V2x message generation method and apparatus, roadside device, and storage medium

Abstract

The application is suitable for the field of intelligent transportation technology, and provides a V2X message generation method and device, a roadside device and a storage medium, wherein the method comprises: acquiring a global position coordinate of a target position corresponding to a roadside device in a global coordinate system; determining a local position coordinate of the target position in a target map indicated by a target map file according to a predetermined coordinate conversion parameter and the global position coordinate; screening a target road from a plurality of roads described in the target map file according to the local position coordinate, and extracting road feature data of the target road; and generating a V2X message of a jurisdictional area corresponding to the roadside device according to the road feature data of the target road and the coordinate conversion parameter. The application automatically extracts the road feature data of each target road in the jurisdictional area of the roadside device from the target map file, and quickly and accurately generates the V2X message based on the extracted road feature data, which helps to improve the information generation efficiency.

Description

Technical Field

[0001] This application relates to the field of intelligent transportation technology, and in particular to a V2X message generation method, apparatus, roadside equipment, and storage medium. Background Technology

[0002] V2X (Vehicle to Everything) is based on technologies such as wireless communication and sensing to acquire vehicle-road information, enabling real-time information interaction between vehicles, roads, people, and networks. This facilitates vehicle safety control and collaborative road management, ensuring traffic safety and improving traffic efficiency. V2X includes four types of vehicle-to-everything (V2V) communication: vehicle-to-vehicle (V2V), vehicle-to-infrastructure (V2I), vehicle-to-pedestrian (V2P), and vehicle-to-network (V2N).

[0003] In V2X applications, roadside equipment typically provides V2X messages to vehicles. Related technologies usually obtain V2X messages through information collection, which typically involves first collecting road feature points and their latitude and longitude coordinates, and then combining these coordinates to generate the V2X message. This information collection method for obtaining V2X messages is relatively inefficient. Summary of the Invention

[0004] In view of this, embodiments of this application provide a V2X message generation method, apparatus, roadside equipment, and storage medium to solve the problem of low efficiency in related technologies where V2X messages are obtained through information collection.

[0005] In a first aspect, embodiments of this application provide a V2X message generation method, including:

[0006] Obtain the global position coordinates of the target location corresponding to the roadside equipment in the global coordinate system;

[0007] Based on the predetermined coordinate transformation parameters and global position coordinates, the local position coordinates of the target location in the target map indicated by the target map file are determined. The coordinate transformation parameters are used for the transformation between the global coordinate system and the target coordinate system in the target map.

[0008] Based on local location coordinates, target roads are selected from multiple roads described in the target map file, and road feature data of the target roads are extracted.

[0009] Based on the road feature data and coordinate transformation parameters of the target road, V2X messages for the jurisdiction of the roadside equipment are generated.

[0010] In some embodiments, filtering target roads from multiple roads described in a target map file based on local location coordinates includes:

[0011] Extract the reference point sequence of each road in the target coordinate system from the target map file. The reference point sequence is used to indicate the road reference line of the corresponding road.

[0012] Roads with a target spacing less than a preset distance threshold are selected as target roads. The target spacing is the distance between the target reference point in the reference point sequence and the local location coordinates. The target reference point includes the first reference point and the last reference point in the reference point sequence.

[0013] In some embodiments, the road feature data of the target road includes at least one of the following:

[0014] The heading angle of each reference point in the reference point sequence corresponding to the target road, the lane information of each lane in the target road, the position coordinates of each traffic sign on the target road in the reference coordinate system of the target map, and the sign type information of each traffic sign. Among them, the lane information includes lane width, lane sign, and lane turning attribute information.

[0015] In some embodiments, a V2X message for the jurisdiction area corresponding to the roadside equipment is generated based on the road feature data and coordinate transformation parameters of the target road, including:

[0016] Based on the heading angle of each reference point in the reference point sequence and the lane width of each lane, determine the lane center point sequence of the corresponding lane in the target coordinate system. The lane center point sequence is used to indicate the lane center line of the corresponding lane.

[0017] For each lane on the target road, the lane center point sequence of the corresponding lane is transformed to the global coordinate system according to the coordinate transformation parameters to obtain a new lane center point sequence;

[0018] Based on the lane information of each lane, the new lane center point sequence, and the preset MAP message template, generate a MAP message.

[0019] In some embodiments, a MAP message is generated based on lane information for each lane, a new lane center point sequence, and a preset MAP message template, including:

[0020] For each lane, a new lane marking is generated based on the road markings of the target road and the lane markings of the corresponding lane;

[0021] The new lane markings, lane turning attribute information, lane width, and new lane center point sequence for each lane are written into a preset MAP message template to obtain a MAP message.

[0022] In some embodiments, a V2X message for the jurisdiction area corresponding to the roadside equipment is generated based on the road feature data and coordinate transformation parameters of the target road, including:

[0023] For each traffic sign, the sign reference point corresponding to the corresponding traffic sign is determined from the reference point sequence. Based on the sign reference point, the heading angle of the sign reference point, and the coordinates of the corresponding traffic sign in the reference coordinate system of the target map, the coordinates of the corresponding traffic sign in the target coordinate system are determined.

