A method for classifying vehicles based on a set of map messages

Abstract

This invention provides a vehicle classification method based on a map message set, comprising: receiving a map message set sent by a nearby roadside unit via V2X; matching the lane situation of the current vehicle and the lane situation of a distant vehicle according to the map message set using preset lane matching rules; determining the relative positions of the current vehicle and the distant vehicle based on their respective lane situations; and determining the vehicle classification of the distant vehicle relative to the current vehicle based on their relative positions. This invention can accurately classify RVs (RVs) relative to HVs (Hard Vehicles) in complex road environments such as curves, S-curves, and mountain roads, providing precise classification information for C-V2X-based early warning or vehicle-road cooperative intelligent control, thereby improving vehicle driving safety.

Description

Technical Field

[0001] This invention relates to the field of vehicle classification technology based on map message sets, and in particular to a vehicle classification method based on map message sets. Background Technology

[0002] With the rapid development of the Internet of Things, especially the rapid advancement of C-V2X technology, the vehicle-to-everything (V2X) network connects vehicles, roads, people, and cloud-based intelligent terminals, making cars more intelligent. Cars' ability to perceive their surroundings based on C-V2X technology is becoming increasingly powerful. C-V2X technology is characterized by high reliability and low latency, and active safety features in C-V2X-based vehicles are receiving increasing attention.

[0003] Currently, C-V2X technology categorizes vehicles primarily based on their relative positions and directions of travel. When vehicles are traveling in the same direction, they are categorized as: Ahead, Ahead Right, Ahead Far Right, Ahead Left, Ahead Far Left, Behind, Behind Left, Behind Far Left, Behind Right, and Behind Far Right. When there is an angle between their directions, they are categorized as: Intersection Left and Intersection Right. When vehicles are traveling in opposite directions, they are categorized as: Oncoming, Oncoming Right, Oncoming Far Right, Oncoming Left, and Oncoming Far Left. These vehicle classification schemes, which classify vehicles based on their location and direction of travel, are relatively accurate for general straight roads and intersections. However, they become inaccurate on curves and complex road environments, such as S-curves and mountain roads.

[0004] Traditional vehicle classification mainly relies on the vehicle's direction of travel and location. However, this classification is relatively accurate for general straight roads and intersections, but it becomes inaccurate on curves and complex road environments, such as S-curves and mountain roads. Currently, there is no mature classification scheme for vehicles in map message sets. Summary of the Invention

[0005] The purpose of this invention is to propose a vehicle classification method based on map message sets, thereby solving the technical problem that existing methods lack mature classification schemes for vehicle classification using map message sets.

[0006] On the one hand, a vehicle classification method based on map message sets is provided, including:

[0007] Receive map message sets sent by nearby roadside units via V2X;

[0008] Based on the map message set, the lane situation of the current vehicle and the lane situation of the distant vehicle are matched according to the preset lane matching rules;

[0009] The relative positions of the vehicle and the distant vehicle are determined based on the lane conditions of the vehicle and the distant vehicle, and the vehicle classification of the distant vehicle relative to the vehicle is determined based on the relative positions of the vehicle and the distant vehicle.

[0010] Preferably, the map message set includes at least multiple regional map data, which are used to record map data of intersections or road segments; when the regional map data records map data of an intersection, the marker position is the center point of the intersection; when the regional map data records map data of a road segment, the marker position is the end point of the road segment.

[0011] The regional map data includes at least multiple directed road segments from one regional map to another;

[0012] The directed road segment includes at least multiple lane information;

[0013] The lane information includes at least a plurality of markers located on the center line of the lane, which are used to identify the position and direction of the lane and are arranged from upstream to downstream.

[0014] Preferably, the lane matching rules specifically include:

[0015] Select unmatched area map data from the map message set, and then select unmatched lane information from the selected area map data;

[0016] If no corresponding marker is found in the selected lane information, select another unmatched area map data.

[0017] When the selected lane information contains a corresponding marker, it is determined whether there is a marker in front of or behind the vehicle in that lane; if there is no marker in front of or behind, another unmatched area map data is selected; if there is a marker in front, the marker closest to the vehicle is identified in front of the vehicle; if there is a marker behind, the marker closest to the vehicle is identified behind the vehicle; wherein, the vehicle includes the same vehicle or a distant vehicle.

[0018] Determine whether the line connecting the vehicle to the nearest signpost ahead and the line connecting the vehicle to the nearest signpost behind form an obtuse angle. If they do not form an obtuse angle, select another unmatched lane information. If they do form an obtuse angle, determine the relative position between the nearest signpost ahead and the nearest signpost behind.

[0019] Calculate the first distance between the vehicle and the line connecting the nearest marker ahead and the nearest marker behind. If the absolute value of the first distance is not less than half the lane width, the lane matching is determined to be unsuccessful, and another unmatched area map data is selected. If the absolute value of the first distance is less than half the lane width, the lane matching is determined to be successful, and the vehicle is in that lane.

[0020] Preferably, when lane matching fails, unmatched area map data is selected from the map message set, and unmatched directed road segments are selected from the selected area map data;

[0021] When all directed road segments in the selected area map data have been matched, another unmatched area map data is selected again until an unmatched directed road segment is selected.

[0022] Determine if there are any markers in front of the vehicle on the selected directional road segment. If there are no markers in front or behind, select another unmatched area map data. If there are markers in front, identify the marker closest to the vehicle in front of it. If there are markers behind, identify the marker closest to the vehicle behind it.

[0023] Determine whether the line connecting the vehicle to the nearest signpost ahead and the line connecting the vehicle to the nearest signpost behind form an obtuse angle. If they do not form an obtuse angle, select another unmatched directed road segment until the line connecting the vehicle to the nearest signpost ahead and the line connecting the vehicle to the nearest signpost behind forms an obtuse angle. If they do form an obtuse angle, determine the relative positions of the nearest signpost ahead and the nearest signpost behind.

[0024] Calculate the second distance between the vehicle and the line connecting the nearest marker ahead and the nearest marker behind. If the absolute value of the second distance is not less than half the lane width, the directed road segment is determined to be unsuccessful, and another unmatched area map data is selected. If the absolute value of the second distance is less than half the lane width, the directed road segment is determined to be successfully matched, and the vehicle is in the directed road segment.

[0025] Preferably, when a directional road segment matching fails, it checks whether a passing lane or a directional road segment has been matched. If a passing lane or a directional road segment has been matched, the map data of the area to which the matched passing lane or directional road segment belongs is selected; if no passing lane or directional road segment has been matched, it is determined that the matching of the intersection center has failed.

[0026] Calculate the third distance between the vehicle and the identified location in the selected area map data;

[0027] When a lane crossing is matched, the fourth distance between the marker location in the selected area map data and the last marker point of the lane is calculated; when no lane crossing is matched but a directed road segment is matched, the fifth distance between the marker location in the selected area map data and the last marker point of the directed road segment is calculated.

[0028] When the third distance is less than the fourth or fifth distance, the vehicle is determined to be in the center of the intersection;

[0029] If the third distance is not less than the fourth or fifth distance, the matching of the intersection center is deemed a failure.

[0030] Preferably, when the nearest front marker is a downstream node of the nearest rear marker, the vehicle is determined not to be traveling in the wrong direction; when the nearest front marker is an upstream node of the nearest rear marker, the vehicle is determined to be traveling in the wrong direction.

[0031] Preferably, it further includes:

[0032] The lateral distance between the marker point on the stop line of the target lane and the lane itself is compared with a preset lane judgment threshold. The lane judgment threshold includes at least a first lane threshold in the positive direction, a second lane threshold in the positive direction, a first lane threshold in the opposite direction, and a second lane threshold in the opposite direction. The positive direction of the lane judgment threshold is defined as the right side of the lane in the positive direction.

[0033] Based on the lateral distance being within the range of the lane determination threshold, the relative position of the target lane and the current lane is determined, wherein the relative position of the target lane and the current lane includes at least the same lane, left adjacent lane, right adjacent lane, left distant lane, and right distant lane.

[0034] Preferably, it further includes: when the target lane and the current lane belong to the same area map but not the same directional line segment, comparing the heading difference of the target lane relative to the current lane at the intersection with a preset intersection judgment threshold, wherein the heading is the direction of the line connecting the last two marker points in the lane and pointing towards the intersection; the intersection judgment threshold includes at least a first positive judgment threshold, a second positive judgment threshold, a first reverse judgment threshold, and a second reverse judgment threshold; the intersection judgment threshold takes the left side of the current lane as the positive direction;

[0035] Based on the range of the heading difference within the threshold range of the intersection judgment, the positional relationship between the target lane and the intersection or the intersection is determined. The positional relationship between the target lane and the intersection or the intersection includes at least the left side of the ramp, the right side of the ramp, the left side of the intersection, the right side of the intersection, and the opposite direction.

[0036] Preferably, it further includes: when the target lane and the current lane do not belong to the same area map, comparing the heading difference of the target lane relative to the current lane at the intersection with a preset heading angle judgment threshold, wherein the heading angle judgment threshold includes at least a positive first heading angle threshold, a positive second heading angle threshold, a reverse first heading angle threshold, and a reverse second heading angle threshold, the absolute values ​​of the positive first heading angle threshold and the positive second heading angle threshold are equal, and the absolute values ​​of the reverse first heading angle threshold and the reverse second heading angle threshold are equal;

[0037] If the heading difference between the target lane and the current lane at the intersection is between the first positive heading angle threshold and the second positive heading angle threshold, then the target lane and the current lane are determined to be traveling in the same direction.

[0038] If the heading difference between the target lane and the current lane at the intersection is between the first reverse heading angle threshold and the second reverse heading angle threshold, then the target lane and the current lane are determined to be traveling in opposite directions.

[0039] Preferably, the step of determining the relative positions of the vehicle and the distant vehicle based on the lane conditions of the vehicle and the distant vehicle, and determining the vehicle classification of the distant vehicle relative to the vehicle based on the relative positions of the vehicle and the distant vehicle, specifically includes:

[0040] When the vehicle and the distant vehicle are in the same lane, select the marker closest to the vehicle and the marker closest to the distant vehicle;

[0041] Determine the position of the distant vehicle relative to the vehicle based on the upstream and downstream relationship between the nearest marker to the distant vehicle and the nearest marker to the vehicle itself, as well as the driving directions of the vehicle and the distant vehicle.

[0042] When the nearest marker to the distant vehicle and the nearest marker to the current vehicle are the same marker, the first angle between the current vehicle's centerline and the line connecting the distant and current vehicles is calculated. Based on the degree of the first angle and the driving directions of the current and distant vehicles, the position of the distant vehicle relative to the current vehicle is determined. The position of the distant vehicle relative to the current vehicle includes at least the following vehicles traveling in the same direction behind, the following vehicles traveling in the opposite direction behind, the following vehicles traveling in the opposite direction ahead, the following vehicles traveling in the same direction ahead, the following vehicles traveling in the opposite direction ahead, the following vehicles traveling in the opposite direction behind, and the following vehicles traveling in the same direction behind.

[0043] If the distant vehicle is a vehicle in the same direction and lane as the vehicle in front of it, then the distant vehicle is classified as the vehicle in front.

[0044] If the distant vehicle is a vehicle behind this vehicle traveling in the same direction and in the same lane, then the distant vehicle is classified as a vehicle behind.

[0045] If the distant vehicle is a vehicle traveling in the opposite direction and in the same lane as this vehicle, then the distant vehicle is classified as a vehicle traveling in the opposite direction.

[0046] If the relative positions of the distant vehicle and the vehicle itself do not fall under the above conditions, then the distant vehicle is classified as having no category.

[0047] Preferably, the step of determining the relative positions of the vehicle and the distant vehicle based on the lane conditions of the vehicle and the distant vehicle, and determining the vehicle classification of the distant vehicle relative to the vehicle based on the relative positions of the vehicle and the distant vehicle, specifically includes:

[0048] When the vehicle and the distant vehicle are on the same oriented road segment but not in the same lane, select the nearest marker to the vehicle and the nearest marker to the distant vehicle; determine the position of the distant vehicle relative to the vehicle based on the upstream and downstream relationship between the marker closest to the distant vehicle and the marker closest to the vehicle, as well as the driving directions of the vehicle and the distant vehicle.

[0049] When the nearest marker to the distant vehicle and the nearest marker to the current vehicle are the same marker, calculate the second included angle between the current vehicle's centerline and the line connecting the distant and current vehicles; based on the degree of the second included angle and the driving directions of the current and distant vehicles, determine the position of the distant vehicle relative to the current vehicle, wherein the position of the distant vehicle relative to the current vehicle includes at least the following vehicles traveling in the same direction behind, the following vehicles traveling in the opposite direction behind, the following vehicles traveling in the opposite direction ahead, the following vehicles traveling in the same direction ahead, the following vehicles traveling in the opposite direction ahead, the following vehicles traveling in the opposite direction behind, and the following vehicles traveling in the same direction behind;

[0050] Based on the position of the distant vehicle relative to the current vehicle, and the relative position of the distant vehicle's lane to the current lane when the distant vehicle's lane is the target lane, the vehicle classification of the distant vehicle is determined. The vehicle classification of the distant vehicle includes at least the following categories: left front, right front, far left front, far right front, left rear, right rear, far left rear, far right rear, left front opposite, right front opposite, far left front opposite, far right front opposite, and no category.

[0051] Preferably, the step of determining the relative positions of the vehicle and the distant vehicle based on the lane conditions of the vehicle and the distant vehicle, and determining the vehicle classification of the distant vehicle relative to the vehicle based on the relative positions of the vehicle and the distant vehicle, specifically includes:

[0052] When the vehicle and the distant vehicle are on the same directional road segment and neither the vehicle nor the distant vehicle has been matched with a lane, the distance of the distant vehicle from the directional road segment is used as the first judgment distance, and the distance of the vehicle from the directional road segment is used as the second judgment distance.

[0053] The relative position of the distant vehicle lane to the current lane is determined based on the range where the difference between the first judgment distance and the second judgment distance falls within the lane judgment threshold range.

[0054] Select the nearest marker to the vehicle and the nearest marker to the distant vehicle. Based on the upstream and downstream relationship between the marker closest to the distant vehicle and the marker closest to the vehicle, as well as the driving directions of the vehicle and the distant vehicle, determine the position of the distant vehicle relative to the vehicle. Based on the position of the distant vehicle relative to the vehicle, and the relative position of the distant vehicle's lane with the vehicle's lane when the lane is used as the target lane, determine the vehicle classification of the distant vehicle. The vehicle classification of the distant vehicle includes at least left front, rear, front facing, left front, right front, far left front, far right front, left rear, right rear, far left rear, far right rear, left front facing, right front facing, far left front facing, far right front facing, and no classification.

[0055] Preferably, the step of determining the relative positions of the vehicle and the distant vehicle based on the lane conditions of the vehicle and the distant vehicle, and determining the vehicle classification of the distant vehicle relative to the vehicle based on the relative positions of the vehicle and the distant vehicle, specifically includes:

[0056] When the vehicle and the distant vehicle are in the same area of ​​the map but are in different directional road segments, the heading of the directional road segment where the distant vehicle is located is used as the first judgment angle, and the heading of the directional road segment where the vehicle is located is used as the second judgment angle.

[0057] Based on the range of the difference between the first judgment angle and the second judgment angle within the judgment threshold range of the intersection, the positional relationship between the distant vehicle lane and the intersection or the collision point is determined.

