Traffic data processing methods, devices and terminal equipment

Abstract

This application provides a traffic data processing method, apparatus, and terminal equipment. The traffic data processing method includes: acquiring event information of traffic incidents. During vehicle operation, the on-board terminal periodically saves traffic data and uploads the traffic data or corresponding integrity verification information to the background to achieve evidence preservation. After a traffic incident occurs, the traffic incident can be queried through the event information, and the vehicle information of the main vehicle associated with the traffic incident can be extracted as traffic evidence information. This evidence can be used as evidence in cases of vehicle malfunction, dangerous driving behavior, or traffic accidents, and can also serve as legally valid evidence in judicial appraisal reports, improving the efficiency of traffic incident liability determination, reducing data security risks, and enhancing the credibility of liability determination results. It also supports automatically providing data evidence support and analysis results for traffic incident liability determination, achieving automatic liability determination.

Description

Technical Field

[0001] This application relates to the technical field of traffic data processing, specifically to a traffic data processing method, apparatus, and terminal equipment. Background Technology

[0002] With the increasing penetration rate of new energy vehicles and the growing number of intelligent vehicles equipped with autonomous driving systems, there is a growing number of traffic anomalies involving autonomous driving systems (such as vehicle malfunctions, dangerous driving behaviors, and traffic accidents). When such anomalies occur, it is usually necessary to investigate and assign responsibility. However, the information involved in determining responsibility for traffic incidents is extensive and complex, leading to low efficiency in this process. Summary of the Invention

[0003] In view of this, this application provides a traffic data processing method, apparatus and terminal equipment.

[0004] The first aspect of this application provides a traffic data processing method applied to a first unit associated with a traffic incident. The traffic data processing method includes: acquiring event information of the traffic incident; acquiring the main vehicle information of the first unit based on the event information; and outputting traffic evidence information corresponding to the first unit in the traffic incident based on the main vehicle information.

[0005] In one embodiment, the main vehicle information includes driving mode information, main vehicle warning information, driving behavior information, and safety reception information. The safety reception information reflects the reception status of the first unit relative to the driving safety information, which is sent by the second unit associated with the traffic event. The traffic data processing method further includes: when the driving mode information is manual driving, or when the driving mode information is autonomous driving and there is a warning event record corresponding to the traffic event in the main vehicle warning information, outputting first result information based on the driving behavior information; when the driving mode information is autonomous driving and there is no warning event record corresponding to the traffic event in the main vehicle warning information, outputting second result information based on the safety reception information.

[0006] In one embodiment, outputting second result information based on safety reception information includes: when it is determined from the safety reception information that the first unit has received driving safety information, outputting second result information based on the driving safety information and the main vehicle warning information.

[0007] In one embodiment, the second result information includes vehicle liability information and other liability information; based on driving safety information and master vehicle warning information, the second result information is output, including: determining the first driving state corresponding to the driving safety information and the second driving state corresponding to the master vehicle warning information; when the first driving state corresponds to the second driving state, the vehicle liability information is output; when the first driving state does not correspond to the second driving state, other liability information is output.

[0008] In one embodiment, the method further includes: when the first driving state does not correspond to the second driving state, outputting perceived fault information based on the main vehicle warning information.

[0009] In one embodiment, the method of outputting second result information based on safety reception information further includes: when it is determined from the safety reception information that the first unit has not received driving safety information, acquiring surrounding reception information, which is used to reflect the reception status of surrounding units relative to driving safety information, and surrounding units are associated with traffic events; and when it is determined from the surrounding reception information that the surrounding units have not received driving safety information, outputting other liability information.

[0010] In one embodiment, the method further includes: determining avoidance measure information corresponding to the traffic event; and outputting first result information based on driving behavior information, including: outputting first result information when the driving behavior information and avoidance measure information do not match.

[0011] In one embodiment, the method further includes: acquiring vehicle behavior information of the first unit; and outputting first result information based on the driving behavior information, including: outputting the first result information when the driving behavior information matches the avoidance measure information and the driving behavior information matches the vehicle behavior information; and outputting second result information when the driving behavior information matches the avoidance measure information and the driving behavior information does not match the vehicle behavior information.

[0012] A second aspect of this application provides a traffic data processing apparatus applied to a first unit associated with a traffic incident. The traffic data processing apparatus includes: an event query module for acquiring event information of the traffic incident; a data acquisition module for acquiring vehicle information of the main vehicle in the first unit based on the event information; and an evidence generation module for outputting traffic evidence information corresponding to the first unit in the traffic incident based on the vehicle information.

[0013] A third aspect of this application provides a traffic data processing apparatus, comprising: a processor; and a memory for storing executable instructions of the processor; wherein the processor executes the executable instructions to cause a terminal device to implement the method provided in the first aspect.

[0014] The traffic data processing method, apparatus, and terminal equipment provided in this application embodiment allow for the periodic storage of traffic data by the on-board terminal during vehicle operation. The traffic data, or corresponding integrity verification information, is uploaded to the backend to preserve evidence. After a traffic incident occurs, the incident information can be queried, and the main vehicle information associated with the incident can be extracted as traffic evidence information. This main vehicle information reflects various states associated with the traffic incident in the first unit. The traffic evidence information can provide data evidence to support the determination of liability in traffic incidents, such as evidence in cases of vehicle malfunction, dangerous driving behavior, or traffic accidents. This evidence can also serve as legally valid evidence in judicial appraisal reports, improving the efficiency of liability determination. Furthermore, the main vehicle information is not easily tampered with, enhancing the credibility of the liability determination results. Further, by analyzing and judging the data in the traffic evidence information using preset analysis and judgment conditions, the determination of liability in traffic incidents can be automatically achieved, providing data evidence support and a reference for the automatic liability determination analysis results, further improving the efficiency of liability determination. Attached Figure Description

[0015] Figure 1 This is an application scenario diagram of a traffic data processing method provided in an embodiment of this application.

[0016] Figure 2 This is a first flowchart of a traffic data processing method provided in an embodiment of this application.

[0017] Figure 3 This is a schematic diagram illustrating the principle of broadcasting BSM information on traffic equipment.

[0018] Figure 4 This is a third flowchart of a traffic data processing method provided in an embodiment of this application.

[0019] Figure 5 This is the fourth flowchart of a traffic data processing method provided in an embodiment of this application.

[0020] Figure 6 This is the fifth flowchart of a traffic data processing method provided in an embodiment of this application.

[0021] Figure 7 This is the sixth flowchart of a traffic data processing method provided in an embodiment of this application.