[0024] Based on the coordinate transformation parameters, the coordinates of each traffic sign in the target coordinate system are transformed to the global coordinate system to obtain the new traffic sign coordinates. Based on the sign type information of each traffic sign, the new traffic sign coordinates, and the preset RSI message template, an RSI message is generated, where the V2X message includes the RSI message.

[0025] In some embodiments, the method further includes sending a V2X message to the target vehicle when the target vehicle is detected to have entered the jurisdiction of the roadside device.

[0026] Secondly, embodiments of this application provide a V2X message generation apparatus, comprising:

[0027] The information acquisition unit is used to acquire the global position coordinates of the target location corresponding to the roadside equipment in the global coordinate system;

[0028] The information conversion unit is used to determine the local position coordinates of the target location in the target map indicated by the target map file according to the predetermined coordinate conversion parameters and global position coordinates. The coordinate conversion parameters are used for the conversion between the global coordinate system and the target coordinate system in the target map.

[0029] The data filtering unit is used to filter target roads from multiple roads described in the target map file based on local location coordinates, and to extract road feature data of the target roads.

[0030] The information generation unit is used to generate V2X messages for the jurisdiction of the roadside equipment based on the road feature data and coordinate transformation parameters of the target road.

[0031] In some embodiments, the data filtering unit includes a sequence extraction module and a road selection module.

[0032] The sequence extraction module is used to extract the reference point sequence of each road in the target coordinate system from the target map file. The reference point sequence is used to indicate the road reference line of the corresponding road.

[0033] The road selection module is used to filter roads whose target spacing is less than a preset distance threshold as target roads. The target spacing is the distance between the target reference point in the reference point sequence and the local location coordinates. The target reference point includes the first reference point and the last reference point in the reference point sequence.

[0034] In some embodiments, the road feature data of the target road includes at least one of the following:

[0035] The heading angle of each reference point in the reference point sequence corresponding to the target road, the lane information of each lane in the target road, the position coordinates of each traffic sign on the target road in the reference coordinate system of the target map, and the sign type information of each traffic sign. Among them, the lane information includes lane width, lane sign, and lane turning attribute information.

[0036] In some embodiments, the information generation unit includes a center determination module, a center conversion module, and a map generation module.

[0037] The center determination module is used to determine the lane center point sequence of the corresponding lane in the target coordinate system based on the heading angle of each reference point in the reference point sequence and the lane width of each lane. The lane center point sequence is used to indicate the lane center line of the corresponding lane.

[0038] The center transformation module is used to transform the lane center point sequence of each lane on the target road to the global coordinate system according to the coordinate transformation parameters, so as to obtain a new lane center point sequence.

[0039] The map generation module is used to generate MAP messages based on lane information of each lane, new lane center point sequence and preset MAP message template. Among them, V2X messages include MAP messages.

[0040] In some embodiments, the map generation module is specifically used to: generate new lane identifiers for each lane based on the road identifiers of the target road and the lane identifiers of the corresponding lanes, and write the new lane identifiers, lane turning attribute information, lane width, and new lane center point sequence of each lane into a preset MAP message template to obtain a MAP message.

[0041] In some embodiments, the information generation unit further includes an information determination module, an identifier conversion module, and an RSI message generation module.

[0042] The information determination module is used to determine the sign reference point corresponding to each traffic sign from the reference point sequence, and determine the coordinates of the corresponding traffic sign in the target coordinate system based on the sign reference point, the heading angle of the sign reference point, and the coordinates of the corresponding traffic sign in the reference coordinate system of the target map.

[0043] The sign conversion module is used to convert the coordinates of each traffic sign in the target coordinate system to the global coordinate system according to the coordinate conversion parameters, so as to obtain the new traffic sign coordinates.

[0044] The RSI message generation module is used to generate RSI messages based on the sign type information of each traffic sign, the coordinates of the new traffic sign, and the preset RSI message template. Among them, V2X messages include RSI messages.

[0045] In some embodiments, the apparatus further includes an information sending unit for sending a V2X message to the target vehicle when the target vehicle is detected to have entered the jurisdiction of the roadside equipment.

[0046] Thirdly, embodiments of this application provide a roadside device, including a memory, a processor, and a computer program stored in the memory and executable on the roadside device. When the processor executes the computer program, it implements the steps of the V2X message generation method provided in the first aspect.

[0047] Fourthly, embodiments of this application provide a computer-readable storage medium storing a computer program that, when executed by a processor, implements the steps of the V2X message generation method provided in the first aspect.

[0048] Fifthly, embodiments of this application provide a computer program product that, when run on a roadside device, causes the roadside device to execute any of the aforementioned V2X message generation methods.

[0049] The beneficial effects of this application embodiment compared with related technologies are: by automatically extracting road feature data of each target road within the jurisdiction of the roadside equipment from the target map file, and by quickly and accurately generating V2X messages based on the extracted road feature data, it helps to improve information generation efficiency.