[0058] When a distant vehicle is in the opposite lane, determine whether the distant vehicle and the current vehicle are matched in the corresponding lane, and calculate the relative lateral distance between the lanes where the current vehicle and the distant vehicle are located at the intersection based on the lane matching situation; wherein, the lane matching situation includes at least matching the corresponding lane, in which case the relative lateral distance is determined by the heading of the corresponding lane; if only the corresponding directional road segment is matched and the corresponding lane is not matched, the relative lateral distance is determined by the heading of the corresponding directional road segment.

[0059] Based on the positional relationship between the distant vehicle lane and the intersection or crossroads, the driving directions of the vehicle and the distant vehicle, and the relative position of the distant vehicle lane to the vehicle lane when it is the target lane, the vehicle classification of the distant vehicle is determined. The vehicle classification of the distant vehicle includes at least the following categories: left side of ramp, right side of ramp, left crossroad, right crossroad, front facing, left front facing, far left front facing, right front facing, far right front facing, front, left front, far left front, right front, far right front, rear, left rear, far left rear, right rear, far right rear, and no category.

[0060] Preferably, the step of determining the relative positions of the vehicle and the distant vehicle based on the lane conditions of the vehicle and the distant vehicle, and determining the vehicle classification of the distant vehicle relative to the vehicle based on the relative positions of the vehicle and the distant vehicle, specifically includes:

[0061] When the vehicle and the remote vehicle are located in different area maps, the relative positions of the vehicle and the remote vehicle are determined based on their relative positions on the area map of the vehicle and the remote vehicle.

[0062] The relative positions between the map of the area where the vehicle is located and the map of the area where the distant vehicle is located include at least the following: the map of the area where the vehicle is located is not upstream of the map of the distant vehicle and the map of the distant vehicle is not upstream of the map of the vehicle; the map of the area where the vehicle is located is upstream of the map of the distant vehicle and the map of the distant vehicle is not upstream of the map of the vehicle; the map of the area where the vehicle is located is not upstream of the map of the distant vehicle and the map of the distant vehicle is upstream of the map of the vehicle; the map of the area where the vehicle is located is upstream of the map of the distant vehicle and the map of the distant vehicle is upstream of the map of the vehicle.

[0063] Preferably, it further includes:

[0064] When the map of the area where this vehicle is located is not upstream of the map of the area where the distant vehicle is located, and the map of the area where the distant vehicle is located is not upstream of the map of this vehicle, the vehicle of the distant vehicle is determined to be of no category.

[0065] Preferably, it further includes:

[0066] When the area map where this vehicle is located is upstream of the area map where the distant vehicle is located, but the area map where the distant vehicle is located is not upstream of the area map where this vehicle is located, determine the headway difference between the headway of the directional road segment upstream of the distant vehicle and the headway of the directional road segment where this vehicle is located.

[0067] The position of the distant vehicle relative to the vehicle is determined based on the difference between the heading of the upstream directional road segment and the heading of the directional road segment where the vehicle is located, which is within the range of the heading angle judgment threshold. The position of the distant vehicle relative to the vehicle includes at least the same direction, left of the intersection, and right of the intersection.

[0068] The relative lateral distance between the lanes of the current vehicle and the distant vehicle at the intersection is calculated based on the lane matching information. The lane matching information includes at least the following: if a corresponding lane is matched, the relative lateral distance is determined by the heading of the corresponding lane; if only a corresponding directional road segment is matched and no corresponding lane is matched, the relative lateral distance is determined by the heading of the corresponding directional road segment.

[0069] Based on the range of the relative lateral distance direction within the lane judgment threshold range, the relative position of the distant vehicle lane as the target lane with respect to the current lane is determined. The relative position includes at least vehicles in the same lane, vehicles in the left adjacent lane, vehicles in the left distant lane, vehicles in the right adjacent lane, and vehicles in the right distant lane.

[0070] Based on the position of the distant vehicle relative to the current vehicle, the direction of travel of the distant vehicle and the current vehicle, and the relative position of the distant vehicle's lane with the current lane when the distant vehicle's lane is the target lane, the vehicle classification of the distant vehicle is determined. The vehicle classification of the distant vehicle includes at least the following categories: forward, left forward, right forward, far left forward, far right forward, forward-facing, left forward-facing, right forward-facing, far left forward-facing, far right forward-facing, left crossing, and right crossing.

[0071] Preferably, it further includes:

[0072] When the map of the area where this vehicle is located is not upstream of the map of the area where the distant vehicle is located, and the map of the area where the distant vehicle is located is upstream of the map of this vehicle, determine the difference in heading between the heading of the directional road segment upstream of this vehicle and the heading of the directional road segment where this vehicle is located.

[0073] Based on the fact that the difference in heading between the heading of the upstream directional road segment of this vehicle and the heading of the directional road segment of the distant vehicle is within the range of the heading angle judgment threshold, the position of the distant vehicle relative to this vehicle is determined, wherein the position of the distant vehicle relative to this vehicle includes at least the same direction, left of the intersection, and right of the intersection.

[0074] The relative lateral distance between the lanes of the current vehicle and the distant vehicle at the intersection is calculated based on the lane matching information. The lane matching information includes at least the following: if a corresponding lane is matched, the relative lateral distance is determined by the heading of the corresponding lane; if only a corresponding directional road segment is matched and no corresponding lane is matched, the relative lateral distance is determined by the heading of the corresponding directional road segment.

[0075] Based on the relative lateral distance falling within the range of the lane determination threshold, the relative position of the distant vehicle lane as the target lane with respect to the current lane is determined. This relative position includes at least vehicles in the same lane, vehicles in the left adjacent lane, vehicles in the left distant lane, vehicles in the right adjacent lane, and vehicles in the right distant lane. Based on the position of the distant vehicle relative to the current vehicle, the driving directions of both the distant and current vehicles, and the relative position of the distant vehicle lane as the target lane with respect to the current lane, the vehicle classification of the distant vehicle is determined. This classification includes at least rear, left rear, right rear, far left rear, far right rear, front facing, left front facing, right front facing, far left front facing, far right front facing, left crossing, and right crossing.

[0076] Preferably, it further includes:

[0077] When the map of the area where this vehicle is located is upstream of the map of the area where the distant vehicle is located, and the map of the area where the distant vehicle is located is upstream of the map of this vehicle, select the marker point closest to this vehicle and the marker point closest to the distant vehicle.

[0078] Determine the position of the distant vehicle relative to the vehicle based on the upstream and downstream relationship between the nearest marker to the distant vehicle and the nearest marker to the vehicle itself, as well as the driving directions of the vehicle and the distant vehicle.

[0079] The relative lateral distance between the lanes of the current vehicle and the distant vehicle at the intersection is calculated based on the lane matching information. The lane matching information includes at least the following: if a corresponding lane is matched, the relative lateral distance is determined by the heading of the corresponding lane; if only a corresponding directional road segment is matched and no corresponding lane is matched, the relative lateral distance is determined by the heading of the corresponding directional road segment.

[0080] Based on the range of the relative lateral distance direction within the lane judgment threshold range, the relative position of the distant vehicle lane as the target lane with respect to the current lane is determined. The relative position includes at least vehicles in the same lane, vehicles in the left adjacent lane, vehicles in the left distant lane, vehicles in the right adjacent lane, and vehicles in the right distant lane.

[0081] Based on the position of the distant vehicle relative to the current vehicle, and the relative position of the distant vehicle's lane with the current lane when the distant vehicle's lane is the target lane, the vehicle classification of the distant vehicle is determined. The vehicle classification of the distant vehicle includes at least the following categories: front-facing, left-front-facing, far-left-front-facing, right-front-facing, far-right-front-facing, far-right-front-facing, front, left-front, far-left-front, right-front, far-right-front, rear, left-rear, far-left-rear, right-rear, and far-right-rear.

[0082] In summary, implementing the embodiments of the present invention has the following beneficial effects:

[0083] The vehicle classification method based on map message sets provided by this invention mainly relies on the local map information—map messages—sent by Roadside Units (RSUs) in the "CSAE 53-2020 Cooperative Intelligent Transportation Systems, Vehicle Communication Systems, Application Layer and Application Data Interaction Standard (Phase 1)" to classify vehicles. As long as the RSU can send map message sets, it can accurately identify the relative position of Remote Vehicles (RVs) to Host Vehicles (HVs) in complex road conditions, providing precise classification information for C-V2X-based early warning or intelligent control, thus improving vehicle driving safety. It can accurately classify RVs relative to HVs in complex road environments such as curves, S-curves, and mountain roads, providing precise classification information for C-V2X-based early warning or vehicle-road cooperative intelligent control, thereby improving vehicle driving safety. Attached Figure Description

[0084] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, obtaining other drawings based on these drawings without creative effort still falls within the scope of the present invention.

[0085] Figure 1 This is a schematic diagram of the main process of a vehicle classification method based on map message sets in an embodiment of the present invention.

[0086] Figure 2 This is a schematic diagram of the map message set structure in an embodiment of the present invention.

[0087] Figure 3 This is a schematic diagram of the line connecting the vehicle to the nearest signpost ahead and the nearest signpost behind in an embodiment of the present invention.

[0088] Figure 4 This is a schematic diagram of vehicle lane matching in an embodiment of the present invention.

[0089] Figure 5 This is a schematic diagram of vehicle matching with a directed road segment in an embodiment of the present invention.

[0090] Figure 6 This is a schematic diagram of vehicle matching at the intersection center in an embodiment of the present invention.

[0091] Figure 7 This is a schematic diagram of the vehicle local coordinate system in an embodiment of the present invention.

[0092] Figure 8 This is a schematic diagram of a vehicle on a curve or S-curve in an embodiment of the present invention.

[0093] Figure 9 This is a schematic diagram showing the relative positions of the two lanes at the intersection in an embodiment of the present invention.

[0094] Figure 10 This is a schematic diagram showing the relative positions of the two lanes at the intersection in an embodiment of the present invention.

[0095] Figure 11 This is a schematic diagram of the surrounding lanes at the intersection in an embodiment of the present invention.

[0096] Figure 12 This is a schematic diagram of the surrounding lanes at the intersection in an embodiment of the present invention.

[0097] Figure 13 This is a schematic diagram of the surrounding lanes at the intersection in an embodiment of the present invention.

[0098] Figure 14 This is a schematic diagram illustrating the direction of the link at the intersection in an embodiment of the present invention.

[0099] Figure 15 This is a schematic diagram showing the relative positions of lanes in the link according to an embodiment of the present invention.

[0100] Figure 16 This is a schematic diagram showing the relative positions of lanes in the link according to an embodiment of the present invention.

[0101] Figure 17 This is a schematic diagram illustrating the angle between the centerline of the vehicle and the line connecting the distant vehicle and the vehicle in an embodiment of the present invention.

[0102] Figure 18 This is a schematic diagram of the lane heading of the lane where HV is located in an embodiment of the present invention.

[0103] Figure 19 This is a schematic diagram of the second scenario in an embodiment of the present invention.

[0104] Figure 20 This is a schematic diagram of the third scenario in an embodiment of the present invention.

[0105] Figure 21 This is a schematic diagram of the fourth scenario in an embodiment of the present invention. Detailed Implementation

[0106] To make the objectives, technical solutions, and advantages of the present invention clearer, the present invention will be further described in detail below with reference to the accompanying drawings.

[0107] like Figure 1 The diagram shown illustrates an embodiment of a vehicle classification method based on a map message set provided by the present invention. In this embodiment, the method includes the following steps:

[0108] The vehicle receives a set of map messages sent by nearby roadside units via V2X. In other words, map messages are broadcast by roadside units to transmit map information of a local area to the vehicle. This includes information on intersections, road segments, lanes, and connections between roads in the local area.

[0109] In this embodiment, as Figure 2 As shown, the map message set includes at least multiple regional map data, which are used to record map data of intersections or road segments. When the regional map data records map data of an intersection, the identifier is the center point of the intersection; when the regional map data records map data of a road segment, the identifier is the end point of the road segment. It can be understood that a single map message can contain multiple nodes (regional map data). A node can be map data of an intersection or a region. Each node has a unique ID and a refPos identifier. If the node is an intersection, then the refPos is the center point of the intersection; if the node is a road segment, then the refPos is the road end point.

[0110] The regional map data includes at least multiple directed road segments from one regional map to another; each directed road segment includes at least multiple lane information; it is understood that a single node can contain multiple links, a link is a directed road segment from one node to another, and a link is uniquely identified by its node and upstreamNodeId; the location and direction of a link can be identified by points, which are a list of points on the center line of the link, arranged from upstream to downstream.

[0111] The lane information includes at least multiple markers located on the lane centerline. These markers indicate the lane's position and direction, arranged from upstream to downstream. It is understood that a single link can contain multiple lanes. Each lane is uniquely identified by its laneId, and its position and direction are indicated by points on the lane centerline, arranged from upstream to downstream.

[0112] Furthermore, based on the map message set, the vehicle matches its own lane position with that of a distant vehicle using preset lane matching rules; that is, after the vehicle has obtained its own location and received the MAP message set, it can determine the lane it is in. Specifically, the vehicle matches its own lane; if lane matching fails, it attempts to match a link; if the vehicle also fails to match a link, it determines whether the vehicle is in the center of the intersection.

[0113] In this embodiment, the vehicle lane matching process (lane matching rules) specifically includes,

[0114] The typical matching scenario is as follows: Figure 4 As shown, when matching lanes, the map data of the area that has not been matched in the map message set is selected, and the lane information that has not been matched is selected from the selected area map data; understandably, the node that has not been calculated in the MAP and is close to the HV is selected; the link that has not been calculated in the node is selected; and the lane that has not been calculated in the link is selected.

[0115] The following selection results may occur during the selection process: If there is no corresponding marker in the selected lane information, another unmatched area map data is selected; if there is a corresponding marker in the selected lane information, it is determined whether there is a marker in front of or behind the vehicle in that lane; if there is no marker in front or behind, another unmatched area map data is selected; if there is a marker in front, the marker closest to the vehicle in front of it is identified; if there is a marker behind, the marker closest to the vehicle behind it is identified; wherein, the vehicle includes the vehicle itself or a distant vehicle; understandably, if there are no points in the lane, the above selection process needs to be repeated; if there are points in the lane, continue execution, determine whether there is a point in front of the vehicle in that lane, if not, the above selection process needs to be repeated, if there is, continue execution to find point A in front of the vehicle and closest to it; continue to determine whether there is a point behind the vehicle in that lane, if so, continue execution to find point B behind the vehicle and closest to it, if not, the above selection process needs to be repeated.

[0116] Determine if the line connecting the vehicle to the nearest signpost ahead and the line connecting the vehicle to the nearest signpost behind form an obtuse angle. If they do not form an obtuse angle, select another unmatched lane information. If they do form an obtuse angle, determine the relative position of the nearest signpost ahead and the nearest signpost behind. In other words, after finding the two signposts, determine if the line connecting the vehicle (HV) to the nearest signpost ahead and the line connecting the nearest signpost behind form an obtuse angle. If they do not form an obtuse angle, repeat the selection process. If they do form an obtuse angle, continue to determine the result.

[0117] The vehicle is not traveling in the wrong direction if the nearest marker in front is a downstream node of the nearest marker behind; the vehicle is traveling in the wrong direction if the nearest marker in front is an upstream node of the nearest marker behind. In other words, if point A is a downstream node of point B, the vehicle is not traveling in the wrong direction; if point A is an upstream node of point B, the vehicle is traveling in the wrong direction.

