A data processing method, apparatus, and related device

Abstract

The application discloses a data processing method and device and related equipment, which can be applied to the field of transportation. The method comprises the following steps: when a first vehicle is located in a target area covered by a first roadside communication device, a first map message associated with the target area and sent by the first roadside communication device is received; based on the first map message and a driving route of the first vehicle, map driving route information associated with the target area is generated; a vehicle indication message carrying the map driving route information is sent to a second vehicle, and the vehicle indication message is used to instruct a terminal device in the second vehicle to execute a driving strategy based on the map driving route information and a second map message sent by a second roadside communication device; and the second vehicle is located in an area covered by the second roadside communication device. According to the application, the vehicle can be preferentially avoided in a timely and accurate manner, and the vehicle passing efficiency is improved.

Description

Technical Field

[0001] This application relates to the field of automotive wireless communication technology, and in particular to a data processing method, apparatus, and related equipment. Background Technology

[0002] With the development of vehicle intelligence and connectivity technologies, the importance of V2X (Vehicle to Everything) communication technology has become increasingly prominent, and it has become one of the supporting technologies for intelligent vehicles and intelligent transportation. V2X communication technology, through wireless communication between vehicles, between vehicles and roadside infrastructure, and between vehicles and pedestrians, can help vehicles achieve functions such as forward collision warning, speed limit warning, and warning and protection for vulnerable road users.

[0003] However, when a vehicle with priority passage needs (e.g., an emergency vehicle) approaches, drivers of surrounding vehicles often can only avoid it by recognizing the emergency vehicle's alarm sound. As a result, when the emergency vehicle's alarm sound is weak or not sounded, drivers of surrounding vehicles may not have enough time to avoid it, thus reducing the passage efficiency of the emergency vehicle. Summary of the Invention

[0004] This application provides a data processing method, apparatus, and related equipment that can promptly and accurately achieve vehicle priority avoidance and improve vehicle traffic efficiency.

[0005] One embodiment of this application provides a data processing method, which is executed by a terminal device in a first vehicle, including:

[0006] When the first vehicle is located within the target area covered by the first roadside communication device, it receives a first map message associated with the target area sent by the first roadside communication device. Based on the first map message and the first vehicle's driving route, it generates map driving route information associated with the target area. The map driving route information has the same data format as the first map message.

[0007] A vehicle instruction message carrying map driving route information is sent to the second vehicle; the vehicle instruction message is used to instruct the terminal device in the second vehicle to execute a driving strategy based on the map driving route information and the second map message sent by the second roadside communication device; the second vehicle is located in the area covered by the second roadside communication device.

[0008] One embodiment of this application provides a data processing method, which is executed by a terminal device in a second vehicle, including:

[0009] The system receives a vehicle instruction message sent by a terminal device in the first vehicle; the vehicle instruction message carries map driving route information; the map driving route information is generated based on a first map message associated with the target area covered by the first roadside communication device and the driving route of the first vehicle, and the map driving route information is associated with the target area; the map driving route information and the first map message have the same data format; the first map message refers to the map message sent by the first roadside communication device when the first vehicle is located within the target area;

[0010] The system acquires map route information carried in the vehicle instruction message and a second map message sent by the second roadside communication device, and executes a driving strategy based on the map route information and the second map message; the second vehicle is located in the area covered by the second roadside communication device.

[0011] One embodiment of this application provides a data processing apparatus, including:

[0012] The generation module is used to receive a first map message associated with the target area sent by the first roadside communication device when the first vehicle is located within the target area covered by the first roadside communication device, and generate map driving route information associated with the target area based on the first map message and the driving route of the first vehicle; the map driving route information has the same data format as the first map message.

[0013] The sending module is used to send a vehicle instruction message carrying map driving route information to the second vehicle; the vehicle instruction message is used to instruct the terminal device in the second vehicle to execute a driving strategy based on the map driving route information and the second map message sent by the second roadside communication device; the second vehicle is located in the area covered by the second roadside communication device.

[0014] One embodiment of this application provides a data processing apparatus, including:

[0015] The receiving module is used to receive a vehicle instruction message sent by a terminal device in the first vehicle; the vehicle instruction message carries map driving route information; the map driving route information is generated based on a first map message associated with the target area covered by the first roadside communication device and the driving route of the first vehicle, and the map driving route information is associated with the target area; the map driving route information has the same data format as the first map message; the first map message refers to the map message sent by the first roadside communication device when the first vehicle is located within the target area;

[0016] The execution module is used to obtain the map driving route information carried in the vehicle instruction message and the second map message sent by the second roadside communication device, and to execute the driving strategy based on the map driving route information and the second map message; the second vehicle is located in the area covered by the second roadside communication device.

[0017] One embodiment of this application provides a computer device, including: a processor and a memory;

[0018] The processor is connected to a memory, which stores a computer program. When the computer program is executed by the processor, it causes the computer device to perform the method provided in the embodiments of this application.

[0019] One aspect of this application provides a computer-readable storage medium storing a computer program adapted to be loaded and executed by a processor, so that a computer device having the processor performs the method provided in this application.

[0020] One embodiment of this application provides a computer program product or computer program, which includes computer instructions stored in a computer-readable storage medium. A processor of a computer device reads the computer instructions from the computer-readable storage medium and executes the computer instructions, causing the computer device to perform the method provided in this application embodiment.

[0021] In this embodiment, when the first vehicle is located within the target area covered by the first roadside communication device, the terminal device in the first vehicle can generate map driving route information associated with the target area based on the first map message associated with the target area sent by the first roadside communication device and the driving route of the first vehicle. Then, it can send a vehicle instruction message carrying the map driving route information to the second vehicle. Here, the map driving route information has the same data format as the first map message, and the vehicle instruction message is used to instruct the terminal device in the second vehicle to execute a driving strategy based on the map driving route information and the second map message sent by the second roadside communication device. Therefore, this application embodiment can support the terminal device in the first vehicle with priority passage needs to send its own map driving route information in combination with the first map message. Subsequently, the terminal device in the second vehicle near the first vehicle can jointly determine the corresponding driving strategy based on the map driving route information and the second map message. Since the map driving route information of the first vehicle is provided to the second vehicle in advance, the terminal device in the second vehicle can promptly determine whether to give way to the first vehicle based on the precise route of the first vehicle. This enables timely and accurate vehicle priority avoidance, especially in complex intersection environments such as crossroads. At the same time, it enables effective cooperation between vehicles, thereby improving vehicle traffic efficiency. Attached Figure Description

[0022] Figure 1 This is a schematic diagram of a system architecture provided in an embodiment of this application;

[0023] Figure 2 This is a schematic diagram of a data processing scenario provided in an embodiment of this application;

[0024] Figure 3 This is a flowchart illustrating a data processing method provided in an embodiment of this application;

[0025] Figure 4 This is a schematic diagram of the structure of a map message provided in an embodiment of this application;

[0026] Figure 5 This is a flowchart illustrating a data processing method provided in an embodiment of this application;

[0027] Figure 6 This is a schematic diagram of the interaction flow of a data processing method provided in an embodiment of this application;

[0028] Figure 7 This is a schematic diagram of a vehicle-to-vehicle collaboration scenario provided in an embodiment of this application;

[0029] Figure 8This is a schematic diagram of a vehicle-to-vehicle collaboration scenario provided in an embodiment of this application;

[0030] Figure 9 This is a schematic diagram of the structure of a data processing device provided in an embodiment of this application;

[0031] Figure 10 This is a schematic diagram of the structure of a data processing device provided in an embodiment of this application;

[0032] Figure 11 This is a schematic diagram of the structure of a computer device provided in an embodiment of this application;

[0033] Figure 12 This is a schematic diagram of the structure of a data processing system provided in an embodiment of this application. Detailed Implementation

[0034] The technical solutions in the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings.

[0035] The technical solutions of this application embodiment can be applied to vehicle communication systems based on various communication methods, such as V2X systems based on Dedicated Short Range Communication (DSRC), V2X systems based on cellular network communication technology (i.e., Cellular Vehicle to Everything, C-V2X), or subsequent evolved vehicle communication systems. C-V2X includes LTE-V2X (Long Term Evolution, LTE) based on 4th Generation Mobile Communication Technology (4G) and 5G-V2X (also known as NR-V2X, New Radio, NR) based on 5th Generation Mobile Communication Technology (5G). Furthermore, from a technological evolution perspective, LTE-V2X supports a smooth evolution to 5G-V2X.

[0036] Intelligent Traffic Systems (ITS), also known as Intelligent Transportation Systems, effectively integrate advanced science and technology (information technology, computer technology, data communication technology, sensor technology, electronic control technology, automatic control theory, operations research, artificial intelligence, etc.) into transportation, service control, and vehicle manufacturing. This strengthens the connection between vehicles, roads, and users, thereby forming a comprehensive transportation system that ensures safety, improves efficiency, enhances the environment, and saves energy.

[0037] Intelligent Vehicle Infrastructure Cooperative Systems (IVICS), or vehicle-road cooperative systems for short, represent a development direction for Intelligent Transportation Systems (ITS). IVICS utilizes advanced wireless communication and next-generation Internet technologies to implement comprehensive, real-time dynamic information exchange between vehicles and infrastructure. Based on the collection and fusion of dynamic traffic information across all times and spaces, it conducts active vehicle safety control and cooperative road management, fully realizing effective collaboration between people, vehicles, and roads. This ensures traffic safety, improves traffic efficiency, and ultimately forms a safe, efficient, and environmentally friendly road traffic system.

[0038] The solutions provided in this application involve technologies such as vehicle-road cooperation, which are specifically illustrated through the following embodiments:

[0039] Please see Figure 1 , Figure 1 This is a schematic diagram of a system architecture provided in an embodiment of this application. In vehicular wireless communication, such as... Figure 1 The system architecture shown may include a roadside communication equipment cluster and a terminal equipment cluster. The roadside communication equipment cluster may include one or more roadside communication devices; the number of roadside communication devices in the cluster is not limited here. For example, such as... Figure 1 As shown, the roadside communication equipment cluster may specifically include roadside communication equipment 100a, ..., roadside communication equipment 100b, ..., roadside communication equipment 100m. It should be understood that communication connections may exist between the roadside communication equipment. For example, there may be a communication connection between roadside communication equipment 100a and roadside communication equipment 100b to achieve information exchange.

