Intelligent network connection large-scale open road roadside message existence detection method

Abstract

The application discloses a kind of intelligent network connection large-scale open road roadside message existence detection method, comprising: step 1, determine roadside message verification standard;Step 2, collect roadside message data on large-scale open road;Step 3, the sending situation of roadside message data collected, message coverage, message packet loss rate are verified and distinguished using ordinary test and detailed test combined mode;When the sending situation of roadside message data, message coverage, message packet loss rate are verified, only then consider that the roadside message of the point to be measured of the point to be measured meets the requirements.The application establishes a complete process for the daily inspection of roadside message maintenance for large-scale open road, and uses the method of ordinary test and detailed test combination to systematically and completely verify and distinguish the roadside message sending, message coverage and message packet loss rate, which improves the efficiency of the inspection and operation work of the large-scale roadside message detection work and the reliability of the detection work.

Description

Technical Field

[0001] This invention belongs to the field of data processing technology, and specifically relates to a method for detecting the existence of roadside messages on large-scale open roads with intelligent connectivity. Background Technology

[0002] Open roads refer to the road infrastructure currently open to intelligent connected vehicles for on-road testing by regulatory authorities. Roadside messages are messages broadcast to the vehicle by Roadside Units (RSUs) installed on the roadside of open roads via a PC5 link. These typically include Real-time Traffic Light Messages (SPAT), Roadside Safety Messages (RSM), Traffic Event and Sign Information (RSI), and Map Messages (MAP). Vehicles receive and parse roadside messages through pre-installed or aftermarket Onboard Units (OBUs) and transmit them to the connected vehicle's decision and control unit, achieving "data onboarding" of roadside messages. Verification of roadside messages on open roads for intelligent connected vehicles is crucial for the data quality maintenance of existing open, holographic intersections. In maintenance, routine roadside message verification is an important method to ensure that RSUs broadcast the above four types of messages correctly as required under actual operating conditions. The routine roadside message verification task is to verify the existence of various messages sent by each RSU on the roadside of the intelligent connected road. Specifically, this includes verifying whether the message can be received by the OBU, whether the message broadcast range meets the regulations under actual operating conditions, and whether the packet loss rate meets the "data on the vehicle" requirements under actual operating conditions.

[0003] Currently, there is no systematic and complete method for verifying the existence of roadside messages for intelligent connected vehicles. Existing technologies are mostly limited to verifying the existence of roadside messages at a single location or under laboratory conditions in a small area. They cannot verify the existence of roadside messages on a large scale of open roads. As a result, in the daily inspection and maintenance of roadside messages, a lot of time and manpower are needed to verify and process different types of messages on the road.

[0004] For example, Chinese patent CN115188187A discloses a roadside perception data quality monitoring system and method based on vehicle-road cooperation, including: S1. Receiving roadside perception data acquired by roadside perception devices; acquiring vehicle messages from intelligent vehicle-mounted units installed in connected vehicles; S2. Extracting first trajectory data of the target vehicle from the vehicle messages; extracting second trajectory data of the target vehicle from the roadside perception data; S3. Analyzing and comparing the first trajectory data and second trajectory data corresponding to the same target vehicle to evaluate the roadside perception data quality assessment value and reporting it to the cloud control platform; S4. When the roadside perception data quality assessment value exceeds the quality threshold, issuing an alarm for abnormal perception at the external location. This patent, based on vehicle-road cooperation and using connected vehicle positioning data as the true value, compares roadside perception data with high-precision GNSS positioning data of connected vehicles, enabling real-time monitoring of roadside perception data accuracy, detecting device perception anomalies and issuing timely alarms, effectively ensuring the reliability and accuracy of roadside perception data, and improving the operation and maintenance support capabilities of the roadside perception system. This patent focuses on monitoring and maintaining the accuracy of roadside sensing data by building a truth system. However, building a truth system is costly and does not involve a system for verifying the existence of roadside messages.

[0005] Chinese patent CN113795009A discloses a detection method for the deployment of application messages in C-V2X vehicle-to-everything (V2X) roadside facilities. Using an OBU (On-Board Unit) device, the method receives RSU (Roadside Unit) application layer messages via a C-V2X PC5 interface channel. The received application messages are then transmitted to a commercial smartphone. Utilizing a C-V2X application testing program on the smartphone, and referring to the application layer and application data interaction standards of cooperative intelligent transportation system vehicle communication systems, the method parses the application messages layer by layer, analyzing all data elements carried in the messages. These data elements are then abstracted and defined according to their data characteristics. The abstracted arrays are combined with certain calculation methods to form the original data stream, which is finally sent to a graphical interface for display. Through this process, users can intuitively and visually observe the content and corresponding meaning of the application messages, quickly search, filter, and select data, and calculate messages that do not conform to the standard definitions or the actual road conditions. Although the patent processes all the data of the application messages, it does not perform specific and systematic existence verification of RSUs and corresponding message types. Furthermore, due to the large amount of manual operation, this patent is suitable for detection applications of small-scale or limited roadside message sending points, but not for the detection and maintenance of roadside messages on large-scale open roads (such as when there are more than 10 RSU deployment points and the message coverage area exceeds 10 kilometers).