[0118] Calculate the first distance from the vehicle to the line connecting the nearest marker ahead and the nearest marker behind. If the absolute value of the first distance is not less than half the lane width, lane matching is considered a failure, and another unmatched area map data is selected. If the absolute value of the first distance is less than half the lane width, lane matching is considered a success, and the vehicle is in that lane. That is, calculate the distance v2line_dis from the vehicle to the line connecting points A and B, taking the positive right direction as positive. If the absolute value of v2line_dis is less than half the lane width, ... Figure 3As shown, if lane matching is successful, the process ends and the matching result is returned; otherwise, to continue, the lane selection process described above needs to be repeated.

[0119] Special matching case 1, such as Figure 5 As shown, when lane matching fails, unmatched area map data is selected from the map message set, and unmatched directed road segments are selected from the selected area map data; when all directed road segments in the selected area map data have been matched, another unmatched area map data is selected, until an unmatched directed road segment is selected; that is, nodes in the MAP that have not been calculated and are close to HV are selected; links in the nodes that have not been calculated are selected. If all have been calculated, nodes that have not been calculated need to be selected again.

[0120] The process involves determining whether there are any markers ahead of the vehicle on the selected directed road segment. If there are no markers ahead or behind, another unmatched area map data is selected. If there are markers ahead, the marker closest to the vehicle is identified. If there are markers behind, the marker closest to the vehicle is identified. In other words, if there are points in the link, the process continues; if there are no points in the link, a new node is selected. The process then checks whether there are any points ahead of the vehicle on the link. If there are, the point C closest to the vehicle is found. If not, a new node is selected. Finally, the process checks whether there are any points behind the vehicle on the link. If there are, the process continues to find the point D closest to the vehicle is found. If not, a new node is selected.

[0121] Determine if the line connecting the vehicle to the nearest forward marker and the line connecting the vehicle to the nearest backward marker form an obtuse angle. If they do not form an obtuse angle, select another unmatched directed road segment until the line connecting the vehicle to the nearest forward marker and the line connecting the vehicle to the nearest backward marker form an obtuse angle. If they do form an obtuse angle, determine the relative position of the nearest forward marker and the nearest backward marker. In other words, determine if the line connecting HV to the nearest forward marker and the line connecting HV to the nearest backward marker form an obtuse angle. If they do not form an obtuse angle (indicating the vehicle is not between point C and point D), select a new node. If they form an obtuse angle, continue execution.

[0122] The vehicle is not traveling in the wrong direction if the nearest marker in front is a downstream node of the nearest marker behind; the vehicle is traveling in the wrong direction if the nearest marker in front is an upstream node of the nearest marker behind. In other words, if point C is a downstream node of point D, the vehicle is not traveling in the wrong direction; if point C is an upstream node of point D, the vehicle is traveling in the wrong direction.

[0123] Calculate the second distance between the vehicle and the nearest identification point in the front and the nearest identification point in the rear. If the absolute value of the second distance is not less than half of the lane width, it is determined that the directed road segment fails, and another unmatched regional map data is selected; if the absolute value of the second distance is less than half of the lane width, it is determined that the directed road segment is successfully matched, and the vehicle is in this directed road segment; that is, calculate the distance v2line_dis between the vehicle and the line connecting point C and point D (refer to the above matching situation part). With the positive direction on the right side of the directed edge from the upstream node to the downstream node, if v2line_dis is less than half of the link width, it means the vehicle is on this link, end, return the matching result, otherwise continue to execute.

[0124] Special matching situation 2, such as Figure 6 As shown, when the directed road segment matching fails, detect whether a lane or a directed road segment has been matched. If a lane or a directed road segment has been matched, select the regional map data to which the matched lane or directed road segment belongs; if no lane or directed road segment has been matched, it is determined that the matching of the intersection center fails; that is, if a lane or a link was matched last time, select the node where the matched lane or link is located in the MAP. If there was no match last time, end, return the matching of the intersection center fails.

[0125] Calculate the third distance between the vehicle and the identification position in the selected regional map data; calculate the distance v2node_dis between the vehicle and the refPos in the node.

[0126] When a lane has been matched, calculate the fourth distance between the identification position in the selected regional map data and the last identification point of the lane; when no lane has been matched but a directed road segment has been matched, calculate the fifth distance between the identification position in the selected regional map data and the last identification point of the directed road segment; that is, if a lane was matched last time, calculate the distance between refPos in the node and the last point of the lane. If no lane was matched but a link was matched, calculate the distance between refPos in the node and the last point of the link, collectively referred to as point2node.

[0127] When the third distance is less than the fourth distance or the fifth distance, it is determined that the vehicle is at the intersection center; when the third distance is not less than the fourth distance or the fifth distance, it is determined that the matching of the intersection center fails. That is, if v2node_dis < point2node_dis, the vehicle is at the center position of this node, end, return the matching to the intersection center, otherwise return the matching of the intersection center fails.

[0128] In this embodiment, the lane matching process also requires determining the vehicle's orientation. It should also be noted that when calculating the warning, the position of the RV relative to the HV needs to be known to facilitate displaying the dangerous vehicle RV's position within the HV on the warning display interface, providing the driver with a better experience. The local coordinate system is as follows: Figure 7 As shown, the HV vehicle local coordinate system is defined with the vehicle's geometric center as the origin. The X-axis extends from the rear of the vehicle through the origin O to the front, the Y-axis extends from the right door through the origin O to the left door, and the Z-axis is perpendicular to the ground plane. The X-value from the origin O to the front of the vehicle is positive, and the X-value to the rear is negative; the Y-value from the origin O to the right door is positive, and the Y-value to the left door is negative; since the origin O is on the ground plane, the Z-value from the origin O towards the ground is negative, and the Z-value towards the sky is positive.

[0129] like Figure 8 As shown, on curves or S-shaped curves, if two vehicles are in the same lane, they are classified as either "ahead" or "behind" to each other. For vehicles in different lanes, even if the farther vehicle is in front of the first vehicle's line of sight, the farther vehicle is not classified as "ahead." 1 corresponds to the "ahead" classification of 5, and 3 does not. If two lanes are adjacent lanes, vehicles in those lanes are considered adjacent lane vehicles. If two lanes are far lanes, vehicles in those lanes are considered far lane vehicles. 1 corresponds to the "ahead" classification of 5, 3 to the "ahead right" classification of 5, 4 to the "ahead far right" classification of 5, 2 to the "ahead far right" classification of 5, and 5 to the "behind far left" classification of 2.

[0130] like Figure 9 As shown, the relative positions of the two lanes at the intersection represent the overall relative positions of the two lanes, the relative positions of the two vehicles within their respective lanes, and the relative positions of the two vehicles themselves. Lane 1 is the oncoming left lane of Lane 5, meaning that vehicles in Lane 1 are classified as oncoming left vehicles relative to vehicles in Lane 5. Lane 7 is the intersection left lane of Lane 5, Lane 3 is the intersection right lane of Lane 5, Lane 2 is the ahead lane of Lane 5, Lane 4 is the ahead lane of Lane 7, and Lane 3 is the oncoming left lane of Lane 7. If vehicle A is in the center of the intersection and vehicle B is within the MAP coverage area, then the relative positions of vehicle A and vehicle B at their lane entrances represent their relative positions. Figure 4 If white car B is located in lane 3 and yellow car A is located directly in front of the entrance to lane 3, then yellow car A is the vehicle directly in front of white car B.

[0131] In one embodiment, lane positions are classified according to their absolute position near the intersection, and lanes are determined by calculating the lateral distance of a point on the stop line. Specifically, the lateral distance between the marker point on the stop line of the target lane and the current lane is compared with a preset lane determination threshold. This lane determination threshold includes at least a first lane threshold in the positive direction, a second lane threshold in the positive direction, a first lane threshold in the opposite direction, and a second lane threshold in the opposite direction; the positive direction for the lane determination threshold is defined as the right side of the current lane in the positive direction.

[0132] Based on the lateral distance falling within the range of the lane determination threshold, the relative position of the target lane and the current lane is determined. The relative position of the target lane and the current lane includes at least the same lane, left adjacent lane, right adjacent lane, left far lane, and right far lane. In this embodiment, when the lateral distance is between the first lane threshold in the positive direction and the first lane threshold in the negative direction, the target lane is determined to be the same lane as the current lane; when the lateral distance is between the first lane threshold in the negative direction and the second lane threshold in the negative direction, the target lane is determined to be the left adjacent lane; when the lateral distance is between the first lane threshold in the positive direction and the second lane threshold in the positive direction, the target lane is determined to be the right adjacent lane; when the lateral distance is less than the second lane threshold in the negative direction, the target lane is determined to be the left far lane; when the lateral distance is greater than the second lane threshold in the positive direction, the target lane is determined to be the right far lane. See the table below.

[0133] lateral distance Positional relationship -aheadLimit_m~aheadLimit_m Fellow traveler -aheadLeftLimit_m~-aheadLimit_m Left Neighbor Road aheadLimit_m~aheadRightLimit_m Right adjacent road <-aheadLeftLimit_m Zuo Yuandao >aheadRightLimit_m Right far path

[0134] Among them, the default value of `aheadLimit_m` is 1.75, the default value of `aheadLeftLimit_m` is 5.25, and the default value of `aheadRightLimit_m` is 5.25; according to the above rules, Figure 10 The middle lanes are classified as follows: Lane 1 is the oncoming lane of Lane 5, Lane 1 is the far left oncoming lane of Lane 9, Lane 2 is the ahead lane of Lane 9, and Lane 2 is the ahead right lane of Lane 5.

[0135] Another embodiment, such as Figure 11 As shown, when the target lane and the current lane belong to the same area map but not the same directional line segment, the difference in heading of the target lane relative to the current lane at the intersection is compared with a preset intersection judgment threshold. The heading is the direction of the line connecting the last two marker points within the lane, pointing towards the intersection. The intersection judgment threshold includes at least a first positive judgment threshold, a second positive judgment threshold, a first reverse judgment threshold, and a second reverse judgment threshold. The left side of the current lane is considered the positive direction for the intersection judgment threshold.

[0136] Based on the range of the heading difference within the intersection judgment threshold, the positional relationship between the target lane and the intersection or road is determined. The positional relationship between the target lane and the intersection or road includes at least the left side of the ramp, the right side of the ramp, the left side of the intersection, the right side of the intersection, and the opposite direction. In this embodiment, when the heading difference is between 0 degrees and the first forward judgment threshold, the target lane is determined to be on the left side of the ramp; when the heading difference is between 0 degrees and the first reverse judgment threshold, the target lane is determined to be on the right side of the ramp; when the heading difference is between the first forward judgment threshold and the second forward judgment threshold, the target lane is determined to be on the left side of the intersection; when the heading difference is between the first reverse judgment threshold and the second reverse judgment threshold, the target lane is determined to be on the right side of the intersection; when the heading difference is between the second forward judgment threshold and 180 degrees or between the second reverse judgment threshold and 180 degrees, the target lane is determined to be in the opposite direction. It is understood that lanes belonging to the same node but different links (e.g., Figure 10 Lanes 3 and 5, and lanes 1 and 5 in the intersection are considered. The lane direction of the surrounding lanes relative to this lane is determined based on the heading difference between the surrounding lanes and this lane at the intersection (as shown in the table below). The default value of intersection_heading is 40, and when it is at the critical value, it is considered an intersection. The first positive judgment threshold corresponds to 90-intersection_heading. Other positive and negative judgment thresholds correspond to the judgment thresholds in parentheses in the table below, which will not be elaborated here.

[0137]

[0138] In another embodiment, when the target lane and the current lane do not belong to the same area map, the heading difference of the target lane relative to the current lane at the intersection is compared with a preset heading angle judgment threshold. The heading angle judgment threshold includes at least a forward first heading angle threshold, a forward second heading angle threshold, a reverse first heading angle threshold, and a reverse second heading angle threshold. The absolute values ​​of the forward first heading angle threshold and the forward second heading angle threshold are equal, and the absolute values ​​of the reverse first heading angle threshold and the reverse second heading angle threshold are equal. If the heading difference of the target lane relative to the current lane at the intersection is between the forward first heading angle threshold and the forward second heading angle threshold, then the target lane and the current lane are determined to be in the same direction. If the heading difference of the target lane relative to the current lane at the intersection is between the reverse first heading angle threshold and the reverse second heading angle threshold, then the target lane and the current lane are determined to be in opposite directions. That is, for lanes belonging to different nodes and different links, the lane direction of the surrounding lanes relative to the current lane is determined based on the heading difference between the surrounding lanes and the current lane at the intersection (as shown in the table below). The default value of sameHeadingLimit_deg is 20, and the default value of oppositeHeadingLimit_deg is also 20. The first forward heading angle threshold corresponds to sameHeadingLimit_deg. Other forward and reverse heading angle thresholds correspond to the judgment thresholds in the table below, which will not be elaborated here.

[0139]

[0140] Based on the above description, Figure 12 In the middle, lane 1 is the oncoming far left lane of lane 5; lane 2 is the same-direction forward left lane of lane 5; lane 3 is the oncoming lane of lane 5; lane 4 is the same-direction forward lane of lane 5; lane 3 is the left lane of the ramp of lane 1; lane 1 is the right lane of the ramp of lane 3. Figure 13 In the middle, lane 1 is the oncoming left lane of lane 5; lane 2 is the ahead lane of lane 5; lane 3 is the intersection right lane of lane 5; lane 4 is the intersection right lane of lane 5; lane 1 is the behind lane of lane 6; lane 5 is the behind lane of lane 2; lane 3 is the intersection left lane of lane 1; lane 4 is the intersection left lane of lane 1.

[0141] Furthermore, the relative positions of the current vehicle and the distant vehicle are determined based on their respective lane conditions, and the vehicle classification of the distant vehicle relative to the current vehicle is determined based on their relative positions. In other words, in this embodiment, the map-based vehicle classification mainly includes three processes: calculating the link direction and relative lane position using the map message set; and finally, calculating the relative position of the vehicle using the above two steps.

[0142] In this embodiment, the above-mentioned map-based vehicle classification mainly consists of: calculating the direction of the link at the intersection, such as... Figure 14 As shown, the direction of a link at an intersection is the basis for vehicle classification. The MAP specifies that links or lane points are arranged from upstream to downstream; therefore, the last two points are the two points closest to the intersection. If a link has points, the direction of the line connecting the last two points and pointing towards the intersection is the link heading. In the diagram, points A and B are the last two points of LINK1. The direction of LINK1 is from B to A. If a link has no points, the last two points on the straight lanes in the link are selected to calculate the heading; this heading is the link heading, as shown in the diagram from the DC direction. If there are no straight lanes in the link, the last two points in the first lane of the link are selected to calculate the heading. The relative positions of lanes within the same link are calculated. Calculating the relative positions of lanes within a link involves sorting the multiple lanes in the link from left to right, preparing for vehicle classification. The first lane in the link is selected and denoted as lane 1. The last point in lane 1 is denoted as point E, and the last point of other lanes is denoted as lastpoint. Calculate the angle difference between the line connecting point E and the last point and the link heading. If the angle difference is positive, it indicates that the lane is located on the right side of lane 1; if the angle difference is negative, it indicates that the lane is located on the left side of lane 1. For example... Figure 15As shown in the diagram below, there are three lanes in the link. Angle α is the angle difference between the line connecting the last points of lanes 1 and 2 and the link heading; α is a positive value (counter-clockwise is positive). Lane 2 is located to the right of lane 1. Angle β is the angle difference between the line connecting the last points of lanes 1 and 3 and the link heading; β is a negative value. Lane 3 is located to the left of lane 1. Using the link heading as the direction, calculate the lateral distance between other lanes and point E. If the last point of another lane is to the left of the link heading, the lateral distance is negative; if the last point of another lane is to the right of this lane, the lateral distance is positive. For example... Figure 16 As shown, the lateral distance between lane 2 and lane 1 is d1, the lateral distance between lane 3 and lane 1 is d2, and the lateral distance between lane 4 and lane 1 is d3. Taking the right side of the link heading as positive, below... Figure 11 ,d1>0,d2<0,d3>0, and d1 <d3。

[0143] It should be noted that lane shapes may differ among lanes within the same link. For example, if a lane behaves differently from other lanes at an intersection, special handling is required if a vehicle is in that lane. If the lane is a right-turn lane and its lane_heading difference from the straight lane in the same link is greater than 20 degrees, then it is considered a right-turn lane. Starting from the lowest point, calculate the direction of the line connecting any two points. Find the first point whose direction matches the link heading (heading difference less than 5 degrees), denoted as turn_right_point_num. This indicates that the lane begins its right turn from this point. If the direction matches the link heading, the corresponding point is called turn right point num. If a vehicle is in the lane and is before turn_right_point_num, then the vehicle is classified as none compared to RVs in the same link but different lanes. The same logic applies to the left-turn waiting area.