[0050] It is understood that the beneficial effects of the second to fifth aspects mentioned above can be found in the relevant descriptions in the first aspect mentioned above, and will not be repeated here. Attached Figure Description

[0051] To more clearly illustrate the technical solutions in the embodiments of this application, the drawings used in the description of the embodiments or related technologies will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0052] Figure 1 This is a flowchart illustrating a V2X message generation method provided in an embodiment of this application;

[0053] Figure 2 This is a schematic diagram of a process for filtering target roads provided in an embodiment of this application;

[0054] Figure 3 This is a schematic diagram of the process for generating a MAP message in a V2X message according to an embodiment of this application;

[0055] Figure 4 This is a schematic diagram of the process for generating RSI messages in V2X messages according to an embodiment of this application;

[0056] Figure 5 This is a structural block diagram of a V2X message generation apparatus provided in an embodiment of this application;

[0057] Figure 6 This is a structural block diagram of a roadside device provided in one embodiment of this application. Detailed Implementation

[0058] In the following description, specific details such as particular system architectures and techniques are set forth for illustrative purposes and not for limitation, in order to provide a thorough understanding of the embodiments of this application. However, those skilled in the art will understand that this application may also be implemented in other embodiments without these specific details. In other instances, detailed descriptions of well-known systems, apparatuses, circuits, and methods have been omitted so as not to obscure the description of this application with unnecessary detail.

[0059] It should be understood that, when used in this application specification and the appended claims, the term "comprising" indicates the presence of the described features, integrals, steps, operations, elements and / or components, but does not exclude the presence or addition of one or more other features, integrals, steps, operations, elements, components and / or a collection thereof.

[0060] It should also be understood that the term “and / or” as used in this application specification and the appended claims means any combination of one or more of the associated listed items and all possible combinations, and includes such combinations.

[0061] As used in this application specification and the appended claims, the term "if" may be interpreted, depending on the context, as "when," "once," "in response to determination," or "in response to detection." Similarly, the phrase "if determined" or "if detected [the described condition or event]" may be interpreted, depending on the context, as meaning "once determined," "in response to determination," "once detected [the described condition or event]," or "in response to detection [the described condition or event]."

[0062] Furthermore, in the description of this application and the appended claims, the terms "first," "second," "third," etc., are used only to distinguish descriptions and should not be construed as indicating or implying relative importance.

[0063] References to "one embodiment" or "some embodiments" as described in this specification mean that one or more embodiments of this application include a specific feature, structure, or characteristic described in connection with that embodiment. Therefore, the phrases "in one embodiment," "in some embodiments," "in other embodiments," "in still other embodiments," etc., appearing in different parts of this specification do not necessarily refer to the same embodiment, but rather mean "one or more, but not all, embodiments," unless otherwise specifically emphasized. The terms "comprising," "including," "having," and variations thereof mean "including but not limited to," unless otherwise specifically emphasized.

[0064] To illustrate the technical solution of this application, the following embodiments will be used for explanation.

[0065] Please see Figure 1 This application provides a V2X message generation method, which may include the following steps 101-104.

[0066] Step 101: Obtain the global position coordinates of the target location corresponding to the roadside equipment in the global coordinate system.

[0067] In this embodiment, the execution subject of the above-mentioned V2X message generation method can be a roadside device or other devices, such as a roadside edge computing unit.

[0068] Among them, the roadside unit (RSU) is a device installed on the roadside that can communicate with the onboard unit (OBU).

[0069] The aforementioned target location is typically the location of roadside equipment.

[0070] The global coordinate system mentioned above is usually a geocentric coordinate system. In practice, the global coordinate system is usually the WGS-84 coordinate system. The WGS-84 coordinate system is an internationally adopted geocentric coordinate system.

[0071] The global position coordinates mentioned above usually refer to the position coordinates in the global coordinate system.

[0072] Here, the aforementioned executing entity can obtain the target location's coordinates in the global coordinate system using a GPS device.

[0073] Step 102: Determine the local coordinates of the target location in the target map indicated by the target map file, based on the predetermined coordinate transformation parameters and global position coordinates.

[0074] The coordinate transformation parameters are used to convert between the global coordinate system and the target coordinate system in the target map. In practice, these coordinate transformation parameters are usually recorded in the target map file. The aforementioned execution entity can obtain these coordinate transformation parameters by interpreting the target map file.

[0075] In practice, the target map files mentioned above are usually OpenDrive format files. OpenDrive is a high-precision map format used for autonomous driving. OpenDrive typically uses three coordinate systems to describe roads: inertial coordinate system, reference coordinate system, and local coordinate system. In practice, the road-related information recorded in OpenDrive format files cannot usually be directly applied to vehicles.

[0076] The aforementioned local position coordinates are typically located in the target coordinate system. The target coordinate system is usually the inertial coordinate system used in OpenDrive.

[0077] Here, the aforementioned execution entity can use coordinate transformation parameters and global position coordinates to calculate the local coordinate position of the target location in the target map.

[0078] Step 103: Based on the local location coordinates, filter the target road from the multiple roads described in the target map file, and extract the road feature data of the target road.