[0040] It is understood that the roadside communication equipment in this application embodiment can be a communication device (or communication gateway) deployed on the roadside, and can have various forms (e.g., wired, wireless, etc.). The specific form of the roadside communication equipment will not be limited here. In practical applications, roadside communication equipment can be deployed according to information such as road environment and business needs. Specifically, regarding the implementation of V2X services, the roadside communication equipment can collect information from roadside basic traffic facilities and road traffic participants (e.g., pedestrians, cyclists, vehicles, etc.), upload it to the V2X cloud platform via wired or wireless means, and can also distribute surrounding traffic information (e.g., via broadcast) to road traffic participants (e.g., vehicles within its signal coverage area). Roadside basic traffic facilities can include roadside units, traffic signal controllers, roadside intelligent sensing systems (including various cameras, LiDAR, millimeter-wave radar, etc.), dynamic traffic signs, electronic license plate RFID (Radio Frequency Identification) readers, parking space detectors, high-precision positioning ground-based augmentation stations, and roadside meteorological sensing stations, among other related equipment. In addition to the aforementioned business functions, roadside communication equipment can also have basic functions such as management (e.g., responsible for the authentication, management and maintenance of roadside communication equipment) and security (e.g., responsible for the security protection of the roadside communication equipment itself and the information exchange between the roadside communication equipment and other interactive objects).

[0041] Optionally, in an LTE-V2X system, the roadside communication equipment can be a V2X device, such as a roadside unit (RSU), which is a hardware unit installed on the roadside that can realize V2X communication and support V2X applications. Alternatively, it can be an environmental sensing device, such as a camera or radar sensor. This application does not limit the specific technology or specific equipment form used in the roadside communication equipment.

[0042] It is understood that, optionally, roadside communication equipment can be deployed independently on the roadside, or optionally, roadside communication equipment can be embedded in other equipment and deployed together on the roadside. For example, roadside communication equipment can be embedded in traffic light equipment, cameras or other road signs.

[0043] In such Figure 1 In the system architecture shown, the terminal device cluster can include one or more terminal devices; the number of terminal devices in the cluster is not limited here. For example, as Figure 1As shown, the terminal device cluster can specifically include terminal device 200a, terminal device 200b, ..., terminal device 200c, ..., terminal device 200n. It should be understood that the terminal devices can be configured on corresponding vehicles, so that vehicles equipped with terminal devices can communicate with other devices through their configured terminal devices, i.e., realize V2X vehicle-to-everything (V2X) communication. For example, ... Figure 1 As shown, terminal device 200a can be configured on vehicle 20a, terminal device 200b can be configured on vehicle 20b, ..., terminal device 200c can be configured on vehicle 20c, ..., terminal device 200n can be configured on vehicle 20n. It should be noted that these vehicles can be intelligent driving vehicles, assisted driving vehicles (or manually driven vehicles), or different levels of autonomous driving vehicles. Vehicle types include, but are not limited to, cars, medium-sized vehicles, large vehicles, cargo vehicles, ambulances, fire trucks, etc., and this application embodiment does not limit these types. V2X vehicle-to-everything (V2X) communication includes, but is not limited to, various communication scenarios such as vehicle-to-vehicle (V2V) communication, vehicle-to-infrastructure (V2I) communication, vehicle-to-pedestrian (V2P) communication, and vehicle-to-network (V2N) communication.

[0044] It is understandable that in a V2V scenario, terminal devices in different vehicles can have communication connections. For example, terminal device 200a configured on vehicle 20a and terminal device 200b configured on vehicle 20b can communicate to achieve information exchange. For instance, the terminal devices can obtain real-time information such as the speed, location, and driving conditions of surrounding vehicles. The terminal devices can also form an interactive platform, exchanging text, images, and videos in real time. Based on V2V communication, vehicles can implement forward collision warning, lane change assist, left turn assist, and cooperative adaptive cruise control, among other things.

[0045] It is understandable that in a V2I scenario, terminal devices in a vehicle can establish communication connections with roadside communication devices, allowing each terminal device to interact with the corresponding roadside communication device through this connection. For example, terminal device 200a configured on vehicle 20a has a communication connection with roadside communication device 100a. The roadside communication device can also obtain information about vehicles in the nearby area and publish various real-time information. Based on V2I communication, applications such as speed recommendations, traffic priority, road condition warnings, red light violation warnings, weather impact warnings, parking space and charging station location tracking, and non-stop toll collection can be implemented.

[0046] Furthermore, in V2P scenarios, the terminal devices in the vehicle can interact with user devices used by pedestrians (such as smartphones, wearable devices, laptops, etc.). Figure 1 (Not shown in the image) Establish a communication connection so that each terminal device can interact with the user device used by the pedestrian through this connection. Based on V2P communication, early warning and protection for vulnerable road users (e.g., pedestrians, bicycles, electric bicycles, etc.) can be achieved to reduce traffic accidents. In V2N scenarios, terminal devices in vehicles can communicate with management platforms (e.g., V2X cloud platforms, etc.). Figure 1 (Not shown in the image) A communication connection is established so that each terminal device can interact with the V2X cloud platform through this connection, and the V2X cloud platform can store and process the acquired data. Based on V2N communication, services such as real-time traffic route planning, map updates, infotainment services, and emergency rescue can be realized.

[0047] The above-mentioned communication connection is not limited to a specific connection method. Communication between different devices can use different connection methods or the same connection method. This application embodiment does not impose any restrictions on this.

[0048] It is understood that the terminal devices in the embodiments of this application may include vehicle-mounted terminals, mobile terminals (such as smartphones, tablets, laptops, etc.), wireless communication devices, terminal devices in future 5G networks, or terminal devices in future evolved Public Land Mobile Networks (PLMNs), and may also include V2X devices, such as on-board units (OBUs) in vehicles, i.e., hardware units installed in vehicles that enable V2X communication and support V2X applications. The terminal devices may be fixed in location or mobile. The embodiments of this application do not limit the specific technology or device form used in the terminal devices.

[0049] in, Figure 1 The system architecture shown can be applied to 4G networks, 5G networks, and other possible future networks. This application does not specifically limit this.

[0050] It is understandable that, due to differences in signal coverage, each roadside communication device corresponds to a coverage area. A roadside communication device can collect data related to roadside infrastructure and road users within its coverage area. For example, it can use its own onboard cameras, radar, and other sensors for detection, and can also collect information on abnormal road conditions. This collected data can then be reported to the V2X cloud platform. Furthermore, the roadside communication device can also distribute relevant data to roadside infrastructure and road users within its coverage area. For example, it can broadcast map data associated with the coverage area, or it can broadcast data received from the V2X cloud platform. For example, such as... Figure 1 As shown, assuming vehicles 20a and 20b are within the coverage area of ​​roadside communication device 100a, roadside communication device 100a can acquire data associated with vehicles 20a and 20b (e.g., vehicle type, location, speed, etc.). Roadside communication device 100a can also send real-time information (e.g., road conditions, weather, etc.) to vehicles 20a and 20b, which is then processed by the corresponding terminal devices (i.e., terminal devices 200a and 200b). Similarly, assuming vehicle 20c is within the coverage area of ​​roadside communication device 100b, roadside communication device 100b can interact with terminal device 200c on vehicle 20c. Likewise, assuming vehicle 20n is within the coverage area of ​​roadside communication device 100m, roadside communication device 100m can interact with terminal device 200n on vehicle 20n. Furthermore, since vehicles can also exchange information through their respective configured terminal devices, this application embodiment can adopt a combination of V2V communication and V2I communication to quickly clear a clear lane for vehicles with priority passage needs, thereby achieving effective coordination between vehicles and improving vehicle traffic efficiency.

[0051] For ease of understanding and explanation, in the embodiments of this application, a vehicle with priority passage can be referred to as a first vehicle, and surrounding vehicles traveling near the first vehicle can be collectively referred to as second vehicles. For example, in situations such as... Figure 1When vehicle 20a has a priority passage requirement, it can be designated as the first vehicle, and vehicle 20b, located near vehicle 20a, can be designated as the second vehicle. In this embodiment, the first vehicle can be an emergency vehicle such as an ambulance, fire truck, emergency rescue vehicle, or accident investigation vehicle, or a vehicle that is entitled to priority passage according to policy or law. The second vehicle can be an ordinary social vehicle (i.e., a vehicle without a priority passage requirement or capability). In some optional embodiments, if different vehicles have different passage priorities, the passage priority of the first vehicle is higher than that of the second vehicle. It is understood that when both the first and second vehicles are equipped with on-board units (OBUs), due to the limited signal coverage of the OBUs, the second vehicle in this scenario can be a vehicle located within the coverage area of ​​the OBU configured on the first vehicle. In this case, the OBUs in the first and second vehicles can communicate directly without the aid of other equipment. For example, vehicle 20b can receive messages broadcast by vehicle 20a. Furthermore, this application embodiment will not limit the driving methods used by the first vehicle and the second vehicle. For example, they can be driven automatically or manually.

[0052] Similarly, in this application embodiment, the roadside communication device used for information interaction with the first vehicle can be referred to as the first roadside communication device, meaning that the first vehicle is within the coverage area of ​​the first roadside communication device. For example, the roadside communication device 100a associated with the area where vehicle 20a is located can be considered the first roadside communication device. Likewise, the roadside communication device used for information interaction with the second vehicle can be referred to as the second roadside communication device, meaning that the second vehicle is within the coverage area of ​​the second roadside communication device. For example, the roadside communication device 100a associated with the area where vehicle 20b is located can be considered the second roadside communication device. It should be noted that due to the diversity of actual road environments, the deployment of roadside communication devices is very flexible. Therefore, the first roadside communication device and the second roadside communication device may be the same device or different devices, and this application embodiment does not limit this. Optionally, when the roadside communication devices deployed on the roadside are relatively dense, the coverage areas of the first roadside communication device and the second roadside communication device may overlap. Vehicles located in the overlapping area can communicate with either the first roadside communication device or the second roadside communication device. This application embodiment does not limit this. For example, vehicles in the overlapping area can choose to communicate with the nearest roadside communication device.

[0053] In addition, roadside communication devices can transmit map data (such as intersection information, road segment information, etc.) of the area to vehicles within their coverage area. In V2I communication, map data can be transmitted by sending map messages. Therefore, in this embodiment, the map message sent by the first roadside communication device can be referred to as the first map message; similarly, the map message sent by the second roadside communication device can be referred to as the second map message.

