment, and the vehicle safety message includes the status information of other vehicles; based on the other planes and the target plane, it is determined whether the other vehicles are in the same plane as the target vehicle, which solves the problem of low accuracy of vehicle collision warning caused by relying solely on positioning data to determine the vehicle position in the vehicle positioning detection method in the Internet of Vehicles in the related technology, thereby improving the accuracy of vehicle collision warning.

[0110] In an exemplary embodiment, the data processing component is also used to obtain a set of node pairs of a set of associated road sections corresponding to the location information from the map message, wherein each node pair in the set of node pairs represents the starting point and end point of the associated road section corresponding to the set of associated road sections; based on the relationship between the location information and each node pair in the set of node pairs, a target node pair that meets the preset conditions is selected from the set of node pairs, and the road section where the target vehicle is located is determined based on the target node pair.

[0111] In an exemplary embodiment, the data processing component is also used to determine the first distance and the second distance between the position of the target vehicle and each node pair, the third distance between the two nodes in each node pair, and the vertical distance between the position of the target vehicle and the node connection line of each node pair based on the position information, wherein the first distance is the distance between the position of the target vehicle and one node in each node pair, and the second distance is the distance between the position of the target vehicle and the other node in each node pair; a node pair that meets the preset conditions is selected from a group of node pairs as the target node pair, wherein the preset conditions refer to that the sum of the square of the first distance and the square of the third distance is greater than or equal to the square of the second distance, the sum of the square of the second distance and the square of the third distance is greater than or equal to the square of the first distance, and the vertical distance is less than or equal to the preset path width.

[0112] In an exemplary embodiment, the data processing component is also used to, when the number of target node pairs is 1, determine the associated road section corresponding to the target node pair as the road section where the target vehicle is located, wherein the target node pair is the starting point and end point of the associated road section corresponding to the target node pair; and / or when the target node pairs include N node pairs and N is a positive integer greater than or equal to 2, determine the N weights corresponding to the N node pairs based on the angle between the target vehicle's driving direction and the node connection line of each node pair in the N node pairs, and the vertical distance between the target vehicle's position and the node connection line of each node pair in the N node pairs; determine the associated road section corresponding to the node pair with the smallest weight among the N node pairs as the road section where the target vehicle is located, wherein the node pair with the smallest weight is the starting point and end point of the associated road section corresponding to the node pair with the smallest weight.

[0113] In an exemplary embodiment, the data processing component is also used to determine the plane where each of the M roadside devices is located based on the road safety messages sent by the M roadside devices and received by the target vehicle when the target roadside devices include M roadside devices and M is a positive integer greater than or equal to 2; match the vehicle safety messages received from other vehicles with the road safety messages sent by the M roadside devices; and when there is a road safety message that successfully matches the vehicle safety message among the road safety messages sent by the M roadside devices, determine the plane where the roadside device that sent the road safety message that successfully matches the vehicle safety message is located as the other plane where the other vehicles are located.

[0114] In an exemplary embodiment, the data processing component is further configured to perform the following steps on a road safety message sent by an i-th roadside device among M roadside devices, wherein i is a positive integer greater than or equal to 1 and less than or equal to M: determining whether the status information of other vehicles in the vehicle safety message is the same as the status information of the vehicle in the road safety message sent by the i-th roadside device, wherein the status information includes at least one of the following: vehicle latitude and longitude, vehicle speed, vehicle heading angle, and vehicle size; and if the status information of other vehicles in the vehicle safety message is the same as the status information of the vehicle in the road safety message sent by the i-th roadside device, determining The road safety message sent by the i-th roadside device successfully matches the vehicle safety message; or, it is determined whether the difference between the status information of other vehicles in the vehicle safety message and the status information of the vehicle in the road safety message sent by the i-th roadside device is less than a preset threshold, wherein the status information includes at least one of the following: vehicle latitude and longitude, vehicle speed, vehicle heading angle and vehicle size; if the difference between the status information of other vehicles in the vehicle safety message and the status information of the vehicle in the road safety message sent by the i-th roadside device is less than the preset threshold, it is determined that the road safety message sent by the i-th roadside device successfully matches the vehicle safety message.

[0115] In an exemplary embodiment, determining whether the other vehicle is in the same plane as the target vehicle based on the other plane and the target plane includes: if the other plane is in the same plane as the target plane, determining that the other vehicle is in the same plane as the target vehicle;

[0116] The data processing component is also used to perform collision detection on the other vehicle and the target vehicle when it is determined that the other vehicle and the target vehicle are in the same plane.