[0022] Figure 8 This is a flowchart of an automatic liability determination method for traffic incidents provided in an embodiment of this application.

[0023] Figure 9 This is a schematic diagram of the structure of a traffic data processing device provided in an embodiment of this application.

[0024] Figure 10 This is a schematic diagram of the structure of a terminal device provided in an embodiment of this application. Detailed Implementation

[0025] It should be noted that the terms "first" and "second" in the specification, claims and drawings of this application are used to distinguish similar objects, rather than to describe a specific order or sequence.

[0026] It should also be noted that the methods disclosed in the embodiments of this application or the methods shown in the flowcharts include one or more steps for implementing the method. Without departing from the scope of the claims, the execution order of multiple steps can be interchanged, and some steps can also be deleted.

[0027] Some embodiments will now be described with reference to the accompanying drawings. Unless otherwise specified, the following embodiments and features can be combined with each other.

[0028] Figure 1 This diagram illustrates an application scenario of a traffic data processing method provided in an embodiment of this application. Figure 1 As shown, the traffic data processing method can be applied to the first unit C1, which is an intelligent vehicle. The traffic data processing method can collect vehicle information when a traffic incident occurs in the first unit C1, and analyze the vehicle information. The results of the analysis can provide a reference for determining the responsibility for the traffic incident that occurred in the first unit C1.

[0029] Traffic incidents refer to abnormal traffic events, which can include vehicle malfunctions (such as a car overturning), dangerous driving behaviors (such as speeding), and traffic accidents (such as forward collisions).

[0030] Unit C1 is an intelligent vehicle equipped with an autonomous driving system. Unit C1 has an on-board terminal. The on-board terminal is the front-end device of the vehicle monitoring and management system. The vehicle monitoring and management system collects, aggregates, and reports data to the back-end through the on-board terminal. The data that the on-board terminal can collect is collectively referred to as vehicle safety data. Vehicle safety data can reflect the vehicle's operating status and can be used to analyze various accident causes.

[0031] Autonomous driving exists at different levels, including L0, L1, L2, L3, L4, and L5. Level L0 is entirely driver-controlled, with the driver making all decisions regarding steering, braking, and accelerator; the car simply executes commands. Level L1 assists the driver in certain tasks, such as adaptive cruise control (ACC) found in many vehicles, where radar controls distance and acceleration / deceleration in real time; this is common in many domestic models. Level L2 can automatically complete certain driving tasks, processing and analyzing data to adjust vehicle status. Besides acceleration / deceleration, it can also control the steering wheel; the driver still needs to observe the surroundings for safe operation. Level L3 uses a more logical onboard computer to control the vehicle, enabling independent operation in specific environments, but manual intervention is still required when artificial intelligence cannot accurately assess the situation. Level L4 allows the vehicle to make autonomous decisions without driver intervention, typically relying on real-time updated road information data to achieve real-world scenarios such as automatic vehicle retrieval and return, automatic platooning, and automatic obstacle avoidance. Level 5 is designed to enable all-weather, all-terrain autonomous driving and to cope with changes in environment, climate, and geographical location.

[0032] In the embodiments of this application, the manual driving mode can be a Level 0 driving mode; the automatic driving mode can be a Level 1 to Level 5 driving mode, including assisted driving modes.

[0033] Vehicle safety data can include vehicle-wide data, fuel cell data, and alarm data. Vehicle-wide data includes vehicle status information, charging status information, operating mode, vehicle speed, and cumulative mileage, which can be used to analyze speeding-related vehicle safety incidents. Fuel cell data includes fuel cell voltage, current, and probe temperature values, which can be used to analyze spontaneous combustion-related vehicle safety incidents. Alarm data includes battery high temperature, on-board energy storage device type over / under voltage alarms, single cell over / under voltage alarms, low / high / fluctuation SOC alarms, and braking system alarms, which can be used to analyze brake failure-related vehicle safety incidents.

[0034] Furthermore, vehicle status information also includes vehicle identification (such as VIN and temporary license plate number), driving mode (such as manual driving / automatic driving), emergency stop switch status (such as off / on), accelerator pedal opening (such as 0-100%), speedometer reading, data collection time, and other information.

[0035] In summary, vehicle-mounted terminals can collect various status and safety data of vehicles while they are in motion, and can be used to assist in determining liability in traffic incidents (such as rear-end collisions, hit-and-runs, etc.).

[0036] The data that the vehicle-mounted terminal can collect also includes Basic Security Message (BSM). BSM is used to exchange security status parameters between vehicle-mounted terminals. Based on BSM, the vehicle's onboard terminal can periodically broadcast its own operating and security status to nearby onboard terminals and electronic devices capable of receiving the BSM.

[0037] For example, the vehicle terminal can broadcast its own vehicle operating status and emergency status in the event of a malfunction to nearby vehicle terminals via basic vehicle safety information broadcast, thereby reminding nearby vehicle terminals to take evasive action to avoid accidents.

[0038] When a traffic incident occurs, liability is typically determined, meaning the attribution of responsibility for the incident is established. The liability determination usually includes responsibilities for the driver, the vehicle owner, and third parties. The vehicle owner refers to the supplier responsible for the vehicle's manufacturing or the production and supply of its auxiliary control systems. The third party refers to the entity responsible for the operation of BSM (Business Message Service) information or providing BSM services.

[0039] For example, in a forward collision, vehicle C1 is traveling in its lane and rear-ends another vehicle (vehicle C2) in the same lane directly ahead. If the driver of vehicle C1 knew a forward collision was possible and failed to take evasive action, the driver is likely at fault. If the driver of vehicle C1 took evasive action, but the vehicle's infotainment system malfunctioned, causing vehicle C1 to fail to avoid vehicle C2, the vehicle is likely at fault. If either vehicle C1 or vehicle C2 was unable to broadcast or receive basic vehicle safety information during travel, a third party is likely at fault.

[0040] The traffic data processing method provided in this application embodiment can, when a traffic incident occurs in the first unit C1, retrieve data from the vehicle terminal via a cloud server to obtain traffic data for the first unit C1 and related traffic data from traffic equipment involved in the traffic incident. This includes, for example, the operating status of the first unit C1 (such as driving mode, vehicle warnings, and driving behavior), and the status of related traffic equipment (such as the operating status of other vehicles). Then, the traffic data is analyzed to provide a reference for determining liability in traffic incidents, assisting in the determination of liability and improving the efficiency of traffic incident liability determination results.