[0144] In this embodiment, there are multiple possible vehicle classifications, and different judgments are required for different situations.

[0145] Scenario 1: When the vehicle and the distant vehicle are in the same lane, select the markers closest to the vehicle and the markers closest to the distant vehicle; that is, HV and RV belong to the same node, the same link, and the same lane, and determine whether RV is in the lane of HV. Since RV and HV are in the same lane, RV and HV are considered to be in the same lane. Select the point H closest to HV and the point R closest to RV. Determine whether RV is in front of or behind HV.

[0146] The position of the distant vehicle relative to the current vehicle is determined based on the upstream / downstream relationship between the nearest marker to the distant vehicle and the nearest marker to the current vehicle, as well as the driving directions of the current vehicle and the distant vehicle. In this embodiment, if the nearest marker to the distant vehicle is upstream of the nearest marker to the current vehicle and neither the current vehicle nor the distant vehicle is driving in the opposite direction, the distant vehicle is determined to be a vehicle traveling in the same direction behind the current vehicle; if the nearest marker to the distant vehicle is upstream of the nearest marker to the current vehicle and neither the current vehicle nor the distant vehicle is driving in the opposite direction, the distant vehicle is determined to be a vehicle traveling in the opposite direction behind the current vehicle; if the nearest marker to the distant vehicle is upstream of the nearest marker to the current vehicle and neither the current vehicle nor the distant vehicle is driving in the opposite direction, the distant vehicle is determined to be a vehicle traveling in the opposite direction in front of the current vehicle; if the nearest marker to the distant vehicle is upstream of the nearest marker to the current vehicle and both the current vehicle and the distant vehicle are driving in the opposite direction, the distant vehicle is determined to be a vehicle traveling in the same direction in front of the current vehicle; if the nearest marker to the distant vehicle is upstream of the nearest marker to the current vehicle and both the current vehicle and the distant vehicle are driving in the opposite direction, the distant vehicle is determined to be a vehicle traveling in the same direction in front of the current vehicle; if the nearest marker to the distant vehicle is upstream of the nearest marker to the current vehicle and neither the current vehicle nor the distant vehicle is ... If the nearest marker to the distant vehicle is downstream of the nearest marker to your vehicle, and neither your vehicle nor the distant vehicle is traveling in the wrong direction, then the distant vehicle is determined to be a vehicle traveling in the same direction ahead of your vehicle. If the nearest marker to the distant vehicle is downstream of the nearest marker to your vehicle, and neither your vehicle nor the distant vehicle is traveling in the wrong direction, then the distant vehicle is determined to be a vehicle traveling in the wrong direction ahead of your vehicle. If the nearest marker to the distant vehicle is downstream of the nearest marker to your vehicle, and neither your vehicle nor the distant vehicle is traveling in the wrong direction, then the distant vehicle is determined to be a vehicle traveling in the wrong direction behind your vehicle. If the nearest marker to the distant vehicle is downstream of the nearest marker to your vehicle, and both your vehicle and the distant vehicle are traveling in the wrong direction, then the distant vehicle is determined to be a vehicle traveling in the same direction behind your vehicle. In other words, if point If point R is upstream of point H, and both HV and RV are not traveling in the opposite direction, then RV is a vehicle traveling in the same direction behind HV. If point R is upstream of point H, and both HV and RV are traveling in the opposite direction, then RV is a vehicle traveling in the opposite direction behind HV. If point R is upstream of point H, and both HV and RV are traveling in the opposite direction, then RV is a vehicle traveling in the opposite direction in front of HV. If point R is upstream of point H, and both HV and RV are traveling in the opposite direction, then RV is a vehicle traveling in the same direction in front of HV. If point R is downstream of point H, and both HV and RV are not traveling in the opposite direction, then RV is a vehicle traveling in the same direction in front of HV. If point R is downstream of point H, and both HV and RV are traveling in the opposite direction, then RV is a vehicle traveling in the opposite direction in front of HV. If point R is downstream of point H, and both HV and RV are traveling in the opposite direction, then RV is a vehicle traveling in the opposite direction in front of HV. If point R is downstream of point H, and both HV and RV are traveling in the opposite direction, then RV is a vehicle traveling in the opposite direction behind HV.

[0147] It should be noted that when the marker closest to the distant vehicle and the marker closest to the current vehicle are the same marker, the first included angle (rb10) between the centerline of the current vehicle and the line connecting the distant vehicle and the current vehicle is calculated. Based on the degree of the first included angle and the driving directions of the current vehicle and the distant vehicle, the position of the distant vehicle relative to the current vehicle is determined. The position of the distant vehicle relative to the current vehicle includes at least the following vehicles traveling in the same direction behind, the following vehicles traveling in the opposite direction behind, the following vehicles traveling in the opposite direction ahead, the following vehicles traveling in the same direction ahead, the following vehicles traveling in the opposite direction ahead, the following vehicles traveling in the opposite direction behind, and the following vehicles traveling in the same direction behind.

[0148] That is, if point H and point R are the same point, then calculate rb10, such as... Figure 17 As shown. If the first included angle is less than or equal to 90 degrees and neither the vehicle nor the distant vehicle is traveling in the wrong direction, then the distant vehicle is determined to be a vehicle traveling in the same direction ahead of the vehicle; if the first included angle is less than or equal to 90 degrees and neither the vehicle nor the distant vehicle is traveling in the wrong direction, then the distant vehicle is determined to be a vehicle traveling in the wrong direction ahead of the vehicle; if the first included angle is less than or equal to 90 degrees and neither the vehicle nor the distant vehicle is traveling in the wrong direction, then the distant vehicle is determined to be a vehicle traveling in the wrong direction ahead of the vehicle; if the first included angle is less than or equal to 90 degrees and both the vehicle and the distant vehicle are traveling in the wrong direction, then the distant vehicle is determined to be a vehicle traveling in the same direction ahead of the vehicle. If the first included angle is greater than or equal to 90 degrees and neither the vehicle in question nor the vehicle further away is traveling in the wrong direction, then the vehicle further away is determined to be a vehicle traveling in the same direction behind the vehicle in question. If the first included angle is greater than or equal to 90 degrees and neither the vehicle in question nor the vehicle further away is traveling in the wrong direction, then the vehicle further away is determined to be a vehicle traveling in the wrong direction behind the vehicle in question. If the first included angle is greater than or equal to 90 degrees and neither the vehicle in question nor the vehicle further away is traveling in the wrong direction, then the vehicle further away is determined to be a vehicle traveling in the wrong direction behind the vehicle in question. If the first included angle is greater than or equal to 90 degrees and both the vehicle in question and the vehicle further away is traveling in the wrong direction, then the vehicle further away is determined to be a vehicle traveling in the same direction behind the vehicle in question.

[0149] Based on the above analysis, if the distant vehicle is in the same direction and lane as the vehicle in front of it, the distant vehicle is classified as "Ahead"; if the distant vehicle is in the same direction and lane as the vehicle behind it, the distant vehicle is classified as "Rear"; if the distant vehicle is in the opposite direction and lane as the vehicle in front of it, the distant vehicle is classified as "Front-oncoming"; if the relative positions of the distant vehicle and the vehicle do not fall into any of the above categories, the distant vehicle is classified as "Unclassified". That is, if the RV is in the same direction and lane as the HV in front of it, the RV is classified as "Ahead"; if the RV is in the same direction and lane as the HV behind it, the RV is classified as "Behind"; if the RV is in the opposite direction and lane as the HV in front of it, the RV is classified as "Oncoming"; otherwise, the RV is classified as "None".

[0150] Scenario 2: When the vehicle and the distant vehicle are on the same directional road segment but not in the same lane, select the marker closest to the vehicle and the marker closest to the distant vehicle; that is, the vehicle and the distant vehicle belong to the same node, the same link, but different lanes.

[0151] The position of the distant vehicle relative to the current vehicle is determined based on the upstream / downstream relationship between the nearest marker to the distant vehicle and the nearest marker to the current vehicle, as well as the driving directions of the current vehicle and the distant vehicle. In this embodiment, if the nearest marker to the distant vehicle is upstream of the nearest marker to the current vehicle and neither the current vehicle nor the distant vehicle is driving in the opposite direction, the distant vehicle is determined to be a vehicle traveling in the same direction behind the current vehicle; if the nearest marker to the distant vehicle is upstream of the nearest marker to the current vehicle and neither the current vehicle nor the distant vehicle is driving in the opposite direction, the distant vehicle is determined to be a vehicle traveling in the opposite direction behind the current vehicle; if the nearest marker to the distant vehicle is upstream of the nearest marker to the current vehicle and neither the current vehicle nor the distant vehicle is driving in the opposite direction, the distant vehicle is determined to be a vehicle traveling in the opposite direction in front of the current vehicle; if the nearest marker to the distant vehicle is upstream of the nearest marker to the current vehicle and both the current vehicle and the distant vehicle are driving in the opposite direction, the distant vehicle is determined to be a vehicle traveling in the same direction in front of the current vehicle; if the nearest marker to the distant vehicle is upstream of the nearest marker to the current vehicle and neither the current vehicle nor the distant vehicle is driving in the opposite direction, the distant vehicle is determined to be a vehicle traveling in the same direction in front of the current vehicle; if the nearest marker to the distant vehicle is upstream of the nearest marker to the current vehicle and both the current vehicle and the distant vehicle are driving in the opposite direction, the distant vehicle is determined to be a vehicle traveling in the same direction in front of the current vehicle; if the nearest marker to the distant vehicle is upstream of the nearest marker to the current vehicle... If the vehicle is downstream of the marker and neither the vehicle in question nor the vehicle further away is traveling in the wrong direction, then the vehicle further away is determined to be a vehicle traveling in the same direction ahead of the vehicle in question. If the marker closest to the vehicle further away is downstream of the marker closest to the vehicle in question, and both the vehicle in question and the vehicle further away are traveling in the wrong direction, then the vehicle further away is determined to be a vehicle traveling in the wrong direction ahead of the vehicle in question. If the marker closest to the vehicle further away is downstream of the marker closest to the vehicle in question, and both the vehicle in question and the vehicle further away are traveling in the wrong direction, then the vehicle further away is determined to be a vehicle traveling in the wrong direction behind the vehicle in question. If the marker closest to the vehicle further away is downstream of the marker closest to the vehicle in question, and both the vehicle in question and the vehicle further away are traveling in the wrong direction, then the vehicle further away is determined to be a vehicle traveling in the same direction behind the vehicle in question. Understandably, in this process, determining whether the vehicle further away (RV) is in the adjacent lane or the far lane of the vehicle in question (HV) is the same as in situation 1 above, and will not be repeated here.

[0152] It should be noted that when the marker closest to the distant vehicle and the marker closest to the current vehicle are the same marker, the second included angle between the centerline of the current vehicle and the line connecting the distant vehicle and the current vehicle is calculated (the same as the first included angle in case 1, which will not be repeated here); based on the degree of the second included angle and the driving directions of the current vehicle and the distant vehicle, the position of the distant vehicle relative to the current vehicle is determined. The position of the distant vehicle relative to the current vehicle includes at least the following vehicles traveling in the same direction behind, vehicles traveling in the opposite direction behind, vehicles traveling in the opposite direction in front, vehicles traveling in the same direction in front, vehicles traveling in the opposite direction in front, vehicles traveling in the opposite direction behind, and vehicles traveling in the same direction behind. In this embodiment, if the second included angle is less than or equal to 90 degrees and neither the vehicle nor the distant vehicle is traveling in the wrong direction, then the distant vehicle is determined to be a vehicle traveling in the same direction ahead of the vehicle; if the second included angle is less than or equal to 90 degrees and neither the vehicle nor the distant vehicle is traveling in the wrong direction, then the distant vehicle is determined to be a vehicle traveling in the opposite direction ahead of the vehicle; if the second included angle is less than or equal to 90 degrees and neither the vehicle nor the distant vehicle is traveling in the wrong direction, then the distant vehicle is determined to be a vehicle traveling in the opposite direction ahead of the vehicle; if the second included angle is less than or equal to 90 degrees and both the vehicle and the distant vehicle are traveling in the wrong direction, then the distant vehicle is determined to be a vehicle traveling in the same direction ahead of the vehicle. Vehicles; if the second included angle is greater than or equal to 90 degrees and neither the vehicle is traveling in the wrong direction nor the distant vehicle is traveling in the wrong direction, then the distant vehicle is determined to be a vehicle traveling in the same direction behind the vehicle; if the second included angle is greater than or equal to 90 degrees and neither the vehicle is traveling in the wrong direction nor the distant vehicle is traveling in the wrong direction, then the distant vehicle is determined to be a vehicle traveling in the wrong direction behind the vehicle; if the second included angle is greater than or equal to 90 degrees and neither the vehicle is traveling in the wrong direction nor the distant vehicle is traveling in the wrong direction, then the distant vehicle is determined to be a vehicle traveling in the wrong direction behind the vehicle; if the second included angle is greater than or equal to 90 degrees and both the vehicle is traveling in the wrong direction nor the distant vehicle is traveling in the wrong direction, then the distant vehicle is determined to be a vehicle traveling in the same direction behind the vehicle.