[0054] Based on this, in order to achieve accurate vehicle priority avoidance, this application provides a method for determining vehicle priority between vehicles. Specifically, when the first vehicle is located in the target area covered by the first roadside communication device (i.e., the area corresponding to the coverage of the first roadside communication device), the terminal device in the first vehicle can generate map driving route information associated with the target area based on the first map message associated with the target area sent by the first roadside communication device and the driving route of the first vehicle, and then send a vehicle instruction message carrying the map driving route information to the second vehicle. The map route information here has the same data format as the first map message. This data format is different from the data formats of commonly used navigation maps and high-precision maps. It is a unique data format suitable for V2X systems. The map route information can represent the driving route of the first vehicle in the target area. In this way, after receiving the vehicle instruction message, the terminal device in the second vehicle can know the location of the first vehicle and the route that the first vehicle will travel in the area indicated by the second map message by combining the map route information and the second map message sent by the second roadside communication device. Thus, it can determine whether to give way. In other words, the terminal device in the second vehicle can execute the corresponding driving strategy based on the map route information and the second map message.

[0055] As described above, the terminal device in the first vehicle can combine the first map message sent by the first roadside communication device to send its own map driving route information to the nearby second vehicle. Subsequently, the terminal device in the second vehicle can jointly determine the corresponding driving strategy based on the map driving route information and the second map message. Since the map driving route information of the first vehicle is provided to the second vehicle in advance, the terminal device in the second vehicle can quickly and timely determine whether to give way to the first vehicle based on the precise route of the first vehicle. This enables timely and accurate vehicle priority avoidance, especially in complex intersection environments such as crossroads. At the same time, it enables effective cooperation between vehicles, thereby improving traffic efficiency.

[0056] The method provided in this application can be applied to business scenarios such as emergency vehicle priority avoidance, emergency vehicle alerting, and cooperative priority / emergency vehicle passage. It is suitable for urban areas and highways, especially in environments such as intersections or other complex intersections. Specific business scenarios will not be listed one by one here. Figure 1 The system shown can specifically be an emergency vehicle priority system.

[0057] For ease of understanding, please refer to the following: Figure 2 , Figure 2 This is a schematic diagram of a data processing scenario provided by an embodiment of this application. This data processing scenario mainly describes the data interaction between a terminal device in a first vehicle and a terminal device in a second vehicle. For ease of distinction, the terminal device in the first vehicle can be referred to as the first terminal device, and similarly, the terminal device in the second vehicle can be referred to as the second terminal device. For example, as... Figure 2 If the vehicle 201A shown can be used as the first vehicle, then the terminal device 20A in vehicle 201A can be used as the first terminal device, and vehicle 201A has a priority passage requirement (e.g., when performing a special task); accordingly, as Figure 2 If the vehicle 201B shown can be used as a second vehicle, then the terminal device 20B in the vehicle 201B can be used as a second terminal device.

[0058] like Figure 2 As shown, both vehicles 201A and 201B are traveling on the road, and one or more roadside communication devices can be deployed on both sides of the road. For example, the deployed roadside communication devices may include... Figure 2 The roadside communication devices 20C and 20D are shown. Assuming that vehicle 201A is located in the area covered by roadside communication device 20C (e.g., area 202), then roadside communication device 20C can serve as the first roadside communication device; correspondingly, if vehicle 201B is located in the area covered by roadside communication device 20D (e.g., area 207), then roadside communication device 20D can serve as the second roadside communication device.

[0059] It is understood that when vehicle 201A is located within area 202 (i.e., the target area) covered by roadside communication device 20C, vehicle 201A can communicate with roadside communication device 20C through terminal device 20A. For example, roadside communication device 20C can send map messages associated with area 202 (e.g., map message 203) to terminal device 20A. Similarly, when vehicle 201B is located within area 207 covered by roadside communication device 20D, vehicle 201B can communicate with roadside communication device 20D through terminal device 20B. For example, roadside communication device 20D can send map messages associated with area 207 (e.g., map message 208) to terminal device 20B. It should be noted that areas 202 and 207 may not overlap, or they may overlap; this embodiment does not limit this.

[0060] It is understandable that when vehicle 201A is performing a special task, terminal device 20A knows its own driving route information, such as the road segments and intersections it needs to pass from the starting point (e.g., location A) to the destination (e.g., location B). Therefore, terminal device 20A can combine the received map messages to inform surrounding vehicles (e.g., vehicle 201B) of its driving route in the current area, so that surrounding vehicles can quickly and safely give way to vehicle 201A and clear a clear lane. Figure 2 As shown, after the roadside communication device 20C sends the map message 203 (i.e. the first map message) associated with area 202 to the terminal device 20A, the terminal device 20A can generate map driving route information 205 associated with area 202 based on the received map message 203 and the vehicle's driving route 204. The map driving route information 205 can be used to indicate the detailed route of vehicle 201A from the current time to a future period (within area 202), which can be specific to intersections, road segments and lanes within area 202.

[0061] It is understood that in V2X communication, the map data carried by the map message has a unique data format, which is different from the data format of typical navigation maps and high-precision maps used in autonomous driving. In the embodiments of this application, the map driving route information has the same data format as the map data carried by the map message.

[0062] Furthermore, such as Figure 2As shown, terminal device 20A can obtain vehicle instruction message 206 for sending to surrounding vehicles based on map driving route information 205, and can send the vehicle instruction message 206 carrying the map driving route information 205 to vehicle 20B. After receiving the vehicle instruction message 206, terminal device 20B in vehicle 20B can further obtain the map driving route information (i.e., map driving route information 205) carried by the vehicle instruction message 206. Subsequently, terminal device 20B can determine its own driving strategy (e.g., driving strategy 209) based on the map driving route information 205 and the map message 208 associated with area 207 (i.e., the second map message), and finally, terminal device 20B can execute the driving strategy.

[0063] Optionally, if terminal device 20B detects that vehicle 201B is on the future driving route of vehicle 201A, the driving strategy 209 executed by terminal device 20B can be an avoidance strategy for vehicle 201A. For example, it can change lanes to other lanes in advance to avoid the dedicated lane that vehicle 201A is about to pass through. Other avoidance strategies can also be adopted, which are not limited in this embodiment. Optionally, if terminal device 20B detects that vehicle 201B is not on the future driving route of vehicle 201A, the driving strategy 209 executed by terminal device 20B can be a strategy determined before receiving vehicle instruction message 206, such as continuing to drive using the previous driving strategy.

[0064] As can be seen from the above, since the embodiments of this application can support the first terminal device to provide the second terminal device with the map driving route information of the first vehicle, the second terminal device can promptly determine whether to give way to the first vehicle based on the precise route of the first vehicle, thereby enabling timely and accurate vehicle priority avoidance. This is especially true in complex intersection environments such as crossroads, where precise vehicle priority avoidance can also be achieved. At the same time, effective cooperation between vehicles can be realized, thereby improving vehicle traffic efficiency.

[0065] The business scenarios described in the embodiments of this application are applicable to various road environments, such as straight road sections, various types of curves, crossroads, three-way intersections, etc., and this application does not limit them.

[0066] The specific implementation methods for terminal device 20A to generate map driving route information based on the first map message and the vehicle's driving route, and to send a vehicle instruction message carrying the map driving route information to the second vehicle, as well as the specific implementation methods for terminal device 20B to execute driving strategies based on the map driving route information and the second map message, can be found below. Figures 3-8 The description in the corresponding embodiments.

[0067] Please see Figure 3, Figure 3 This is a flowchart illustrating a data processing method provided in an embodiment of this application. This data processing method can be implemented by a terminal device in a first vehicle (i.e., the first terminal device, for example, the one described above). Figure 2 The terminal device 20A shown is used for execution. Figure 3 As shown, the data processing method may include at least the following S101-S102:

[0068] S101, when the first vehicle is located within the target area covered by the first roadside communication device, the first map message associated with the target area sent by the first roadside communication device is received, and map driving route information associated with the target area is generated based on the first map message and the driving route of the first vehicle.

[0069] It is understood that when vehicles have priority passage needs (e.g., emergency vehicles performing special tasks), they can use map data published by roadside communication equipment to inform surrounding vehicles of their own driving route information. In a V2X system, roadside communication equipment can transmit relevant map data to road traffic participants (e.g., vehicles) within its signal coverage area through specified information exchange methods. These information exchange methods include, but are not limited to, broadcast (no specific recipient, all traffic participants within the communication range can receive the message), multicast (also known as multicast, multipoint broadcast, or group broadcast, with a specific recipient, a specific group of traffic participants within the communication range can receive the message), and unicast (with a specific recipient, only one specific traffic participant within the communication range can receive the message), etc. This application embodiment does not limit these methods.

[0070] For example, the message layer datasets listed later in this application embodiment can be defined using the ASN.1 standard (Abstract Syntax Notation One) or other descriptive methods, following a nested logic of "Message Frame - Message Body - Data Frame (DF) - Data Element (DE)". The encoding and decoding methods for dataset interaction can follow the Unaligned Packed Encoding Rules (UPER) or other encoding rules. Here, the message layer dataset mainly consists of a message frame format, five basic message bodies, and corresponding data frames and data elements. It can be understood that a message frame is a unified packaging format for a single application layer message and is the sole object of data encoding and decoding. Message frames are composed of different types of message bodies and support extensions. The five basic message bodies here can specifically include the Basic Safety Message (BSM), Map Message (MAP), Roadside Information Message (RSI), Roadside Safety Message (RSM), and SignalPhase and Timing Message (SPAT).

[0071] In this embodiment, the roadside communication device can transmit map data of a local area (i.e., the area covered by the roadside communication device) by sending map messages. This map data may include intersection information, road segment information, lane information, and the connectivity between roads within the local area. A single map message can contain map data for multiple intersections or areas. Traffic light information at intersections is defined in detail in the SPAT message, which may contain the current status information of one or more traffic lights at an intersection. Combined with the MAP message, this provides vehicles with real-time traffic light phase information ahead. For easier understanding, please refer to [link to relevant documentation]. Figure 4 , Figure 4 This is a schematic diagram of the structure of a map message provided in an embodiment of this application. For example... Figure 4 The main structure of the map message shown is a nested structure, where solid boxes indicate required items and dashed boxes indicate optional items. For example... Figure 4As shown, a map message can include a message timestamp (timeStamp), a map message count (msgCnt), and a list of map nodes (nodes). The map node list can include at least two map nodes, each with corresponding node data. This node data can include the map node name (name), map node identifier (nodeid), node center location (refPOS, including latitude, longitude, and elevation), and directed road segments (inLinks) leading to that map node. Each directed road segment (Link) can further include corresponding road segment data, including the directed road segment name (name), upstream node identifier (upstreamNodeId), road segment speed limit (speedLimits), road segment width (linkWidth), and a list of lanes contained in that directed road segment (lanes). The lane list can further include at least one lane, and each lane can also have corresponding lane data, such as lane width (laneWidth) and lane identifier (laneID), which will not be elaborated here. It can be understood that a map message can also include... Figure 4 Other content not shown in the map (such as a list of intermediate points on directed road segments) will not be listed here. In addition, map messages can also be extended.