[0006] Therefore, it is of great significance to propose a systematic and complete method for detecting the existence of roadside messages on large-scale open roads with intelligent connected vehicles. Summary of the Invention

[0007] The technical problem addressed by this application is: how to systematically and completely detect the existence of roadside messages on large-scale intelligent connected roads, thereby reducing equipment, labor, and time costs while ensuring accuracy, facilitating convenient and quick verification and judgment of roadside messages on a large scale of intelligent connected roads, and improving the efficiency of daily inspection work.

[0008] To achieve the above objectives, this application provides the following technical solution:

[0009] A method for detecting the existence of roadside messages on large-scale open roads with intelligent connected vehicles includes the following steps:

[0010] Step 1: Determine the roadside message verification criteria;

[0011] Step 2: Collect roadside message data on large-scale open roads;

[0012] Step 3: Using a combination of ordinary and detailed testing, verify and judge the sending status, message coverage, and message packet loss rate of the collected roadside message data;

[0013] Only when the transmission status, coverage, and packet loss rate of the roadside messages are all verified are the roadside messages at the test point considered to meet the requirements.

[0014] In some embodiments, step 2 includes:

[0015] Step 2.1: Assemble the data acquisition vehicle equipped with the vehicle-mounted unit;

[0016] Step 2.2: Collect roadside messages and trajectory information through the vehicle-mounted unit;

[0017] Step 2.3: After the data collection is completed, all received roadside message data and driving trajectory data are transferred to the computer storage unit for offline analysis.

[0018] In some embodiments, before step 3, a normal test method is used to traverse all RSU points on a large-scale open road, and the data of all traversed RSU points are transmitted, received and stored in a storage device through the vehicle unit.

[0019] In some embodiments, the general test includes: selecting a route based on a roadside unit deployment location map, setting the test vehicle's driving speed and the diameter range of the test vehicle to the RSU location, and having the test vehicle pass through each RSU deployment location at a constant speed at a specified distance from the RSU location without stopping during the journey. At the same time, the on-board unit on the test vehicle receives all roadside messages and records the local timestamp of each message received and the vehicle's driving trajectory.

[0020] In some embodiments, the detailed test includes: setting up multiple RSU points on ordinary road sections without intersections, setting a test vehicle to drive repeatedly on the ordinary road section at a constant speed, ensuring that the test vehicle collects roadside data within a certain distance from the RSU points to be tested during the driving, and collecting more than 1,000 data points, recording the information of the test points and the vehicle driving trajectory.

[0021] Alternatively, multiple RSU points can be set up in road sections with intersections. Test vehicles can be set to drive repeatedly at a constant speed on the road sections connected to the intersections. During the driving process, the test vehicles should be kept within a certain distance from the RSU points to be tested to collect roadside data and collect more than 1,000 data points, recording the information of the test points and the vehicle's driving trajectory.

[0022] In some embodiments, step 3 includes:

[0023] Step 3.1: Verify and judge the transmission status of roadside messages using ordinary testing methods. Proceed to Step 3.2 for qualified RSU locations and their corresponding message types; otherwise, unqualified RSU locations and their corresponding message types will not be judged in subsequent steps.

[0024] Step 3.2: Verify and determine the coverage of qualified RSU locations and corresponding message types from Step 3.1; proceed to Step 3.3 for qualified RSU locations and corresponding message types.

[0025] If it fails, a detailed test will be conducted on the unqualified RSU points and their corresponding message types to determine whether they are qualified again. If they fail, no further steps will be taken to determine whether they are qualified.

[0026] Step 3.3: Perform packet loss rate verification on the qualified RSU locations and corresponding message types in Step 3.2. Qualified RSU locations and corresponding message types are considered to have passed the roadside message existence verification.

[0027] If it fails, a detailed test will be conducted on the unqualified RSU location and its corresponding message type to determine whether it is qualified again. If it fails, it is considered that the message to be tested at the location to be tested has failed the roadside message existence verification.