[0153] Based on the above judgment, the vehicle classification of the distant vehicle is determined according to the position of the distant vehicle relative to the current vehicle, and the relative position of the distant vehicle's lane with the current lane when the distant vehicle's lane is the target lane. The vehicle classification of the distant vehicle includes at least left front, right front, far left front, far right front, left rear, right rear, far left rear, far right rear, left front opposite, right front opposite, far left front opposite, far right front opposite, and no category. It can be seen that if the distant vehicle is in the same direction as the vehicle in front of this vehicle and is located in the left adjacent lane, then the vehicle is classified as left front; if the distant vehicle is in the same direction as the vehicle in front of this vehicle and is located in the right adjacent lane, then the vehicle is classified as right front; if the distant vehicle is in the same direction as the vehicle in front of this vehicle and is located in the left far lane, then the vehicle is classified as far left front; if the distant vehicle is in the same direction as the vehicle in front of this vehicle and is located in the right far lane, then the vehicle is classified as far right front; if the distant vehicle is in the same direction as the vehicle behind this vehicle and is located in the left adjacent lane, then the vehicle is classified as left rear; if the distant vehicle is in the same direction as the vehicle behind this vehicle and is located in the right adjacent lane, then the vehicle is classified as right rear; if the distant vehicle is in the same direction as the vehicle behind this vehicle and is located in the left far lane, then the vehicle is classified as left rear. If the distant vehicle is in the same direction behind the vehicle and is located in the far right lane, then the distant vehicle is classified as a distant right rear vehicle. If the distant vehicle is in the opposite direction in front of the vehicle and is located in the adjacent left lane, then the distant vehicle is classified as a left front opposite vehicle. If the distant vehicle is in the opposite direction in front of the vehicle and is located in the adjacent right lane, then the distant vehicle is classified as a right front opposite vehicle. If the distant vehicle is in the opposite direction in front of the vehicle and is located in the far left lane, then the distant vehicle is classified as a distant left front opposite vehicle. If the distant vehicle is in the opposite direction in front of the vehicle and is located in the far right lane, then the distant vehicle is classified as a distant right front opposite vehicle. If the relative positions of the distant vehicle and the vehicle do not fall into any of the above categories, then the distant vehicle is classified as unclassified.

[0154] Scenario 3: When the vehicle and the distant vehicle are on the same directed road segment and neither the vehicle nor the distant vehicle has been matched with a lane, the distance of the distant vehicle from the directed road segment is used as the first judgment distance, and the distance of the vehicle from the directed road segment is used as the second judgment distance; that is, HV and RV belong to the same node and the same link, but RV or HV has not been matched with a lane; if some lanes in the link have no points, the vehicle may not be matched with a lane, and in this case, the vehicle is only matched with the link.

[0155] Determine the relative position of the far vehicle's lane as the target lane with respect to the current lane based on the difference between the first judgment distance and the second judgment distance falling within the range of the lane judgment threshold. In this embodiment, if the difference between the first judgment distance and the second judgment distance is between the positive direction first lane threshold and the negative direction first lane threshold, then it is determined that the far vehicle is a vehicle in the same lane as the current vehicle; if the difference between the first judgment distance and the second judgment distance is between the negative direction first lane threshold and the negative direction second lane threshold, then it is determined that the far vehicle is the left adjacent lane vehicle of the current vehicle; if the difference between the first judgment distance and the second judgment distance is greater than the negative direction second lane threshold, then it is determined that the far vehicle is the left far lane vehicle of the current vehicle; if the difference between the first judgment distance and the second judgment distance is less than the negative direction second lane threshold, then it is determined that the far vehicle is the right adjacent lane vehicle of the current vehicle; if the difference between the first judgment distance and the second judgment distance is greater than the positive direction second lane threshold, then it is determined that the far vehicle is the right far lane vehicle of the current vehicle; that is, denote the distance of RV from the linkpoint as rv2link_dis, and the distance of HV from the link point as hv2link_dis. The distance calculation method is referred to the above Figure 3 way of calculating the distance v2line_dis of the vehicle to the line connecting point A and point B. If -aheadLimit_m < rv2link_dis – hv2link_dis < aheadLimit_m, RV is a vehicle in the same lane as HV; if -aheadLeftLimit_m < rv2link_dis – hv2link_dis < -aheadLimit_m, RV is the left adjacent lane vehicle of HV; if rv2link_dis – hv2link_dis < -aheadLeftLimit_m, RV is the left far lane vehicle of HV; if aheadLimit_m < rv2link_dis – hv2link_dis < aheadRightLimit_m, RV is the right adjacent lane vehicle of HV; if aheadRightLimit_m < rv2link_dis – hv2link_dis, RV is the right far lane vehicle of HV.

[0156] Furthermore, the system selects the marker closest to the vehicle and the marker closest to the distant vehicle; based on the upstream / downstream relationship between the marker closest to the distant vehicle and the marker closest to the vehicle, and the driving directions of the vehicle and the distant vehicle, it determines the position of the distant vehicle relative to the vehicle. In this embodiment, if the marker closest to the distant vehicle is upstream of the marker closest to the vehicle and neither the vehicle nor the distant vehicle is driving in the opposite direction, then the distant vehicle is determined to be a vehicle traveling in the same direction behind the vehicle; if the marker closest to the distant vehicle is upstream of the marker closest to the vehicle and neither the vehicle nor the distant vehicle is driving in the opposite direction, then the distant vehicle is determined to be a vehicle traveling in the opposite direction behind the vehicle; if the marker closest to the distant vehicle is upstream of the marker closest to the vehicle and neither the vehicle nor the distant vehicle is driving in the opposite direction, then the distant vehicle is determined to be a vehicle traveling in the opposite direction ahead of the vehicle; if the marker closest to the distant vehicle is upstream of the marker closest to the vehicle and both the vehicle and the distant vehicle are driving in the opposite direction, then the distant vehicle is determined to be a vehicle traveling in the same direction ahead of the vehicle. For each vehicle: If the nearest marker to the distant vehicle is downstream of the nearest marker to the current vehicle, and neither the current vehicle nor the distant vehicle is traveling in the wrong direction, then the distant vehicle is determined to be a vehicle traveling in the same direction ahead of the current vehicle. If the nearest marker to the distant vehicle is downstream of the nearest marker to the current vehicle, and neither the current vehicle nor the distant vehicle is traveling in the wrong direction, then the distant vehicle is determined to be a vehicle traveling in the wrong direction ahead of the current vehicle. If the nearest marker to the distant vehicle is downstream of the nearest marker to the current vehicle, and neither the current vehicle nor the distant vehicle is traveling in the wrong direction, then the distant vehicle is determined to be a vehicle traveling in the wrong direction behind the current vehicle. If the nearest marker to the distant vehicle is downstream of the nearest marker to the current vehicle, and both the current vehicle and the distant vehicle are traveling in the wrong direction, then the distant vehicle is determined to be a vehicle traveling in the same direction behind the current vehicle. Understandably, determining whether the distant vehicle (RV) is in front of or behind the current vehicle (HV) is the same as in situation 2 above, and will not be repeated here.

[0157] Based on the above judgments, and according to the position of the distant vehicle relative to the current vehicle, and the relative position of the distant vehicle's lane with the current lane when the distant vehicle's lane is the target lane, the vehicle classification of the distant vehicle is determined. The vehicle classification of the distant vehicle includes at least the following categories: left front, rear, front oncoming, left front, right front, far left front, far right front, left rear, right rear, far left rear, far right rear, left front oncoming, right front oncoming, far left front oncoming, far right front oncoming, and no category. It can be seen that if the distant vehicle is in the same direction in front of the current vehicle and is in the same lane, the distant vehicle is classified as "front"; if the distant vehicle is in the same direction behind the current vehicle and is in the same lane, the distant vehicle is classified as "rear"; if the distant vehicle is in the opposite direction in front of the current vehicle and is in the same lane, the distant vehicle is classified as "front oncoming"; if the distant vehicle is in the same direction in front of the current vehicle and is in the adjacent left lane, the distant vehicle is classified as "left front"; if the distant vehicle is in the same direction in front of the current vehicle and is in the left-adjacent lane, the distant vehicle is classified as "left front"; if the distant vehicle is in the same direction in front of the current vehicle and is in the left-adjacent lane, the distant vehicle is classified as "left front"; if the distant vehicle is in the opposite direction in front of the current vehicle and is in the same lane, the distant vehicle is classified as "front oncoming"; if the distant vehicle is in the same direction in front of the current vehicle and is in the left-adjacent lane, the distant vehicle is classified as "left front"; if the distant vehicle is in the opposite direction in front of the current vehicle... If a vehicle in the same direction ahead is located in the right-hand lane, the vehicle is classified as "right front". If the vehicle in the same direction ahead is located in the left-hand lane, the vehicle is classified as "far left front". If the vehicle in the same direction ahead is located in the right-hand lane, the vehicle is classified as "far right front". If the vehicle in the same direction behind is located in the left-hand lane, the vehicle is classified as "left rear". If the vehicle in the same direction behind is located in the left-hand lane, the vehicle is classified as "left rear". If a vehicle is in the same direction as the vehicle behind it and is in the far left lane, then the vehicle is classified as a vehicle in the far right rear direction; if the far vehicle is in the same direction as the vehicle behind it and is in the far left lane, then the vehicle is classified as a vehicle in the far left rear direction; if the far vehicle is in the same direction as the vehicle behind it and is in the far right lane, then the vehicle is classified as a vehicle in the far right rear direction; if the far vehicle is in the opposite direction in front of the vehicle and is in the far left adjacent lane, then the vehicle is classified as a vehicle in the left front opposite direction; if the far vehicle is in the opposite direction in front of the vehicle and is in the far left lane, then the vehicle is classified as a vehicle in the far left front opposite direction; if the far vehicle is in the opposite direction in front of the vehicle and is in the far left rear direction... If the vehicle is located in the right adjacent lane, the vehicle classification of the distant vehicle is determined to be right front oncoming traffic; if the distant vehicle is in the opposite direction in front of this vehicle and is located in the left far lane, the vehicle classification of the distant vehicle is determined to be far left front oncoming traffic; if the distant vehicle is in the opposite direction in front of this vehicle and is located in the right far lane, the vehicle classification of the distant vehicle is determined to be far right front oncoming traffic; if the relative positions of the distant vehicle and this vehicle do not fall into the above categories, the vehicle classification of the distant vehicle is determined to be unclassified (mainly because the RV is behind the HV, in the opposite direction).

[0158] Scenario 4: When the vehicle and the distant vehicle are in the same map area but on different oriented road segments, the heading of the oriented road segment where the distant vehicle is located is used as the first judgment angle, and the heading of the oriented road segment where the vehicle is located is used as the second judgment angle. That is, HV and RV belong to the same node but different links. The link heading is calculated based on the link direction at the intersection, and the headings of the link where RV is located and the link where HV is located are calculated as rv_link_heading and hv_link_heading, respectively.

[0159] Based on the difference between the first judgment angle and the second judgment angle falling within the range of the intersection judgment threshold, determine the positional relationship between the far vehicle lane and the ramp or intersection. In this embodiment, if the difference between the first judgment angle and the second judgment angle is between 0 degrees and the positive first judgment threshold, it is determined that the far vehicle is on the left side of the ramp of the vehicle itself; if the difference between the first judgment angle and the second judgment angle is between 0 degrees and the negative first judgment threshold, it is determined that the far vehicle is on the right side of the ramp of the vehicle itself; if the difference between the first judgment angle and the second judgment angle is between the positive first judgment threshold and the positive second judgment threshold, it is determined that the far vehicle is on the left of the intersection of the vehicle itself; if the difference between the first judgment angle and the second judgment angle is between the negative first judgment threshold and the negative second judgment threshold, it is determined that the far vehicle is on the right of the intersection of the vehicle itself; if the difference between the first judgment angle and the second judgment angle is between the positive second judgment threshold and 180 degrees or between the negative second judgment threshold and 180 degrees, it is determined that the far vehicle is in the reverse lane of the vehicle itself. That is, if 0 < rv_link_heading - hv_link_heading < 50, the RV is on the left side of the HV ramp; if -50 < rv_link_heading - hv_link_heading < 0, the RV is on the right side of the HV ramp; if 50 <= rv_link_heading - hv_link_heading <= 130, the RV is on the left of the HV intersection; if -130 <= rv_link_heading - hv_link_heading < -50, the RV is on the right of the HV intersection; if link_heading_diff > 130 or link_heading_diff < -130, the RV is in the reverse lane of the HV.

[0160] When the far vehicle is in the reverse lane of the vehicle itself, determine whether the far vehicle and the vehicle itself are matched to the corresponding lanes, and calculate the relative lateral distance between the lanes where the vehicle itself and the far vehicle are located at the intersection according to the lane matching situation; wherein, the lane matching situation at least includes determining the relative lateral distance based on the corresponding lane heading when the corresponding lane is matched, and determining the relative lateral distance based on the corresponding directed section heading when only the corresponding directed section is matched and the corresponding lane is not matched; that is, determine whether the RV is in the adjacent lane or the far adjacent lane of the HV, and calculate only when the RV is in the reverse lane.

[0161] If both the HV and the RV have been matched to lanes, calculate the distance between the lanes where the HV and the RV are located at the intersection in the direction of the lane heading of the HV. Such as Figure 18 , the lane heading of the lane where the HV is located, point A is the point of the RV at the intersection of its own lane, calculate the lateral distance between point A and point B in the direction of the lane heading, and denote it as dis.

[0162] If HV matches a lane but RV does not, take HV lane heading as the direction, calculate the lateral distance link2lane_dis between the point of the link where RV is located at the intersection and the point of the lane where HV is located at the intersection, and obtain the distance rv2line_dis between RV and link. Then, the lateral distance dis between the lanes of the two vehicles at the intersection is dis = link2lane_dis – rv2line_dis.

[0163] If RV matches a lane but HV does not, take the link heading of HV as the direction, calculate the lateral distance lane2link_dis between the point of the lane where RV is located at the intersection and the point of the link where HV is located at the intersection, and obtain the distance hv2line_dis between HV and the link. Then, the lateral distance dis between the lanes of the two vehicles at the intersection is dis = lane2link_dis – hv2line_dis.

[0164] If neither HV nor RV is matched with a lane, take the link heading of HV as the direction, calculate the lateral distance link_dis between the link point of RV at the intersection and the link point of HV at the intersection, calculate the lateral distance hv2link_dis between HV and the link point, and calculate the lateral distance rv2link_dis between RV and the link point. Let dis = hv2link_dis + rv2link_dis - link_dis.

[0165] The lane determination is as follows: Based on the range of the interval of the lane judgment threshold in which the relative lateral distance is located, determine the relative position of the far vehicle lane as the target lane with respect to the own lane. If the relative lateral distance is between the positive direction first lane threshold and the negative direction first lane threshold, it is determined that the far vehicle is a vehicle in the same lane as the own vehicle; if the relative lateral distance is between the negative direction first lane threshold and the negative direction second lane threshold, it is determined that the far vehicle is the left adjacent lane vehicle of the own vehicle; if the relative lateral distance is less than the negative direction second lane threshold, it is determined that the far vehicle is the left far lane vehicle of the own vehicle; if the relative lateral distance is between the positive direction first lane threshold and the positive direction second lane threshold, it is determined that the far vehicle is the right adjacent lane vehicle of the own vehicle; if the relative lateral distance is greater than the positive direction second lane threshold, it is determined that the far vehicle is the right far lane vehicle of the own vehicle. That is, if -aheadLimit_m < dis < aheadLimit_m, RV is a vehicle in the same lane as HV; if -aheadLeftLimit_m < dis < -aheadLimit_m, RV is the left adjacent lane vehicle of HV; if dis < -aheadLeftLimit_m, RV is the left far lane vehicle of HV; if aheadLimit_m < dis < aheadRightLimit_m, RV is the right adjacent lane vehicle of HV; if aheadRightLimit_m < dis, RV is the right far lane vehicle of HV.