[0072] Furthermore, for ease of understanding, please refer to Table 1, which indicates the syntax (Msg_MAP) of a map message provided in the embodiments of this application. This map message can be defined using the ASN.1 standard:

[0073] Table 1

[0074]

[0075] The semantics of the syntax shown in Table 1 above are as follows: `msgCnt` is the map message count field, used to indicate the number of the currently sent map message; its data type is defined by the data element `MsgCount`. `timeStamp` is the message timestamp field, used to indicate the total number of minutes that have elapsed in the current year (UTC time, i.e., Universal Time Coordinated); its data type is defined by the data element `MinuteOfTheYear`. `nodes` is the map node list, used to indicate the multiple map nodes contained in the map message; its data type is defined by the data frame `NodeList`. Information marked "OPTIONAL" is optional.

[0076] It is understood that in this embodiment, map nodes are the most basic components of a map, and map nodes and road segments connecting them can form a road network. A map node can be an intersection or the endpoint of a road segment. On the map, two sequential map nodes can determine a directed road segment. It should be noted that in the node data of a map node, the set of upstream road segments connected to that node (i.e., inLinks) all use that map node as the downstream node, while road segments originating from that map node belong to the data of the downstream nodes of that road segment. In other words, the direction of a directed road segment can be represented by the upstream node identifier (upstreamNodeId) pointing to the map node identifier (nodeid).

[0077] Based on V2I communication, when a first vehicle enters the target area covered by a first roadside communication device, the first terminal device can receive a first map message associated with the target area sent by the first roadside communication device. This first map message can carry map data of the target area. Furthermore, the first terminal device can obtain the driving route of the first vehicle. This driving route can be manually set by the occupants of the first vehicle (e.g., the driver) (e.g., through the interactive interface of the first terminal device), or it can be automatically set by the first terminal device based on actual road conditions. It is understood that the driving route can be a complete driving route (i.e., a complete route from the starting point to the destination) or a partial driving route, such as a portion of the route to be taken in the future from the current location of the first vehicle. In addition, the data format of the driving route can be the data format used by general navigation maps, or the data format used by high-precision maps, or other data formats. This application embodiment will not limit the content and data format of the driving route.

[0078] Furthermore, the first terminal device can generate map driving route information associated with the target area based on the acquired first map message and the driving route of the first vehicle. For example, the first terminal device can acquire map data describing the target area from the first map message, wherein the map data may include node data of at least two first map nodes. This embodiment of the application does not limit the number of first map nodes. The specific content of the node data can be found above. Figure 4The descriptions in the corresponding embodiments will not be repeated here. Further, the first terminal device can obtain map nodes associated with the driving route of the first vehicle from at least two first map nodes, using these as target map nodes. The node data of the target map nodes can then be used as map driving route information associated with the target area. For example, assuming the number of the first map nodes is N, where N is a positive integer greater than 1, and the N first map nodes specifically include map node A1, map node A2, ..., map node AN, if the driving route of the first vehicle indicates that the first vehicle needs to pass through map nodes A2, A3, A5, and A6, then the first terminal device can use map nodes A2, A3, A5, and A6 as target map nodes, thereby obtaining the node data of map nodes A2, A3, A5, and A6 to obtain the corresponding map driving route information.

[0079] It should be understood that in this embodiment, the map driving route information and the first map message have the same data format, which can specifically be V2X MAP format (i.e., Table 1 above or...). Figure 4 The map message shown uses a data format that allows the first vehicle's route to be represented by multiple consecutive nodeids and upstreamNodeIds. A sequential set of nodeids and upstreamNodeIds can represent a directed road segment. Because the map route information uses a data format suitable for V2X systems, the first terminal device essentially performs a data format conversion for the first vehicle's route. This avoids the need for the second terminal device to perform the conversion again, enabling efficient data exchange between the first and second terminal devices, improving information processing efficiency, and ultimately enhancing vehicle collaboration efficiency.

[0080] It is understood that in the specific embodiments of this application, data related to vehicle driving status information, driving route, map driving route information, etc. are involved. When the above embodiments of this application are applied to specific products or technologies, user permission or consent is required, and the collection, use and processing of related data must comply with the relevant laws, regulations and standards of the relevant countries and regions.

[0081] S102, a vehicle instruction message carrying map driving route information is sent to the second vehicle.

[0082] Understandably, based on V2V communication, the first terminal device can send the generated map driving route information to the second vehicle. In this embodiment, the first terminal device can transmit the map driving route information to the second vehicle by sending a vehicle instruction message. This vehicle instruction message can be used to instruct the second terminal device to execute a driving strategy based on the map driving route information and the second map message sent by the second roadside communication device. The second vehicle is located within the area covered by the second roadside communication device.

[0083] In some embodiments, the second vehicle can also serve as the host vehicle (HV), i.e., the target vehicle equipped with terminal equipment (e.g., an on-board unit) and running an application; correspondingly, the first vehicle can serve as the remote vehicle (RV), i.e., the background vehicle that cooperates with the host vehicle to periodically broadcast V2X messages. Optionally, both the HV and RV can have an LTE-V2X OBU, which can specify a frequency (e.g., 10Hz) to externally publish (e.g., broadcast) the vehicle's driving status information, including but not limited to location, speed, and heading angle. Furthermore, the RV can further indicate whether it is an emergency vehicle. For ease of understanding, please refer to Table 2, which indicates the content of an emergency vehicle interaction data provided in this application embodiment:

[0084] Table 2

[0085]

[0086]

[0087] The data shown in Table 2 above can be added to the Basic Safety Message (BSM) for transmission. For ease of understanding, please also refer to Table 3, which indicates the syntax (Msg_BSM) of a Basic Safety Message provided in this application embodiment. This Basic Safety Message can be defined using the ASN.1 standard.

[0088] Table 3

[0089]

[0090]

[0091] The semantics of the syntax shown in Table 3 above are as follows: msgCnt is the BSM message count field, used to indicate the number of the currently sent BSM message. id is the vehicle identification field, used to indicate the temporary vehicle ID. secMark is the message timestamp field, which can indicate the millisecond level within 1 minute. timeConfidence is used to characterize the confidence level of time accuracy. pos is the vehicle position field, used to indicate the three-dimensional position coordinates of the vehicle, including latitude, longitude, and elevation. posAccuracy is used to characterize the accuracy of the positioning system itself. posConfidence is used to characterize the overall accuracy of the vehicle position (longitude, latitude, and elevation). transmission is the gear field, used to indicate the vehicle's gear status (e.g., neutral, stop, drive, reverse, etc.). speed is the vehicle speed field, used to indicate the vehicle speed. heading is used to indicate the vehicle's heading angle. angle is used to indicate the vehicle's steering wheel angle (e.g., right is positive, left is negative). motionCfd is used to describe the accuracy of the vehicle's operating state (including speed accuracy, heading accuracy, and steering wheel angle accuracy). `accelSet` represents the vehicle's four-axis acceleration, including longitudinal vehicle acceleration, lateral vehicle acceleration, vertical vehicle acceleration, and vehicle yaw rate (DE_YawRate). `brakes` indicates the vehicle's braking system status. `size` indicates the vehicle's dimensions. `vehicleClass` represents the vehicle's basic type and its extended types. `safetyExt` is a collection of vehicle safety assistance information. `emergencyExt` is a collection of information on the current status of emergency vehicles; that is, the indications of emergency vehicles can be reflected in the `emergencyExt` field.

[0092] Based on this, for example, the first terminal device can obtain basic vehicle safety information describing the driving status of the first vehicle, and then add the generated map driving route information to the basic vehicle safety information to obtain a vehicle instruction message.

[0093] In this embodiment, the basic vehicle safety message may include a vehicle assistance information field. Therefore, the first terminal device can add map driving route information to the vehicle assistance information field, and then determine the basic vehicle safety message with the added map driving route information as a vehicle instruction message. Optionally, the vehicle assistance information field here can be the emergencyExt field shown in Table 3 above, or the vehicle assistance information field can also be a newly added extended field independent of the emergencyExt field. This embodiment does not limit this.

[0094] The `emergencyExt` field can be used to define a set of auxiliary information for emergency or special vehicles. It is used in the vehicle's basic safety message to inform surrounding vehicles that the vehicle is performing special operations and requires priority or avoidance. This information may include the vehicle's special driving status, the use of audible devices and indicator lights, etc. All information is optional and supports expansion. Optionally, when the vehicle auxiliary information field is `emergencyExt`, please refer to Table 4 for ease of understanding. Table 4 indicates the syntax (DF_VehicleEmergencyExtensions) of an `emergencyExt` field provided in this application embodiment. This vehicle auxiliary information field can be defined using the ASN.1 standard.

[0095] Table 4

[0096]

[0097] The semantics of the syntax shown in Table 4 above are as follows: The `responseType` field is used to indicate the current driving status or driving behavior of the emergency vehicle or special vehicle. The `sirenUse` field is used to indicate the status of the alarm-prone sound device or any dedicated sound device configured on the emergency vehicle or special vehicle. The `lightsUse` field is used to indicate the working status of the indicator lights or external dedicated display devices configured on the emergency vehicle or special vehicle. The `route` field is an extended field added to the original `emergencyExt` field in this embodiment of the application, used to indicate the map driving route information of the emergency vehicle or special vehicle. It can refer to the data format of the MAP message, for example, using `nodeid` and `upstreamNodeId` to represent the map driving route information. The data type of the `route` field is defined by `FutureRoute`.

[0098] It is understandable that by extending the emergencyExt field, the interaction of map driving route information can be smoothly integrated into the BSM message interaction process without the need for additional interaction processes. This allows the extended BSM message to be compatible with the existing V2X system.

[0099] Finally, the first terminal device can send a vehicle instruction message carrying the aforementioned map driving route information to the second vehicle. In the V2X system, the first terminal device can transmit the vehicle instruction message to road traffic participants (such as the second vehicle) within its signal coverage area through a specified information interaction method. This information interaction method includes, but is not limited to, broadcast, multicast, and unicast methods, which are not limited in this embodiment. Subsequently, after receiving the vehicle instruction message, the second terminal device can execute corresponding driving strategies based on the V2X MAP format map driving route information and the second map message. For details, please refer to the following... Figure 5 The corresponding implementation examples.

