Vehicle passing control method and device, storage medium and electronic device

Abstract

The embodiment of the invention provides a vehicle passing control method and device, a storage medium and an electronic device, and the method comprises the steps: carrying out the analysis of a received target V2X message sent by a target vehicle, obtaining a group of target parameters, enabling a specified message format adopted by the target V2X message to be a message format defined according to a specified communication protocol, and enabling the target V2X message to be a set of target parameters; the V2X message in the specified message format is allowed to be forwarded by the vehicle meeting the message forwarding condition; whether the vehicle driving track of the current vehicle needs to be adjusted or not is judged on the basis of a preset avoiding condition, and the preset avoiding condition is related to at least one target parameter in the set of target parameters; and when it is determined that the vehicle driving track of the current vehicle needs to be adjusted based on a preset avoidance condition, sending an adjustment indication message to a driving object of the current vehicle to indicate adjustment of the vehicle driving track of the current vehicle so as to avoid the source end vehicle generating the target V2X message.

Description

Technical Field

[0001] The embodiments of the present invention relate to the field of traffic control, and in particular, to a vehicle traffic control method and device, a storage medium, and an electronic device. Background Art

[0002] As cars become more and more intelligent, more and more vehicles are equipped with V2X OBU. V2X provides the ability for wireless communication between vehicles.

[0003] There is currently a V2X-based special vehicle passage method, the principle of which is that a special vehicle equipped with a V2X OBU broadcasts a V2X message that carries the location information of its own vehicle. After receiving the message, surrounding vehicles equipped with a V2X OBU give way to achieve the purpose of rapid passage of special vehicles.

[0004] There is a problem with the above solution, that is, the communication distance of V2X communication is about 500 to 1000 meters in busy traffic sections. The above distance is roughly similar to the distance of the sirens of special vehicles such as police cars, fire trucks, and ambulances, so the efficiency of the rapid passage of special vehicles is not greatly improved.

[0005] It can be seen that the vehicle traffic control method in the related art has the problem of limited traffic efficiency due to the limited communication distance. Summary of the invention

[0006] Embodiments of the present invention provide a vehicle traffic control method and device, a storage medium and an electronic device to at least solve the problem of limited traffic efficiency due to limited communication distance in the vehicle traffic control method in the related art.

[0007] According to an embodiment of the present invention, a vehicle traffic control method is provided, comprising: in response to a received target V2X message sent by a target vehicle, parsing the target V2X message to obtain a set of target parameters, wherein the specified message format adopted by the target V2X message is a message format defined according to a specified communication protocol, each target parameter in the set of target parameters corresponds to at least one message field in the specified message format, and the V2X message adopting the specified message format allows vehicles that meet message forwarding conditions to forward it; judging whether it is necessary to adjust the vehicle driving trajectory of the current vehicle based on a preset avoidance condition, wherein the preset avoidance condition is related to at least one target parameter in the set of target parameters; in the case where it is determined that it is necessary to adjust the vehicle driving trajectory of the current vehicle based on the preset avoidance condition, sending an adjustment indication message to a driving object of the current vehicle, wherein the adjustment indication message is used to instruct to adjust the vehicle driving trajectory of the current vehicle to avoid a source vehicle of the target V2X message, and the source vehicle of the target V2X message is a vehicle that generates and sends the target V2X message.

[0008] According to another embodiment of the present invention, a vehicle traffic control device is provided, comprising: a parsing unit, configured to parse a target V2X message sent by a received target vehicle in response to the target V2X message, and obtain a set of target parameters, wherein the specified message format adopted by the target V2X message is a message format defined according to a specified communication protocol, each target parameter in the set of target parameters corresponds to at least one message field in the specified message format, and the V2X message adopting the specified message format allows vehicles that meet the message forwarding conditions to forward the message; a first judging unit, configured to judge whether it is necessary to adjust the vehicle driving trajectory of the current vehicle based on a preset avoidance condition, wherein the preset avoidance condition is related to at least one target parameter in the set of target parameters; a first sending unit, configured to send an adjustment instruction message to a driving object of the current vehicle when it is determined that it is necessary to adjust the vehicle driving trajectory of the current vehicle based on the preset avoidance condition, wherein the adjustment instruction message is used to instruct to adjust the vehicle driving trajectory of the current vehicle to avoid the source vehicle of the target V2X message, and the source vehicle of the target V2X message is the vehicle that generates and sends the target V2X message.

[0009] According to yet another embodiment of the present invention, a computer-readable storage medium is provided, in which a computer program is stored, wherein the computer program is configured to execute the steps of any one of the above method embodiments when run.

[0010] According to yet another embodiment of the present invention, there is provided an electronic device, including a memory and a processor, wherein the memory stores a computer program, and the processor is configured to run the computer program to execute the steps in any one of the above method embodiments.

[0011] According to yet another embodiment of the present invention, a computer program product is provided, including a computer program, and when the computer program is executed by a processor, the steps in any one of the above method embodiments are implemented.

[0012] Through the present invention, a special V2X message format is defined, which allows vehicles that meet the forwarding conditions to forward the pass request message of the special vehicle, thereby expanding the propagation range of the pass request of the special vehicle; at the same time, based on the parameters in the received V2X message of the special vehicle, it is determined by calculation whether the current vehicle needs to adjust the driving trajectory to give way to the special vehicle, and when it is confirmed that the driving trajectory of the current vehicle needs to be adjusted, the current vehicle is instructed to give way to the special vehicle, thereby improving the priority passage efficiency of special vehicles and enabling the pass request of special vehicles to cover a longer distance. Therefore, it can solve the problem of limited passage efficiency caused by limited communication distance in the vehicle passage control method in the related art, thereby achieving the effect of improving vehicle passage efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] Figure 1 is a schematic diagram of an application scenario of a vehicle traffic control method according to an embodiment of the present invention;

[0014] Figure 2 is a flow chart of a vehicle traffic control method according to an embodiment of the present invention;

[0015] Figure 3 is a schematic diagram of another vehicle traffic control method according to an embodiment of the present invention;

[0016] Figure 4 is a flow chart of a vehicle traffic control method according to an embodiment of the present invention;

[0017] Figure 5 is a deployment block diagram of a vehicle traffic control method according to an embodiment of the present invention;

[0018] Figure 6 is a flow chart of a vehicle traffic control method according to an embodiment of the present invention;

[0019] Figure 7 It is a structural block diagram of a vehicle traffic control device according to an embodiment of the present invention. DETAILED DESCRIPTION

[0020] Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings and in combination with the embodiments.

[0021] It should be noted that the terms "first", "second", etc. in the specification and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence.