[0166] Based on the above judgment, the vehicle classification of the distant vehicle is determined according to the positional relationship between the distant vehicle lane and the intersection or crossroads, the driving direction of the vehicle and the distant vehicle, and the relative position of the distant vehicle lane with the vehicle lane when it is the target lane. The vehicle classification of the distant vehicle includes at least the following categories: left side of ramp, right side of ramp, left crossroad, right crossroad, front facing, left front facing, far left front facing, right front facing, far right front facing, front, left front, far left front, right front, far right front, rear, left rear, far left rear, right rear, far right rear, and no category.It can be seen that if the distant vehicle is on the left side of the ramp and neither the distant vehicle nor the vehicle is traveling in the wrong direction, then the distant vehicle is classified as a vehicle on the left side of the ramp; if the distant vehicle is on the right side of the ramp and neither the distant vehicle nor the vehicle is traveling in the wrong direction, then the distant vehicle is classified as a vehicle on the right side of the ramp; if the distant vehicle is on the left side of the intersection and neither the distant vehicle nor the vehicle is traveling in the wrong direction, then the distant vehicle is classified as a vehicle crossing to the left; if the distant vehicle is on the right side of the intersection and neither the distant vehicle nor the vehicle is traveling in the wrong direction, then the distant vehicle is classified as a vehicle crossing to the right; if the distant vehicle is in the opposite lane and neither the distant vehicle nor the vehicle is traveling in the wrong direction, and both the distant vehicle and the vehicle are in the same lane, then the distant vehicle is classified as a vehicle traveling in the opposite direction; if the distant vehicle is in the opposite lane and neither the distant vehicle nor the vehicle is traveling in the wrong direction, and both the distant vehicle and the vehicle are in the same lane, then the distant vehicle is classified as a vehicle traveling in the opposite direction; if the distant vehicle is in the opposite lane and neither the distant vehicle nor the vehicle is traveling in the wrong direction, then the distant vehicle is classified as a vehicle traveling in the opposite direction. If the vehicle is in the left-adjacent lane of this vehicle, it is classified as a left-front oncoming vehicle; if the vehicle is in the opposite lane and neither the vehicle nor this vehicle is traveling in the opposite direction, and the vehicle is in the left-farthest lane of this vehicle, it is classified as a far-left front-facing vehicle; if the vehicle is in the opposite lane and neither the vehicle nor this vehicle is traveling in the opposite direction, and the vehicle is in the right-adjacent lane of this vehicle, it is classified as a right-front oncoming vehicle; if the vehicle is in the opposite lane and neither the vehicle nor this vehicle is traveling in the opposite direction, and the vehicle is in the right-farthest lane of this vehicle, it is classified as a far-right front-facing vehicle; if the vehicle is in the opposite lane and neither the vehicle nor this vehicle is traveling in the opposite direction, and the vehicle is in the same lane as this vehicle, it is classified as a vehicle in front; if the vehicle is in the opposite lane... If a vehicle is in the opposite lane and the other vehicle is traveling in the wrong direction while the other vehicle is not, and the other vehicle is in the left-adjacent lane, then the vehicle is classified as left-front. If the other vehicle is in the opposite lane and traveling in the wrong direction while the other vehicle is not, and the other vehicle is in the left-farthest lane, then the vehicle is classified as far-left-front. If the other vehicle is in the opposite lane and traveling in the wrong direction while the other vehicle is not, and the other vehicle is in the right-adjacent lane, then the vehicle is classified as right-front. If the other vehicle is in the opposite lane and traveling in the wrong direction while the other vehicle is not, and the other vehicle is in the right-farthest lane, then the vehicle is classified as far-right-front. If the other vehicle is in the opposite lane and traveling in the wrong direction while the other vehicle is not, and the other vehicle is in the same lane as the other vehicle, then the vehicle is classified as rear-front. If the distant vehicle is in the oncoming lane and is not traveling in the wrong direction while the vehicle is traveling in the wrong direction and the distant vehicle is in the left adjacent lane of the vehicle, then the distant vehicle is classified as left rear; if the distant vehicle is in the oncoming lane and is not traveling in the wrong direction while the vehicle is traveling in the wrong direction and the distant vehicle is in the left far lane of the vehicle, then the distant vehicle is classified as far left rear; if the distant vehicle is in the oncoming lane and is not traveling in the wrong direction while the vehicle is traveling in the wrong direction and the distant vehicle is in the right adjacent lane of the vehicle, then the distant vehicle is classified as right rear; if the distant vehicle is in the oncoming lane and is not traveling in the wrong direction while the vehicle is traveling in the wrong direction and the distant vehicle is in the right far lane of the vehicle, then the distant vehicle is classified as far right rear; if the relative positions of the distant vehicle and the vehicle do not fall under any of the above conditions, then the distant vehicle is classified as unclassified.

[0167] Case 5: When the vehicle and the remote vehicle are in different area maps, the relative positions of the vehicle and the remote vehicle are determined based on the relative positions of the area maps where the vehicle and the remote vehicle are located; that is, HV and RV belong to different nodes.

[0168] Since there are multiple relative position scenarios for two different nodes (such as the first to fourth scenarios below), it is necessary to determine the different scenarios. The relative position between the area map where the vehicle is located and the area map where the distant vehicle is located includes at least the following scenarios: the area map where the vehicle is located is not upstream of the area map where the distant vehicle is located and the area map where the distant vehicle is located is not upstream of the area map where the vehicle is located; the area map where the vehicle is located is upstream of the area map where the distant vehicle is located and the area map where the distant vehicle is located is not upstream of the area map where the vehicle is located; the area map where the vehicle is located is not upstream of the area map where the distant vehicle is located and the area map where the distant vehicle is located is upstream of the area map where the vehicle is located; the area map where the vehicle is located is upstream of the area map where the distant vehicle is located and the area map where the distant vehicle is located is upstream of the area map where the vehicle is located.

[0169] In the first scenario, if the area map where this vehicle is located is not upstream of the area map where the distant vehicle is located, and the area map where the distant vehicle is located is not upstream of the area map where this vehicle is located, the distant vehicle is classified as "no category". If the node where HV is located is not the upstream node of RV, and the node where RV is located is not the upstream node of HV, the classification is "none".

[0170] The second scenario, such as Figure 19 As shown, when the area map where this vehicle is located is upstream of the area map where the distant vehicle is located, but the area map where the distant vehicle is located is not upstream of the area map where this vehicle is located, the headway difference between the headway of the directional road segment upstream of the distant vehicle and the headway of the directional road segment where this vehicle is located is determined.

[0171] Determine the position of the remote vehicle relative to the host vehicle according to the heading difference between the heading of the directed road section upstream of the remote vehicle and the heading of the directed road section where the host vehicle is located being within the range of the heading judgment threshold, where the position of the remote vehicle relative to the host vehicle at least includes in the same direction, left at the intersection, and right at the intersection. In this embodiment, if the heading difference between the heading of the directed road section upstream of the remote vehicle and the heading of the directed road section where the host vehicle is located is between the positive first heading threshold and the positive second heading threshold, it is determined that the direction of the remote vehicle and the host vehicle are in the same direction; if the heading difference between the heading of the directed road section upstream of the remote vehicle and the heading of the directed road section where the host vehicle is located is between the positive first judgment threshold and the positive second judgment threshold, it is determined that the direction of the remote vehicle is left at the intersection; if the heading difference between the heading of the directed road section upstream of the remote vehicle and the heading of the directed road section where the host vehicle is located is between the negative first judgment threshold and the negative second judgment threshold, it is determined that the direction of the remote vehicle is right at the intersection; that is, for direction judgment, if -20 < rv_upstream_link_heading – hv_link_heading < 20, the RV direction is in the same direction; if 50 < rv_upstream_link_heading – hv_link_heading < 130, the RV direction is left at the intersection; if -130 < rv_upstream_link_heading – hv_link_heading < -50, the RV direction is right at the intersection. For the specific principle, reference can be made to the part about lane direction judgment in the above lane matching rule.

[0172] Calculate the relative lateral distance between the lanes where the host vehicle and the remote vehicle are located at the intersection according to the lane matching situation; where the lane matching situation at least includes determining the relative lateral distance according to the heading of the corresponding lane if the corresponding lane is matched, and determining the relative lateral distance according to the heading of the corresponding directed road section if only the corresponding directed road section is matched and the corresponding lane is not matched.

[0173] Based on the range of the relative lateral distance within the lane determination threshold, the relative position of the distant vehicle's lane as the target lane is determined relative to the current lane. This relative position includes at least vehicles in the same lane, vehicles in the left adjacent lane, vehicles in the left distant lane, vehicles in the right adjacent lane, and vehicles in the right distant lane. In this embodiment, if the relative lateral distance is between the first lane threshold in the forward direction and the first lane threshold in the reverse direction, the distant vehicle is determined to be a vehicle in the same lane as the current vehicle; if the relative lateral distance is between the first lane threshold in the reverse direction and the second lane threshold in the reverse direction, the distant vehicle is determined to be a vehicle in the left adjacent lane; if the relative lateral distance is less than the second lane threshold in the reverse direction, the distant vehicle is determined to be a vehicle in the left distant lane; if the relative lateral distance is between the first lane threshold in the forward direction and the second lane threshold in the forward direction, the distant vehicle is determined to be a vehicle in the right adjacent lane; if the relative lateral distance is greater than the second lane threshold in the forward direction, the distant vehicle is determined to be a vehicle in the right distant lane. This part describes the lane determination process, which can be referred to in Case 4 regarding the determination of the relative lateral distance, and will not be repeated here.

[0174] In the second scenario, when determining vehicle classification, the vehicle classification of the distant vehicle is determined based on the position of the distant vehicle relative to the current vehicle, the driving direction of the distant vehicle and the current vehicle, and the relative position of the distant vehicle's lane with the current lane when the lane of the distant vehicle is the target lane. The vehicle classification of the distant vehicle includes at least the following categories: forward, left forward, right forward, far left forward, far right forward, forward-facing, left forward-facing, right forward-facing, far left forward-facing, far right forward-facing, left crossing, and right crossing. Specifically, when neither the vehicle nor the distant vehicle is traveling in the wrong direction, and both are traveling in the same direction and in the same lane, the distant vehicle is classified as "front"; when neither the vehicle nor the distant vehicle is traveling in the wrong direction, and both are traveling in the same direction and the distant vehicle is in the left adjacent lane, the distant vehicle is classified as "left front"; when neither the vehicle nor the distant vehicle is traveling in the wrong direction, and both are traveling in the same direction and the distant vehicle is in the right adjacent lane, the distant vehicle is classified as "right front"; when neither the vehicle nor the distant vehicle is traveling in the wrong direction, and both are traveling in the same direction and the distant vehicle is in the left far lane, the distant vehicle is classified as "far left front"; when neither the vehicle nor the distant vehicle is traveling in the wrong direction, and both are traveling in the same direction and the distant vehicle is in the right far lane, the distant vehicle is classified as "far right front"; when neither the vehicle nor the distant vehicle is traveling in the wrong direction, and both are traveling in the same direction and in the same lane, the distant vehicle is classified as "far right front"; when neither the vehicle nor the distant vehicle is traveling in the wrong direction, and both are traveling in the same direction and in the same lane, the distant vehicle is classified as... The following classifications apply: For example, if the vehicle is not traveling in the wrong direction but the distant vehicle is traveling in the wrong direction, and both vehicles are traveling in the same direction with the distant vehicle in the left adjacent lane, the distant vehicle is classified as left-front-facing; if the vehicle is not traveling in the wrong direction but the distant vehicle is traveling in the wrong direction, and both vehicles are traveling in the same direction with the distant vehicle in the right adjacent lane, the distant vehicle is classified as right-front-facing; if the vehicle is not traveling in the wrong direction but the distant vehicle is traveling in the wrong direction, and both vehicles are traveling in the same direction with the distant vehicle in the left-far lane, the distant vehicle is classified as far-left-front-facing; if the vehicle is not traveling in the wrong direction but the distant vehicle is traveling in the wrong direction, and both vehicles are traveling in the same direction with the distant vehicle in the right-far lane, the distant vehicle is classified as far-right-front-facing; if the vehicle is not traveling in the wrong direction but the distant vehicle is traveling in the wrong direction with the distant vehicle in the left lane of the intersection, the distant vehicle is classified as left-crossing; if the vehicle is not traveling in the wrong direction but the distant vehicle is traveling in the wrong direction with the distant vehicle in the right lane of the intersection, the distant vehicle is classified as right-crossing.

[0175] The third situation, such as Figure 20 As shown, when the area map where the vehicle is located is not upstream of the area map where the distant vehicle is located, and the area map where the distant vehicle is located is upstream of the area map where the vehicle is located, the heading difference between the heading of the directed road segment upstream of the vehicle and the heading of the directed road segment where the vehicle is located is determined; that is, the node where the RV is located is the upstream node of the HV, and the node where the HV is located is not the upstream node of the RV. The link heading of the HV at the upstream node is calculated.

[0176] Determine the position of the remote vehicle relative to the host vehicle based on that the heading difference between the heading of the directed road segment upstream of the host vehicle and the heading of the directed road segment where the remote vehicle is located falls within the range of the heading judgment threshold. Among them, the position of the remote vehicle relative to the host vehicle at least includes in the same direction, left at the intersection, and right at the intersection. Specifically, if the heading difference between the heading of the directed road segment upstream of the host vehicle and the heading of the directed road segment where the remote vehicle is located falls between the positive first heading threshold and the positive second heading threshold, it is determined that the direction of the remote vehicle is the same as that of the host vehicle; if the heading difference between the heading of the directed road segment upstream of the host vehicle and the heading of the directed road segment where the remote vehicle is located falls between the positive first judgment threshold and the positive second judgment threshold, it is determined that the direction of the remote vehicle is left at the intersection; if the heading difference between the heading of the directed road segment upstream of the host vehicle and the heading of the directed road segment where the remote vehicle is located falls between the negative first judgment threshold and the negative second judgment threshold, it is determined that the direction of the remote vehicle is right at the intersection; that is, if -20 < rv_link_heading – hv_upstream_link_heading < 20, the RV direction is in the same direction; if 50 < rv_link_heading – hv_upstream_link_heading < 130, the RV direction is left at the intersection; if -130 < rv_link_heading – hv_upstream_link_heading < -50, the RV direction is right at the intersection;

[0177] Calculate the relative lateral distance between the lanes where the host vehicle and the remote vehicle are located at the intersection according to the lane matching situation; among them, the lane matching situation at least includes determining the relative lateral distance based on the heading of the corresponding lane if the corresponding lane is matched, and determining the relative lateral distance based on the heading of the corresponding directed road segment if only the corresponding directed road segment is matched and the corresponding lane is not matched;

[0178] In summary, based on that the direction where the relative lateral distance is located falls within the interval range of the lane judgment threshold, determine the relative position situation between the lane of the remote vehicle as the target lane and the host lane. Among them, the relative position situation at least includes vehicles in the same lane, vehicles in the adjacent left lane, vehicles in the far left lane, vehicles in the adjacent right lane, and vehicles in the far right lane. Specifically, if the relative lateral distance falls between the positive first lane threshold and the negative first lane threshold, it is determined that the remote vehicle is a vehicle in the same lane as the host vehicle; if the relative lateral distance falls between the negative first lane threshold and the negative second lane threshold, it is determined that the remote vehicle is a vehicle in the adjacent left lane of the host vehicle; if the relative lateral distance is less than the negative second lane threshold, it is determined that the remote vehicle is a vehicle in the far left lane of the host vehicle; if the relative lateral distance falls between the positive first lane threshold and the positive second lane threshold, it is determined that the remote vehicle is a vehicle in the adjacent right lane of the host vehicle; if the relative lateral distance is greater than the positive second lane threshold, it is determined that the remote vehicle is a vehicle in the far right lane of the host vehicle. This part is the judgment process of the lane, and the part of determining the relative lateral distance in Case 4 can be referred to and will not be elaborated here.