[0100] It should be noted that different roadside communication devices may transmit different map messages. In other words, different roadside communication devices may transmit map data for different areas. Since the first vehicle is constantly moving forward before reaching its destination, it will receive a new map message when it enters an area covered by another roadside communication device. At this point, the first terminal device needs to further determine whether the map route information needs to be updated. In this embodiment, for ease of distinction, this new roadside communication device can be referred to as a third roadside communication device, and correspondingly, the map message sent by this third roadside communication device can be referred to as a third map message.

[0101] For example, the first terminal device can receive a third map message sent by a third roadside communication device, and then detect whether the third map message is the same as the previous first map message. Optionally, when the third map message is detected to be different from the first map message, the first terminal device can update the map driving route information based on the third map message to obtain updated map driving route information, and then send an updated vehicle instruction message carrying the updated map driving route information to the third vehicle. Conversely, optionally, when the third map message is detected to be the same as the first map message, the first terminal device can directly send the vehicle instruction message to the third vehicle.

[0102] The first terminal device can recalculate updated map route information associated with the area covered by the third roadside communication device based on the third map message and the first vehicle's travel route. The specific process can be found in the process described above where the first terminal device generates map route information. It is understood that the updated map route information still has a V2X MAP format. Furthermore, the map route information in the vehicle instruction message can be updated to this updated map route information to obtain the updated map route information. Here, the third vehicle refers to a vehicle traveling near the first vehicle after the first vehicle enters the area covered by the third roadside communication device. It is understood that if the second vehicle (e.g., vehicle B) is still within the coverage area of ​​the first terminal device, the third vehicle can include the second vehicle; conversely, if the second vehicle is no longer within the coverage area of ​​the first terminal device, the third vehicle does not include the second vehicle.

[0103] Referring to Table 1 above, a map message can contain information such as a map message number, a message timestamp, and a map node list. The map node list serves as the map data for that map message, while other data outside the map node list (such as the map message number and message timestamp) serves as the map auxiliary data. Optionally, the first terminal device can compare all data (including map data and map auxiliary data) contained in the third map message and the first map message. If different data is detected, the device can begin updating the map driving route information. Alternatively, the first terminal device can also compare only the map data contained in the third map message and the map data contained in the first map message, updating the map driving route information only when a difference is detected.

[0104] Furthermore, when the first vehicle temporarily changes its driving route for some reason (e.g., lane closure due to extreme weather or traffic accident), the first terminal device needs to update the original driving route in a timely manner to obtain the updated driving route. Then, based on the updated driving route and the received map message (e.g., the fourth map message), it can generate updated map driving route information and finally send an updated vehicle instruction message carrying the updated map driving route information to the fourth vehicle.

[0105] As described above, the embodiments of this application can support the terminal device in the first vehicle with priority passage needs to send its own map driving route information in conjunction with the first map message. Subsequently, the terminal device in the second vehicle near the first vehicle can jointly determine the corresponding driving strategy based on the map driving route information and the second map message. Since the map driving route information of the first vehicle is provided, the terminal device in the second vehicle can promptly determine whether to give way to the first vehicle based on the precise route of the first vehicle, thereby achieving timely and accurate vehicle priority avoidance. Especially in complex intersection environments such as crossroads, accurate vehicle priority avoidance can also be achieved. At the same time, effective cooperation between vehicles can be achieved, thereby improving vehicle traffic efficiency.

[0106] Please see Figure 5 , Figure 5 This is a flowchart illustrating a data processing method provided in an embodiment of this application. This data processing method can be implemented by a terminal device in a second vehicle (i.e., a second terminal device, for example, the one described above). Figure 2 The terminal device 20B shown is used for execution. Figure 5 As shown, the data processing method may include at least the following S201-S202:

[0107] S201, Receive a vehicle instruction message sent by the terminal device in the first vehicle;

[0108] It is understandable, considering the above. Figure 3 In the corresponding embodiment, the second terminal device can receive a vehicle instruction message sent by the first terminal device. This vehicle instruction message carries map route information, which is generated by the first terminal device based on a first map message associated with a target area covered by the first roadside communication device and the driving route of the first vehicle. This map route information is associated with the target area. Furthermore, the map route information has the same data format as the first map message (i.e., V2X MAP format). The first map message refers to the map message sent by the first roadside communication device when the first vehicle is located within the target area. The specific process of the first terminal device generating the map route information and sending the vehicle instruction message can be found above. Figure 3 The corresponding implementation examples will not be described in detail here.

[0109] S202, obtain the map driving route information carried in the vehicle instruction message and the second map message sent by the second roadside communication device, and execute the driving strategy based on the map driving route information and the second map message.

[0110] It is understandable that the second terminal device can further obtain the map route information carried in the vehicle instruction message. Since the map route information is in V2X MAP format, using different nodeids and upstreamNodeIds to represent related map nodes and directed road segments, the second terminal device needs to combine this with map messages, which also have V2X MAP format, to accurately understand the first vehicle's route. Therefore, the second terminal device can receive the second map message sent by the second roadside communication device (e.g., via broadcast). Based on this map route information and the second map message, it can determine the route relationship between the second and first vehicles and ultimately execute corresponding driving strategies based on this route relationship. The second vehicle is located within the area covered by the second roadside communication device.

[0111] For example, if the vehicle instruction message is obtained by the first terminal device adding map driving route information to the vehicle's basic safety message, the second terminal device can parse the received vehicle instruction message to obtain the vehicle auxiliary information field (e.g., the emergencyExt field shown in Table 4 above), and then obtain the map driving route information from the vehicle auxiliary information field. For example, referring to Table 4 above, the second terminal device can read the map driving route information from the route field included in the emergencyExt field.

[0112] Furthermore, due to the differences in signal coverage between the first vehicle, the second vehicle, and the relevant roadside communication equipment, in some embodiments, the map driving route information sent by the first vehicle may not be calculated using map data sent by the roadside communication equipment (e.g., roadside communication equipment C1) in the area where the second vehicle is located, but rather using map data sent by another roadside communication equipment (e.g., roadside communication equipment C2). Therefore, there may be differences in nodeid and upstreamNodeId between the two map data.

[0113] Based on this, for example, the second terminal device can obtain the second map message broadcast by the second roadside communication device. The map data carried in the second map message may include node data of at least two second map nodes. Therefore, the second terminal device can search for map nodes associated with map driving route information among the at least two second map nodes. Then, based on the found map nodes, it can determine the target driving route of the first vehicle within the area covered by the second roadside communication device in the second map message. Subsequently, it can determine the driving route relationship between the second vehicle and the first vehicle based on the target driving route. In other words, when the second terminal device receives a vehicle instruction message sent by the first terminal device, it can combine it with the second map message broadcast by the second roadside communication device to jointly view the map driving route information contained in the emergencyExt field.

[0114] It can be understood that the target driving route here can be the route that the first vehicle will take from its current position within the area covered by the second roadside communication equipment (i.e., the area indicated by the second map message) in the future.

[0115] Optionally, when the second roadside communication device and the first roadside communication device are different roadside communication devices, the second map node contained in the second map message may not be exactly the same as the first map node contained in the first map message. Therefore, the map node found by the second terminal device in the second map node may only be a part of the map nodes associated with the map driving route information. For example, in combination with the above... Figure 3 In the example given in S101 of the corresponding embodiment, it is assumed that at least two first map nodes include map node A1, map node A2, ..., map node AN, and at least two second map nodes include map node A4, map node A5, ..., map node AM, where M is a positive integer greater than N. If the map driving route information contains node data of map node A2, map node A3, map node A5, and map node A6, then the second terminal device can find map nodes associated with the map driving route information in map node A4, map node A5, ..., map node AM, including map node A5 and map node A6. Thus, the corresponding target driving route can be determined in the second map message based on map node A5 and map node A6. For example, assuming that map node A5 and map node A6 are respectively the upstream node and downstream node of a directed road segment (e.g., directed road segment X), then the directed road segment X can be used as the target driving route of the first vehicle within the area covered by the second roadside communication equipment.

[0116] It is understood that the map driving route information in this embodiment adopts the V2X MAP format suitable for V2X systems. Therefore, the second terminal device does not need to convert the data format of the map driving route information to quickly obtain the corresponding target driving route, thereby improving information processing efficiency, thereby improving the cooperation efficiency between vehicles, and helping to achieve timely and accurate vehicle priority avoidance.

[0117] Optionally, when the second roadside communication device and the first roadside communication device are the same roadside communication device, the second map node contained in the second map message is exactly the same as the first map node contained in the first map message. Therefore, the map node found by the second terminal device in the second map node is all the map nodes associated with the map driving route information.

[0118] It is understood that after determining the target driving route, the second terminal device can determine the driving route relationship between the second vehicle and the first vehicle based on the target driving route. In the embodiments of this application, the driving route relationship can include two types: either the second vehicle is located on the target driving route, or the second vehicle is not on the target driving route.

[0119] Optionally, when the driving route relationship indicates that the second vehicle is on the target driving route, the second terminal device can obtain the driving status information (e.g., position, speed, heading angle, etc.) of the first vehicle from the vehicle indication message. Based on this driving status information, it can determine the arrival time of the first vehicle and the distance between the first and second vehicles. Based on the arrival time and distance, a driving strategy for the first vehicle can be determined and then executed. Here, the arrival time refers to the time when the first and second vehicles overlap. This application does not limit the specific algorithms for determining the arrival time, vehicle distance, and driving strategy; these can be determined by the developers based on actual circumstances. For example, the second terminal device can determine the distance between the first and second vehicles based on their positions. Based on this distance, the speed of the first vehicle, the speed of the second vehicle, or other information, it can predict the time when the first and second vehicles overlap (i.e., the arrival time). The second terminal device can then assist the second vehicle in avoiding the collision in advance. Alternatively, the second terminal device can predict, based on the current distance between the first and second vehicles and their speeds, that the distance between the first and second vehicles will reach a set distance threshold at a certain moment, thereby assisting the second vehicle in taking a detour in advance.