[0028] In some embodiments, step 3.1 includes:

[0029] Step 3.1.1: Parse the four types of messages included in the roadside messages according to the ASN.1 code: real-time traffic light messages, roadside safety messages, traffic incident and traffic sign information, and map messages. Obtain the XML text of each message in each type of message and extract the ID number of the associated RSU device in each message.

[0030] Step 3.1.2: Count all received ID numbers of each type of message and determine whether the RSU point has sent each type of message according to the specified requirements;

[0031] Based on the ID configuration table of RSU points and various messages on open roads, the names of RSUs that did not broadcast messages according to the specified requirements and the types of messages that were not sent are filtered out. The existence of RSU points that did not broadcast the specified type of message is considered unqualified and no further judgment is required.

[0032] Verify and determine the coverage of qualified RSU locations and their corresponding message types.

[0033] In some embodiments, step 3.2 includes:

[0034] Step 3.2.1: Based on the qualified RSU locations and corresponding message types described in Step 3.1.2, determine whether the coverage of each type of message for each RSU meets the standard, filter out the RSU locations and corresponding message types with unqualified coverage, and verify and judge the packet loss rate of the remaining qualified RSU locations and corresponding message types.

[0035] Step 3.2.2: Conduct detailed tests on the unqualified RSU locations and corresponding message types in Step 3.2.1, and verify the coverage of the roadside message data collected in the detailed tests again. If the judgment result is still unqualified, it is considered that the RSU location and corresponding message type are unqualified and no further judgment steps are required.

[0036] If the judgment result is qualified, the packet loss rate of the RSU point and the corresponding message type will continue to be verified and judged.

[0037] In some embodiments, step 3.3 includes:

[0038] Step 3.3.1: Based on the qualified RSU locations and corresponding message types obtained in Step 3.2, determine whether the packet loss rate of each type of message for each RSU meets the standard, filter out the RSU locations and corresponding message types with unqualified packet loss rates, and consider the remaining qualified RSU locations and corresponding message types to have passed the roadside message existence verification.

[0039] Step 3.3.2: Conduct detailed tests on the unqualified RSU locations and corresponding message types in Step 3.3.1, and verify the packet loss rate of the roadside message data collected in the detailed tests again. If the judgment result is still unqualified, it is considered that the existence of RSU locations and corresponding message types is unqualified, that is, the existence verification of roadside messages has not been passed.

[0040] If the judgment result is qualified, the RSU location and corresponding message type are considered to have passed the roadside message existence verification. In some embodiments, the ordinary test and the detailed test are selected according to different test purposes in specific judgments;

[0041] The standard test is used for daily routine inspections and can quickly and extensively traverse all RSU points within the range.

[0042] The detailed test is used to test the RSU locations and message types that have problems during vehicle inspections in the normal test, and then it is necessary to retest the above-mentioned problematic RSU locations and message types.

[0043] Compared with the prior art, the advantages and beneficial effects of the technical solution of this application are as follows:

[0044] (1) The present application designs a method for detecting the existence of roadside messages on large-scale open roads in intelligent connected roads. The existence judgment in the roadside message existence verification method is divided into three levels: normal transmission of roadside messages, roadside message coverage meets the requirements, and roadside message packet loss rate is acceptable. Based on the three levels, the method combines ordinary testing and detailed testing. Only when all three levels are verified is the roadside message at the test point considered to meet the requirements. Compared with the existing roadside message existence detection methods that are limited to a single point or laboratory conditions, its advantage is that it can facilitate testers to carry out daily inspection and maintenance work on roadside messages on large-scale open roads efficiently. For example, on large-scale open roads with more than 10 RSU deployment points and a message coverage area of ​​more than 10 kilometers, it can realize a systematic and complete detection of the existence of roadside messages over a large area, improve the efficiency and reliability of the inspection and maintenance work of roadside message detection on large-scale intelligent connected open roads, and support flexible daily inspection plans and arrangements.

[0045] (2) The method for detecting the existence of roadside messages on a large-scale open road in this application is designed to minimize equipment, labor and time costs while ensuring a certain level of accuracy. It can conveniently and quickly detect roadside messages over a wide range and meet the needs of rapid feedback and rectification during daily inspections and verification.

[0046] The above description is only an overview of the technical solution of this application. In order to better understand the technical means of this application and implement it in accordance with the contents of the specification, and to make the above and other objects, features and advantages of this application more obvious and understandable, the preferred embodiments of this application are described in detail below with reference to the accompanying drawings.