[0041] Figure 2 This is a flowchart illustrating a traffic data processing method provided in an embodiment of this application, which is applied to a first unit C1. For example... Figure 2As shown, the traffic data processing method includes the following steps.

[0042] S201. Obtain event information for traffic incidents.

[0043] The event information is used to filter and query traffic events corresponding to the first unit C1. The event information may include the time of the traffic incident, the type of traffic incident, and the ID information of the first unit C1.

[0044] S202. Based on the event information, obtain the main vehicle information of the first unit C1.

[0045] Among them, the traffic events that need to be queried can be determined based on the event information, and the main vehicle information is the traffic data of the first unit C1 that is associated with the traffic event.

[0046] Specifically, the main vehicle information is stored in the on-board terminal of Unit C1. The main vehicle information is obtained by accessing the traffic data from the on-board terminal of Unit C1 and extracting traffic data related to traffic events. Each type of traffic data corresponds to a data type, and each traffic event corresponds to an event type. There are pre-defined relationships between data types and event types. By using the event type of the traffic time and the corresponding relationship, the corresponding traffic data can be obtained as the main vehicle information.

[0047] For example, when a traffic incident involves vehicle malfunction, such as a car fire, the vehicle information may include fuel cell data such as fuel cell voltage, current, and probe temperature. When a traffic incident involves dangerous driving behavior, such as speeding, the vehicle information may include vehicle status, charging status, operating mode, speed, and total mileage. When a traffic incident is a traffic accident, such as a forward collision, the vehicle information may include driving mode information, vehicle warning information, driving behavior information, and safety reception information.

[0048] S203. Based on the vehicle information of the main vehicle, output the traffic evidence information corresponding to the first unit C1 in the traffic incident.

[0049] Among them, traffic evidence information is generated based on the extracted main vehicle information. The traffic evidence information includes the various states of the first unit C1 when the traffic incident occurred, which can be used as evidence to assist in the determination of liability for the traffic incident.

[0050] The traffic data processing method provided in this application involves the on-board terminal periodically saving traffic data during vehicle operation and uploading the traffic data or corresponding integrity verification information to the background to achieve evidence preservation. After a traffic incident occurs, the traffic incident can be queried through the incident information, and the main vehicle information associated with the traffic incident can be extracted as traffic evidence information. The main vehicle information can reflect the various states of the first unit C1 associated with the traffic incident. The traffic evidence information can provide data evidence to support the determination of liability in traffic incidents, such as when vehicle malfunctions, dangerous driving behavior, or traffic accidents occur, and this evidence can be used as legal evidence in judicial appraisal reports that comply with laws and regulations, improving the efficiency of liability determination in traffic incidents. Furthermore, the main vehicle information is not easily tampered with, improving the credibility of the liability determination results.

[0051] Furthermore, by analyzing and judging the data in traffic evidence information through preset analysis and judgment conditions, the responsibility for traffic incidents can be automatically determined, providing data evidence support for the determination of responsibility for traffic incidents and a reference for the automatic responsibility determination analysis results, thereby further improving the efficiency of responsibility determination.

[0052] In one embodiment of this application, when the first unit C1 is in vehicle operation, the on-board terminal of the first unit C1 will periodically save traffic data locally and periodically upload the traffic data or the corresponding integrity verification information to the evidence preservation backend, which is a cloud server, referred to as the backend. The integrity verification information is used to verify whether the corresponding traffic data has been tampered with.

[0053] It is understandable that the vehicle terminal can directly upload traffic data to the backend, and can also upload the integrity verification information corresponding to the traffic data to the backend.

[0054] The principle of using integrity verification information to verify whether traffic data has been tampered with is as follows: the traffic data stored locally by the vehicle terminal carries the first verification information, and the vehicle terminal will upload the second verification information associated with the first verification information to the background.

[0055] Since vehicles are usually sent for repairs after an accident, there is a possibility that the traffic data in the vehicle terminal may be tampered with. If the traffic data stored in the vehicle terminal is tampered with, the corresponding first verification information will also be tampered with.

[0056] When acquiring traffic data associated with traffic events as the main vehicle information in the later stages, the first verification information corresponding to the main vehicle information in the vehicle terminal can be obtained, and the corresponding second verification information can be downloaded from the background. It can be determined whether the first verification information and the second verification information correspond. If they do, it can be proven that the traffic data has most likely not been tampered with; otherwise, it means that the traffic data has most likely been tampered with.

[0057] In one embodiment, the integrity verification information is a hash value, and the vehicle terminal only uploads the traffic data corresponding to the first hash value of the traffic data to the evidence preservation backend.

[0058] The evidence preservation backend will save the attributes of the traffic data uploaded by the vehicle terminal (such as upload time, data type, data name, etc.) and the hash value corresponding to the traffic data.

[0059] When the traffic data of the vehicle terminal of the first unit C1 is called in step S202, the hash value of the traffic data stored in the vehicle terminal (i.e., the first hash value) is obtained, and the hash value carried when the traffic data is uploaded to the evidence preservation background (i.e., the second hash value) is obtained. Then the first hash value is compared with the second hash value to see if they are consistent. If they are, the traffic data is used as the main vehicle information; otherwise, an abnormal information is output.

[0060] It is understandable that after a traffic incident, a vehicle will most likely undergo repairs, and there may be instances where the data stored in the vehicle's onboard terminal has been tampered with. Therefore, when retrieving electronic data from the onboard terminal as evidence later, the first hash value and the second hash value can be compared. If the first hash value and the second hash value are inconsistent, it indicates that the electronic data in the onboard terminal may have been tampered with, and an abnormal message will be output to remind the user that the data has been tampered with.

[0061] Furthermore, when data tampering occurs, users can query the upload time and corresponding integrity verification information of various traffic data in the evidence preservation backend. Based on the time of the traffic incident, the upload time can be filtered to obtain the integrity verification information uploaded within that time period. The integrity verification information can then be used to search for traffic data from the vehicle terminal to obtain the vehicle information of the main vehicle associated with the traffic incident.

[0062] In one embodiment of this application, the traffic data processing method further includes the step of:

[0063] S204. Analyze and judge the data in the traffic evidence information through preset analysis and judgment conditions to determine the determination result information. The determination result information provides a reference for determining liability in traffic incidents and automatically realizes the determination of liability. Specifically, the determination result information includes first result information and second result information. The first result information determines that the driver is liable, and the second result information determines that relevant units other than the driver are liable.