[0022] According to one aspect of an embodiment of the present invention, a vehicle traffic control method is provided. Optionally, in this embodiment, the vehicle traffic control method can be applied to Figure 1 In the hardware environment including the Internet of Vehicles device 102 and the server 104 shown in FIG. Figure 1 As shown, the server 104 is connected to the Internet of Vehicles device 102 through a network, and a database can be set on the server or independently of the server to provide data storage services for the server 104. Here, the Internet of Vehicles device 102 may include an on-board unit and a roadside device. The Internet of Vehicles device 102 is used to achieve vehicle-road collaboration, and the server 104, as the core device of the cloud system, is responsible for processing various computing tasks.

[0023] The above network may include but is not limited to at least one of the following: wired network, wireless network. The above wired network may include but is not limited to at least one of the following: wide area network, metropolitan area network, local area network, and the above wireless network may include but is not limited to at least one of the following: WIFI (Wireless Fidelity), Bluetooth.

[0024] The vehicle traffic control method of the embodiment of the present invention may be executed by the server 104, or by the Internet of Vehicles device 102, or by both the server 104 and the Internet of Vehicles device 102. For example, the vehicle traffic control method of the embodiment is executed by the Internet of Vehicles device 102. Figure 2 is a flow chart of a vehicle traffic control method according to an embodiment of the present invention, such as Figure 2 As shown, the process includes the following steps:

[0025] Step S202, in response to the received target V2X message sent by the target vehicle, the target V2X message is parsed to obtain a set of target parameters, wherein the specified message format adopted by the target V2X message is a message format defined according to the specified communication protocol, each target parameter in the set of target parameters corresponds to at least one message field in the specified message format, and the V2X message adopting the specified message format is allowed to be forwarded by a vehicle that meets the message forwarding condition;

[0026] A vehicle traffic control method in an embodiment of the present invention can be applied to a scenario where vehicle traffic is controlled. At least some embodiments of the present application are described by taking the traffic control of special vehicles as an example.

[0027] Special vehicles are usually given the right of way so that they can perform their tasks quickly and efficiently. It should be noted that special vehicles with the right of way are usually given this right when they are performing emergency tasks, and usually need to turn on warning lights and / or play warning sounds. When ordinary vehicle drivers encounter special vehicles with the right of way, they should abide by traffic regulations and give way in time to ensure road safety and the execution of emergency tasks.

[0028] Optionally, in this embodiment, the vehicle types of special vehicles include but are not limited to the following vehicles: ambulances, fire trucks, police cars, road maintenance vehicles, special purpose vehicles (such as trailers), etc.

[0029] As cars become more and more intelligent, more and more vehicles are equipped with V2X (Vehicle-to-Everything) OBU (On-Board Unit), which provides the ability for wireless communication between vehicles. V2X technology refers to the communication technology between vehicles (V2V), vehicles and infrastructure (V2I), vehicles and pedestrians (V2P), vehicles and networks (V2N), etc. OBU is a device installed on the vehicle to realize V2X communication. It can collect vehicle information and communicate with other vehicles or infrastructure through wireless networks to provide real-time traffic information, enhance driving safety and improve traffic efficiency.

[0030] There is currently a V2X-based special vehicle passage method, the principle of which is that a special vehicle equipped with a V2X OBU broadcasts a V2X message that carries the location information of its own vehicle. After receiving the message, surrounding vehicles equipped with a V2X OBU give way to achieve the purpose of rapid passage of special vehicles.

[0031] However, there is a problem with the above solution, that is, the communication distance of V2X communication is about 500 to 1000 meters in busy traffic sections. The above distance is roughly the same as the distance of the sirens of special vehicles such as police cars, fire trucks, and ambulances, so the efficiency of the rapid passage of special vehicles is not much improved.

[0032] In order to at least partially solve the above technical problems, in this embodiment, a specific communication protocol is provided, which extends the air transmission distance of special vehicle quick passage request messages through the forwarding mechanism of special vehicle V2X messages, thereby realizing efficient special vehicle priority communication.

[0033] The forwarding of V2X special vehicle priority request messages is implemented through the V2X protocol stack software. The current general V2X protocol stack only sends its own data and does not forward received V2X messages.

[0034] In the protocol stack of the present application, the received target V2X message (for example, a customized special vehicle priority request message) can be forwarded, that is, the V2X message using the specified message format is allowed to be forwarded by vehicles that meet the message forwarding conditions.

[0035] The communication protocol specifies the format of V2X messages, including the type, structure, and encoding method of the message, to ensure that different devices and systems can correctly understand and process the messages. In this embodiment, the specified message format may be a message format defined in accordance with the specified communication protocol.

[0036] The V2X protocol stack is used to provide air interface message transmission and reception. The V2X protocol stack message is designed based on the DSMP protocol defined in "YDT3707-2020 Technical Requirements for Network Layer of Wireless Communication Technology for Internet of Vehicles Based on LTE". The DSMP protocol definition is shown in Table 1:

[0037] Table 1

[0038]

[0039] Optionally, in this embodiment, the specified communication protocol may be obtained by designing an application layer protocol for field seven (data portion).

[0040] Optionally, in this embodiment, the V2X message may be a request message for requesting priority passage.

[0041] For example, in this embodiment, special vehicles do not send priority requests at all times. The priority request switch is on the human-computer interaction interface. After the priority request is activated, the V2X protocol stack obtains the planned driving route information from the human-computer interaction interface. For non-special vehicles, after receiving the priority request from the special vehicle, it calculates whether the vehicle occupies the lane and blocks the passage of the special vehicle. If so, the driver is prompted to give way.

[0042] For the current vehicle, when receiving the target V2X message sent by the target vehicle, the target V2X message can be parsed to obtain a set of target parameters. The specified message format used by the target V2X message is the message format defined according to the specified communication protocol.

[0043] Here, the target V2X message may be generated by the target vehicle and sent to the current vehicle, or the target V2X message may be forwarded by the target vehicle to the current vehicle, which is not limited in this embodiment.

[0044] In this embodiment, by parsing the V2X message according to the specified message format defined by the specified communication protocol, a set of target parameters can be obtained, each target parameter in the set of target parameters corresponds to at least one message field in the specified message format, and the message fields are arranged according to the structure specified by the protocol, so that the receiver can accurately parse and use the data.

[0045] Step S204, determining whether it is necessary to adjust the vehicle driving trajectory of the current vehicle based on a preset avoidance condition, wherein the preset avoidance condition is related to at least one target parameter in a set of target parameters;

[0046] The preset avoidance condition is a preset determination condition for judging whether the vehicle needs to adjust the vehicle's driving trajectory. When the preset avoidance condition is met, it can be determined that the vehicle's driving trajectory needs to be adjusted; when the preset avoidance condition is not met, it can be determined that the vehicle's driving trajectory does not need to be adjusted.