[0047] The above and other objects, advantages and features of this application will become more apparent to those skilled in the art from the following detailed description of specific embodiments in conjunction with the accompanying drawings. Attached Figure Description

[0048] To more clearly illustrate the technical solutions in the embodiments of this application 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 some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort. In all drawings, similar elements or parts are generally identified by similar reference numerals. In the drawings, the elements or parts are not necessarily drawn to scale.

[0049] Figure 1 This is a flowchart illustrating the method for detecting the existence of roadside messages on large-scale open roads in intelligent connected vehicles, as described in this application.

[0050] Figure 2 This is a schematic diagram of a typical test in some embodiments;

[0051] Figure 3 This is a schematic diagram illustrating the execution flow of a method for detecting the existence of roadside messages on large-scale open roads in intelligent connected vehicles, as shown in some embodiments.

[0052] Figure 4 This is a schematic diagram of a detailed test driving trajectory on a normal road section in some embodiments;

[0053] Figure 5 This is a schematic diagram of the detailed test driving trajectory at the intersection in some embodiments. Detailed Implementation

[0054] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, not all embodiments. In the following description, specific details such as specific configurations and components are provided merely to help fully understand the embodiments of this application. Therefore, those skilled in the art should understand that various changes and modifications can be made to the embodiments described herein without departing from the scope and spirit of this application. In addition, for clarity and brevity, descriptions of known functions and structures are omitted in the embodiments.

[0055] It should be understood that the phrase "an embodiment" or "this embodiment" throughout the specification means that a specific feature, structure, or characteristic related to the embodiment is included in at least one embodiment of this application. Therefore, "an embodiment" or "this embodiment" appearing throughout the specification does not necessarily refer to the same embodiment. Furthermore, these specific features, structures, or characteristics can be combined in any suitable manner in one or more embodiments.

[0056] Furthermore, reference numerals and / or letters may be repeated in different examples within this application. Such repetition is for the purpose of simplification and clarity and does not in itself indicate a relationship between the various embodiments and / or settings discussed.

[0057] In this article, the term "and / or" is merely a description of the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can mean: A exists alone, B exists alone, and A and B exist simultaneously. The term " / and" in this article describes another type of relationship between related objects, indicating that two relationships can exist. For example, A / and B can mean: A exists alone, and A and B exist alone. In addition, the character " / " in this article generally indicates that the related objects before and after it are in an "or" relationship.

[0058] In this article, the term "at least one" is merely a description of the relationship between related objects, indicating that there can be three relationships. For example, "at least one of A and B" can mean: A exists alone, A and B exist simultaneously, or B exists alone.

[0059] It should also be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion.

[0060] Example 1

[0061] This embodiment introduces a method for detecting the existence of roadside messages on large-scale open roads in intelligent connected vehicles. It introduces two methods for detecting roadside messages on large-scale open roads: ordinary testing and detailed testing. By combining ordinary and detailed testing, the existence detection of roadside messages is divided into three levels of judgment: normal transmission of roadside messages, roadside message coverage meeting requirements, and acceptable packet loss rate. Only when all three levels pass the verification judgment can the roadside message at the test point be considered to meet the requirements. While ensuring a certain level of accuracy, this method can conveniently and quickly verify roadside messages over a large area.

[0062] Specifically, in conjunction with the appendix Figure 1 , Figure 1 This is a flowchart illustrating the method for detecting the existence of roadside messages on large-scale open roads using intelligent connected vehicles, as described in this application. The verification method includes the following steps:

[0063] Step 1: Determine the roadside message verification criteria;

[0064] Step 2: Collect roadside message data on large-scale open roads;

[0065] Step 3: Using a combination of ordinary and detailed testing, the transmission status, message coverage, and message packet loss rate of the collected roadside message data are specifically judged. Only when the transmission status, message coverage, and message packet loss rate of the roadside messages pass the verification are the roadside messages at the test point considered to meet the requirements.

[0066] In step 1, the roadside message verification criteria are determined, including preparing basic configuration data of the roadside units (RSUs) on the open road to be tested as the criterion for whether a message is sent, the coverage standard for each type of message for each RSU, and the packet loss rate standard for each type of message for each RSU. The basic configuration data of the RSUs on the open road to be tested includes the latitude and longitude coordinates and map of the RSU deployment location, the type of message sent by each RSU, and the ID number information embedded in each type of message sent by each RSU.

[0067] In some embodiments, step 2 includes:

[0068] Step 2.1: Set up a data acquisition vehicle equipped with an on-board unit (OBU), which will be used as a measurement vehicle on the designated road;

[0069] Step 2.2: Receive roadside messages and trajectory information through the onboard unit;

[0070] Step 2.3: After the data collection is completed, all received roadside message data and driving trajectory data are transferred to the computer storage unit for offline analysis.