[0064] In one embodiment of this application, the vehicle information includes at least driving mode information, vehicle warning information, driving behavior information, and safety reception information. It is understood that traffic evidence information also includes driving mode information, vehicle warning information, driving behavior information, and safety reception information related to the traffic incident and the first single-unit C1.

[0065] The driving mode information reflects the driving mode of Unit C1 during the time of the traffic incident. For example, driving modes include manual driving and automatic driving. Automatic driving refers to a driving mode where the automatic driving system intervenes in vehicle control. In automatic driving mode, when the vehicle senses or predicts a potential traffic incident, it should alert the driver to take emergency evasive action or directly intervene in driving operations.

[0066] In this embodiment, driving mode information can be obtained through the activation status of the ADS function (i.e., autonomous driving function). The activation status of the ADS function indicates whether the ADS function is enabled. When it is determined that the ADS function is enabled, the driving mode is considered to be autonomous driving; when it is determined that the ADS function is disabled, the driving mode is considered to be manual driving.

[0067] The primary vehicle warning information reflects the historical records of warning actions taken by the vehicle. This information includes multiple warning event records, each containing details such as the triggering reason, time, and method. It can be used to trace whether the vehicle issued warnings before a traffic incident occurred. Understandably, when the vehicle is in autonomous driving mode, the system should collect vehicle and related data in real time to analyze the risk of a traffic incident and trigger warning actions when the risk is high to remind the driver to take evasive action or intervene in driving.

[0068] For example, during the driving of the first unit C1, the autonomous driving system of the first unit C1 receives BSM information from the vehicle directly in front via broadcast, learns the speed of the vehicle directly in front, and learns the distance between the first unit C1 and the vehicle directly in front through sensing elements such as radar. When it is predicted that the first unit C1 is about to collide with the vehicle directly in front based on the speed and distance, the autonomous driving system should control the warning actions, such as displaying a warning image on the display screen, reminding the driver through steering wheel vibration and voice alarm, and automatically braking to decelerate.

[0069] Driving behavior information is used to reflect a driver's driving behavior and the specific time and data of that behavior, such as the depth of the brake pedal, the depth of the accelerator pedal, and the angle of the steering wheel.

[0070] The safety reception information is used to reflect the reception status of the first unit C1 relative to the driving safety information. The safety reception information includes the reception record of the first unit C1 receiving the driving safety information, which can be used to trace whether the first unit C1 received the driving safety information before the traffic incident occurred.

[0071] Specifically, the driving safety information is sent by the second unit C2 associated with the traffic event. The second unit C2 is a traffic device associated with the traffic event, such as a smart car, roadside unit, or other device capable of receiving and sending BSM information. The driving safety information is BSM information broadcast by the second unit C2.

[0072] In some embodiments, the second unit C2 may also be a smart wearable device worn by the driver, which can send the collected data to the first unit C1.

[0073] It is understandable that the connection between the second unit C2 and the traffic incident depends on whether the second unit C2 itself is directly or indirectly involved in the traffic incident, which can be set by the user.

[0074] like Figure 3 As shown, for example, when the vehicle malfunction indicator lamp is on, the vehicle will broadcast BSM information for this status, namely driving safety information, meaning that the vehicle can be regarded as the second unit C2.

[0075] For example, when the vehicle's anti-lock braking system, vehicle stability system, traction control system, and lane departure warning system are activated, the vehicle will broadcast BSM information for this status, which is driving safety information. In this case, the vehicle can be regarded as the second unit C2.

[0076] For example, when the traffic incident is a forward collision, that is, when the first unit C1 is traveling in the lane and rear-ends another vehicle in the same lane directly in front, the other vehicle can broadcast driving safety information, and the driving safety information includes the vehicle operating status of the second unit C2, that is, the other vehicle can be regarded as the second unit C2.

[0077] For example, when a traffic incident occurs where the first unit C1 fails to slow down when passing a deep pothole, resulting in vehicle damage, the roadside unit can broadcast driving safety information, which includes road conditions near the roadside unit, such as a deep pothole ahead. In other words, the roadside unit can be considered as the second unit C2.

[0078] In one application scenario of this application embodiment, all traffic equipment associated with a traffic incident (such as the other vehicle and roadside unit mentioned above), i.e., all second units C2, have the ability to broadcast driving safety information. The second units C2 send driving safety information at a preset frequency, and the first unit C1 communicates with the second units C2 so that the first unit C1 should receive the driving safety information under normal circumstances.

[0079] like Figure 4 As shown, in one embodiment of this application, step S204 includes:

[0080] S401. When the driving mode information is manual driving, output the first result information based on the driving behavior information.

[0081] The first result information is used to provide a reference for determining liability in traffic incidents, and the first result information determines that the driver is at fault.

[0082] Specifically, when Unit C1 is under manual driving, the automatic driving system of Unit C1 does not default to or actively interfere with the vehicle's operating status. By analyzing driving behavior information, it analyzes whether the driver actively takes evasive action in response to the occurrence of a traffic incident, and outputs the first result information, that is, initially determining that the driver is at fault.

[0083] S402. When the driving mode information is automatic driving and there is a warning event record corresponding to the traffic event in the main vehicle warning information, the first result information is output based on the driving behavior information.

[0084] When the first unit C1 is in autonomous driving mode, the autonomous driving system of the first unit C1 can actively intervene in the vehicle operation status of the first unit C1 by default. For example, it can trigger a warning action when it senses a high risk of a traffic incident and retain the warning event record after triggering.

[0085] Furthermore, if there is no corresponding warning event record in the main vehicle warning information of Unit C1, it indicates that the autonomous driving system of Unit C1 has not triggered the corresponding warning action and has not implemented the corresponding warning function. If there is a corresponding warning event record in the main vehicle warning information of Unit C1, it indicates that the autonomous driving system of Unit C1 has triggered the corresponding warning action and has implemented the corresponding warning function. By analyzing driving behavior information, we analyze whether the driver actively took evasive action in response to the occurrence of a traffic incident to output the first result information, that is, to preliminarily determine that the driver is at fault.

[0086] S403. When the driving mode information is automatic driving and there is a warning event record corresponding to the traffic event in the main vehicle warning information, output the second result information according to the safety reception information.

[0087] The second result information is used to provide a reference for determining liability in traffic incidents, and the second result information determines that relevant entities other than the driver are liable.

[0088] In one embodiment of this application, the second result information includes vehicle liability information and other liability information, wherein the vehicle liability information is used to determine that the vehicle owner is liable, and the other liability information is used to determine that a third party is liable.