[0047] Here, adjusting the vehicle driving trajectory of the current vehicle may include but is not limited to adjusting the driving speed of the current vehicle, adjusting the driving lane of the current vehicle, etc., which is not limited in this embodiment.

[0048] The driving trajectory of a vehicle can refer to the moving path of the vehicle on the road or in space over a period of time. It contains a series of position points of the vehicle during the driving process, which are connected in time order to form the movement path of the vehicle.

[0049] Optionally, in this embodiment, the preset avoidance condition may be related to at least one target parameter in a set of target parameters.

[0050] For example, in this embodiment, the preset avoidance condition may be related to the distance between the current vehicle and the driving trajectory of the source vehicle of the V2X message. After the current vehicle receives the target V2X message (for example, V2X priority passage request information) based on the V2X protocol stack, it determines whether the vehicle is on the planned driving trajectory of the special vehicle and occupies the lane. If so, the driving object of the current vehicle is prompted to avoid.

[0051] Step S206, when it is determined based on the preset avoidance condition that the vehicle driving trajectory of the current vehicle needs to be adjusted, an adjustment instruction message is sent to the driving object of the current vehicle, wherein the adjustment instruction message is used to instruct the adjustment of the vehicle driving trajectory of the current vehicle to avoid the source vehicle of the target V2X message, and the source vehicle of the target V2X message is the vehicle that generates and sends the target V2X message.

[0052] Similar to the aforementioned embodiment, when it is determined based on the preset avoidance condition that the vehicle driving trajectory of the current vehicle needs to be adjusted, an adjustment instruction message is sent to the driving object of the current vehicle.

[0053] Optionally, in this embodiment, the driving object of the vehicle includes various forms including human drivers and artificial intelligence. Sending an adjustment instruction message to the driving object of the current vehicle can be but is not limited to being implemented through the human-computer interaction interface of the current vehicle, which is not limited to this in this embodiment.

[0054] The adjustment instruction message is used to instruct the adjustment of the vehicle driving trajectory of the current vehicle to avoid the source vehicle of the target V2X message.

[0055] The source vehicle of the target V2X message is the vehicle that generates and sends the target V2X message. Similar to the aforementioned embodiment, the source vehicle and the target vehicle of the target V2X message may be the same or different vehicles, which is not limited in this embodiment.

[0056] Through the above steps, in response to the received target V2X message sent by the target vehicle, the target V2X message is parsed to obtain a set of target parameters, wherein the specified message format adopted by the target V2X message is a message format defined according to the specified communication protocol, each target parameter in the set of target parameters corresponds to at least one message field in the specified message format, and the V2X message using the specified message format allows vehicles that meet the message forwarding conditions to forward it; based on the preset avoidance condition, it is determined whether the vehicle driving trajectory of the current vehicle needs to be adjusted, wherein the preset avoidance condition is related to at least one target parameter in the set of target parameters; in the case where it is determined based on the preset avoidance condition that the vehicle driving trajectory of the current vehicle needs to be adjusted, an adjustment indication message is sent to the driving object of the current vehicle, wherein the adjustment indication message is used to indicate the adjustment of the vehicle driving trajectory of the current vehicle to avoid the source vehicle of the target V2X message, and the source vehicle of the target V2X message is the vehicle that generates and sends the target V2X message, thereby solving the problem of limited traffic efficiency due to limited communication distance in the vehicle traffic control method in the related art.

[0057] In an exemplary embodiment, a first message field in a specified message format is used to record a driving trajectory of a source vehicle of a V2X message, and a set of target parameters includes a target driving trajectory of a source vehicle of a target V2X message extracted from the first message field of the target V2X message;

[0058] Determine whether the vehicle driving trajectory of the current vehicle needs to be adjusted based on the preset avoidance conditions, including:

[0059] S11, selecting adjacent first position coordinate points and second position coordinate points from a group of evenly spaced position coordinate points in the target driving trajectory;

[0060] S12, determining a target angle between a first side and a second side, wherein the first side is a side formed by connecting the first position coordinate point and the second position coordinate point, and the second side is a side formed by connecting the first position coordinate point or the second position coordinate point and a position coordinate point of the current vehicle;

[0061] S13, based on the second side and the target angle, determining the vertical distance between the current vehicle position coordinate point and the target driving track to obtain the target vertical distance;

[0062] S14, when the target vertical distance is greater than the first distance threshold, determining that there is no need to adjust the vehicle driving trajectory of the current vehicle, wherein the preset avoidance condition includes that the vertical distance between the current vehicle and the driving trajectory of the source vehicle of the V2X message is less than or equal to the first distance threshold.

[0063] If it is confirmed that the current vehicle will not occupy the planned driving lane of the source vehicle of the V2X message, the driving trajectory of the current vehicle may not be adjusted.

[0064] Optionally, in this embodiment, the first message field in the specified message format may be used to record the driving trajectory of the source vehicle of the V2X message, and a set of target parameters includes the target driving trajectory of the source vehicle of the target V2X message extracted from the first message field of the target V2X message. The target driving trajectory includes a set of evenly spaced position coordinate points on the planned driving lane of the source vehicle of the target V2X message.

[0065] For example, in this embodiment, the first position coordinate point and the second position coordinate point are p1(lat1, lngl), p2(1at2, lng2), the position coordinate point of the current vehicle is v(latv, lngv), the first edge is a, and the second edge is the edge b formed by connecting the first position coordinate point p1 and the position coordinate point v of the current vehicle as an example, and the coordinate points on the planned driving route in the special vehicle message are traversed, such as Figure 3 As shown, two adjacent coordinate points p1(latl,lngl), p2(lat2,lng2), and v(latv,lngv) on the planned driving route are taken as the coordinate points of the current vehicle. The three points form a triangle, and the vertical distance from point v to the line connecting p1 and p2 is calculated. If the target vertical distance L is less than a first distance threshold (for example, 3 meters) (this value is configurable), it is determined that the lane is occupied and the vehicle driving trajectory of the current vehicle needs to be adjusted. When the target vertical distance L is greater than the first distance threshold, it is determined that the lane is not occupied and the vehicle driving trajectory of the current vehicle does not need to be adjusted.

[0066] Where a = d(p1, p2), b = d(p1, v), c = d(p2, v), then the target angle β is calculated according to the inverse cosine theorem of formula (1):

[0067]

[0068] According to formula (2), based on the second side b and the target angle, the target vertical distance L between the current vehicle position coordinate point and the target driving trajectory is determined:

[0069] L=b*sinβ (2)

[0070] The formula for calculating the distance between two points based on their longitude and latitude is formula (3). Based on formula (3), the distance between the position coordinate point A (lat A , lng A ) and the position coordinate point B(lat B , lng B )The length of the line segment AB formed by connecting:

[0071]

[0072] It should be noted that the first position coordinate point, the second position coordinate point and the position coordinate point of the current vehicle can be but are not limited to longitude and latitude coordinates, which are composed of two values, representing the longitude (lng) and latitude (lat) on the earth respectively.