[0079] The aforementioned road feature data is typically used to describe the characteristics of a road.

[0080] In practice, road feature data may include at least one of the following: road signs, road segment signs, coordinates of reference points on the road reference line of the target road, heading angle of each reference point, lane information of each lane in the target road, position coordinates of each traffic sign on the target road in the reference coordinate system of the target map, and sign type information of each traffic sign. Among these, lane information includes lane width, lane sign, and lane turning attribute information.

[0081] Each road typically has road markings. Each road may have multiple segments, and when a road has multiple segments, it also has segment markings. Road reference lines are usually reference lines for the road. In practice, road reference lines can be the centerline of the road. When the target map file is an OpenDrive format file, the road reference line is the s-axis of the reference coordinate system. The traffic markings mentioned above can be various directional signs on the target road, such as road signs. Lane turning attribute information is typically used to indicate the turning attribute of the lane. The turning attribute indicated by the lane turning attribute information can be straight, left turn, right turn, etc.

[0082] In practice, when the target map file is an OpenDrive format file, the aforementioned execution entity can parse the OpenDrive format file based on its parsing format to obtain the data information of each road recorded in the target map file. For each road, the coordinates of the road points on that road in the target coordinate system can be recorded. The aforementioned execution entity can use local location coordinates and the coordinates of the road points on each road in the aforementioned target coordinate system to calculate and determine the roads surrounding the roadside equipment, which are recorded as target roads. In practice, there can be one or multiple target roads.

[0083] After the target road is determined, the aforementioned implementing entity can extract the road feature data of the target road from the target map file.

[0084] Step 104: Generate V2X messages for the jurisdiction of the roadside equipment based on the road feature data and coordinate transformation parameters of the target road.

[0085] The aforementioned V2X messages typically indicate road conditions. In practice, these V2X messages usually include MAP (Map Side Information) messages and RSI (Road Side Information) messages.

[0086] Here, the aforementioned execution entity can use the road feature data of the target road and the coordinate transformation parameters to generate V2X messages within the jurisdiction of the roadside equipment. As an example, for each road point on the target road, such as the road center point or the location of a sign on the road, the aforementioned execution entity can use the coordinate transformation parameters and the coordinates of the road point in the target coordinate system to calculate the coordinates of the road point in the global coordinate system.

[0087] The method provided in this embodiment automatically extracts road feature data of each target road within the jurisdiction of the roadside equipment from the target map file, and generates V2X messages quickly and accurately based on the extracted road feature data, which helps to improve information generation efficiency.

[0088] In some optional implementations of this embodiment, the above-mentioned filtering of target roads from multiple roads described in the target map file based on local location coordinates may include the following steps 201-202.

[0089] Figure 2 This is a schematic diagram of a process for filtering target roads provided in an embodiment of this application.

[0090] Step 201: Extract the reference point sequence of each road in the target coordinate system from the target map file.

[0091] The reference point sequence is used to indicate the road reference lines for the corresponding roads. These road reference lines are typically the road's reference lines. In practice, the road reference line can be the road's centerline. When the target map file is an OpenDrive format file, the road reference line is the s-axis of the reference coordinate system.

[0092] In practice, for each road recorded in the target map file, the aforementioned execution entity can extract the sequence of reference points for that road in the target coordinate system from the target map file.

[0093] Step 202: Select roads whose target spacing is less than a preset distance threshold as target roads.

[0094] The target spacing is the distance between a target reference point in the reference point sequence and its local coordinates. The target reference points include the first and last reference points in the sequence. The last reference point is the last point in the reference point sequence. In practical applications, the target reference points may also include other points in the reference point sequence.

[0095] The aforementioned preset distance threshold is usually a pre-set value.

[0096] Here, for each road in the target coordinate system, the aforementioned execution entity can calculate the distance between each target reference point in the reference point sequence and the local location coordinates. When the distance between each target reference point and the local location coordinates is less than a preset distance threshold, the road can be identified as the target road.

[0097] For example, if the target reference points are the first and last reference points in the reference point sequence, and the coordinates of the first reference point are (refLine_startx, refLine_starty) and the coordinates of the last reference point are (refLine_endx, refLine_endy), and the local position coordinates are (ref_pos_x, ref_pos_y), then the distance dist1 between the first reference point and the local position coordinates, and the distance dist2 between the last reference point and the local position coordinates, can be calculated.

[0098]

[0099]

[0100] Subsequently, the aforementioned executing entity can compare dist1 and dist2 with the aforementioned preset distance thresholds respectively, and when both dist1 and dist2 are greater than the aforementioned preset distance thresholds, the road corresponding to the reference point sequence can be considered as the target road.

[0101] This embodiment can select one or more target roads within the jurisdiction of the roadside equipment.

[0102] In some optional implementations of this embodiment, V2X messages for the jurisdiction area corresponding to the roadside equipment are generated based on the road feature data and coordinate transformation parameters of the target road, including the following steps 301 to 303.

[0103] Figure 3 This is a schematic diagram illustrating the process of generating a MAP message in a V2X message, as provided in an embodiment of this application.