[0089] Specifically, when the first unit C1 is in autonomous driving mode and the autonomous driving system of the first unit C1 does not trigger the corresponding warning action, it can further safely receive information and output the second result information, that is, preliminarily determine the responsibility of relevant units other than the driver, such as determining the responsibility of the vehicle owner and / or third parties.

[0090] It is understood that the first and second result information in this application are both for reference in determining liability for traffic incidents and represent preliminary liability determination results. Based on these liability determination results, traffic management units or accident-related personnel can further determine the liability determination results based on the liability determination results and the information used in the determination analysis; this application does not impose any restrictions on this. Furthermore, the preliminary determination result is a comprehensive result, meaning that the three liability determination results—driver liability, vehicle liability, and third-party liability—can be single or a combination of each other, depending on the specific circumstances.

[0091] The traffic data processing method provided in this application embodiment can, after a traffic incident occurs, use the vehicle information of the main vehicle in the first unit C1, combined with data such as the driving mode, vehicle warning behavior, driver driving behavior, and reception of traffic safety information of the first unit C1, to conduct a responsibility determination analysis on the occurrence of the traffic incident, determine whether the driver and other relevant units are responsible, provide data evidence to support the responsibility determination of the traffic incident and a reference for the automatic responsibility determination analysis results, improve the efficiency of responsibility determination of traffic incidents on the one hand, and improve the credibility of the responsibility determination results through transparent data evidence and automatic responsibility determination analysis results on the other hand.

[0092] like Figure 5 and Figure 6 As shown, in one embodiment of this application, step S403 includes:

[0093] S501. When it is determined that the first unit C1 has received driving safety information based on the safety reception information, the second result information is output based on the driving safety information and the main vehicle warning information.

[0094] Among them, the driving safety information is the BSM information sent by the second unit C2, which can be used to trace the situation before the traffic incident occurred. The main vehicle warning information records the triggering of the warning actions of the first unit before the traffic incident occurred.

[0095] By analyzing driving safety information and master vehicle warning information, it is possible to determine whether the vehicle's autonomous driving system is operating normally and whether the BSM information is transmitted normally and achieves the corresponding safety warning effect, thereby outputting the second result information, namely, the vehicle's liability information and / or other liability information.

[0096] In one embodiment of this application, step S501 includes:

[0097] S601. When it is determined that the first unit C1 has received driving safety information based on the safety reception information, the first driving state and the second driving state are determined.

[0098] The second unit C2 broadcasts driving safety information based on its own operating status. For example, when the second unit C2 malfunctions, it broadcasts BSM information based on this status. Therefore, the driving safety information can reflect the vehicle operating status of the second unit C2, which is the first driving status.

[0099] In autonomous driving mode, the first unit C1's autonomous driving system detects the vehicle's surrounding environment using sensing elements (such as LiDAR) to perceive the state of the second unit C2 before a traffic incident occurs. Upon detecting an anomaly in the second unit C2, its driving state is designated as abnormal. For example, if the second unit C2 is detected as not moving or a driving safety information message from the second unit C2 indicates a malfunction, its driving state is marked as abnormal; this state is the second driving state. The main vehicle warning information records the warning actions triggered by the first unit C1 in response to the abnormal state of the second unit C2, reflecting the second driving state.

[0100] It is understandable that the first and second driving states are both driving states of Unit C2, and under normal circumstances, the first and second driving states should be the same. By further analyzing the first and second driving states, it is possible to determine whether any abnormality has occurred on the vehicle or by a third party, thereby determining liability.

[0101] S602. When the first driving state corresponds to the second driving state, output the vehicle liability information.

[0102] If the first driving status corresponds to the second driving status, it means that the driving status known by the first unit C1 is consistent with the driving status broadcast by the second unit C2. However, the vehicle unit of the first unit C1 did not trigger the warning action in time, so the vehicle liability information is output, that is, the vehicle is initially determined to be at fault.

[0103] S603. When the first driving state does not correspond to the second driving state, output other responsible information.

[0104] If the first driving status does not correspond to the second driving status, it means that the driving status known by the first unit C1 is inconsistent with the driving status broadcast by the second unit C2. It may be that the driving safety information was lost or tampered with during transmission. In this case, other responsible information is output, that is, the third party is initially identified as responsible.

[0105] S604. When the first driving state does not correspond to the second driving state, output the perceived fault information based on the main vehicle warning information.

[0106] If the first driving status does not correspond to the second driving status, it means that the driving status known by the first unit C1 is consistent with the driving status broadcast by the second unit C2. It may be that the vehicle sensing element of the first unit C1 has malfunctioned. In this case, the sensing fault information is output according to the main vehicle warning information.

[0107] In one implementation, based on the main vehicle warning information, perceived fault information is output. Specifically, based on the main vehicle warning information, the sensing element that triggered the warning action corresponding to the first driving state is determined, and perceived fault information is output based on the determined sensing element. The perceived fault information can indicate the sensing element that may be malfunctioning, preliminarily determining that the sensing element may be malfunctioning, causing the second driving state to be inconsistent with the actual situation, and requiring manual responsibility determination for the sensing element.

[0108] In one embodiment, based on safety reception information and main vehicle warning information, the perceived fault information is output. Alternatively, it can be as follows: based on the main vehicle warning information, a first sensing element that triggers the warning action is determined; based on the safety reception information, a second sensing element that triggers the warning action corresponding to the second driving state is determined; and based on the determined first and second sensing elements, the perceived fault information is output. The perceived fault information can indicate multiple sensing elements that may malfunction, eliminating potential fault risks.

[0109] In one embodiment of this application, step S403 further includes:

[0110] S502. When it is determined, based on the safety reception information, that the first unit C1 has not received driving safety information, the surrounding reception information is obtained.

[0111] The surrounding reception information reflects the reception status of surrounding units relative to traffic safety information, and these surrounding units are associated with traffic events. A surrounding unit refers to a traffic device located near the second unit C2 that communicates with the second unit C2 to receive traffic safety information. "Nearby" refers to a region within a circle centered on the second unit C2 and with a preset radius.

[0112] S503. When it is determined, based on the surrounding received information, that the surrounding units have not received driving safety information, output other responsible information.

[0113] If nearby surrounding units cannot receive the driving safety information broadcast by the second unit C2, it indicates that not only is there a fault in the BSM information transmission between the first unit C1 and the second unit C2, but also a fault in the BSM information transmission between the surrounding units and the second unit C2. This suggests that there may be an abnormality in the transmission of BSM information, resulting in the output of other responsible information, which preliminarily identifies a third party as responsible.