[0120] It is understandable that, in scenarios where the second vehicle is a driver-assisted vehicle, the second terminal device can play a voice-activated obstacle avoidance prompt message generated based on the arrival time and vehicle distance mentioned above, to guide the driver to perform corresponding operations (e.g., operating the brake pedal, steering wheel, accelerator pedal, etc.) and safely and timely leave the dedicated lane reserved for the first vehicle. For example, the corresponding voice-activated obstacle avoidance prompt message can be played when the vehicle distance between the first and second vehicles reaches a distance threshold. Optionally, in scenarios where the second vehicle is an autonomous vehicle, the second terminal device can control the second vehicle to perform obstacle avoidance maneuvers on the first vehicle. For example, the second terminal device can combine the route planning decisions of the second vehicle to perform obstacle avoidance maneuvers on the first vehicle.

[0121] In this embodiment, the driving strategy used to avoid the first vehicle can also be called an avoidance strategy. This avoidance strategy can be flexibly formulated according to actual circumstances, and this embodiment will not limit the specific content of the avoidance strategy. For example, a second vehicle located on the target driving route can change to another lane (i.e., lane change) to clear a dedicated lane for the first vehicle. Subsequently, it can continue to avoid the first vehicle by stopping, slowing down, or moving slightly away from the target driving route, ensuring that it does not enter the cleared dedicated lane before the first vehicle passes, until the first vehicle has passed. It is understood that after the first vehicle passes the dedicated lane cleared by the second vehicle, the avoidance strategy becomes ineffective, thus releasing the road in time to ensure that subsequent vehicles can pass normally.

[0122] Optionally, when the route relationship indicates that the second vehicle is not on the target route, the second terminal device can continue driving based on the driving strategy, which is determined before receiving the vehicle instruction message. Furthermore, the second terminal device can optionally determine whether the second vehicle intends to change lanes onto the target route based on its route planning decisions. If it does, the second terminal device can play a voice warning message to prompt the driver of the second vehicle to temporarily abandon the lane-changing intention until the first vehicle passes.

[0123] It is understood that in some embodiments, there may be situations where the nodeid and upstreamNodeId associated with the map driving route information sent by the first vehicle cannot be found in the second map message received by the second vehicle. In this case, the second terminal device can ignore this map driving route information.

[0124] For example, the second terminal device can parse the vehicle instruction message to obtain the vehicle auxiliary information field contained in the message, and then retrieve map route information from this field. Furthermore, it can also obtain the second map message broadcast by the second roadside communication device and search for a map node within the second map message based on the map route information. When no map node associated with the map route information is found among these second map nodes, the second terminal device can ignore the map route information and continue driving based on a driving strategy determined before receiving the vehicle instruction message.

[0125] As described above, the second terminal device can obtain the map route information of the first vehicle provided by the first terminal device. Thus, even in complex intersection environments such as crossroads, the second terminal device can jointly determine whether to yield to the first vehicle based on its precise route and driving status, thereby achieving precise vehicle priority yielding. Furthermore, the second terminal device can assist the second vehicle in quickly providing the first vehicle with a dedicated lane for safe and efficient arrival at its destination, maintaining yielding until the first vehicle passes through the dedicated lane, and promptly releasing the lane after the first vehicle has passed. This enables effective cooperation between vehicles, thereby improving traffic efficiency.

[0126] Further, please see Figure 6 , Figure 6 This is a schematic diagram of the interaction flow of a data processing method provided in an embodiment of this application. This data processing method can be performed by a first terminal device (e.g., the one described above). Figure 2 The terminal device 20A shown) and the second terminal device (e.g., the one described above) Figure 2 The terminal device 20B shown is used in conjunction with this. Figure 6 As shown, the data processing method may include at least:

[0127] S301, when the first vehicle is located within the target area covered by the first roadside communication device, the first terminal device receives a first map message associated with the target area sent by the first roadside communication device;

[0128] For details on the implementation of S301, please refer to the above. Figure 3 The S101 in the corresponding embodiment will not be described again here.

[0129] S302, the first terminal device generates map driving route information associated with the target area based on the map data used to describe the target area in the first map message and the driving route of the first vehicle;

[0130] For details on the implementation of S302, please refer to the above. Figure 3 The S101 in the corresponding embodiment will not be described again here.

[0131] S303, the first terminal device adds the map driving route information to the vehicle's basic safety message and receives the vehicle instruction message;

[0132] For details on the implementation of S303, please refer to the above. Figure 3 The S102 in the corresponding embodiment will not be described again here.

[0133] S304, the first terminal device sends a vehicle instruction message carrying map driving route information to the second vehicle;

[0134] For details on the implementation of S304, please refer to the above. Figure 3 The S102 in the corresponding embodiment will not be described again here.

[0135] S305, the second terminal device obtains the map driving route information carried in the vehicle instruction message and the second map message broadcast by the second roadside communication device;

[0136] For details on the implementation of S305, please refer to the above. Figure 5 The steps S201-S202 in the corresponding embodiments will not be described again here.

[0137] S306, the second terminal device searches for the second map node contained in the second map message based on the map driving route information;

[0138] For details on the implementation of S306, please refer to the above. Figure 5 The corresponding embodiment of S202 will not be described again here.

[0139] S307, if the second terminal device finds a map node associated with the map driving route information in the second map node, then the target driving route of the first vehicle in the area covered by the second roadside communication device is determined in the second map message based on the found map node.

[0140] For details on the implementation of S307, please refer to the above. Figure 5 The corresponding embodiment of S202 will not be described again here.

[0141] S308, the second terminal device determines the driving route relationship between the second vehicle and the first vehicle based on the target driving route, and executes the driving strategy based on the driving route relationship;

[0142] For details on the implementation of S308, please refer to the above. Figure 5 The corresponding embodiment of S202 will not be described again here.

[0143] S309, If the second terminal device does not find a map node associated with the map driving route information in the second map node, it ignores the map driving route information and continues driving based on the driving strategy;

[0144] For details on the implementation of S309, please refer to the above. Figure 5 The corresponding embodiment of S202 will not be described again here.

[0145] S310, the first terminal device receives a third map message sent by the third roadside communication device. When it detects that the third map message is different from the first map message, it updates the map driving route information based on the third map message to obtain the updated map driving route information, and sends an updated vehicle instruction message carrying the updated map driving route information to the third vehicle.

[0146] For details on the implementation of S310, please refer to the above. Figure 3 The steps of S102 in the corresponding embodiments will not be described again here. Furthermore, the beneficial effects of using the same method will also not be described again.

[0147] For ease of understanding, please refer to the following: Figure 7 , Figure 7 This is a schematic diagram of a vehicle-to-vehicle collaboration scenario provided in an embodiment of this application. Figure 7 The diagram illustrates an intersection area equipped with roadside communication devices, such as roadside communication device 70A, within the coverage area of ​​which is the intersection itself. Several vehicles are also traveling in this area, including vehicles 701B, 701C, and 701D. Vehicle 701B has priority (i.e., the first vehicle), while vehicles 701C and 701D are within the signal coverage area of ​​vehicle 701B (i.e., the second vehicles). Each vehicle is equipped with a terminal device; for example, vehicle 701B has terminal device 70B (the first terminal device), vehicle 701C has terminal device 70C (the second terminal device), and vehicle 701D has terminal device 70D (the second terminal device).

[0148] like Figure 7As shown, after vehicles 701B, 701C, and 701D enter the intersection area, the terminal device on each vehicle can communicate with the roadside communication device 70A via V2I. For example, the terminal device on each vehicle can receive map messages (e.g., map message E) broadcast by the roadside communication device 70A that are associated with the intersection area. Furthermore, terminal device 70B can generate map route information (e.g., map route information G) in V2X MAP format associated with the intersection area based on map message E and the driving route of vehicle 701B (e.g., driving route F), and then broadcast a vehicle instruction message H carrying the map route information G.

[0149] Furthermore, since both vehicles 701C and 701D are within the communication range of terminal device 70B, both terminal devices 70C and 70D can receive the vehicle instruction message H, and thus obtain the map driving route information G carried by the vehicle instruction message H. Subsequently, both terminal devices 70C and 70D can determine the target driving route of vehicle 701B in the intersection area based on the map driving route information G and map message E. For example, the target driving route can be driving route 700.

[0150] Subsequently, terminal device 70C can determine the driving route relationship J1 between vehicle 701C and vehicle 701B based on driving route 700, and then determine driving strategy K1 based on this driving route relationship J1. Similarly, terminal device 70D can determine the driving route relationship J2 between vehicle 701D and vehicle 701B based on driving route 700, and then determine driving strategy K2 based on this driving route relationship J2. Figure 7 As shown, assuming that the driving route relationship J1 indicates that vehicle 701C is on driving route 700, terminal device 70C can prioritize avoiding vehicle 701B based on driving strategy K1. Similarly, driving route relationship J2 indicates that vehicle 701D is not on driving route 700, so terminal device 70D can execute driving strategy K2 without prioritizing avoiding vehicle 701B. Here, driving strategy K2 can be the strategy determined by terminal device 70D before receiving vehicle indication message H.

[0151] Similarly, please see Figure 8 , Figure 8 This is a schematic diagram of a vehicle-to-vehicle collaboration scenario provided in an embodiment of this application. Figure 8The diagram illustrates a one-way straight-ahead road segment equipped with roadside communication equipment, such as roadside communication device 80A. This road segment falls within the coverage area of ​​roadside communication device 80A. Several vehicles are also traveling on this road segment, such as vehicle 801B and vehicle 801C. Vehicle 801B is the vehicle with priority (i.e., the first vehicle), and vehicle 801C is the vehicle within the signal coverage area of ​​vehicle 801B (i.e., the second vehicle). Each vehicle is equipped with a terminal device; for example, vehicle 801B is equipped with terminal device 80B (i.e., the first terminal device), and vehicle 801C is equipped with terminal device 80C (i.e., the second terminal device). Similar to the above... Figure 7 As described in the corresponding embodiment, both terminal device 80B and terminal device 80C can receive map messages L broadcast by roadside communication device 80A. Terminal device 80B can then generate map route information Q based on map message L and its own driving route P, and subsequently send a vehicle instruction message R carrying the map route information Q to terminal device 80C. Furthermore, terminal device 80C can determine the driving route relationship J3 between vehicle 801C and vehicle 801B based on the map route information Q and map message L, such as... Figure 8 As shown, driving route 800 is the target driving route of vehicle 801B in this one-way straight section. At this time, driving route relationship J3 indicates that vehicle 801C is located on driving route 800. Therefore, terminal device 80C can give priority to avoiding vehicle 801B based on driving strategy K3, for example, by changing lanes to the adjacent lane.