[0104] Step 301: Determine the sequence of lane center points in the target coordinate system based on the heading angle of each reference point in the reference point sequence and the lane width of each lane.

[0105] The lane center point sequence is used to indicate the lane center line of the corresponding lane.

[0106] In practice, each target road typically includes one or more lanes. For each lane, the aforementioned execution entity can use the heading angles of each reference point in the reference point sequence and the lane width to calculate the lane center point sequence in the target coordinate system. Thus, a lane center point sequence can be calculated for each lane.

[0107] For example, for ease of description, the first lane to the right of the road reference line is denoted as Lane 1 (Right 1). The inner boundary of Lane 1 (Right 1) is the road reference line. The formula for calculating the coordinates of each outer boundary point on the outer boundary of Lane 1 (Right 1) in the target coordinate system is as follows:

[0108]

[0109] The formula for calculating the coordinates of each point on the centerline of the right lane in the target coordinate system is as follows:

[0110]

[0111] Among them, (x outer1 y outer1 (x) represents the coordinates of a point on the outer boundary of the right lane in the target coordinate system, and L1 represents the lane width of the right lane. r y r θ is a reference point in the reference point sequence corresponding to the road reference line. r Let x be the heading angle of that reference point. center1 y center1 ) represents the coordinates of a point on the center line of the right lane in the target coordinate system.

[0112] Similarly, for the second lane to the right of the road reference line, for ease of description, it is denoted as the right 2nd lane. The inner boundary of the right 2nd lane is the outer boundary of the right 1st lane. The formula for calculating the coordinates of each outer boundary point on the outer boundary of the right 2nd lane in the target coordinate system is as follows:

[0113]

[0114] The formula for calculating the coordinates of each point on the centerline of the right second lane in the target coordinate system is as follows:

[0115]

[0116] Among them, (x outer2 y outer2 (x) represents the coordinates of a point on the outer boundary of the right second lane in the target coordinate system, and L2 represents the lane width of the right second lane. center2 y center2 ) represents the coordinates of a point on the center line of the right 2nd lane in the target coordinate system.

[0117] The process of determining the sequence of lane center points in the target coordinate system for the center lines of other lanes follows the same principle.

[0118] Step 302: For each lane on the target road, according to the coordinate transformation parameters, transform the lane center point sequence of the corresponding lane to the global coordinate system to obtain a new lane center point sequence.

[0119] Here, for the lane center point sequence corresponding to each lane on the target road, the above-mentioned execution entity can directly use coordinate transformation parameters to transform the lane center point sequence in the target coordinate system to the global coordinate system, thereby obtaining the new lane center point sequence corresponding to the lane center point sequence in the global coordinate system.

[0120] Step 303: Generate a MAP message based on the lane information of each lane, the new lane center point sequence, and the preset MAP message template.

[0121] V2X messages include MAP messages.

[0122] The aforementioned preset MAP message template is usually a pre-defined template used to generate MAP messages.

[0123] Here, the aforementioned execution entity can write the lane information and the new lane center point sequence of each lane into a preset MAP message template in turn, thereby obtaining a MAP message.

[0124] In this embodiment, the generated MAP message includes lane information for each lane and the precise position of the lane centerline in the global coordinate system, enabling a more accurate description of the target road. Using the obtained MAP message in autonomous vehicles can achieve safer and more reliable driving.

[0125] In some optional implementations, a MAP message is generated based on the lane information of each lane, the new lane center point sequence, and a preset MAP message template. This includes: First, for each lane, generating a new lane identifier based on the road markings of the target road and the lane markings of the corresponding lane. Then, writing the new lane identifier, lane turning attribute information, lane width, and new lane center point sequence of each lane into the preset MAP message template to obtain the MAP message.

[0126] Lane turning attribute information is typically used to indicate the turning attribute of a lane. The turning attribute indicated by the lane turning attribute information can be straight, left turn, right turn, etc.

[0127] The aforementioned preset MAP message template is typically a pre-defined format template used to generate MAP messages.

[0128] Here, for each lane on the target road, the aforementioned executing entity can use the road sign of the target road and the lane sign of the lane to generate a new lane sign for that lane. As an example, if the road sign of the target road is Road1 and the lane sign of the lane is lane1, then the new lane sign generated for that lane can be Road1-lane1.

[0129] In practice, the road segment to which the target road belongs can also be used to generate the new lane markings mentioned above. As an example, if the road marking of the target road is Road1, the road segment marking is Section2, and the lane marking of the lane is lane1, then the new lane marking generated for that lane can be Road1-Section2-lane1.

[0130] Subsequently, the aforementioned executing entity can write the new lane identifier, lane turning attribute information, lane width, and new lane center point sequence for each lane of the target road into a preset MAP message template, thereby obtaining a MAP message containing detailed information for all lanes of the target lane. When used by autonomous vehicles, this MAP message can enable safer and more reliable driving.

[0131] In some optional implementations of this embodiment, generating the V2X message for the jurisdiction area corresponding to the roadside equipment based on the road feature data and coordinate transformation parameters of the target road may include the following steps 401-402.