[0114] S504. When it is determined, based on the surrounding received information, that the surrounding units have received driving safety information, output the vehicle liability information.

[0115] If nearby surrounding units can normally receive the driving safety information broadcast by the second unit C2, it indicates that there is a fault in the BSM information transmission between the first unit C1 and the second unit C2, and outputs the vehicle liability information, that is, the vehicle is initially determined to be at fault.

[0116] like Figure 2 and Figure 7 As shown, in one embodiment of this application, the traffic data processing method further includes:

[0117] S701. Determine the avoidance measures information corresponding to the traffic incident.

[0118] Each type of traffic incident is pre-defined to correspond to at least one avoidance maneuver, which can be the actions a vehicle should take in response to the traffic incident. For example, when a traffic incident involves a frontal collision, the corresponding avoidance maneuvers could include braking and turning the steering wheel.

[0119] The avoidance action information includes all avoidance actions corresponding to the traffic incident in Unit C1.

[0120] It is understandable that the first unit C1 is the driver's main driving and control, and the driving behavior information reflects the driver's driving behavior. If the avoidance measure information corresponds to the driving behavior information, it means that the driver's driving behavior and avoidance action are consistent, and the driver took the initiative to take avoidance measures before the traffic incident occurred.

[0121] S702, Obtain vehicle behavior information of the first unit C1.

[0122] The vehicle behavior information reflects the actual actions taken by the first unit C1 in response to the traffic incident. For example, vehicle behavior information may include braking and steering wheel movements.

[0123] It is understandable that the first unit C1 is the driver's main driving and control, and the driving behavior information reflects the driver's driving behavior. Under normal circumstances, the vehicle behavior information in the first unit C1 should correspond to the driving behavior information.

[0124] In step S401 or step S402, the specific methods for outputting the first result information based on the driving behavior information include:

[0125] S703. When the driving behavior information and the avoidance measure information do not match, output the first result information.

[0126] If the driving behavior information and the avoidance measure information do not match, it means that the driver of Unit C1 did not take the correct avoidance measures before facing the traffic incident. In this case, the first result information is that the driver is initially deemed to be at fault.

[0127] S704. When the driving behavior information matches the avoidance measure information and the driving behavior information matches the vehicle behavior information, output the first result information.

[0128] If the driving behavior information matches the avoidance measure information, it means that the driver of Unit C1 had taken the correct avoidance measures before facing the traffic incident. If the driving behavior information matches the vehicle behavior information, it means that after the driver of Unit C1 took the avoidance measures, Unit C1 changed its operating state according to the driver's driving behavior, and Unit C1 was not out of control.

[0129] If a traffic incident still occurs even though the driver has taken evasive action and Unit C1 is not out of control, the first result information will be output, which preliminarily determines that the driver is at fault.

[0130] S705. When the driving behavior information matches the avoidance measure information, but the driving behavior information does not match the vehicle behavior information, output the second result information.

[0131] If the driving behavior information matches the vehicle behavior information, it indicates that after the driver of Unit C1 took evasive action, Unit C1 did not change its operating state according to the driver's driving behavior, and Unit C1 was out of control. Since a traffic incident occurred while Unit C1 was out of control, the vehicle is deemed liable, meaning the vehicle is preliminarily determined to be at fault.

[0132] like Figure 8 As shown, the traffic data processing method provided in this application embodiment can be applied to the automatic liability determination of traffic incidents. The following is an example of the automatic liability determination of traffic incidents, wherein the traffic incident is a forward collision, that is, the first unit C1 collides with the second unit C2, which is directly in front of it, during the driving process.

[0133] The automatic liability determination process for traffic accidents includes:

[0134] St1. Users log in to the automatic traffic incident liability determination system through their user terminals.

[0135] The vehicle terminal of the first unit C1 is equipped with an evidence preservation plugin, which controls the vehicle terminal of the first unit C1 to periodically save traffic data and periodically upload the integrity verification information corresponding to the traffic data to the evidence preservation backend.

[0136] The automatic traffic accident liability determination system is equipped with a cloud server, which can access traffic data from the vehicle-mounted terminal in Unit C1 and ensures that the plug-in data has not been tampered with. Users can access the automatic traffic accident liability determination system through smart terminals.

[0137] St2, User Input Event Information.

[0138] The event information is used to filter and query traffic events corresponding to the first unit C1. The event information may include the time of the accident, the type of traffic event, and the ID information of the first unit C1.

[0139] The implementation principle of this step is described in the relevant description of step S201.

[0140] Step 3: Based on the event information, extract the relevant electronic data of Unit C1.

[0141] The relevant electronic data includes traffic evidence information.

[0142] The implementation principle of this step is described in the relevant descriptions of steps S202-S203.

[0143] Step 4: Determine whether the driving mode of Unit C1 is manual driving. If yes, proceed to step 5; otherwise, proceed to step 9.

[0144] The implementation principle of this step is described in the relevant description of step S401.

[0145] Step 5: Determine the avoidance measures information corresponding to the traffic incident and determine whether the driving behavior information matches the avoidance measures information. If yes, proceed to step 6; otherwise, proceed to step 7.

[0146] In forward collisions, evasive maneuvers can include braking, lane changing, and honking the horn. Driving behavior information includes brake pedal position, steering wheel angle assessment, and horn status; this information can be used to analyze whether the driver actively took appropriate evasive action.

[0147] The implementation principle of this step is described in the relevant descriptions of steps S701-S705.

[0148] Step 6: Determine whether the driving behavior information matches the vehicle behavior information. If yes, proceed to step 7; otherwise, proceed to step 8.

[0149] The vehicle behavior information includes acceleration changes and travel distance. The vehicle behavior information can be used to analyze whether the avoidance measures are effective in a timely manner, that is, to analyze whether the first unit C1 is out of control.

[0150] The implementation principle of this step is described in the relevant descriptions of steps S704-S705.

[0151] St7, output the first result information.

[0152] The initial assessment based on the first result indicates that the driver was at fault.

[0153] St8 outputs vehicle liability information and human liability determination information.

[0154] The vehicle liability information initially identifies the vehicle owner as liable. The manual liability determination information indicates that a final manual assessment is required.

[0155] St9. Determine whether there is a warning event record corresponding to the traffic incident in the main vehicle warning information. If yes, proceed to step St5; otherwise, proceed to step St10.

[0156] In the case of a forward collision, the warning action should be a forward collision warning, so check if there are any records of forward collision warning events.