[0073] Through this embodiment, when the current vehicle is not a lane-occupying vehicle belonging to the source vehicle, it is determined that there is no need to adjust the driving trajectory of the current vehicle, so that the normal driving of the non-lane-occupying vehicle can be guaranteed.

[0074] In an exemplary embodiment, the second message field in the specified message format is used to record the vehicle type of the source vehicle of the V2X message, and the set of target parameters includes the target vehicle type of the source vehicle of the target V2X message extracted from the second message field of the target V2X message;

[0075] After determining the vertical distance between the current vehicle position coordinate point and the target driving track based on the second side and the target angle, and obtaining the target vertical distance, the method further includes:

[0076] S21, when the target vertical distance is less than or equal to the first distance threshold, determining whether the priority of the vehicle type of the current vehicle is lower than the priority of the target vehicle type;

[0077] S22, when the priority of the vehicle type of the current vehicle is lower than the priority of the target vehicle type, determine that the vehicle driving trajectory of the current vehicle needs to be adjusted, wherein the preset avoidance conditions include that the vertical distance between the current vehicle and the driving trajectory of the source vehicle of the V2X message is less than or equal to the first distance threshold, and the priority of the vehicle type of the current vehicle is lower than the priority of the vehicle type of the source vehicle of the V2X message.

[0078] In order to improve the efficiency of priority passage for special vehicles, when a special vehicle issues a priority passage request, the priority of the special vehicle can be determined to be higher than that of ordinary vehicles (here, ordinary vehicles include special vehicles and non-special vehicles that have not issued a priority passage request message). If the vehicle occupying the road is also a special vehicle that issues a priority passage request message, it can be determined whether to give way based on the priority set for the vehicle type.

[0079] Here, the traffic priority of special vehicles can be set according to regulations and emergency situations, and low-priority special vehicles give way to high-priority special vehicles.

[0080] Similar to the aforementioned embodiment, in this embodiment, when the target vertical distance is less than or equal to the first distance threshold, it can be determined that the current vehicle is a lane-occupying vehicle. At this time, it can be further determined whether the priority of the vehicle type of the current vehicle is lower than the priority of the target vehicle type.

[0081] In a case where the priority of the vehicle type of the current vehicle is lower than the priority of the target vehicle type, it is determined that the vehicle driving trajectory of the current vehicle needs to be adjusted.

[0082] Optionally, in this embodiment, the priority of vehicle types may be, but is not limited to, police car > ambulance > fire truck > ordinary vehicle, that is, ordinary vehicles have the lowest priority and the priority increases in order.

[0083] Optionally, in this embodiment, the preset avoidance condition includes that the vertical distance between the current vehicle and the driving trajectory of the source vehicle of the V2X message is less than or equal to a first distance threshold, and the vehicle type priority of the current vehicle is lower than the vehicle type priority of the source vehicle of the V2X message.

[0084] Through this embodiment, when the current vehicle is a lane-occupying vehicle of the source vehicle and the vehicle type priority of the current vehicle is lower than the vehicle type priority of the source vehicle, it is determined that the driving trajectory of the current vehicle needs to be adjusted to avoid the source vehicle, which can improve the efficiency of priority passage of special vehicles and improve the speed of handling social emergencies.

[0085] In an exemplary embodiment, after determining whether the priority of the vehicle type of the current vehicle is lower than the priority of the target vehicle type, the method further includes:

[0086] S31, when the priority of the vehicle type of the current vehicle is higher than the priority of the target vehicle type, sending an avoidance instruction message to the source vehicle of the target V2X message, wherein the avoidance instruction message is used to instruct the source vehicle of the target V2X message to adjust the vehicle driving trajectory to avoid the current vehicle.

[0087] Correspondingly, when there is a conflict between the driving trajectory of the source vehicle of the target V2X message and the current vehicle, for example, the current vehicle is a lane-occupying vehicle of the source vehicle, if the priority of the vehicle type of the current vehicle is higher than the priority of the target vehicle type, in order to improve the traffic efficiency of the current vehicle, the current vehicle can send an avoidance instruction message to the source vehicle of the target V2X message, wherein the avoidance instruction message is used to instruct the source vehicle of the target V2X message to adjust the vehicle's driving trajectory to avoid the current vehicle.

[0088] Optionally, in this embodiment, the avoidance indication message may be a V2X message in a specified message format.

[0089] Through this embodiment, when there is a conflict between the driving trajectory of the source vehicle of the target V2X message and the current vehicle, and the priority of the vehicle type of the current vehicle is higher than the priority of the target vehicle type, an avoidance instruction message is sent to the source vehicle to instruct the source vehicle to adjust the vehicle's driving trajectory to avoid the current vehicle, thereby ensuring priority passage of vehicles with higher priority.

[0090] In an exemplary embodiment, after parsing the target V2X message in response to receiving the target V2X message sent by the target vehicle to obtain a set of target parameters, the method further includes:

[0091] S41, judging whether it is necessary to forward a target V2X message based on a message forwarding condition, wherein the message forwarding condition is related to at least one target parameter in a set of target parameters;

[0092] S42: When it is determined that the target V2X message needs to be forwarded, the target V2X message is broadcasted to forward the target V2X message to vehicles within the communication coverage of the current vehicle.

[0093] Communication coverage refers to the geographical area where V2X messages can be effectively received and processed when the vehicle-mounted unit sends them. Other vehicle-mounted units or roadside units within the communication coverage area can receive V2X messages and correctly interpret the message content.

[0094] Similar to the aforementioned embodiment, the target V2X message using the specified message format is allowed to be forwarded by vehicles that meet the message forwarding conditions.

[0095] For the current vehicle, when a target V2X message is received, it can be determined whether the target V2X message needs to be forwarded based on a message forwarding condition, wherein the message forwarding condition is related to at least one target parameter in a set of target parameters.

[0096] In the case where it is determined that the target V2X message needs to be forwarded, the current vehicle may broadcast the target V2X message to forward the target V2X message to vehicles within the communication coverage of the current vehicle.

[0097] Here, if it is DSRC (Dedicated Short Range Communications), the V2X message can be broadcast through a specific wireless channel.

[0098] Through this embodiment, when the message forwarding conditions are met, the received V2X message can be forwarded, thereby increasing the communication propagation distance of the V2X message.