[0132] Figure 4 This is a schematic diagram illustrating the process of generating RSI messages in V2X messages, as provided in an embodiment of this application.

[0133] Step 401: For each traffic sign, determine the sign reference point corresponding to the corresponding traffic sign from the reference point sequence, and determine the coordinates of the corresponding traffic sign in the target coordinate system based on the sign reference point, the heading angle of the sign reference point, and the coordinates of the corresponding traffic sign in the reference coordinate system of the target map.

[0134] The aforementioned traffic signs can be various directional signs on the target road. For example, they can be signposts.

[0135] The aforementioned reference points are typically the same as those corresponding to traffic signs. The s-coordinate of these reference points in the reference coordinate system is usually the same as the s-coordinate of the traffic signs.

[0136] Here, when the target map file is an Opendrive format file, the coordinates of traffic signs are usually only recorded in the reference coordinate system, and the coordinates of each reference point on the reference line are also recorded in the reference coordinate system. Therefore, for each traffic sign, the corresponding sign reference point can be found on the reference line.

[0137] Subsequently, for each traffic sign, the aforementioned implementing entity can use the sign reference point, the heading angle of the sign reference point, and the coordinates of the traffic sign in the reference coordinate system of the target map to calculate the coordinates of the traffic sign in the target coordinate system.

[0138] For example, if the coordinates of a traffic sign in the reference coordinate system of the target map are (s1, t1), then the coordinates of the reference point corresponding to that traffic sign are (x1, t1). r y r ), and the heading angle of the reference point is θ. r The coordinates (x1, y1) of the traffic sign in the target coordinate system can then be calculated using the following formula:

[0139]

[0140] Step 402: Based on the coordinate transformation parameters, transform the coordinates of each traffic sign in the target coordinate system to the global coordinate system to obtain the new traffic sign coordinates. Also, generate an RSI message based on the sign type information of each traffic sign, the new traffic sign coordinates, and the preset RSI message template.

[0141] V2X messages include RSI messages.

[0142] The aforementioned preset RSI message template is typically a pre-defined format template used to generate RSI messages.

[0143] Here, for each traffic sign, after obtaining the coordinates of the traffic sign in the target coordinate system, coordinate transformation parameters can be used to calculate the new coordinates of the traffic sign in the global coordinate system.

[0144] Then, the sign type information of each traffic sign and the coordinates of the new traffic sign can be written into the preset RSI message template in sequence to obtain the RSI message.

[0145] In this embodiment, the generated RSI message includes the coordinates of each traffic sign in the global coordinate system, enabling a more accurate description of the target road. When the obtained RSI message is used in autonomous vehicles, it can achieve safer and more reliable driving.

[0146] Please see Figure 5 , Figure 5 This is a structural block diagram of a V2X message generation device 500 provided in an embodiment of this application. See also... Figure 5 The V2X message generation device 500 includes:

[0147] Information acquisition unit 501 is used to acquire the global position coordinates of the target location corresponding to the roadside equipment in the global coordinate system;

[0148] The information conversion unit 502 is used to determine the local position coordinates of the target location in the target map indicated by the target map file according to the predetermined coordinate conversion parameters and the global position coordinates. The coordinate conversion parameters are used for the conversion between the global coordinate system and the target coordinate system in the target map.

[0149] The data filtering unit 503 is used to filter target roads from multiple roads described in the target map file based on local location coordinates, and to extract road feature data of the target roads.

[0150] The information generation unit 504 is used to generate V2X messages for the jurisdiction area corresponding to the roadside equipment based on the road feature data and coordinate transformation parameters of the target road.

[0151] In some embodiments, the data filtering unit 503 includes a sequence extraction module and a road selection module.

[0152] The sequence extraction module is used to extract the reference point sequence of each road in the target coordinate system from the target map file. The reference point sequence is used to indicate the road reference line of the corresponding road.

[0153] The road selection module is used to filter roads whose target spacing is less than a preset distance threshold as target roads. The target spacing is the distance between the target reference point in the reference point sequence and the local location coordinates. The target reference point includes the first reference point and the last reference point in the reference point sequence.

[0154] In some embodiments, the road feature data of the target road includes at least one of the following:

[0155] The heading angle of each reference point in the reference point sequence corresponding to the target road, the lane information of each lane in the target road, the position coordinates of each traffic sign on the target road in the reference coordinate system of the target map, and the sign type information of each traffic sign. Among them, the lane information includes lane width, lane sign, and lane turning attribute information.

[0156] In some embodiments, the information generation unit 504 includes a center determination module, a center conversion module, and a map generation module.

[0157] The center determination module is used to determine the lane center point sequence of the corresponding lane in the target coordinate system based on the heading angle of each reference point in the reference point sequence and the lane width of each lane. The lane center point sequence is used to indicate the lane center line of the corresponding lane.

[0158] The center transformation module is used to transform the lane center point sequence of each lane on the target road to the global coordinate system according to the coordinate transformation parameters, so as to obtain a new lane center point sequence.