[0071] In some embodiments, the general test and the detailed test are selected according to different test objectives in specific discrimination.

[0072] Standard testing: Primarily used for routine daily inspections, it can quickly and extensively traverse all RSU points within the range.

[0073] In some embodiments, based on a map showing the locations of roadside units (RSUs), a route is selected, and the test vehicle's speed and the diameter range from the test vehicle to the RSU location are set. The test vehicle travels at a constant speed past each RSU location at a specified distance, without needing to stop during the journey. Simultaneously, the onboard unit on the test vehicle receives all roadside messages and records the local timestamp of each message received and the vehicle's trajectory. (See attached...) Figure 2 As shown, in a standard test, the test vehicle traverses all RSU locations within a large-scale traversal range, and the vehicle's trajectory is displayed. The diamond-shaped blocks represent the RSU deployment locations, and the black lines represent the test vehicle's trajectory during a standard test.

[0074] Detailed testing: Primarily used in routine testing to identify problematic RSU locations and message types during vehicle inspections, necessitating retesting of these problematic RSU locations and message types. Detailed testing can include the following methods:

[0075] In some embodiments, multiple RSU points are deployed on ordinary road sections without intersections. Test vehicles are set to repeatedly drive on these ordinary road sections at a constant speed. During the driving process, the test vehicles are ensured to collect roadside data within a certain distance from the RSU points to be tested, and more than 1,000 data points are collected (according to the "Performance Requirements and Testing Methods for Vehicle-to-Road / Vehicle-to-Vehicle Communication (V2X) Terminals for Operating Vehicles" (JT / T1458-2023)). The information of the test points and the vehicle's driving trajectory are recorded.

[0076] In some embodiments, multiple RSU points are deployed in road sections with intersections. A test vehicle is set to repeatedly drive at a constant speed on the road section connected to the intersection. During the driving, the test vehicle is ensured to collect roadside data within a certain distance from the RSU points to be tested, and more than 1,000 data points are collected, recording the information of the test points and the vehicle's driving trajectory.

[0077] Furthermore, before step 3, a normal test method is used to traverse all RSU points on the large-scale open road, and the data of all RSU points after traversal are transmitted, received and stored in the storage device through the vehicle unit.

[0078] In some embodiments, step 3 includes:

[0079] Step 3.1: Verify and judge the transmission status of roadside messages using ordinary testing methods. Proceed to Step 3.2 for qualified RSU locations and their corresponding message types; otherwise, unqualified RSU locations and their corresponding message types will not be judged in subsequent steps.

[0080] Step 3.2: Verify the coverage of qualified RSU locations and corresponding message types from Step 3.1; proceed to Step 3.3 for qualified RSU locations and corresponding message types; if they are not qualified, conduct detailed tests on the unqualified RSU locations and corresponding message types, and determine whether they are qualified again. If they are not qualified, no further steps will be performed.

[0081] Step 3.3: Verify the packet loss rate of the qualified RSU locations and corresponding message types from Step 3.2. Qualified RSU locations and corresponding message types are considered to have passed the roadside message existence detection. If they are not qualified, conduct detailed tests on the unqualified RSU locations and corresponding message types and determine whether they are qualified again. If they are not qualified, the message to be tested at the test location is considered to have failed the roadside message existence detection.

[0082] In some embodiments, when conducting the initial test on a large-scale open road, a normal testing method is first used to quickly traverse all test points, and then offline data is collected for analysis. Three specific tasks are then performed sequentially: determining whether roadside messages are being sent normally, determining the coverage area of ​​roadside messages, and determining the packet loss rate of roadside messages. During the determination process, except for the determination of whether roadside messages are being sent normally, which only requires a normal test to determine whether it passes, if a certain type of message at a certain point fails the normal test at the other two levels of determination, it needs to be retested in detail. If it still fails after detailed testing, then that type of message at that point is considered to have failed the determination. Points and messages that pass the determination at each level proceed to the next level of determination, while points and messages that fail the determination do not proceed to the next level of determination.

[0083] This embodiment establishes a complete daily inspection process for roadside message maintenance on large-scale open roads. The existence of roadside messages is systematically defined and verified from three levels: whether the message is sent normally, the message coverage, and the message packet loss rate. The overall process is optimized by combining ordinary testing and detailed testing, which ensures both the credibility of the verification work and the efficiency of daily inspection of open roads, and can comprehensively and systematically detect the existence of roadside messages on open roads.