[0117] It should be noted that the examples and application scenarios implemented by the above components and corresponding steps are the same, but are not limited to the contents disclosed in the above embodiments. It should be noted that the above components as part of the system can be run on Figure 1 The hardware environment shown can be implemented through software or hardware, wherein the hardware environment includes a network environment.

[0118] According to another aspect of the embodiments of the present application, a storage medium is further provided. Optionally, in this embodiment, the storage medium can be used to execute the program code of any of the above-mentioned vehicle positioning detection methods in the Internet of Vehicles embodiments of the present application.

[0119] Optionally, in this embodiment, the above-mentioned storage medium may be located on at least one network device among the multiple network devices in the network shown in the above-mentioned embodiment.

[0120] Optionally, in this embodiment, the storage medium is configured to store program codes for executing the following steps:

[0121] S1, obtaining the location information of the target vehicle and the map message received by the target vehicle;

[0122] S2, determining the road section where the target vehicle is located and the target plane corresponding to the road section where the target vehicle is located based on the location information and the map information;

[0123] S3, determining other planes where other vehicles are located based on a road safety message sent by the target roadside device and a vehicle safety message sent by other vehicles, received by the target vehicle, wherein the road safety message includes status information of vehicles on the road covered by the target roadside device, and the vehicle safety message includes status information of other vehicles;

[0124] S4, determining whether the other vehicles are in the same plane as the target vehicle based on the other planes and the target plane.

[0125] Optionally, the specific examples in this embodiment may refer to the examples described in the above embodiments, which will not be described in detail in this embodiment.

[0126] Optionally, in this embodiment, the storage medium may include, but is not limited to, various media that can store program codes, such as a USB flash drive, a ROM, a RAM, a mobile hard disk, a magnetic disk, or an optical disk.

[0127] According to another aspect of the embodiments of the present application, an electronic device for implementing the above-mentioned vehicle positioning detection method in the Internet of Vehicles is also provided. The electronic device can be a server, a terminal, or a combination thereof.

[0128] Figure 5 is a structural block diagram of an optional electronic device according to an embodiment of the present application, such as Figure 5 As shown, it includes a processor 502, a communication interface 504, a memory 506 and a communication bus 508, wherein the processor 502, the communication interface 504 and the memory 506 communicate with each other through the communication bus 508, wherein,

[0129] Memory 506, for storing computer programs;

[0130] The processor 502 is configured to execute the computer program stored in the memory 506 to implement the following steps:

[0131] S1, obtaining the location information of the target vehicle and the map message received by the target vehicle;

[0132] S2, determining the road section where the target vehicle is located and the target plane corresponding to the road section where the target vehicle is located based on the location information and the map information;

[0133] S3, determining other planes where other vehicles are located based on a road safety message sent by the target roadside device and a vehicle safety message sent by other vehicles, received by the target vehicle, wherein the road safety message includes status information of vehicles on the road covered by the target roadside device, and the vehicle safety message includes status information of other vehicles;

[0134] S4, determining whether the other vehicles are in the same plane as the target vehicle based on the other planes and the target plane.

[0135] Optionally, the communication bus may be a PCI (Peripheral Component Interconnect) bus or an EISA (Extended Industry Standard Architecture) bus. The communication bus may be divided into an address bus, a data bus, a control bus, etc. For ease of representation, Figure 5 The communication interface is used for communication between the electronic device and other devices.

[0136] The memory may include RAM, or may include non-volatile memory, such as at least one disk memory. Alternatively, the memory may also be at least one storage device located away from the aforementioned processor.

[0137] The above-mentioned processor can be a general-purpose processor, which can include but is not limited to: CPU (Central Processing Unit), NP (Network Processor), etc.; it can also be DSP (Digital Signal Processing), ASIC (Application Specific Integrated Circuit), FPGA (Field-Programmable Gate Array) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components.

[0138] Optionally, the specific examples in this embodiment may refer to the examples described in the above embodiments, and this embodiment will not be described in detail here.

[0139] It can be understood by those skilled in the art that Figure 5The structure shown is for illustration only. The device for implementing the above-mentioned vehicle positioning detection method in the Internet of Vehicles may be a terminal device, which may be a smart phone (such as an Android phone, an iOS phone, etc.), a tablet computer, a PDA, a mobile Internet device (Mobile Internet Devices, MID), a PAD, and other terminal devices. Figure 5 It does not limit the structure of the above electronic device. For example, the electronic device may also include Figure 5 More or fewer components (such as network interfaces, display devices, etc.) shown in, or with Figure 5 Different configurations shown.