[0159] The map generation module is used to generate MAP messages based on lane information of each lane, new lane center point sequence and preset MAP message template. Among them, V2X messages include MAP messages.

[0160] In some embodiments, the map generation module is specifically used to: generate new lane identifiers for each lane based on the road identifiers of the target road and the lane identifiers of the corresponding lanes, and write the new lane identifiers, lane turning attribute information, lane width, and new lane center point sequence of each lane into a preset MAP message template to obtain a MAP message.

[0161] In some embodiments, the information generation unit 504 further includes an information determination module, an identifier conversion module, and an RSI message generation module.

[0162] The information determination module is used to determine the sign reference point corresponding to each traffic sign from the reference point sequence, and determine the coordinates of the corresponding traffic sign in the target coordinate system based on the sign reference point, the heading angle of the sign reference point, and the coordinates of the corresponding traffic sign in the reference coordinate system of the target map.

[0163] The sign conversion module is used to convert the coordinates of each traffic sign in the target coordinate system to the global coordinate system according to the coordinate conversion parameters, so as to obtain the new traffic sign coordinates.

[0164] The RSI message generation module is used to generate RSI messages based on the sign type information of each traffic sign, the coordinates of the new traffic sign, and the preset RSI message template. Among them, V2X messages include RSI messages.

[0165] In some embodiments, the apparatus further includes an information sending unit for sending a V2X message to the target vehicle when the target vehicle is detected to have entered the jurisdiction of the roadside equipment.

[0166] The V2X message generation device provided in this embodiment automatically extracts road feature data of each target road within the jurisdiction of the roadside equipment from the target map file, and generates V2X messages quickly and accurately based on the extracted road feature data, which helps to improve information generation efficiency.

[0167] It should be understood that, Figure 5 In the block diagram of the V2X message generation device shown, each unit is used to perform... Figures 1-4 The steps in the corresponding embodiments, and for Figures 1-4 The steps in the corresponding embodiments have been explained in detail in the above embodiments. Please refer to them for details. Figures 1-4 as well as Figures 1-4 The relevant descriptions in the corresponding embodiments will not be repeated here.

[0168] Figure 6 This is a structural block diagram of a roadside device provided in another embodiment of this application. For example... Figure 6 As shown, the roadside device 600 of this embodiment includes: a processor 601, a memory 602, and a computer program 603 stored in the memory 602 and executable on the processor 601, such as a program for a V2X message generation method. When the processor 601 executes the computer program 603, it implements the steps in the various embodiments of the V2X message generation methods described above, for example... Figure 1 Steps 101 to 104 are shown. Alternatively, the processor 601 executes the above when executing computer program 603. Figure 5 The functions of each unit in the corresponding embodiments, for example, Figure 5 For details on the functions of the information acquisition unit 501 to the information generation unit 504 shown, please refer to [link / reference]. Figure 5 The relevant descriptions in the corresponding embodiments are not repeated here.

[0169] For example, computer program 603 can be divided into one or more units, one or more of which are stored in memory 602 and executed by processor 601 to complete this application. One or more units can be a series of computer program instruction segments capable of performing specific functions, which describe the execution process of computer program 603 in roadside device 600. For example, computer program 603 can be divided into an information acquisition unit, an information conversion unit, a data filtering unit, and an information generation unit, with the specific functions of each unit as described above.

[0170] Roadside equipment may include, but is not limited to, processor 601 and memory 602. Those skilled in the art will understand that... Figure 6 This is merely an example of roadside device 600 and does not constitute a limitation on roadside device 600. It may include more or fewer components than shown, or combine certain components, or different components. For example, a turntable device may also include input / output devices, network access devices, buses, etc.

[0171] The processor 601 may be a Central Processing Unit (CPU), or other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general-purpose processor may be a microprocessor or any conventional processor.

[0172] The memory 602 can be an internal storage unit of the roadside device 600, such as a hard drive or memory of the roadside device 600. The memory 602 can also be an external storage device of the roadside device 600, such as a plug-in hard drive, Smart Media Card (SMC), Secure Digital (SD) card, FlashCard, etc., equipped on the roadside device 600. Furthermore, the memory 602 can include both internal and external storage units of the roadside device 600. The memory 602 is used to store computer programs and other programs and data required by the turntable equipment. The memory 602 can also be used to temporarily store data that has been output or will be output.

[0173] Furthermore, the functional units in the various embodiments of this application can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit.

[0174] If an integrated module is implemented as a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. This computer-readable storage medium can be non-volatile or volatile. Based on this understanding, all or part of the processes in the methods of the above embodiments can also be implemented by a computer program instructing related hardware. The computer program can be stored in a computer-readable storage medium, and when executed by a processor, it can implement the steps of the various method embodiments described above. The computer program includes computer program code, which can be in the form of source code, object code, executable files, or certain intermediate forms. The computer-readable storage medium can include: any entity or device capable of carrying computer program code, recording media, USB flash drives, portable hard drives, magnetic disks, optical disks, computer memory, read-only memory (ROM), random access memory (RAM), electrical carrier signals, telecommunication signals, and software distribution media, etc. It should be noted that the contents of a computer-readable storage medium may be appropriately added to or subtracted from the contents as required by the legislation and patent practice in a jurisdiction. For example, in some jurisdictions, according to legislation and patent practice, a computer-readable storage medium may not include electrical carrier signals and telecommunication signals.