[0179] In the third scenario, when determining vehicle classification, the vehicle classification of the distant vehicle is determined based on the position of the distant vehicle relative to the current vehicle, the driving direction of the distant vehicle and the current vehicle, and the relative position of the distant vehicle's lane with the current lane when the lane is the target lane. The vehicle classification of the distant vehicle includes at least the following categories: rear, left rear, right rear, far left rear, far right rear, front facing, left front facing, right front facing, far left front facing, far right front facing, left crossing, and right crossing. Specifically, when both the vehicle and the distant vehicle are traveling in the same direction and in the same lane, the distant vehicle is classified as "rear"; when both the vehicle and the distant vehicle are traveling in the same direction and the distant vehicle is in the left adjacent lane, the distant vehicle is classified as "left rear"; when both the vehicle and the distant vehicle are traveling in the same direction and the distant vehicle is in the right adjacent lane, the distant vehicle is classified as "right rear"; when both the vehicle and the distant vehicle are traveling in the same direction and the distant vehicle is in the left far lane, the distant vehicle is classified as "far left rear"; when both the vehicle and the distant vehicle are traveling in the same direction and the distant vehicle is in the right far lane, the distant vehicle is classified as "far right rear"; when both the vehicle and the distant vehicle are traveling in the same direction and in the right far lane, the distant vehicle is classified as "far right rear"; when both the vehicle and the distant vehicle are traveling in the same direction and in the same lane, the distant vehicle is classified as... The following classifications apply: For example, if the vehicle is traveling in the opposite direction and the distant vehicle is not traveling in the opposite direction, and both vehicles are traveling in the same direction with the distant vehicle in the left adjacent lane, the distant vehicle is classified as left-front-facing; if the vehicle is traveling in the opposite direction and the distant vehicle is not traveling in the opposite direction, and both vehicles are traveling in the same direction with the distant vehicle in the right adjacent lane, the distant vehicle is classified as right-front-facing; if the vehicle is traveling in the opposite direction and the distant vehicle is not traveling in the opposite direction, and both vehicles are traveling in the same direction with the distant vehicle in the left-far lane, the distant vehicle is classified as far-left-front-facing; if the vehicle is traveling in the opposite direction and the distant vehicle is not traveling in the opposite direction, and both vehicles are traveling in the same direction with the distant vehicle in the right-far lane, the distant vehicle is classified as far-right-front-facing; if the vehicle is traveling in the opposite direction and the distant vehicle is not traveling in the opposite direction, and the distant vehicle is on the left side of the intersection, the distant vehicle is classified as left-crossing; if the vehicle is traveling in the opposite direction and the distant vehicle is not traveling in the opposite direction, and the distant vehicle is on the right side of the intersection, the distant vehicle is classified as right-crossing.

[0180] Fourth case, such as Figure 21 As shown, when the map of the area where the vehicle is located is upstream of the map of the area where the distant vehicle is located, and the map of the area where the distant vehicle is located is upstream of the map of the area where the vehicle is located, the marker point closest to the vehicle and the marker point closest to the distant vehicle are selected; that is, the node where RV is located is the upstream node of HV, and the node where HV is located is the RVupstreamnode, and the link heading of HV at the upstream node is calculated.

[0181] The position of the distant vehicle relative to the vehicle is determined based on the upstream and downstream relationship between the nearest marker to the distant vehicle and the nearest marker to the vehicle itself, as well as the driving directions of the vehicle and the distant vehicle. Specifically, if the nearest marker to the distant vehicle is upstream of the nearest marker to the current vehicle, and neither the current vehicle nor the distant vehicle is traveling in the wrong direction, then the distant vehicle is determined to be a vehicle traveling in the wrong direction ahead of the current vehicle. If the nearest marker to the distant vehicle is upstream of the nearest marker to the current vehicle, and neither the current vehicle nor the distant vehicle is traveling in the wrong direction, then the distant vehicle is determined to be a vehicle traveling in the same direction ahead of the current vehicle. If the nearest marker to the distant vehicle is downstream of the nearest marker to the current vehicle, and neither the current vehicle nor the distant vehicle is traveling in the wrong direction, then the distant vehicle is determined to be a vehicle traveling in the same direction behind the current vehicle. If the nearest marker to the distant vehicle is upstream of the nearest marker to the current vehicle, and neither the current vehicle nor the distant vehicle is traveling in the wrong direction, then the distant vehicle is determined to be a vehicle traveling in the same direction ahead of the current vehicle. If the nearest marker to the distant vehicle is downstream of the nearest marker to the current vehicle, and neither the current vehicle nor the distant vehicle is traveling in the wrong direction, then the distant vehicle is determined to be a vehicle traveling in the same direction behind the current vehicle. In the HV lane, select the point H closest to HV and the point closest to RV. The method for determining whether RV is in front of or behind HV is the same as the method used in the above cases.

[0182] The relative lateral distance between the lanes of the current vehicle and the distant vehicle at the intersection is calculated based on the lane matching information. The lane matching information includes at least the following: if a corresponding lane is matched, the relative lateral distance is determined by the heading of the corresponding lane; if only a corresponding directional road segment is matched but no corresponding lane is matched, the relative lateral distance is determined by the heading of the corresponding directional road segment.

[0183] Based on the relative lateral distance falling within the range of the lane determination threshold, the relative position of the distant vehicle's lane as the target lane is determined relative to the current lane. This relative position includes at least vehicles in the same lane, vehicles in the left adjacent lane, vehicles in the left distant lane, vehicles in the right adjacent lane, and vehicles in the right distant lane. Specifically, if the relative lateral distance is between the first lane threshold in the forward direction and the first lane threshold in the reverse direction, the distant vehicle is determined to be in the same lane as the current vehicle; if the relative lateral distance is between the first lane threshold in the reverse direction and the second lane threshold in the reverse direction, the distant vehicle is determined to be in the left adjacent lane; if the relative lateral distance is less than the second lane threshold in the reverse direction, the distant vehicle is determined to be in the left distant lane; if the relative lateral distance is between the first lane threshold in the forward direction and the second lane threshold in the forward direction, the distant vehicle is determined to be in the right adjacent lane; if the relative lateral distance is greater than the second lane threshold in the forward direction, the distant vehicle is determined to be in the right distant lane. This part describes the lane determination process, which can be referenced in section 4 regarding the determination of the relative lateral distance, and will not be repeated here.

[0184] In the fourth scenario, when determining vehicle classification, the vehicle classification of the distant vehicle is determined based on the position of the distant vehicle relative to the current vehicle, and the relative position of the distant vehicle's lane to the current lane when the distant vehicle's lane is the target lane. The vehicle classification of the distant vehicle includes at least the following categories: front-facing, left-front-facing, far-left-front-facing, right-front-facing, far-right-front-facing, far-right-front-facing, front, left-front, far-left-front, right-front, far-right-front, rear, left-rear, far-left-rear, right-rear, and far-right-rear.

[0185] Specifically, when a distant vehicle is traveling in the opposite direction from the vehicle in front of the vehicle and both vehicles are in the same lane, the distant vehicle is classified as "front-facing"; when a distant vehicle is traveling in the opposite direction from the vehicle in front of the vehicle and is in the adjacent left lane, the distant vehicle is classified as "left-front facing"; when a distant vehicle is traveling in the opposite direction from the vehicle in front of the vehicle and is in the far left lane, the distant vehicle is classified as "far-left-front facing"; when a distant vehicle is traveling in the opposite direction from the vehicle in front of the vehicle and is in the adjacent right lane, the distant vehicle is classified as "right-front facing"; when a distant vehicle is traveling in the opposite direction from the vehicle in front of the vehicle and is in the far right lane, the distant vehicle is classified as "far-right-front facing"; when a distant vehicle is traveling in the same direction from the vehicle in front of the vehicle and both vehicles are in the same lane, the distant vehicle is classified as "front"; when a distant vehicle is traveling in the same direction from the vehicle in front of the vehicle and is in the adjacent left lane, the distant vehicle is classified as "left-front"; when a distant vehicle is traveling in the same direction from the vehicle in front of the vehicle and is in the far right lane, the distant vehicle is classified as "front"; when a distant vehicle is traveling in the same direction from the vehicle in front of the vehicle and is in the far left lane, the distant vehicle is classified as "left-front"; when a distant vehicle is traveling in the same direction from the vehicle in front of the vehicle and is in the far left lane, the distant vehicle is classified as "far-right-front facing"; when a distant vehicle is traveling in the same direction from the vehicle in front of the vehicle and is in the far left lane, the distant vehicle is classified as "front"; when a distant vehicle is traveling in the same direction from the vehicle in front of the vehicle and is in the far left lane, the distant vehicle is classified as "left-front"; when a distant vehicle is traveling in the same direction from the vehicle in front of the vehicle and is in the far left lane, the distant vehicle is classified as "left-front"; when a distant vehicle is traveling in the When a vehicle is in the far left lane, it is classified as far left front; when a far vehicle is in the same direction as the vehicle in front and is in the adjacent right lane, it is classified as right front; when a far vehicle is in the same direction as the vehicle in front and is in the far right lane, it is classified as far right front; when a far vehicle is in the same direction as the vehicle behind and is in the same lane as the vehicle, it is classified as rear; when a far vehicle is in the same direction as the vehicle behind and is in the adjacent left lane, it is classified as left rear; when a far vehicle is in the same direction as the vehicle behind and is in the far left lane, it is classified as far left rear; when a far vehicle is in the same direction as the vehicle behind and is in the adjacent left lane, it is classified as right rear; when a far vehicle is in the same direction as the vehicle behind and is in the far left lane, it is classified as far right rear.

[0186] In summary, implementing the embodiments of the present invention has the following beneficial effects:

[0187] The vehicle classification method based on map message sets provided by this invention mainly relies on the local map information—map messages—sent by Roadside Units (RSUs) in the "CSAE 53-2020 Cooperative Intelligent Transportation Systems, Vehicle Communication Systems, Application Layer and Application Data Interaction Standard (Phase 1)" to classify vehicles. As long as the RSU can send map message sets, it can accurately identify the relative position of Remote Vehicles (RVs) to Host Vehicles (HVs) in complex road conditions, providing precise classification information for C-V2X-based early warning or intelligent control, thus improving vehicle driving safety. It can accurately classify RVs relative to HVs in complex road environments such as curves, S-curves, and mountain roads, providing precise classification information for C-V2X-based early warning or vehicle-road cooperative intelligent control, thereby improving vehicle driving safety.

[0188] The above description discloses only preferred embodiments of the present invention and should not be construed as limiting the scope of the present invention. Therefore, equivalent variations made in accordance with the claims of the present invention are still within the scope of the present invention.

Claims

1. A vehicle classification method based on map message sets, characterized in that, include: Receive map message sets sent by nearby roadside units via V2X; Based on the map message set, the lane situation of the current vehicle and the lane situation of the distant vehicle are matched according to the preset lane matching rules; The relative positions of this vehicle and the distant vehicle are determined based on the lane conditions of this vehicle and the lane conditions of the distant vehicle, and the vehicle classification of the distant vehicle relative to this vehicle is determined based on the relative positions of this vehicle and the distant vehicle. The lane matching rules include at least the following: when a directional road segment matching fails, it checks whether a passing lane or a directional road segment has been matched; if a passing lane or a directional road segment has been matched, it selects the map data of the area to which the matched passing lane or directional road segment belongs; if no passing lane or directional road segment has been matched, it determines that the matching of the intersection center has failed. Calculate the third distance between the vehicle and the identified location in the selected area map data; When a lane crossing is matched, the fourth distance between the marker location in the selected area map data and the last marker point of the lane is calculated; when no lane crossing is matched but a directed road segment is matched, the fifth distance between the marker location in the selected area map data and the last marker point of the directed road segment is calculated. When the third distance is less than the fourth or fifth distance, the vehicle is determined to be in the center of the intersection; If the third distance is not less than the fourth or fifth distance, the matching of the intersection center is deemed a failure.

2. The method as described in claim 1, characterized in that, The map message set includes at least multiple regional map data, which are used to record map data of intersections or road segments. When the regional map data records map data of an intersection, the identifier is the center point of the intersection; when the regional map data records map data of a road segment, the identifier is the end point of the road segment. The regional map data includes at least multiple directed road segments from one regional map to another; The directed road segment includes at least multiple lane information; The lane information includes at least a plurality of markers located on the center line of the lane, which are used to identify the position and direction of the lane and are arranged from upstream to downstream.

3. The method as described in claim 2, characterized in that, The lane matching rules specifically include: Select unmatched area map data from the map message set, and then select unmatched lane information from the selected area map data; If no corresponding marker is found in the selected lane information, select another unmatched area map data. When the selected lane information contains a corresponding marker, it is determined whether there is a marker in front of or behind the vehicle in that lane; if there is no marker in front of or behind, another unmatched area map data is selected; if there is a marker in front, the marker closest to the vehicle is identified in front of the vehicle; if there is a marker behind, the marker closest to the vehicle is identified behind the vehicle; wherein, the vehicle includes the same vehicle or a distant vehicle. Determine whether the line connecting the vehicle to the nearest signpost ahead and the line connecting the vehicle to the nearest signpost behind form an obtuse angle. If they do not form an obtuse angle, select another unmatched lane information. If they do form an obtuse angle, determine the relative position between the nearest signpost ahead and the nearest signpost behind. Calculate the first distance between the vehicle and the line connecting the nearest marker ahead and the nearest marker behind. If the absolute value of the first distance is not less than half the lane width, the lane matching is determined to be unsuccessful, and another unmatched area map data is selected. If the absolute value of the first distance is less than half the lane width, the lane matching is determined to be successful, and the vehicle is in that lane.

4. The method as described in claim 3, characterized in that, Also includes: When lane matching fails, select unmatched area map data from the map message set, and select unmatched directed road segments from the selected area map data; When all directed road segments in the selected area map data have been matched, another unmatched area map data is selected again until an unmatched directed road segment is selected. Determine if there are any markers ahead of the vehicle on the selected directional road segment. If there are no markers ahead or behind, select another unmatched area map data. If there is a marker ahead, identify the marker that is closest to the vehicle and located in front of it; If there is a marker behind the vehicle, identify the marker that is closest to the vehicle and located behind it. Determine whether the line connecting the vehicle to the nearest signpost ahead and the line connecting the vehicle to the nearest signpost behind form an obtuse angle. If they do not form an obtuse angle, select another unmatched directed road segment until the line connecting the vehicle to the nearest signpost ahead and the line connecting the vehicle to the nearest signpost behind form an obtuse angle. If they do form an obtuse angle, determine the relative positions of the nearest signpost ahead and the nearest signpost behind. Calculate the second distance between the vehicle and the line connecting the nearest marker ahead and the nearest marker behind. If the absolute value of the second distance is not less than half the lane width, the directed road segment is determined to be unsuccessful, and another unmatched area map data is selected. If the absolute value of the second distance is less than half the lane width, the directed road segment is determined to be successfully matched, and the vehicle is in the directed road segment.

5. The method as described in claim 3 or 4, characterized in that, Also includes: When the nearest marker ahead is the downstream node of the nearest marker behind, it is determined that the vehicle is not traveling in the wrong direction; When the nearest marker ahead is the upstream node of the nearest marker behind, the vehicle is determined to be traveling in the wrong direction.