[0140] A person skilled in the art can understand that all or part of the steps in the various methods of the above embodiments can be completed by instructing the hardware related to the terminal device through a program, and the program can be stored in a computer-readable storage medium, which can include: a flash drive, ROM, RAM, a magnetic disk or an optical disk, etc.

[0141] The serial numbers of the above-mentioned embodiments of the present application are for description only and do not represent the advantages or disadvantages of the embodiments.

[0142] If the integrated units in the above embodiments are implemented in the form of software functional units and sold or used as independent products, they can be stored in the above-mentioned computer-readable storage medium. Based on this understanding, the technical solution of the present application, or the part that contributes to the prior art, or all or part of the technical solution can be embodied in the form of a software product, which is stored in a storage medium and includes several instructions for enabling one or more computer devices (which can be personal computers, servers, or network devices, etc.) to execute all or part of the steps of the methods described in each embodiment of the present application.

[0143] In the above embodiments of the present application, the description of each embodiment has its own focus. For parts that are not described in detail in a certain embodiment, please refer to the relevant description of other embodiments.

[0144] In the several embodiments provided in this application, it should be understood that the disclosed client can be implemented in other ways. Among them, the device embodiments described above are merely illustrative. For example, the division of the units is merely a logical function division. In actual implementation, there may be other division methods, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. In addition, the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of units or modules, and can be electrical or other forms.

[0145] The units described as separate components may or may not be physically separate, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed across multiple network units. Some or all of these units may be selected based on actual needs to achieve the purpose of the solution provided in this embodiment.

[0146] In addition, the functional units in the various embodiments of the present application may be integrated into a processing unit, or each unit may exist physically separately, or at least two units may be integrated into a single unit. The above-mentioned integrated units may be implemented in the form of hardware or software functional units.

[0147] The above is only a preferred embodiment of the present application. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principles of the present application. These improvements and modifications should also be regarded as the scope of protection of the present application.

Claims

1. A vehicle positioning detection method in a vehicle network, characterized in that: include: Obtaining location information of a target vehicle and a map message received by the target vehicle; Determining the road section where the target vehicle is located and a target plane corresponding to the road section where the target vehicle is located according to the location information and the map message; determining, based on a road safety message sent by a target roadside device and a vehicle safety message sent by another vehicle and received by the target vehicle, another plane on which the other vehicle is located, wherein the road safety message includes status information of vehicles on the road covered by the target roadside device, and the vehicle safety message includes status information of the other vehicle; determining, based on the other plane and the target plane, whether the other vehicle is in the same plane as the target vehicle; The method of determining the road section where the target vehicle is located based on the position information and the map message includes: obtaining a group of node pairs of a group of associated road sections corresponding to the position information from the map message, wherein each node pair in the group of node pairs represents the starting point and the end point of the associated road section corresponding to the group of associated road sections; selecting a target node pair that meets a preset condition from the group of node pairs based on the relationship between the position information and each node pair in the group of node pairs, and determining the road section where the target vehicle is located based on the target node pair; the method of selecting a target node pair that meets a preset condition from the group of node pairs based on the relationship between the position information and each node pair in the group of node pairs includes: determining the position of the target vehicle and the relationship between the position of each node pair based on the position information A first distance and a second distance, a third distance between the two nodes in each node pair, and a perpendicular distance between the position of the target vehicle and the node line of each node pair, wherein the first distance is the distance between the position of the target vehicle and one node in each node pair, and the second distance is the distance between the position of the target vehicle and the other node in each node pair; a node pair that meets the preset conditions is selected from the group of node pairs as the target node pair, wherein the preset conditions are that the sum of the square of the first distance and the square of the third distance is greater than or equal to the square of the second distance, the sum of the square of the second distance and the square of the third distance is greater than or equal to the square of the first distance, and the vertical distance is less than or equal to a preset path width.

2. The method according to claim 1, wherein Determining the road section where the target vehicle is located according to the target node pair includes: When the number of the target node pairs is 1, determining the associated road section corresponding to the target node pair as the road section where the target vehicle is located, wherein the target node pair is the starting point and the end point of the associated road section corresponding to the target node pair; and / or In the case where the target node pairs include N node pairs and N is a positive integer greater than or equal to 2, the N weights corresponding to the N node pairs are determined based on the angle between the driving direction of the target vehicle and the node connection line of each node pair in the N node pairs, and the vertical distance between the position of the target vehicle and the node connection line of each node pair in the N node pairs; the associated road section corresponding to the node pair with the smallest weight among the N node pairs is determined as the road section where the target vehicle is located, wherein the node pair with the smallest weight is the starting point and end point of the associated road section corresponding to the node pair with the smallest weight.