[0084] Example 2

[0085] Based on Example 1, this example conducted specific tests and verifications on a large number of roads, combined with the attached... Figure 3 , Figure 3 This is a schematic diagram illustrating the execution flow of the roadside message existence detection method for intelligent connected large-scale open roads in some embodiments. The specific execution is as follows:

[0086] Step 1: Determine the roadside message verification criteria;

[0087] Step 2: Collect roadside message data on large-scale open roads;

[0088] S2 includes:

[0089] Step 2.1: Set up a data acquisition vehicle. In this embodiment, a regular five-seat passenger car is selected as the test vehicle, and an on-board unit (OBU) is installed.

[0090] Step 2.2: Through the vehicle unit data interface, open the module for receiving various roadside messages, open the GNSS positioning module built into the vehicle unit, receive roadside messages and trajectory information, and perform time synchronization;

[0091] Step 2.3: After data collection is completed, shut down the vehicle unit message receiving module and positioning module, and transfer all received roadside message data and driving trajectory data to the computer storage unit for offline analysis.

[0092] Step 3: Use a combination of ordinary testing and detailed testing to verify and judge the transmission status, message coverage, and message packet loss rate of the collected roadside message data; only when the transmission status, message coverage, and message packet loss rate of the roadside messages pass the verification are the roadside messages at the test point considered to meet the requirements.

[0093] In this embodiment, the initial test is conducted on a large-scale open road section. During the initial test, the test vehicle travels on the large-scale open road and performs a standard test to traverse all RSU points within the large-scale open road area. The data of all traversed RSU points is then transmitted, received, and stored in a storage device via the onboard unit for subsequent analysis. After the initial test is completed, it is not necessary to traverse all points again during subsequent routine inspections of this road section.

[0094] For common testing methods, in some embodiments, such as Figure 2 As shown, based on the roadside unit deployment location map, the test vehicle passes through each RSU deployment location along the selected route at a speed not exceeding 40km / h. During the journey, no stopping is required, but the vehicle must pass through a location less than 100 meters away from the RSU deployment location. At the same time, the vehicle receives all roadside messages, records the local timestamp of each message received, and records the vehicle's driving trajectory.

[0095] For detailed testing methods, in some embodiments, such as Figure 4As shown, for RSU points located on ordinary road sections (within 50 meters of intersections), test vehicles repeatedly drive on ordinary road sections at a speed not exceeding 40 km / h. During the journey, the test vehicle must ensure that it collects roadside data within a distance of less than 300 meters from the RSU under test, and collects more than 1000 data points, recording the information of the test point and the vehicle's driving trajectory. Figure 5 As shown, for RSU points located at intersections (within 50 meters of the location), the test vehicle repeatedly travels at a speed not exceeding 40 km / h on the road section connecting to the intersection. During the travel, it is necessary to ensure that roadside data is collected within a distance of less than 300 meters from the RSU under test, and more than 1,000 data points are collected, recording the information of the test point and the vehicle's travel trajectory.

[0096] Furthermore, the specific verification and discrimination at the three levels in step 3 can be performed as follows.

[0097] Step 3.1: Verify and determine the transmission status of roadside messages, specifically:

[0098] Step 3.1.1: Parse the roadside messages according to the ASN.1 code, including the four types of messages: Real-time Traffic Light Message (SPAT), Roadside Safety Message (RSM), Traffic Incident and Traffic Sign Information (RSI), and Map Message (MAP), to obtain the XML text of each message in each type of message; the ASN.1 code can be found in "Application Layer and Application Data Interaction Standard for Vehicle Communication System of Cooperative Intelligent Transportation System (Phase I)" (CSAE53-2020), and extract the ID number of the associated RSU device in each message;

[0099] Step 3.1.2: Count all received ID numbers of various types of messages, and determine whether the RSU points have sent each type of message according to the specified requirements; based on the ID configuration table of RSU points and various types of messages on the open road, filter out the RSU names that did not broadcast messages according to the specified requirements and the message types that were not sent, and consider the existence of RSU points that did not broadcast the specified type of message to be unqualified, and no further judgment is required; proceed to step 3.2 with the data of the remaining qualified RSU points;

[0100] Step 3.2: Verify and determine the coverage of the qualified RSU locations and corresponding message types from Step 3.1.2. Specifically:

[0101] Step 3.2.1: Based on the qualified RSU locations and corresponding message types in Step 3.1.2, determine whether the coverage of each type of message for each RSU meets the standard, filter out the RSU locations and corresponding message types with unqualified coverage, and proceed to Step 3.3 for the remaining qualified RSU locations and corresponding message types.