[0099] In an exemplary embodiment, a set of target parameters includes at least one of the following: a target driving trajectory of a source vehicle of a target V2X message, a target sending time of a source vehicle of a target V2X message to send a target V2X message, and a vehicle identification of a vehicle that has sent a target V2X message;

[0100] Determine whether to forward the target V2X message based on the message forwarding conditions, including:

[0101] S51, determining whether the current vehicle has sent the target V2X message based on the vehicle identifier of the vehicle that has sent the target V2X message; if it is determined that the current vehicle has sent the target V2X message, determining that the target V2X message does not need to be forwarded;

[0102] S52, determining a target time difference between the current time and the target sending time; and if the target time difference is greater than a preset time threshold, determining that the target V2X message does not need to be forwarded;

[0103] S53, judging whether the vertical distance between the position coordinate point of the current vehicle and the target driving trajectory is greater than a second distance threshold based on the target driving trajectory; if it is determined that the vertical distance between the position coordinate point of the current vehicle and the target driving trajectory is greater than the second distance threshold, determining that the target V2X message does not need to be forwarded;

[0104] Among them, the message forwarding conditions include at least one of the following: the current vehicle has not sent the received V2X message; the time difference between the current time and the sending time of the V2X message sent by the source vehicle of the V2X message is less than or equal to a preset time threshold; the vertical distance between the position coordinate point of the current vehicle and the driving trajectory of the source vehicle of the V2X message is less than or equal to a second distance threshold.

[0105] To avoid message peaks and improve forwarding effectiveness, message forwarding can have at least one of the following restrictions:

[0106] 1) The current vehicle receives the target V2X message without sending the received V2X message;

[0107] 2) The time difference between the current time and the sending time of the V2X message sent by the source vehicle of the V2X message is less than or equal to a preset time threshold, and the sending time of the V2X message sent by the source vehicle of the V2X message may refer to the timestamp of the moment when the source vehicle of the target V2X message sends the message;

[0108] 3) The vertical distance between the position coordinate point of the current vehicle and the driving trajectory of the source vehicle of the V2X message is less than or equal to the second distance threshold.

[0109] For example, in this embodiment, the preset time threshold is 3 minutes and the second distance threshold is 10 meters. Figure 4 As shown, judging whether it is necessary to forward the target V2X message based on the message forwarding condition includes the following steps:

[0110] S401, determine whether the own ID is in the forwarding vehicle ID list, if so, execute S402, if not, execute S405;

[0111] S402, determine whether the time difference between the timestamp in the message and the current time is less than 3 minutes, if so, execute S403, if not, execute S405;

[0112] S403, determine whether the vehicle is within 10 meters of the planned trajectory, if so, execute S404, if not, execute S405;

[0113] S404, forwarding the message;

[0114] S405: Do not forward the message.

[0115] Optionally, by restricting only vehicles that have not forwarded the target V2X message, and whose time between receiving the V2X message and sending the V2X message by the source vehicle is short, and whose vehicles are within a certain range of the driving trajectory of the source vehicle, it is possible to avoid situations where vehicles repeatedly forward V2X messages, continue to forward V2X messages when the message generation time has expired, and vehicles that would not originally interfere with the source vehicle participate in forwarding V2X messages, thereby avoiding message congestion caused by a large number of invalid forwardings.

[0116] Through this embodiment, by setting the forwarding message conditions so that vehicles that meet the forwarding message conditions forward the target V2X message, message peaks can be avoided and forwarding effectiveness can be improved.

[0117] In an exemplary embodiment, when it is determined that the target V2X message needs to be forwarded, broadcasting the target V2X message within the communication coverage of the current vehicle includes:

[0118] S61, when it is determined that the target V2X message needs to be forwarded, the vehicle identification of the current vehicle is added to the third message field of the target V2X message to obtain an updated target V2X message, and the updated target V2X message is broadcast, wherein the third message field is used to record the vehicle identification of the vehicle that has sent the target V2X message.

[0119] In order to avoid vehicles repeatedly forwarding the same V2X message, a forwarding vehicle ID list can be set. When the current vehicle forwards the message, the vehicle identification of the current vehicle is added to the forwarding vehicle ID list.

[0120] Optionally, a third message field may be set in the target V2X message to record the vehicle identification of the vehicle that has sent the target V2X message (corresponding to the forwarding vehicle ID list). Here, the third message field initially contains only the vehicle identification of the source vehicle.

[0121] Optionally, after receiving the target V2X message, the current vehicle may add its own vehicle identification to the third message field of the target V2X message to obtain an updated target V2X message.

[0122] Optionally, after receiving the target V2X message, the current vehicle may first determine whether its own vehicle identification is in the third message field of the target V2X message. If so, the current vehicle has already forwarded the target V2X message and will not forward it.

[0123] Through this embodiment, by adding the vehicle identification of the vehicle that has forwarded the V2X message in the V2X message, it is possible to avoid the same V2X message being forwarded multiple times by the same device.

[0124] As an optional exemplary embodiment, the vehicle traffic control method of the present invention is explained by taking the communication protocol in which the specified communication protocol is designed as an application layer protocol for the data part of the DSMP protocol as an example.

[0125] Optionally, an application layer protocol design may be performed on the seventh part of the field (ie, the data part) in the aforementioned DSMP protocol, and the communication protocol definition is shown in Table 2, wherein the communication protocol may correspond to the aforementioned message field:

[0126] Table 2

[0127] Field 1 Field 2 Field three Field 4 Field 5 Field six Vehicle Type Vehicle ID Current location Plan driving route Message generation time Forwarded Vehicle ID List

[0128] Among them, the vehicle type (corresponding to the second message field) is used to indicate special vehicles (police cars, ambulances, fire trucks), ordinary vehicles, etc., the vehicle ID is used to identify the ID of the vehicle, the current positioning is used to indicate the current real-time location information of the vehicle, the planned driving route (corresponding to the first message field) is used to indicate the vehicle's expected driving route (including the destination, positioning information and lane information), the message generation time (may include the timestamp of the time when the special vehicle sends the message), and the forwarded vehicle ID list (corresponding to the third message field, the vehicle's own ID is filled in at the initial time, and the forwarded vehicle ID is added each time it is forwarded).

[0129] Through this embodiment, the communication protocol can be designated as a communication protocol for designing an application layer protocol for the data part of the DSMP protocol, thereby improving the effectiveness and security of message forwarding.

[0130] The vehicle traffic control method in the embodiment of the present application is explained below in conjunction with an optional example. In this optional example, the vehicle traffic control method can be applied to ordinary vehicles or special vehicles.

[0131] This optional example provides a vehicle traffic control method, which can send and receive V2X messages through V2X protocol stack software, for example, Figure 5 As shown, both ordinary vehicles and special vehicles are loaded with V2X protocol stack software, and V2X messages can be displayed on the human-computer interaction interface. Among them, special vehicles can send priority passage requests (here, special vehicles do not send priority passage requests at all times, and the priority passage request switch can be displayed on the human-computer interaction interface. After the priority passage request is started, the V2X protocol stack software obtains information such as the planned driving route and destination and sends corresponding V2X messages). Ordinary vehicles can receive corresponding V2X messages and forward them, and determine whether it is necessary to adjust the vehicle for avoidance.