[0157] The implementation principle of this step is described in the relevant descriptions of steps S402-S403.

[0158] St10, obtain driving safety information.

[0159] Specifically, it acquires the BSM information sent by the second unit C2.

[0160] The implementation principle of this step is described in the relevant description of step S501.

[0161] Step 11: Determine whether the first unit C1 has received driving safety information. If yes, proceed to step 12; otherwise, proceed to step 17.

[0162] The implementation principle of this step is described in the relevant descriptions of steps S501-S403.

[0163] Step 12: Determine the first driving state corresponding to the driving safety information and the second driving state corresponding to the main vehicle warning information. Determine whether the first driving state and the second driving state correspond. If yes, proceed to step 13; otherwise, proceed to step 14 or step 15.

[0164] Specifically, it is determined whether the driving status learned by the first unit C1 is consistent with the driving status broadcast by the second unit C2. If not, step St14 is executed; if it cannot be determined whether they are consistent, step St15 is executed.

[0165] The implementation principle of this step is described in the relevant descriptions of steps S601-S604.

[0166] St13, output vehicle liability information.

[0167] Among them, the preliminary determination of vehicle liability information indicates that the vehicle owner is at fault.

[0168] St14, Output other responsible information.

[0169] Among other things, the preliminary assessment is that the third party is responsible for the other liability information.

[0170] St15, outputs perceived fault information and vehicle liability information.

[0171] Among them, the preliminary determination of vehicle liability information indicates that the vehicle owner is at fault.

[0172] St17, Obtain surrounding reception information.

[0173] Among them, the surrounding reception information refers to the status of driving safety information received by the surrounding units. The surrounding units can be other nearby vehicles, that is, the reception status of BSM information of the second unit C2 by other nearby vehicles.

[0174] The implementation principle of this step is described in the relevant description of step S502.

[0175] Step 18: Determine whether the surrounding units have received driving safety information. If yes, proceed to step 19; otherwise, proceed to step 20.

[0176] This includes determining whether other nearby vehicles have received the BSM information from the second unit C2.

[0177] The implementation principle of this step is described in the relevant descriptions of steps S503-S504.

[0178] St19, Output vehicle liability information.

[0179] Among them, the preliminary determination of vehicle liability information indicates that the vehicle owner is at fault.

[0180] St20, output other responsible information.

[0181] Among other things, the preliminary assessment is that the third party is responsible for the other liability information.

[0182] Furthermore, the above embodiments can acquire data collected by the vehicle terminal and form visualized data evidence, such as making the collected data public.

[0183] For example, the data that can be collected from the above traffic incidents is shown in Table 1 - Forward Collision Data Interaction Requirements Table.

[0184] data unit Remark time ms — Location (latitude and longitude) deg — Location (altitude) m — Car front steering angle deg — Vehicle dimensions (length, width) m — speed m / s — Triaxial acceleration m / s² — yaw rate deg / s —

[0185] Table 1 - Forward Collision Data Interaction Requirements

[0186] Furthermore, a tree diagram is constructed based on the reasons for and results of liability determination, making it convenient for users to conduct analysis.

[0187] For example, in the preliminary determination of third-party liability, it can be found that the BSM information of the second unit C2 was tampered with or counterfeited during transmission, or that the second unit C2 malfunctioned and could not broadcast the BSM information.

[0188] In the preliminary determination of driver liability, the following can be used: the vehicle has triggered a warning action but the driver failed to take over vehicle control in a timely manner or failed to take evasive action in a timely manner; the vehicle is in manual driving mode but the driver failed to take evasive action in a timely manner.

[0189] In the preliminary determination of vehicle liability, the following can be cited: vehicle radio communication electronic failure preventing the receipt of BSM information; vehicle self-positioning failure; vehicle being in autonomous driving mode; driver taking evasive action but being out of control.

[0190] It is worth noting that the descriptions in the above examples represent one application scenario proposed in this application. The traffic data processing method of this application can obviously also be applied to the determination of liability for other types of traffic incidents besides forward collisions. For example, collisions at intersections, left-turn lateral collisions, blind spot / lane-changing collisions, collisions involving overtaking in the wrong direction, emergency braking collisions, collisions involving abnormal vehicles, collisions involving loss of vehicle control, running red lights, and collisions involving vulnerable road users, etc., are not limited in this application.

[0191] Figure 9This is a schematic diagram of the structure of a traffic data processing device provided in an embodiment of this application. Figure 9 As shown, the traffic data processing device is applied to the first unit C1 associated with a traffic incident. The traffic data processing device includes:

[0192] Event query module 1 is used to obtain event information about traffic events.

[0193] Data acquisition module 2 is used to acquire the main vehicle information of the first unit based on event information.

[0194] The evidence generation module 3 is used to output traffic evidence information corresponding to the first unit in the traffic incident based on the main vehicle information.

[0195] Result Analysis Module 4 is used to analyze and judge the data in the traffic evidence information according to preset analysis and judgment conditions, and determine the determination result information.

[0196] Result analysis module 4 includes:

[0197] The vehicle data acquisition module is used to acquire the main vehicle information of the first unit C1. The main vehicle information includes driving mode information, main vehicle warning information, driving behavior information and safety reception information. The safety reception information is used to reflect the reception status of the first unit C1 relative to the driving safety information. The driving safety information is sent by the second unit C2 associated with the traffic event.

[0198] The first result output module is used to output first result information based on the driving behavior information when the driving mode information is manual driving, or when the driving mode information is automatic driving and there is a warning event record corresponding to the traffic event in the master vehicle warning information.

[0199] The second result output module is used to output second result information based on the safety reception information when the driving mode information is automatic driving and there is no warning event record corresponding to the traffic event in the master vehicle warning information.

[0200] It is understood that the module division described above is a logical functional division, and there may be other division methods in actual implementation. Furthermore, the functional modules in the various embodiments of this application can be integrated into the same processing unit, or each module can exist physically separately, or two or more modules can be integrated into the same unit. The integrated modules described above can be implemented in hardware or in a combination of hardware and software functional modules.

[0201] In one embodiment of this application, the traffic data processing device is an in-vehicle terminal.

[0202] Figure 10 This is a schematic diagram of the structure of a terminal device provided in an embodiment of this application. Figure 9 As shown, the terminal device includes a processor and a memory, wherein the memory stores executable instructions of the processor. The processor executes the executable instructions, enabling the terminal device to implement the traffic data processing method as described in the above technical solution.