3. The method according to claim 1, characterized in that The determining, based on the road safety message sent by the target roadside equipment and the vehicle safety message sent by the other vehicle and received by the target vehicle, the other planes where the other vehicles are located includes: When the target roadside devices include M roadside devices, and M is a positive integer greater than or equal to 2, determining a plane where each of the M roadside devices is located based on the road safety messages sent by the M roadside devices and received by the target vehicle; Matching the received vehicle safety message sent by the other vehicle with the road safety message sent by the M roadside devices; When there is a road safety message that successfully matches the vehicle safety message among the road safety messages sent by the M roadside devices, the plane where the roadside device that sent the road safety message that successfully matches the vehicle safety message is located is determined as the other plane where the other vehicles are located.

4. The method according to claim 3, characterized in that The matching of the received vehicle safety message sent by the other vehicle with the road safety message sent by the M roadside devices includes: The following steps are performed on the road safety message sent by the i-th roadside device among the M roadside devices, where i is a positive integer greater than or equal to 1 and less than or equal to M: determining whether the status information of the other vehicles in the vehicle safety message is the same as the status information of the vehicle in the road safety message sent by the i-th roadside device, wherein the status information includes at least one of the following: vehicle latitude and longitude, vehicle speed, vehicle heading angle, and vehicle size; if the status information of the other vehicles in the vehicle safety message is the same as the status information of the vehicle in the road safety message sent by the i-th roadside device, determining that the road safety message sent by the i-th roadside device successfully matches the vehicle safety message; or Determine whether a difference between the status information of the other vehicles in the vehicle safety message and the status information of the vehicle in the road safety message sent by the i-th roadside device is less than a preset threshold, wherein the status information includes at least one of the following: vehicle latitude and longitude, vehicle speed, vehicle heading angle, and vehicle size; if the difference between the status information of the other vehicles in the vehicle safety message and the status information of the vehicle in the road safety message sent by the i-th roadside device is less than the preset threshold, determine that the road safety message sent by the i-th roadside device successfully matches the vehicle safety message.

5. The method according to claim 1, wherein The determining, based on the other plane and the target plane, whether the other vehicle is in the same plane as the target vehicle comprises: if the other plane and the target plane are in the same plane, determining that the other vehicle and the target vehicle are in the same plane; The method further includes: when it is determined that the other vehicle and the target vehicle are located in the same plane, performing collision detection on the other vehicle and the target vehicle.

6. A vehicle positioning detection system in a vehicle network, characterized in that: include: A data processing component, configured to obtain location information of a target vehicle and a map message received by the target vehicle; Determining, based on the location information and the map message, a road section where the target vehicle is located and a target plane corresponding to the road section where the target vehicle is located; determining, based on a road safety message sent by a target roadside device and a vehicle safety message sent by other vehicles and received by the target vehicle, other planes where the other vehicles are located, wherein the road safety message includes status information of vehicles on the road covered by the target roadside device, and the vehicle safety message includes status information of the other vehicles; determining, based on the other planes and the target plane, whether the other vehicles are in the same plane as the target vehicle; Wherein, the data processing component is further used to obtain a group of node pairs of a group of associated road sections corresponding to the position information from the map message, wherein each node pair in the group of node pairs represents the starting point and the end point of the associated road section corresponding to the group of associated road sections; according to the relationship between the position information and each node pair in the group of node pairs, select a target node pair that meets the preset conditions from the group of node pairs, and determine the road section where the target vehicle is located based on the target node pair; determine the first distance and the second distance between the position of the target vehicle and each node pair, the third distance between the two nodes in each node pair, and the distance between the target vehicle and the target vehicle based on the position information. The first distance is the distance between the position of the target vehicle and a node line of each node pair, and the second distance is the distance between the position of the target vehicle and the other node in each node pair; a node pair that meets the preset condition is selected from the group of node pairs as the target node pair, and the preset condition is that the sum of the square of the first distance and the square of the third distance is greater than or equal to the square of the second distance, the sum of the square of the second distance and the square of the third distance is greater than or equal to the square of the first distance, and the vertical distance is less than or equal to a preset path width.

7. A computer-readable storage medium, characterized in that: The computer-readable storage medium includes a stored program, wherein the program executes the method according to any one of claims 1 to 5 when executed.

8. An electronic device comprising a memory and a processor, characterized in that: A computer program is stored in the memory, and the processor is configured to execute the method according to any one of claims 1 to 5 through the computer program.

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