[0132] Correspondingly, if Figure 6As shown, for a special vehicle, the process of the vehicle traffic control method in this optional example may include the following steps:

[0133] Step S602, start and wait for a human-computer interaction program request.

[0134] Step S604, determine whether priority passage is requested, if yes, execute step S606, otherwise, execute step S602.

[0135] Step S606: the human-computer interaction program generates a planned driving route.

[0136] Step S608: The V2X protocol stack packages a special vehicle priority passage request.

[0137] Step S610: Send a priority passage request.

[0138] Step S612, determine whether the priority passage request is ended, if so, execute step S602, otherwise, execute step S606.

[0139] Correspondingly, if Figure 6 As shown, for ordinary vehicles or other special vehicles other than the source vehicle of the target V2X message, the process of the vehicle traffic control method in this optional example may include the following steps:

[0140] Step S614, start and wait for a priority passage request message.

[0141] Step S616, determine whether the message is received, if so, execute step S618, otherwise, execute step S614.

[0142] Step S618, determine whether the forwarding condition is met, if so, execute step S622, otherwise, execute step S614.

[0143] Step S620, attach its own ID and forward the special vehicle passing message.

[0144] Step S622, determine whether the avoidance condition is met, if so, execute step S624, otherwise, execute step S614.

[0145] Step S624, the human-computer interaction interface prompts to avoid, and returns to step S614.

[0146] Through this optional example, on the basis of general V2X broadcast, by customizing the special vehicle pass request message set and message forwarding technology, the propagation distance of the special vehicle pass request message is improved, and the priority communication efficiency of special vehicles is improved.

[0147] Through the description of the above implementation methods, those skilled in the art can clearly understand that the method according to the above embodiment can be implemented by means of software plus a necessary general hardware platform, and of course can also be implemented by hardware, but in many cases the former is a better implementation method. Based on such an understanding, the technical solution of the present invention is essentially or the part that contributes to the prior art can be embodied in the form of a software product, which is stored in a storage medium (such as ROM / RAM, a magnetic disk, or an optical disk), and includes a number of instructions for a terminal device (which can be a mobile phone, a computer, a server, or a network device, etc.) to execute the methods of various embodiments of the present invention.

[0148] In this embodiment, a vehicle traffic control device is also provided, which is used to implement the above-mentioned embodiments and preferred implementation modes, and the descriptions that have been made will not be repeated. As used below, the term "module" can be a combination of software and / or hardware that implements a predetermined function. Although the devices described in the following embodiments are preferably implemented in software, the implementation of hardware, or a combination of software and hardware, is also possible and conceivable.

[0149] Figure 7 is a structural block diagram of a vehicle traffic control device provided by an embodiment of the present invention, such as Figure 7 As shown, the device comprises:

[0150] A parsing unit 702 is configured to parse the target V2X message in response to a received target V2X message sent by a target vehicle to obtain a set of target parameters, wherein the specified message format adopted by the target V2X message is a message format defined according to a specified communication protocol, each target parameter in the set of target parameters corresponds to at least one message field in the specified message format, and the V2X message in the specified message format is allowed to be forwarded by a vehicle that meets a message forwarding condition;

[0151] A first determination unit 704 is used to determine whether the vehicle driving trajectory of the current vehicle needs to be adjusted based on a preset avoidance condition, wherein the preset avoidance condition is related to at least one target parameter in a set of target parameters;

[0152] The first sending unit 706 is used to send an adjustment instruction message to the driving object of the current vehicle when it is determined that the vehicle driving trajectory of the current vehicle needs to be adjusted based on the preset avoidance condition, wherein the adjustment instruction message is used to instruct to adjust the vehicle driving trajectory of the current vehicle to avoid the source vehicle of the target V2X message, and the source vehicle of the target V2X message is the vehicle that generates and sends the target V2X message.

[0153] It should be noted that the parsing unit 702 in this embodiment can be used to execute the above step S202, the first judging unit 704 in this embodiment can be used to execute the above step S204, and the first sending unit 706 in this embodiment can be used to execute the above step S206.

[0154] According to the embodiments of the present invention, in response to a target V2X message sent by a received target vehicle, the target V2X message is parsed to obtain a set of target parameters, wherein the specified message format adopted by the target V2X message is a message format defined according to a specified communication protocol, each target parameter in the set of target parameters corresponds to at least one message field in the specified message format, and the V2X message adopting the specified message format allows vehicles that meet the message forwarding conditions to forward it; based on a preset avoidance condition, it is determined whether the vehicle driving trajectory of the current vehicle needs to be adjusted, wherein the preset avoidance condition is related to at least one target parameter in the set of target parameters; in the case where it is determined based on the preset avoidance condition that the vehicle driving trajectory of the current vehicle needs to be adjusted, an adjustment indication message is sent to the driving object of the current vehicle, wherein the adjustment indication message is used to indicate the adjustment of the vehicle driving trajectory of the current vehicle to avoid the source vehicle of the target V2X message, and the source vehicle of the target V2X message is the vehicle that generates and sends the target V2X message, thereby solving the problem that the vehicle traffic control method in the related art has limited traffic efficiency due to limited communication distance.

[0155] In an exemplary embodiment, a first message field in a specified message format is used to record a driving trajectory of a source vehicle of a V2X message, and a set of target parameters includes a target driving trajectory of a source vehicle of a target V2X message extracted from the first message field of the target V2X message;

[0156] The first judging unit comprises:

[0157] A selection module, used for selecting adjacent first position coordinate points and second position coordinate points from a group of evenly spaced position coordinate points in the target driving trajectory;

[0158] A first determination module is used to determine a target angle between a first side and a second side, wherein the first side is a side formed by connecting the first position coordinate point and the second position coordinate point, and the second side is a side formed by connecting the first position coordinate point or the second position coordinate point and a position coordinate point of the current vehicle;

[0159] A second determination module is used to determine the vertical distance between the current vehicle position coordinate point and the target driving track based on the second side and the target angle, and obtain the target vertical distance;

[0160] The third determination module is used to determine that there is no need to adjust the vehicle driving trajectory of the current vehicle when the target vertical distance is greater than the first distance threshold, wherein the preset avoidance condition includes that the vertical distance between the current vehicle and the driving trajectory of the source vehicle of the V2X message is less than or equal to the first distance threshold.