[0102] Step 3.2.2: Conduct detailed tests on the unqualified RSU locations and corresponding message types in Step 3.2.1, and verify the coverage of the roadside message data collected in the detailed tests again. If the judgment result is still unqualified, it is considered that the existence of the RSU location and the corresponding message type is unqualified, and no further judgment steps are required.

[0103] If the judgment result is qualified, proceed to step 3.3 for the RSU location and the corresponding message type.

[0104] Step 3.3: Verify and determine the packet loss rate of the qualified RSU points and corresponding message types from Step 3.2. Specifically:

[0105] Step 3.3.1: Based on the qualified RSU locations and corresponding message types in Step 3.2, determine whether the packet loss rate of each type of message for each RSU meets the standard, filter out the RSU locations and corresponding message types with unqualified packet loss rates, and consider the remaining qualified RSU locations and corresponding message types to have passed the roadside message existence detection.

[0106] Step 3.3.2: Conduct detailed tests on the unqualified RSU locations and corresponding message types in Step 3.3.1, and verify the packet loss rate of the roadside message data collected in the detailed tests again. If the judgment result is still unqualified, it is considered that the existence of RSU locations and corresponding message types is unqualified, that is, the roadside message existence detection has not been passed.

[0107] If the judgment result is qualified, it is considered that the RSU location and the corresponding message type have passed the roadside message existence verification.

[0108] By executing the above steps, the three levels of roadside message transmission, coverage, and packet loss rate are systematically verified and identified. Only when all three levels of the roadside message to be tested at the test point pass the verification is it considered to have passed the roadside message existence detection.

[0109] The verification and discrimination of roadside messages in this embodiment can ensure the accuracy of the verification information while minimizing equipment, labor, and time costs. It enables convenient and quick verification of a wide range of roadside messages, meeting the needs of daily inspections and rapid feedback and rectification of problems during the verification process.

[0110] This solution employs a combination of general and detailed testing methods. Compared to existing technologies that limit roadside message existence detection to a single location or laboratory conditions, the advantage of this invention is that it allows testers to efficiently conduct daily inspections and maintenance of roadside messages on large-scale open roads, such as those with more than 10 RSU deployment points and a message coverage area of ​​more than 10 kilometers. It can comprehensively and systematically detect the existence of roadside messages on open roads and supports flexible daily inspection plans and arrangements.

[0111] It should be understood that the specific embodiments described above are merely illustrative or explanatory of the principles of this application and do not constitute a limitation thereof. Therefore, any modifications, equivalent substitutions, improvements, etc., made without departing from the spirit and scope of this application should be included within the protection scope of this application. Furthermore, the appended claims are intended to cover all variations and modifications falling within the scope and boundaries of the appended claims, or equivalent forms of such scope and boundaries.

Claims

1. A method for detecting the existence of roadside messages on intelligent connected large-scale open roads, characterized in that, Includes the following steps: Step 1: Determine the roadside message verification criteria; Step 2: Collect roadside message data on large-scale open roads; Step 3: Using a combination of ordinary and detailed testing, verify and judge the sending status, message coverage, and message packet loss rate of the collected roadside message data; Only when the transmission status, message coverage, and message packet loss rate of the roadside message data are all verified are the roadside messages at the test point considered to meet the requirements. The general test includes: selecting a route based on the roadside unit deployment location map, setting the test vehicle's driving speed and the diameter range of the test vehicle to the RSU location, and having the test vehicle pass through each RSU deployment location at a constant speed at a specified distance from the RSU location without stopping during the journey. At the same time, the on-board unit on the test vehicle receives all roadside messages and records the local timestamp of each message received and the vehicle's driving trajectory. The detailed test includes: setting up multiple RSU points on ordinary road sections without intersections, setting the test vehicle to drive repeatedly on the ordinary road section at a constant speed, ensuring that the test vehicle collects roadside data within a certain distance from the RSU points to be tested during the driving period, and collecting more than 1,000 data points, recording the information of the test points and the vehicle's driving trajectory. Alternatively, multiple RSU points can be set up in road sections with intersections. Test vehicles can be set to drive repeatedly at a constant speed on the road sections connected to the intersections. During the driving process, the test vehicles can be ensured to collect roadside data within a certain distance from the RSU points to be tested, and more than 1,000 data points can be collected. The information of the test points and the vehicle's driving trajectory can be recorded. Step 3 includes: Step 3.1: Verify and judge the transmission status of roadside messages using ordinary testing methods. Proceed to Step 3.2 for qualified RSU locations and their corresponding message types; otherwise, unqualified RSU locations and their corresponding message types will not be judged in subsequent steps. Step 3.2: Verify and determine the coverage of qualified RSU locations and corresponding message types from Step 3.1; proceed to Step 3.3 for qualified RSU locations and corresponding message types. If it fails, a detailed test will be conducted on the unqualified RSU points and their corresponding message types to determine whether they are qualified again. If they fail, no further steps will be taken to determine whether they are qualified. Step 3.3: Verify the packet loss rate of the qualified RSU locations and corresponding message types in Step 3.