[0152] in, Figure 7 and Figure 8 The specific implementation process of the corresponding embodiments can be found in the above description. Figure 3 and Figure 5 The descriptions in the corresponding embodiments will not be repeated here.

[0153] It is understandable that, in addition to the above Figure 7 The described intersection area and Figure 8 The method described in this application embodiment can also be applied to other road environments, such as two-way multi-lane road sections, various types of curves, three-way intersections, or other special roads, which will not be elaborated here.

[0154] It is understood that differentiated driving services can also be provided in the future based on the methods provided in the embodiments of this application. For example, a corresponding traffic priority can be set for each vehicle, and vehicles with low traffic priority (e.g., the second vehicle mentioned above) need to give way to vehicles with high traffic priority (e.g., the first vehicle mentioned above).

[0155] Please see Figure 9 , Figure 9 This is a schematic diagram of the structure of a data processing apparatus provided in an embodiment of this application. The data processing apparatus can be a computer program (including program code) running on a computer device; for example, the data processing apparatus is an application software. The apparatus can be used to execute corresponding steps in the data processing method provided in the embodiment of this application. The data processing apparatus can run on a first terminal device. Figure 9 As shown, the data processing device 1 may include: a generation module 11, a sending module 12, an adding module 13, and an updating module 14;

[0156] The generation module 11 is used to receive a first map message associated with the target area sent by the first roadside communication device when the first vehicle is located within the target area covered by the first roadside communication device, and generate map driving route information associated with the target area based on the first map message and the driving route of the first vehicle; the map driving route information has the same data format as the first map message.

[0157] The generation module 11 may include: a map acquisition unit 111, a node acquisition unit 112, and an information determination unit 113;

[0158] Map acquisition unit 111 is used to acquire map data describing the target area in the first map message; the map data includes node data of at least two first map nodes;

[0159] The node acquisition unit 112 is used to acquire a map node associated with the driving route of the first vehicle from at least two first map nodes, and use it as a target map node.

[0160] The information determination unit 113 is used to use the node data of the target map node as map driving route information associated with the target area.

[0161] The specific functional implementation methods of the map acquisition unit 111, node acquisition unit 112, and information determination unit 113 can be found in the above description. Figure 3 The S101 in the corresponding embodiment will not be described again here.

[0162] The sending module 12 is used to send a vehicle instruction message carrying map driving route information to the second vehicle; the vehicle instruction message is used to instruct the terminal device in the second vehicle to execute a driving strategy based on the map driving route information and the second map message sent by the second roadside communication device; the second vehicle is located in the area covered by the second roadside communication device;

[0163] Add module 13 to obtain basic vehicle safety messages describing the driving status of the first vehicle; add map driving route information to the basic vehicle safety messages to obtain vehicle instruction messages;

[0164] The basic vehicle safety message includes a vehicle assistance information field;

[0165] The addition module 13 is specifically used to add map driving route information to the vehicle auxiliary information field and to determine the vehicle basic safety message with added map driving route information as the vehicle instruction message.

[0166] The update module 14 is used to receive a third map message sent by a third roadside communication device; when it is detected that the third map message is different from the first map message, the map driving route information is updated based on the third map message to obtain updated map driving route information; and an updated vehicle instruction message carrying the updated map driving route information is sent to the third vehicle.

[0167] The specific functional implementation methods of the generation module 11, sending module 12, adding module 13, and updating module 14 can be found in the above description. Figure 3 The steps S101-S102 in the corresponding embodiments will not be described again here. Furthermore, the beneficial effects of using the same method will also not be described again.

[0168] Please see Figure 10 , Figure 10 This is a schematic diagram of the structure of a data processing apparatus provided in an embodiment of this application. The data processing apparatus can be a computer program (including program code) running on a computer device; for example, the data processing apparatus is an application software. The apparatus can be used to execute corresponding steps in the data processing method provided in the embodiment of this application. The data processing apparatus can run on a second terminal device. Figure 10 As shown, the data processing device 2 may include: a receiving module 21 and an execution module 22;

[0169] The receiving module 21 is used to receive a vehicle instruction message sent by a terminal device in the first vehicle; the vehicle instruction message carries map driving route information; the map driving route information is generated based on a first map message associated with the target area covered by the first roadside communication device and the driving route of the first vehicle, and the map driving route information is associated with the target area; the map driving route information and the first map message have the same data format; the first map message refers to the map message sent by the first roadside communication device when the first vehicle is located in the target area;

[0170] Execution module 22 is used to obtain map driving route information carried in the vehicle instruction message and second map message sent by the second roadside communication device, and execute driving strategy based on map driving route information and second map message; the second vehicle is located in the area covered by the second roadside communication device;

[0171] The execution module 22 may include: a relationship determination unit 221, a first execution unit 222, a message parsing unit 223, a node lookup unit 224, and a second execution unit 225;

[0172] The relationship determination unit 221 is used to obtain the map driving route information carried in the vehicle instruction message and the second map message broadcast by the second roadside communication device, and determine the driving route relationship between the second vehicle and the first vehicle based on the map driving route information and the second map message.

[0173] The relationship determination unit 221 may include: route acquisition subunit 2211, route determination subunit 2212, and relationship determination subunit 2213;

[0174] The route acquisition subunit 2211 is used to parse the vehicle instruction message, obtain the vehicle auxiliary information field contained in the vehicle instruction message, and obtain the map driving route information from the vehicle auxiliary information field.

[0175] The route determination subunit 2212 is used to obtain the second map message broadcast by the second roadside communication device, search for map nodes associated with the map driving route information in the second map nodes contained in the second map message, and determine the target driving route of the first vehicle in the area covered by the second roadside communication device based on the found map nodes.

[0176] The relationship determination subunit 2213 is used to determine the driving route relationship between the second vehicle and the first vehicle based on the target driving route.

[0177] The specific functional implementation methods of route acquisition subunit 2211, route determination subunit 2212, and relationship determination subunit 2213 can be found above. Figure 5 The corresponding embodiment of S202 will not be described again here.

[0178] The first execution unit 222 is used to execute driving strategies based on driving route relationships;

[0179] The first execution unit 222 may include: a status acquisition subunit 2221, a first execution subunit 2222, and a second execution subunit 2223;

[0180] The status acquisition subunit 2221 is used to acquire the driving status information of the first vehicle from the vehicle indication message when the driving route relationship indicates that the second vehicle is located on the target driving route;

[0181] The first execution subunit 2222 is used to determine the arrival time of the first vehicle and the distance between the first vehicle and the second vehicle based on the driving status information, determine the driving strategy for the first vehicle based on the arrival time and the distance between the vehicles, and execute the driving strategy; the arrival time refers to the time when the first vehicle and the second vehicle overlap.

[0182] The first execution subunit 2222 is specifically used to play a voice avoidance prompt message generated based on the arrival time and vehicle distance, or to control the second vehicle to perform vehicle avoidance processing on the first vehicle;

[0183] The second execution subunit 2223 is used to continue driving based on a driving strategy when the driving route relationship indicates that the second vehicle is not on the target driving route; the driving strategy is determined before receiving the vehicle instruction message;

[0184] The specific functional implementation methods of the status acquisition subunit 2221, the first execution subunit 2222, and the second execution subunit 2223 can be found above. Figure 5 The corresponding embodiment of S202 will not be described again here.

[0185] The message parsing unit 223 is used to parse the vehicle instruction message, obtain the vehicle auxiliary information field contained in the vehicle instruction message, and obtain the map driving route information from the vehicle auxiliary information field.

[0186] The node lookup unit 224 is used to obtain the second map message broadcast by the second roadside communication device and search for the second map node contained in the second map message based on the map driving route information.

[0187] The second execution unit 225 is used to ignore the map driving route information and continue driving based on the driving strategy when no map node associated with the map driving route information is found in the second map node; the driving strategy is determined before receiving the vehicle instruction message.

[0188] The specific functional implementation methods of the relationship determination unit 221, the first execution unit 222, the message parsing unit 223, the node lookup unit 224, and the second execution unit 225 can be found above. Figure 5 The corresponding embodiment of S202 will not be described again here.

[0189] The specific functional implementation methods of the receiving module 21 and the execution module 22 can be found in the above description. Figure 5 The steps S201-S202 in the corresponding embodiments will not be described again here. Furthermore, the beneficial effects of using the same method will also not be described again.

[0190] Please see Figure 11 , Figure 11 This is a schematic diagram of the structure of a computer device provided in an embodiment of this application. Figure 11 As shown, the computer device 1000 may include a processor 1001, a network interface 1004, and a memory 1005. Furthermore, the computer device 1000 may also include a user interface 1003 and at least one communication bus 1002. The communication bus 1002 is used to enable communication between these components. The user interface 1003 may include a display screen and a keyboard; optionally, the user interface 1003 may also include a standard wired interface or a wireless interface. The network interface 1004 may optionally include a standard wired interface or a wireless interface (such as a Wi-Fi interface). The memory 1005 may be high-speed RAM or non-volatile memory, such as at least one disk storage device. Optionally, the memory 1005 may also be at least one storage device located remotely from the processor 1001. Figure 11 As shown, the memory 1005, which is a computer-readable storage medium, may include an operating system, a network communication module, a user interface module, and a device control application.

[0191] In such Figure 11 In the computer device 1000 shown, the network interface 1004 provides network communication functionality; the user interface 1003 is mainly used to provide an input interface for the user; and the processor 1001 can be used to call the device control application stored in the memory 1005 to execute the aforementioned... Figure 3 , Figure 5 , Figure 6 The description of the data processing method in any corresponding embodiment will not be repeated here. Furthermore, the beneficial effects of using the same method will also not be repeated.

[0192] Furthermore, it should be noted that this application embodiment also provides a computer-readable storage medium, which stores a computer program executed by the aforementioned data processing apparatus 1 and data processing apparatus 2. The computer program includes program instructions, and when the processor executes the program instructions, it can execute the aforementioned... Figure 3 , Figure 5 , Figure 6 The description of the data processing method in any corresponding embodiment is already provided, and therefore will not be repeated here. Furthermore, the beneficial effects of using the same method will also not be repeated. For technical details not disclosed in the computer-readable storage medium embodiments related to this application, please refer to the description of the method embodiments of this application.