6. The method as described in claim 5, characterized in that, Also includes: The lateral distance between the marker point on the stop line of the target lane and the lane itself is compared with a preset lane judgment threshold. The lane judgment threshold includes at least a first lane threshold in the positive direction, a second lane threshold in the positive direction, a first lane threshold in the opposite direction, and a second lane threshold in the opposite direction. The positive direction of the lane judgment threshold is defined as the right side of the lane in the positive direction. Based on the lateral distance being within the range of the lane determination threshold, the relative position of the target lane and the current lane is determined. The relative position of the target lane and the current lane includes at least the same lane, left adjacent lane, right adjacent lane, left distant lane, and right distant lane.

7. The method as described in claim 6, characterized in that, Also includes: When the target lane and the current lane belong to the same area map but not the same directional line segment, the difference in heading of the target lane relative to the current lane at the intersection is compared with a preset intersection judgment threshold. The heading is the direction of the line connecting the last two markers in the lane and pointing towards the intersection. The intersection judgment threshold includes at least a first positive judgment threshold, a second positive judgment threshold, a first reverse judgment threshold, and a second reverse judgment threshold. The left side of the current lane is taken as the positive direction for the intersection judgment threshold. Based on the range of the heading difference within the threshold range of the intersection judgment, the positional relationship between the target lane and the ramp or intersection is determined, wherein the positional relationship between the target lane and the ramp or intersection includes at least the left side of the ramp, the right side of the ramp, the left side of the intersection, the right side of the intersection, and the opposite direction.

8. The method as described in claim 7, characterized in that, Also includes: When the target lane and the current lane do not belong to the same area map, the heading difference of the target lane relative to the current lane at the intersection is compared with a preset heading angle judgment threshold. The heading angle judgment threshold includes at least a positive first heading angle threshold, a positive second heading angle threshold, a reverse first heading angle threshold, and a reverse second heading angle threshold. The absolute values ​​of the positive first heading angle threshold and the positive second heading angle threshold are equal, and the absolute values ​​of the reverse first heading angle threshold and the reverse second heading angle threshold are equal. If the heading difference between the target lane and the current lane at the intersection is between the first positive heading angle threshold and the second positive heading angle threshold, then the target lane and the current lane are determined to be traveling in the same direction. If the heading difference between the target lane and the current lane at the intersection is between the first reverse heading angle threshold and the second reverse heading angle threshold, then the target lane and the current lane are determined to be traveling in opposite directions.

9. The method as described in claim 8, characterized in that, The process of determining the relative positions of the current vehicle and the distant vehicle based on their respective lane conditions, and then determining the vehicle classification of the distant vehicle relative to the current vehicle based on their relative positions, specifically includes: When the vehicle and the distant vehicle are in the same lane, select the nearest marker to the vehicle and the nearest marker to the distant vehicle; determine the position of the distant vehicle relative to the vehicle based on the upstream and downstream relationship between the marker closest to the distant vehicle and the marker closest to the vehicle, as well as the driving directions of the vehicle and the distant vehicle. When the nearest marker to the distant vehicle and the nearest marker to the current vehicle are the same marker, the first angle between the current vehicle's centerline and the line connecting the distant and current vehicles is calculated. Based on the degree of the first angle and the driving directions of the current and distant vehicles, the position of the distant vehicle relative to the current vehicle is determined. The position of the distant vehicle relative to the current vehicle includes at least the following vehicles traveling in the same direction behind, the following vehicles traveling in the opposite direction behind, the following vehicles traveling in the opposite direction ahead, the following vehicles traveling in the same direction ahead, the following vehicles traveling in the opposite direction ahead, the following vehicles traveling in the opposite direction behind, and the following vehicles traveling in the same direction behind. If the distant vehicle is a vehicle in the same direction and lane as the vehicle in front of it, then the distant vehicle is classified as the vehicle in front. If the distant vehicle is a vehicle behind this vehicle traveling in the same direction and in the same lane, then the distant vehicle is classified as a vehicle behind. If the distant vehicle is a vehicle traveling in the opposite direction and in the same lane as this vehicle, then the distant vehicle is classified as a vehicle traveling in the opposite direction. If the relative positions of the distant vehicle and the vehicle itself do not fall under the above conditions, then the distant vehicle is classified as having no category.

10. The method as described in claim 8, characterized in that, The process of determining the relative positions of the current vehicle and the distant vehicle based on their respective lane conditions, and then determining the vehicle classification of the distant vehicle relative to the current vehicle based on their relative positions, specifically includes: When the vehicle and the distant vehicle are on the same oriented road segment but not in the same lane, select the nearest marker to the vehicle and the nearest marker to the distant vehicle; determine the position of the distant vehicle relative to the vehicle based on the upstream and downstream relationship between the marker closest to the distant vehicle and the marker closest to the vehicle, as well as the driving directions of the vehicle and the distant vehicle. When the nearest marker to the distant vehicle and the nearest marker to the current vehicle are the same marker, calculate the second included angle between the current vehicle's centerline and the line connecting the distant and current vehicles; based on the degree of the second included angle and the driving directions of the current and distant vehicles, determine the position of the distant vehicle relative to the current vehicle, wherein the position of the distant vehicle relative to the current vehicle includes at least the following vehicles traveling in the same direction behind, the following vehicles traveling in the opposite direction behind, the following vehicles traveling in the opposite direction ahead, the following vehicles traveling in the same direction ahead, the following vehicles traveling in the opposite direction ahead, the following vehicles traveling in the opposite direction behind, and the following vehicles traveling in the same direction behind; Based on the position of the distant vehicle relative to the current vehicle, and the relative position of the distant vehicle's lane to the current lane when the distant vehicle's lane is the target lane, the vehicle classification of the distant vehicle is determined. The vehicle classification of the distant vehicle includes at least the following categories: left front, right front, far left front, far right front, left rear, right rear, far left rear, far right rear, left front opposite, right front opposite, far left front opposite, far right front opposite, and no category.

11. The method as described in claim 8, characterized in that, The process of determining the relative positions of the current vehicle and the distant vehicle based on their respective lane conditions, and then determining the vehicle classification of the distant vehicle relative to the current vehicle based on their relative positions, specifically includes: When the vehicle and the distant vehicle are on the same directional road segment and neither the vehicle nor the distant vehicle has been matched with a lane, the distance of the distant vehicle from the directional road segment is used as the first judgment distance, and the distance of the vehicle from the directional road segment is used as the second judgment distance. The relative position of the distant vehicle lane to the current lane is determined based on the range where the difference between the first judgment distance and the second judgment distance falls within the lane judgment threshold range. Select the nearest marker to the vehicle and the nearest marker to the distant vehicle. Based on the upstream and downstream relationship between the marker closest to the distant vehicle and the marker closest to the vehicle, as well as the driving directions of the vehicle and the distant vehicle, determine the position of the distant vehicle relative to the vehicle. Based on the position of the distant vehicle relative to the vehicle, and the relative position of the distant vehicle's lane with the vehicle's lane when the lane is used as the target lane, determine the vehicle classification of the distant vehicle. The vehicle classification of the distant vehicle includes at least left front, rear, front facing, left front, right front, far left front, far right front, left rear, right rear, far left rear, far right rear, left front facing, right front facing, far left front facing, far right front facing, and no classification.

12. The method as described in claim 8, characterized in that, The process of determining the relative positions of the current vehicle and the distant vehicle based on their respective lane conditions, and then determining the vehicle classification of the distant vehicle relative to the current vehicle based on their relative positions, specifically includes: When the vehicle and the distant vehicle are in the same area of ​​the map but are in different directional road segments, the heading of the directional road segment where the distant vehicle is located is used as the first judgment angle, and the heading of the directional road segment where the vehicle is located is used as the second judgment angle. Based on the range of the difference between the first judgment angle and the second judgment angle within the judgment threshold range of the intersection, the positional relationship between the distant vehicle lane and the ramp or intersection is determined. When a distant vehicle is in the opposite lane, determine whether the distant vehicle and the current vehicle are matched in the corresponding lane, and calculate the relative lateral distance between the lanes where the current vehicle and the distant vehicle are located at the intersection based on the lane matching situation; wherein, the lane matching situation includes at least matching the corresponding lane, in which case the relative lateral distance is determined by the heading of the corresponding lane; if only the corresponding directional road segment is matched and the corresponding lane is not matched, the relative lateral distance is determined by the heading of the corresponding directional road segment. Based on the range of the relative lateral distance direction within the lane determination threshold, determine the relative position of the distant vehicle lane as the target lane with respect to the current lane. Based on the positional relationship between the distant vehicle lane and the ramp or intersection, the driving directions of the vehicle and the distant vehicle, and the relative position of the distant vehicle lane to the vehicle lane when it is the target lane, the vehicle classification of the distant vehicle is determined. The vehicle classification of the distant vehicle includes at least the following categories: left side of ramp, right side of ramp, left intersection, right intersection, front facing, left front facing, far left front facing, right front facing, far right front facing, front, left front, far left front, right front, far right front, rear, left rear, far left rear, right rear, far right rear, and no category.

13. The method as described in claim 8, characterized in that, The process of determining the relative positions of the current vehicle and the distant vehicle based on their respective lane conditions, and then determining the vehicle classification of the distant vehicle relative to the current vehicle based on their relative positions, specifically includes: When the vehicle and the distant vehicle are located in different area maps, their relative positions are determined based on the relative positions of the area maps where the vehicle and the distant vehicle are located. The relative positions between the map of the area where the vehicle is located and the map of the area where the distant vehicle is located include at least the following: the map of the area where the vehicle is located is not upstream of the map of the distant vehicle and the map of the distant vehicle is not upstream of the map of the vehicle; the map of the area where the vehicle is located is upstream of the map of the distant vehicle and the map of the distant vehicle is not upstream of the map of the vehicle; the map of the area where the vehicle is located is not upstream of the map of the distant vehicle and the map of the distant vehicle is upstream of the map of the vehicle; the map of the area where the vehicle is located is upstream of the map of the distant vehicle and the map of the distant vehicle is upstream of the map of the vehicle.

14. The method as described in claim 13, characterized in that, Also includes: When the map of the area where this vehicle is located is not upstream of the map of the area where the distant vehicle is located, and the map of the area where the distant vehicle is located is not upstream of the map of this vehicle, the vehicle of the distant vehicle is determined to be of no category.

15. The method as described in claim 13, characterized in that, Also includes: When the area map where this vehicle is located is upstream of the area map where the distant vehicle is located, but the area map where the distant vehicle is located is not upstream of the area map where this vehicle is located, determine the headway difference between the headway of the directional road segment upstream of the distant vehicle and the headway of the directional road segment where this vehicle is located. The position of the distant vehicle relative to the vehicle is determined based on the difference between the heading of the upstream directional road segment and the heading of the directional road segment where the vehicle is located, which is within the range of the heading angle judgment threshold. The position of the distant vehicle relative to the vehicle includes at least the same direction, left of the intersection, and right of the intersection. The relative lateral distance between the lanes of the current vehicle and the distant vehicle at the intersection is calculated based on the lane matching information. The lane matching information includes at least the following: if a corresponding lane is matched, the relative lateral distance is determined by the heading of the corresponding lane; if only a corresponding directional road segment is matched and no corresponding lane is matched, the relative lateral distance is determined by the heading of the corresponding directional road segment. Based on the range of the relative lateral distance direction within the lane judgment threshold range, the relative position of the distant vehicle lane as the target lane with respect to the current lane is determined. The relative position includes at least vehicles in the same lane, vehicles in the left adjacent lane, vehicles in the left distant lane, vehicles in the right adjacent lane, and vehicles in the right distant lane. Based on the position of the distant vehicle relative to the current vehicle, the driving directions of the distant vehicle and the current vehicle, and the relative position of the distant vehicle's lane with the current lane when the distant vehicle's lane is the target lane, the vehicle classification of the distant vehicle is determined. The vehicle classification of the distant vehicle includes at least the following categories: forward, left forward, right forward, far left forward, far right forward, forward-facing, left forward-facing, right forward-facing, far left forward-facing, far right forward-facing, left crossing, and right crossing.

16. The method as described in claim 13, characterized in that, Also includes: When the map of the area where this vehicle is located is not upstream of the map of the area where the distant vehicle is located, and the map of the area where the distant vehicle is located is upstream of the map of this vehicle, determine the difference in heading between the heading of the directional road segment upstream of this vehicle and the heading of the directional road segment where this vehicle is located. Based on the fact that the difference in heading between the heading of the upstream directional road segment of this vehicle and the heading of the directional road segment of the distant vehicle is within the range of the heading angle judgment threshold, the position of the distant vehicle relative to this vehicle is determined, wherein the position of the distant vehicle relative to this vehicle includes at least the same direction, left of the intersection, and right of the intersection. The relative lateral distance between the lanes of the current vehicle and the distant vehicle at the intersection is calculated based on the lane matching information. The lane matching information includes at least the following: if a corresponding lane is matched, the relative lateral distance is determined by the heading of the corresponding lane; if only a corresponding directional road segment is matched and no corresponding lane is matched, the relative lateral distance is determined by the heading of the corresponding directional road segment. Based on the range of the relative lateral distance direction within the lane judgment threshold range, the relative position of the distant vehicle lane as the target lane with respect to the current lane is determined. The relative position includes at least vehicles in the same lane, vehicles in the left adjacent lane, vehicles in the left distant lane, vehicles in the right adjacent lane, and vehicles in the right distant lane. Based on the position of the distant vehicle relative to the current vehicle, the driving directions of the distant vehicle and the current vehicle, and the relative position of the distant vehicle's lane with the current lane when the distant vehicle's lane is the target lane, the vehicle classification of the distant vehicle is determined. The vehicle classification of the distant vehicle includes at least the following categories: rear, left rear, right rear, far left rear, far right rear, front facing, left front facing, right front facing, far left front facing, far right front facing, left crossing, and right crossing.

17. The method as described in claim 13, characterized in that, Also includes: When the map of the area where this vehicle is located is upstream of the map of the area where the distant vehicle is located, and the map of the area where the distant vehicle is located is upstream of the map of this vehicle, select the marker point closest to this vehicle and the marker point closest to the distant vehicle. Determine the position of the distant vehicle relative to the vehicle based on the upstream and downstream relationship between the nearest marker to the distant vehicle and the nearest marker to the vehicle itself, as well as the driving directions of the vehicle and the distant vehicle. The relative lateral distance between the lanes of the current vehicle and the distant vehicle at the intersection is calculated based on the lane matching information. The lane matching information includes at least the following: if a corresponding lane is matched, the relative lateral distance is determined by the heading of the corresponding lane; if only a corresponding directional road segment is matched and no corresponding lane is matched, the relative lateral distance is determined by the heading of the corresponding directional road segment. Based on the range of the relative lateral distance direction within the lane judgment threshold range, the relative position of the distant vehicle lane as the target lane with respect to the current lane is determined. The relative position includes at least vehicles in the same lane, vehicles in the left adjacent lane, vehicles in the left distant lane, vehicles in the right adjacent lane, and vehicles in the right distant lane. Based on the position of the distant vehicle relative to the current vehicle, and the relative position of the distant vehicle's lane with the current lane when the distant vehicle's lane is the target lane, the vehicle classification of the distant vehicle is determined. The vehicle classification of the distant vehicle includes at least the following categories: front-facing, left-front-facing, far-left-front-facing, right-front-facing, far-right-front-facing, far-right-front-facing, front, left-front, far-left-front, right-front, far-right-front, rear, left-rear, far-left-rear, right-rear, and far-right-rear.

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