2. Qualified RSU locations and corresponding message types are considered to have passed the roadside message existence detection. If it fails, a detailed test will be conducted on the failed RSU location and the corresponding message type to determine whether it is qualified again. If it fails, it is considered that the message to be tested at the location to be tested has not passed the roadside message existence detection. Step 3.1 includes: Step 3.1.1: Parse the four types of messages included in the roadside messages according to the ASN.1 code: real-time traffic light messages, roadside safety messages, traffic incident and traffic sign information, and map messages. Obtain the XML text of each message in each type of message and extract the ID number of the associated RSU device in each message. Step 3.1.2: Count all received ID numbers of various types of messages, and determine whether the RSU point has sent each type of message according to the specified requirements; according to the ID configuration table of RSU points and various types of messages on the open road, filter out the RSU names that did not broadcast messages according to the specified requirements and the message types that were not sent, and consider the existence of RSU points that did not broadcast the specified type of message to be unqualified, and no further judgment is required. Verify and determine the coverage of qualified RSU locations and their corresponding message types.

2. The method for detecting the existence of roadside messages on large-scale open roads in intelligent connected vehicles according to claim 1, characterized in that, Step 2 includes: Step 2.1: Assemble the data acquisition vehicle equipped with the vehicle-mounted unit; Step 2.2: Collect roadside messages and trajectory information through the vehicle-mounted unit; Step 2.3: After the data collection is completed, all received roadside message data and driving trajectory data are transferred to the computer storage unit for offline analysis.

3. The method for detecting the existence of roadside messages on large-scale open roads in intelligent connected vehicles according to claim 1, characterized in that, Before step 3, a normal test method is used to traverse all roadside unit (RSU) points on the large-scale open road, and the data of all RSU points after the traversal are transmitted, received and stored in the storage device through the vehicle unit.

4. The method for detecting the existence of roadside messages on large-scale open roads in intelligent connected vehicles according to claim 1, characterized in that, Step 3.2 includes: Step 3.2.1: Based on the qualified RSU locations and corresponding message types described in Step 3.1.2, determine whether the coverage of each type of message for each RSU meets the standard, filter out the RSU locations and corresponding message types with unqualified coverage, and verify and judge the packet loss rate of the remaining qualified RSU locations and corresponding message types. Step 3.2.2: Conduct detailed tests on the unqualified RSU locations and corresponding message types in Step 3.2.1, and verify the coverage of the roadside message data collected in the detailed tests again. If the judgment result is still unqualified, it is considered that the RSU location and corresponding message type are unqualified and no further judgment steps are required. If the judgment result is qualified, the packet loss rate of the RSU point and the corresponding message type will continue to be verified and judged.

5. The method for detecting the existence of roadside messages on large-scale open roads in intelligent connected vehicles according to claim 4, characterized in that, Step 3.3 includes: Step 3.3.1: Based on the qualified RSU locations and corresponding message types obtained in Step 3.2, determine whether the packet loss rate of each type of message for each RSU meets the standard, filter out the RSU locations and corresponding message types with unqualified packet loss rates, and consider the remaining qualified RSU locations and corresponding message types to have passed the roadside message existence detection. Step 3.3.2: Conduct detailed tests on the unqualified RSU locations and corresponding message types in Step 3.3.1, and verify the packet loss rate of the roadside message data collected in the detailed tests again. If the judgment result is still unqualified, it is considered that the existence of RSU locations and corresponding message types is unqualified, that is, the roadside message existence detection has not been passed. If the judgment result is qualified, it is considered that the RSU location and the corresponding message type have passed the roadside message existence detection.

6. The method for detecting the existence of roadside messages on large-scale open roads with intelligent connected vehicles according to any one of claims 1, 2, 3, 4, or 5, characterized in that, The general test and the detailed test are selected according to different testing purposes in specific judgments; The standard test is used for daily routine inspections and can quickly and extensively traverse all RSU points within the range. The detailed test is used to test the problematic RSU locations and corresponding message types found during vehicle inspections in the ordinary test, and then to retest the above problematic RSU locations and corresponding message types.

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