[0193] The aforementioned computer-readable storage medium can be an internal storage unit of the data processing apparatus or computer device provided in any of the foregoing embodiments, such as a hard disk or memory of the computer device. The computer-readable storage medium can also be an external storage device of the computer device, such as a plug-in hard disk, smart media card (SMC), secure digital (SD) card, flash card, etc., provided on the computer device. Furthermore, the computer-readable storage medium can include both internal and external storage units of the computer device. The computer-readable storage medium is used to store the computer program and other programs and data required by the computer device. The computer-readable storage medium can also be used to temporarily store data that has been output or will be output.

[0194] Furthermore, it should be noted that this application also provides a computer program product or computer program, which includes computer instructions stored in a computer-readable storage medium. The processor of a computer device reads the computer instructions from the computer-readable storage medium and executes the computer instructions, causing the computer device to perform the aforementioned... Figure 3 , Figure 5 , Figure 6 The method is provided in any of the corresponding embodiments. Furthermore, the beneficial effects of using the same method will not be repeated here. For technical details not disclosed in the computer program products or computer program embodiments involved in this application, please refer to the description of the method embodiments of this application.

[0195] For further details, please see Figure 12 , Figure 12 This is a schematic diagram of the structure of a data processing system provided in an embodiment of this application. The data processing system 3 may include a data processing device 1a and a data processing device 2a. The data processing device 1a may be the one described above. Figure 9 Regarding the data processing device 1 in the corresponding embodiment, it can be understood that the data processing device 1a can be integrated into the above-mentioned... Figure 2 The terminal device 20A in the corresponding embodiment will not be described in detail here. The data processing device 2a can be the one described above. Figure 10 Regarding the data processing device 2 in the corresponding embodiment, it can be understood that the data processing device 2a can be integrated into the above-mentioned... Figure 2 The terminal device 20B in the corresponding embodiment will not be described again here. Furthermore, the beneficial effects of using the same method will also not be described again. For technical details not disclosed in the embodiments of the data processing system involved in this application, please refer to the description of the method embodiments of this application.

[0196] The terms "first," "second," etc., in the specification, claims, and drawings of this application are used to distinguish different objects, not to describe a specific order. Furthermore, the term "comprising," and any variations thereof, are intended to cover non-exclusive inclusion. For example, a process, method, apparatus, product, or device that includes a series of steps or units is not limited to the listed steps or modules, but may optionally include steps or modules not listed, or may optionally include other step units inherent to these processes, methods, apparatuses, products, or devices.

[0197] Those skilled in the art will recognize that the units and algorithm steps of the various examples described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, computer software, or a combination of both. To clearly illustrate the interchangeability of hardware and software, the components and steps of the various examples have been generally described in terms of functionality in the foregoing description. Whether these functions are implemented in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementations should not be considered beyond the scope of this application.

Claims

1. A data processing method, characterized by, The method is executed by a terminal device in a first vehicle, comprising: receiving a first map message associated with a target area sent by a first road side communication device when the first vehicle is located in the target area covered by the first road side communication device, and generating map driving route information associated with the target area based on the first map message and a driving route of the first vehicle; the map driving route information has the same data format as the first map message; obtaining a vehicle basic safety message for describing a driving state of the first vehicle; adding the map driving route information to a vehicle auxiliary information field in the vehicle basic safety message, and determining the vehicle basic safety message to which the map driving route information has been added as a vehicle indication message; sending the vehicle indication message carrying the map driving route information to a second vehicle; the second vehicle is a vehicle within a signal coverage range of a first terminal device, and the first terminal device refers to the terminal device in the first vehicle; the vehicle indication message is used to instruct a terminal device in the second vehicle to execute a driving strategy based on the map driving route information and a second map message sent by a second road side communication device; the second vehicle is located in an area covered by the second road side communication device.

2. The method of claim 1, wherein, The method comprises: obtaining map data in the first map message for describing the target area; the map data comprises node data of at least two first map nodes; obtaining a map node associated with the driving route of the first vehicle from the at least two first map nodes as a target map node; taking the node data of the target map node as the map driving route information associated with the target area.

3. The method of claim 1, wherein, Further comprising: receiving a third map message sent by a third road side communication device; when it is detected that the third map message is different from the first map message, updating the map driving route information based on the third map message to obtain updated map driving route information; sending an updated vehicle indication message carrying the updated map driving route information to a third vehicle.

4. A data processing method, characterized by, The method is executed by a terminal device in a second vehicle, comprising: receiving a vehicle indication message sent by a terminal device in a first vehicle; the vehicle indication message carries map driving route information, the vehicle indication message is obtained by adding the map driving route information to a vehicle auxiliary information field in a vehicle basic safety message by the first vehicle, the vehicle basic safety message is a message describing a driving state of the first vehicle obtained by the first vehicle; the map driving route information is generated based on a first map message associated with a target area covered by a first road side communication device and a driving route of the first vehicle, the map driving route information is associated with the target area; the map driving route information has the same data format as the first map message; the first map message refers to a map message sent by the first road side communication device when the first vehicle is located in the target area; the second vehicle is a vehicle in a signal coverage range of a first terminal device, and the first terminal device refers to a terminal device in the first vehicle; obtaining the map driving route information carried by the vehicle indication message and a second map message sent by a second road side communication device, and performing a driving strategy based on the map driving route information and the second map message; the second vehicle is located in an area covered by the second road side communication device.

5. The method of claim 4, wherein, The obtaining the map driving route information carried by the vehicle indication message and the second map message sent by the second road side communication device, and performing the driving strategy based on the map driving route information and the second map message, comprises: obtaining the map driving route information carried by the vehicle indication message and a second map message broadcast by a second road side communication device, and determining a driving route relationship between the second vehicle and the first vehicle based on the map driving route information and the second map message; performing a driving strategy based on the driving route relationship.

6. The method of claim 5, wherein, The obtaining the map driving route information carried by the vehicle indication message and the second map message broadcast by the second road side communication device, and determining the driving route relationship between the second vehicle and the first vehicle based on the map driving route information and the second map message, comprises: parsing the vehicle indication message to obtain a vehicle auxiliary information field contained in the vehicle indication message, and obtaining the map driving route information from the vehicle auxiliary information field; obtaining a second map message broadcast by a second road side communication device, searching for a map node associated with the map driving route information in a second map node contained in the second map message, and determining a target driving route of the first vehicle in an area covered by the second road side communication device based on the searched map node; determining a driving route relationship between the second vehicle and the first vehicle based on the target driving route.

7. The method of claim 6, wherein, The performing the driving strategy based on the driving route relationship, comprises: when the driving route relationship indicates that the second vehicle is located on the target driving route, obtaining driving state information of the first vehicle from the vehicle indication message; determine an arrival time of the first vehicle and a vehicle distance between the first vehicle and the second vehicle based on the driving state information, determine a driving strategy for the first vehicle based on the arrival time and the vehicle distance, and execute the driving strategy; the arrival time refers to a time when the first vehicle coincides with the second vehicle.

8. The method of claim 7, wherein, The execution of the driving strategy comprises: playing a voice avoidance prompt message generated based on the arrival time and the vehicle distance, or controlling the second vehicle to perform vehicle avoidance processing on the first vehicle.

9. The method of claim 6, wherein, The execution of the driving strategy based on the driving route relationship comprises: when the driving route relationship indicates that the second vehicle is not on the target driving route, continuing driving based on a driving strategy determined before the vehicle indication message is received.

10. The method of claim 4, wherein, The acquisition of the map driving route information carried by the vehicle indication message and a second map message sent by a second road side communication device, and the execution of a driving strategy based on the map driving route information and the second map message, comprises: parsing the vehicle indication message to obtain a vehicle auxiliary information field contained in the vehicle indication message, and acquiring the map driving route information from the vehicle auxiliary information field; acquiring a second map message broadcast by a second road side communication device, and searching for a second map node contained in the second map message based on the map driving route information; when a map node associated with the map driving route information is not found in the second map node, ignoring the map driving route information, and continuing driving based on a driving strategy determined before the vehicle indication message is received.

11. A data processing apparatus, characterized by comprises: a generation module configured to, when a first vehicle is located in a target area covered by a first road side communication device, receive a first map message associated with the target area and sent by the first road side communication device, and generate map driving route information associated with the target area based on the first map message and a driving route of the first vehicle; the map driving route information has the same data format as the first map message; an addition module configured to acquire a vehicle basic safety message used to describe a driving state of the first vehicle; the addition module is further configured to add the map driving route information to a vehicle auxiliary information field in the vehicle basic safety message, and determine the vehicle basic safety message to which the map driving route information has been added as a vehicle indication message; a sending module configured to send the vehicle indication message carrying the map driving route information to a second vehicle; the second vehicle is a vehicle in a signal coverage range of a first terminal device, the first terminal device refers to a terminal device in the first vehicle, and the vehicle indication message is used to instruct a terminal device in the second vehicle to execute a driving strategy based on the map driving route information and a second map message sent by a second road side communication device; and the second vehicle is located in an area covered by the second road side communication device.

12. A data processing apparatus, characterized by The data processing apparatus is applied to a second vehicle, and the data processing apparatus comprises: a receiving module, configured to receive a vehicle indication message sent by a terminal device in a first vehicle; the vehicle indication message carries map driving route information, and the vehicle indication message is obtained by adding the map driving route information to a vehicle auxiliary information field in a vehicle basic safety message by the first vehicle, the vehicle basic safety message being a message obtained by the first vehicle to describe a driving state of the first vehicle; the map driving route information is generated based on a first map message associated with a target area covered by a first road side communication device and a driving route of the first vehicle, the map driving route information being associated with the target area; the map driving route information has a same data format as the first map message; the first map message refers to a map message sent by the first road side communication device when the first vehicle is located in the target area; the second vehicle is a vehicle in a signal coverage range of a first terminal device, and the first terminal device refers to a terminal device in the first vehicle; an executing module, configured to obtain the map driving route information carried by the vehicle indication message and a second map message sent by a second road side communication device, and execute a driving strategy based on the map driving route information and the second map message; the second vehicle is located in an area covered by the second road side communication device.

13. A computer device, comprising: comprise: a processor and a memory; the processor is connected with the memory, wherein the memory is used for storing a computer program, and the processor is used for calling the computer program to enable the computer device to execute the method in any one of claims 1-10.

14. A computer-readable storage medium, characterized in that, The computer readable storage medium stores a computer program, and the computer program is adapted to be loaded and executed by the processor to enable a computer device with the processor to execute the method in any one of claims 1-10.

15. A computer program product, characterised in that, The computer program product comprises computer instructions stored in a computer readable storage medium, and the computer instructions are adapted to be read and executed by the processor to enable a computer device with the processor to execute the method in any one of claims 1-10.

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