[0175] The above embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this application, and should all be included within the protection scope of this application.

Claims

1. A V2X message generation method, characterized in that, The method includes: Obtain the global position coordinates of the target location corresponding to the roadside equipment in the global coordinate system; Based on the predetermined coordinate transformation parameters and the global position coordinates, the local position coordinates of the target location in the target map indicated by the target map file are determined, wherein the coordinate transformation parameters are used for the transformation between the global coordinate system and the target coordinate system in the target map; Based on the local location coordinates, target roads are selected from multiple roads described in the target map file, and road feature data of the target roads are extracted. Based on the road feature data of the target road and the coordinate transformation parameters, a V2X message for the jurisdiction area corresponding to the roadside equipment is generated.

2. The V2X message generation method according to claim 1, characterized in that, The step of filtering target roads from multiple roads described in the target map file based on the local location coordinates includes: From the target map file, extract the reference point sequence of each road in the target coordinate system, wherein the reference point sequence is used to indicate the road reference line of the corresponding road; The target roads are selected based on their corresponding target spacing being less than a preset distance threshold. The target spacing is the distance between the target reference point in the reference point sequence and the local location coordinates. The target reference point includes the first reference point and the last reference point in the reference point sequence.

3. The V2X message generation method according to claim 1, characterized in that, The road feature data of the target road includes at least one of the following: The heading angle of each reference point in the reference point sequence corresponding to the target road, the lane information of each lane in the target road, the position coordinates of each traffic sign on the target road in the reference coordinate system of the target map, and the sign type information of each traffic sign, wherein the lane information includes lane width, lane sign, and lane turning attribute information.

4. The V2X message generation method according to claim 3, characterized in that, The step of generating V2X messages for the jurisdiction area corresponding to the roadside equipment based on the road feature data of the target road and the coordinate transformation parameters includes: Based on the heading angle of each reference point in the reference point sequence and the lane width of each lane, the lane center point sequence of the corresponding lane in the target coordinate system is determined, and the lane center point sequence is used to indicate the lane center line of the corresponding lane. For each lane on the target road, the lane center point sequence of the corresponding lane is transformed to the global coordinate system according to the coordinate transformation parameters to obtain a new lane center point sequence; Based on the lane information of each lane, the new lane center point sequence, and the preset MAP message template, a MAP message is generated, wherein the V2X message includes the MAP message.

5. The V2X message generation method according to claim 4, characterized in that, The step of generating a MAP message based on lane information of each lane, the new lane center point sequence, and a preset MAP message template includes: For each lane, a new lane marking is generated based on the road markings of the target road and the lane markings of the corresponding lane; The new lane identifier, lane turning attribute information, lane width, and new lane center point sequence for each lane are written into the preset MAP message template to obtain the MAP message.

6. The V2X message generation method according to claim 3, characterized in that, The step of generating V2X messages for the jurisdiction area corresponding to the roadside equipment based on the road feature data of the target road and the coordinate transformation parameters includes: For each traffic sign, a sign reference point corresponding to the corresponding traffic sign is determined from the reference point sequence. Based on the sign reference point, the heading angle of the sign reference point, and the coordinates of the corresponding traffic sign in the reference coordinate system of the target map, the coordinates of the corresponding traffic sign in the target coordinate system are determined. According to the coordinate transformation parameters, the coordinates of each traffic sign in the target coordinate system are transformed to the global coordinate system to obtain the new traffic sign coordinates. According to the sign type information of each traffic sign, the new traffic sign coordinates and the preset RSI message template, an RSI message is generated, wherein the V2X message includes the RSI message.

7. The V2X message generation method according to any one of claims 1-6, characterized in that, The method further includes sending the V2X message to the target vehicle when the target vehicle is detected to have entered the jurisdiction area of ​​the roadside equipment.

8. A V2X message generation device, characterized in that, The device includes: The information acquisition unit is used to acquire the global position coordinates of the target location corresponding to the roadside equipment in the global coordinate system; An information conversion unit is used to determine the local position coordinates of the target location in the target map indicated by the target map file according to the predetermined coordinate conversion parameters and the global position coordinates, wherein the coordinate conversion parameters are used for conversion between the global coordinate system and the target coordinate system in the target map; The data filtering unit is used to filter target roads from multiple roads described in the target map file based on the local location coordinates, and to extract road feature data of the target roads. The information generation unit is used to generate V2X messages for the jurisdiction area corresponding to the roadside equipment based on the road feature data of the target road and the coordinate transformation parameters.

9. A roadside device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, When the processor executes the computer program, it implements the steps of the method as described in any one of claims 1 to 7.

10. A computer-readable storage medium storing a computer program, characterized in that, When the computer program is executed by a processor, it implements the steps of the method as described in any one of claims 1 to 7.

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