[0203] The processor can be a Central Processing Unit (CPU), or other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general-purpose processor can be a microprocessor or any conventional processor.

[0204] The memory can be used to store the computer programs and / or modules. The processor implements various functions of the terminal device by running or retrieving the computer programs and / or modules stored in the memory, and by calling data stored in the memory. The memory may mainly include a program storage area and a data storage area. The program storage area may store the operating system, at least one application program required for a function (such as sound playback function, image playback function, etc.), etc.; the data storage area may store data created according to the use of the terminal device, etc. In addition, the memory may include non-volatile memory, such as hard disk, memory, plug-in hard disk, smart media card (SMC), secure digital (SD) card, flash card, at least one disk storage device, flash memory device, or other non-volatile solid-state storage device.

[0205] The memory can be the external memory and / or internal memory of the terminal device. Furthermore, the memory can be a physical memory, such as a memory module or a TF card (Trans-flash Card).

[0206] If the program code and various data in the memory are implemented as software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, all or part of the processes in the methods of the above embodiments, such as data transmission methods, can also be implemented by a computer program instructing related hardware. The computer program can be stored in a computer-readable storage medium, and when executed by a processor, it can implement the steps of the various method embodiments described above. The computer program includes computer program code, which can be in the form of source code, object code, executable files, or certain intermediate forms. The computer-readable medium can include: any entity or device capable of carrying the computer program code, a recording medium, a USB flash drive, a portable hard drive, a magnetic disk, an optical disk, a computer memory, a read-only memory (ROM), etc.

[0207] It is understood that the beneficial effects and implementation principles of the traffic data processing device and terminal equipment provided in this application embodiment can be referred to the relevant descriptions of the corresponding traffic data processing methods provided above, and will not be repeated here.

[0208] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this application and are not intended to limit it. Although this application has been described in detail with reference to preferred embodiments, those skilled in the art should understand that modifications or equivalent substitutions can be made to the technical solutions of this application without departing from the spirit and scope of the technical solutions of this application.

Claims

1. A traffic data processing method, characterized by, The traffic data processing method is applied to a first unit associated with a traffic event, and comprises: obtaining event information of the traffic event; obtaining host vehicle information of the first unit according to the event information; outputting traffic evidence information corresponding to the first unit in the traffic event according to the host vehicle information; the traffic evidence information comprises driving mode information, host vehicle warning information, driving behavior information, and safety receiving information, the safety receiving information is used to reflect a receiving situation of the first unit relative to driving safety information sent by a second unit associated with the traffic event; the traffic data processing method further comprises: when the driving mode information is automatic driving and there is no warning event record corresponding to the traffic event in the host vehicle warning information, outputting second result information according to the safety receiving information, including: when it is determined according to the safety receiving information that the first unit receives the driving safety information, outputting the second result information according to the driving safety information and the host vehicle warning information, wherein the second result information comprises vehicle liability information and other liability information; the outputting of the second result information according to the driving safety information and the host vehicle warning information comprises: determining a first driving state corresponding to the driving safety information and a second driving state corresponding to the host vehicle warning information; when the first driving state corresponds to the second driving state, outputting the vehicle liability information; the outputting of the second result information according to the safety receiving information further comprises: when it is determined according to the safety receiving information that the first unit does not receive the driving safety information, obtaining surrounding receiving information, the surrounding receiving information is used to reflect a receiving situation of a surrounding unit relative to the driving safety information, the surrounding unit is associated with the traffic event.

2. The traffic data processing method according to claim 1, wherein: when the driving mode information is manual driving, or when the driving mode information is automatic driving and there is a warning event record corresponding to the traffic event in the host vehicle warning information, outputting first result information according to the driving behavior information.

3. The traffic data processing method according to claim 1, characterized in that, when the first driving state does not correspond to the second driving state, outputting the other liability information.

4. The traffic data processing method according to claim 3, characterized by, further comprising: when the first driving state does not correspond to the second driving state, outputting perception failure information according to the host vehicle warning information.

5. The traffic data processing method according to claim 3, characterized in that, the outputting of the second result information according to the safety receiving information further comprises: when it is determined according to the surrounding receiving information that the surrounding unit does not receive the driving safety information, outputting the other liability information.

6. The traffic data processing method according to claim 2, characterized by, further comprising: determining avoidance measure information corresponding to the traffic event; the outputting of the first result information according to the driving behavior information comprises: when the driving behavior information does not match the avoidance measure information, outputting the first result information.

7. The traffic data processing method according to claim 6, characterized in that, further comprising: obtaining vehicle behavior information of the first unit; the outputting of the first result information according to the driving behavior information comprises: output the first result information when the driving behavior information matches the avoidance measure information and the driving behavior information matches the vehicle behavior information; output the second result information when the driving behavior information matches the avoidance measure information and the driving behavior information does not match the vehicle behavior information.

8. A traffic data processing apparatus characterized by comprising: The traffic data processing device is applied to a first unit associated with a traffic event, and includes: an event query module configured to obtain event information of the traffic event; a data acquisition module configured to acquire host vehicle information of the first unit according to the event information; an evidence generation module configured to output traffic evidence information corresponding to the first unit in the traffic event according to the host vehicle information, wherein the traffic evidence information includes driving mode information, host vehicle warning information, driving behavior information, and safety reception information, the safety reception information is used to reflect a reception situation of the first unit relative to driving safety information sent by a second unit associated with the traffic event, and the traffic data processing method further includes: when the driving mode information is automatic driving and there is no warning event record corresponding to the traffic event in the host vehicle warning information, outputting second result information according to the safety reception information, including: when it is determined that the first unit receives the driving safety information according to the safety reception information, outputting the second result information according to the driving safety information and the host vehicle warning information, wherein the second result information includes vehicle liability information and other liability information; the outputting of the second result information according to the driving safety information and the host vehicle warning information includes: determining a first driving state corresponding to the driving safety information and a second driving state corresponding to the host vehicle warning information; and when the first driving state corresponds to the second driving state, outputting the vehicle liability information; the outputting of the second result information according to the safety reception information further includes: when it is determined that the first unit does not receive the driving safety information according to the safety reception information, acquiring surrounding reception information used to reflect a reception situation of a surrounding unit relative to the driving safety information, the surrounding unit being associated with the traffic event.

9. A terminal device, characterized by comprising: comprise: a processor; and a memory for storing executable instructions of the processor; wherein the processor executes the executable instructions to enable the terminal device to implement the method of any one of claims 1 to 7.

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