[0161] In an exemplary embodiment, the second message field in the specified message format is used to record the vehicle type of the source vehicle of the V2X message, and the set of target parameters includes the target vehicle type of the source vehicle of the target V2X message extracted from the second message field of the target V2X message;

[0162] The above device also includes:

[0163] a second judgment unit, configured to determine, based on the second side and the target angle, a vertical distance between the position coordinate point of the current vehicle and the target driving track, and after obtaining the target vertical distance, if the target vertical distance is less than or equal to a first distance threshold, determine whether the priority of the vehicle type of the current vehicle is lower than the priority of the target vehicle type;

[0164] A determination unit is used to determine that a vehicle driving trajectory of the current vehicle needs to be adjusted when the priority of the vehicle type of the current vehicle is lower than the priority of the target vehicle type, wherein the preset avoidance condition includes that a vertical distance between the current vehicle and the driving trajectory of the source vehicle of the V2X message is less than or equal to a first distance threshold, and the priority of the vehicle type of the current vehicle is lower than the priority of the vehicle type of the source vehicle of the V2X message.

[0165] In an exemplary embodiment, the above device further comprises:

[0166] The second sending unit is used to, after determining whether the priority of the vehicle type of the current vehicle is lower than the priority of the target vehicle type, send an avoidance instruction message to the source vehicle of the target V2X message when the priority of the vehicle type of the current vehicle is higher than the priority of the target vehicle type, wherein the avoidance instruction message is used to instruct the source vehicle of the target V2X message to adjust the vehicle driving trajectory to avoid the current vehicle.

[0167] In an exemplary embodiment, the above device further comprises:

[0168] a third judgment unit, configured to, in response to a received target V2X message sent by a target vehicle, parse the target V2X message to obtain a set of target parameters, and then judge whether the target V2X message needs to be forwarded based on a message forwarding condition, wherein the message forwarding condition is related to at least one target parameter in the set of target parameters;

[0169] The broadcast unit is used to broadcast the target V2X message when it is determined that the target V2X message needs to be forwarded, so as to forward the target V2X message to vehicles within the communication coverage of the current vehicle.

[0170] In an exemplary embodiment, a set of target parameters includes at least one of the following: a target driving trajectory of a source vehicle of a target V2X message, a target sending time of a source vehicle of a target V2X message to send a target V2X message, and a vehicle identification of a vehicle that has sent a target V2X message;

[0171] The third judgment unit includes:

[0172] a fourth determination module, configured to determine whether the current vehicle has sent the target V2X message based on the vehicle identifier of the vehicle that has sent the target V2X message; and a fifth determination module, configured to determine that the target V2X message does not need to be forwarded if it is determined that the current vehicle has sent the target V2X message.

[0173] a sixth determination module, configured to determine a target time difference between a current time and a target transmission time; and a seventh determination module, configured to determine that the target V2X message does not need to be forwarded if the target time difference is greater than a preset time threshold;

[0174] a judging module, configured to judge whether a vertical distance between a position coordinate point of the current vehicle and the target driving trajectory is greater than a second distance threshold based on the target driving trajectory; an eighth determining module, configured to determine that it is not necessary to forward the target V2X message when it is determined that the vertical distance between the position coordinate point of the current vehicle and the target driving trajectory is less than or equal to the second distance threshold;

[0175] Among them, the message forwarding conditions include at least one of the following: the current vehicle has not sent the received V2X message; the time difference between the current time and the sending time of the V2X message sent by the source vehicle of the V2X message is less than or equal to a preset time threshold; the vertical distance between the position coordinate point of the current vehicle and the driving trajectory of the source vehicle of the V2X message is greater than a second distance threshold.

[0176] In one exemplary embodiment, the broadcast unit includes:

[0177] The adding module is used to add the vehicle identification of the current vehicle to the third message field of the target V2X message when it is determined that the target V2X message needs to be forwarded, to obtain an updated target V2X message, and to broadcast the updated target V2X message, wherein the third message field is used to record the vehicle identification of the vehicle that has sent the target V2X message.

[0178] It should be noted that the above modules can be implemented by software or hardware. For the latter, it can be implemented in the following ways, but not limited to: the above modules are all located in the same processor; or the above modules are located in different processors in any combination.

[0179] An embodiment of the present invention further provides a computer-readable storage medium, in which a computer program is stored, wherein the computer program is configured to execute the steps of any of the above method embodiments when running.

[0180] In an exemplary embodiment, the computer-readable storage medium may include, but is not limited to, various media that can store computer programs, such as a USB flash drive, a read-only memory (ROM), a random access memory (RAM), a mobile hard disk, a magnetic disk or an optical disk.

[0181] An embodiment of the present invention further provides an electronic device, including a memory and a processor, wherein a computer program is stored in the memory, and the processor is configured to run the computer program to execute the steps in any one of the above method embodiments.

[0182] In an exemplary embodiment, the electronic device may further include a transmission device and an input / output device, wherein the transmission device is connected to the processor, and the input / output device is connected to the processor.

[0183] For specific examples in this embodiment, reference may be made to the examples described in the above embodiments and exemplary implementation modes, and this embodiment will not be described in detail herein.

[0184] An embodiment of the present invention further provides a computer program product, which includes a computer program. When the computer program is executed by a processor, the steps in any one of the above method embodiments are implemented.

[0185] An embodiment of the present invention further provides another computer program product, including a non-volatile computer-readable storage medium, wherein the non-volatile computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the steps in any of the above method embodiments are implemented.

[0186] An embodiment of the present invention also provides a computer program, which includes computer instructions stored in a computer-readable storage medium; a processor of a computer device reads the computer instructions from the computer-readable storage medium, and the processor executes the computer instructions, so that the computer device performs the steps in any one of the above-mentioned method embodiments.

[0187] Obviously, those skilled in the art should understand that the above modules or steps of the present invention can be implemented by a general computing device, they can be concentrated on a single computing device, or distributed on a network composed of multiple computing devices, they can be implemented by a program code executable by a computing device, so that they can be stored in a storage device and executed by the computing device, and in some cases, the steps shown or described can be executed in a different order than here, or they can be made into individual integrated circuit modules, or multiple modules or steps therein can be made into a single integrated circuit module for implementation. Thus, the present invention is not limited to any specific combination of hardware and software.

[0188] The above are only preferred embodiments of the present invention and are not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the principles of the present invention shall be included in the protection scope of the present invention.

Claims

1. A vehicle traffic control method, characterized in that: include: In response to a received target V2X message sent by a target vehicle, the target V2X message is parsed to obtain a set of target parameters, wherein a specified message format adopted by the target V2X message is a message format defined according to a specified communication protocol, each target parameter in the set of target parameters corresponds to at least one message field in the specified message format, and a V2X message adopting the specified message format is allowed to be forwarded by a vehicle that meets a message forwarding condition; Determining whether it is necessary to adjust the vehicle driving trajectory of the current vehicle based on a preset avoidance condition, wherein the preset avoidance condition is related to at least one target parameter in the set of target parameters; In a case where it is determined based on the preset avoidance condition that the vehicle driving trajectory of the current vehicle needs to be adjusted, an adjustment instruction message is sent to the driving object of the current vehicle, wherein the adjustment instruction message is used to instruct adjustment of the vehicle driving trajectory of the current vehicle to avoid the source vehicle of the target V2X message, and the source vehicle of the target V2X message is the vehicle that generates and sends the target V2X message.

2. The method according to claim 1, characterized in that The first message field in the specified message format is used to record the driving trajectory of the source vehicle of the V2X message, and the set of target parameters includes the target driving trajectory of the source vehicle of the target V2X message extracted from the first message field of the target V2X message; The determining whether it is necessary to adjust the vehicle driving trajectory of the current vehicle based on the preset avoidance condition includes: Selecting adjacent first position coordinate points and second position coordinate points from a group of evenly spaced position coordinate points in the target driving trajectory; Determine a target angle between a first side and a second side, wherein the first side is a side formed by connecting the first position coordinate point and the second position coordinate point, and the second side is a side formed by connecting the first position coordinate point or the second position coordinate point and a position coordinate point of the current vehicle; Based on the second side and the target angle, determine the vertical distance between the position coordinate point of the current vehicle and the target driving track to obtain the target vertical distance; When the target vertical distance is greater than a first distance threshold, it is determined that there is no need to adjust the vehicle driving trajectory of the current vehicle, wherein the preset avoidance condition includes that the vertical distance between the current vehicle and the driving trajectory of the source vehicle of the V2X message is less than or equal to the first distance threshold.

3. The method according to claim 2, characterized in that The second message field in the specified message format is used to record the vehicle type of the source vehicle of the V2X message, and the set of target parameters includes the target vehicle type of the source vehicle of the target V2X message extracted from the second message field of the target V2X message; After determining the vertical distance between the position coordinate point of the current vehicle and the target driving track based on the second side and the target angle to obtain the target vertical distance, the method further includes: When the target vertical distance is less than or equal to the first distance threshold, determining whether the priority of the vehicle type of the current vehicle is lower than the priority of the target vehicle type; In a case where the priority of the vehicle type of the current vehicle is lower than the priority of the target vehicle type, it is determined that the vehicle driving trajectory of the current vehicle needs to be adjusted, wherein the preset avoidance condition includes that the vertical distance between the current vehicle and the driving trajectory of the source vehicle of the V2X message is less than or equal to the first distance threshold, and the priority of the vehicle type of the current vehicle is lower than the priority of the vehicle type of the source vehicle of the V2X message.

4. The method according to claim 3, characterized in that After determining whether the priority of the vehicle type of the current vehicle is lower than the priority of the target vehicle type, the method further includes: In a case where the priority of the vehicle type of the current vehicle is higher than the priority of the target vehicle type, an avoidance instruction message is sent to the source vehicle of the target V2X message, wherein the avoidance instruction message is used to instruct the source vehicle of the target V2X message to adjust the vehicle driving trajectory to avoid the current vehicle.

5. The method according to claim 1, characterized in that After parsing the target V2X message in response to the received target V2X message sent by the target vehicle to obtain a set of target parameters, the method further includes: determining whether the target V2X message needs to be forwarded based on the message forwarding condition, wherein the message forwarding condition is related to at least one target parameter in the set of target parameters; In a case where it is determined that the target V2X message needs to be forwarded, the target V2X message is broadcasted to forward the target V2X message to vehicles within the communication coverage of the current vehicle.

6. The method according to claim 5, characterized in that The set of target parameters includes at least one of the following: a target driving trajectory of the source vehicle of the target V2X message, a target sending time of the source vehicle of the target V2X message sending the target V2X message, and a vehicle identifier of a vehicle that has sent the target V2X message; The determining whether it is necessary to forward the target V2X message based on the message forwarding condition includes: determining, based on a vehicle identifier of a vehicle that has sent the target V2X message, whether the current vehicle has sent the target V2X message; and determining that it is not necessary to forward the target V2X message if it is determined that the current vehicle has sent the target V2X message; determining a target time difference between a current time and the target sending time; and determining that it is not necessary to forward the target V2X message if the target time difference is greater than a preset time threshold; Determining whether a vertical distance between the position coordinate point of the current vehicle and the target driving trajectory is greater than a second distance threshold based on the target driving trajectory; and determining that there is no need to forward the target V2X message if it is determined that the vertical distance between the position coordinate point of the current vehicle and the target driving trajectory is greater than the second distance threshold. Among them, the message forwarding conditions include at least one of the following: the current vehicle has not sent the received V2X message; the time difference between the current time and the sending time of the V2X message sent by the source vehicle of the V2X message is less than or equal to the preset time threshold; the vertical distance between the position coordinate point of the current vehicle and the driving trajectory of the source vehicle of the V2X message is less than or equal to the second distance threshold.

7. The method according to claim 5, characterized in that In the case where it is determined that the target V2X message needs to be forwarded, broadcasting the target V2X message within the communication coverage of the current vehicle includes: In the case where it is determined that the target V2X message needs to be forwarded, the vehicle identification of the current vehicle is added to the third message field of the target V2X message to obtain the updated target V2X message, and the updated target V2X message is broadcast, wherein the third message field is used to record the vehicle identification of the vehicle that has sent the target V2X message.

8. A vehicle traffic control device, characterized in that: include: a parsing unit, configured to parse the target V2X message in response to a received target V2X message sent by a target vehicle to obtain a set of target parameters, wherein the specified message format adopted by the target V2X message is a message format defined according to a specified communication protocol, each target parameter in the set of target parameters corresponds to at least one message field in the specified message format, and the V2X message adopting the specified message format is allowed to be forwarded by a vehicle that meets a message forwarding condition; a first judgment unit, configured to judge whether a vehicle driving trajectory of a current vehicle needs to be adjusted based on a preset avoidance condition, wherein the preset avoidance condition is related to at least one target parameter in the set of target parameters; A first sending unit is used to send an adjustment instruction message to a driving object of the current vehicle when it is determined that the vehicle driving trajectory of the current vehicle needs to be adjusted based on the preset avoidance condition, wherein the adjustment instruction message is used to instruct to adjust the vehicle driving trajectory of the current vehicle to avoid the source vehicle of the target V2X message, and the source vehicle of the target V2X message is the vehicle that generates and sends the target V2X message.

9. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, wherein the computer program implements the steps of the method described in any one of claims 1 to 7 when executed by a processor.

10. An electronic 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, the steps of the method described in any one of claims 1 to 7 are implemented.

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