Vehicle-infrastructure cooperation system, vehicle-infrastructure cooperation method and vehicle

Abstract

The invention provides a vehicle-road cooperation system, a vehicle-road cooperation method, a vehicle, computer equipment and a computer readable storage medium. The vehicle-road cooperation system comprises: an information acquisition module configured to acquire vehicle-connected everything information of a vehicle; an advanced driving assistance system configured to monitor the surroundings of the vehicle and generate driving assistance information; the control module comprises a fusion unit and is configured to receive and fuse the vehicle-connected everything information and the driving assistance information and generate a fusion control instruction; and the execution module comprises a chassis controller, and the chassis controller is configured to control a chassis of the vehicle based on the fusion control instruction from the control module. According to the vehicle-road cooperation system, the driving assistance information from the advanced driving assistance system and the vehicle-connected everything information of the information acquisition module are fused to improve the perception capability and the perception range of the advanced driving assistance system, so that the performance of the advanced driving assistance system of the vehicle is improved.

Description

Technical Field

[0001] The present invention relates to the field of vehicles, and in particular to the field of vehicle-road collaboration. More specifically, the present invention relates to a vehicle-road collaboration system, a vehicle-road collaboration method, a vehicle, a computer device, and a computer-readable storage medium. Background Art

[0002] At present, the Advanced Driver Assistance System (ADAS) of vehicles usually has basic functions such as Adaptive Cruise Control (ACC), Autonomous Emergency Braking (AEB) and Traffic Jam Assistant (TJA), which can support basic assisted driving needs of vehicles such as steering wheel angle control, brake deceleration control, and pedal acceleration control interface. Among them, the ACC function and the TJA function can be turned on independently, and the AEB function is the most important basic normally open module in the ADAS system.

[0003] AEB functions usually use sensor technology to detect surrounding vehicles and obstacles, including radar, cameras, and lidar sensors. These sensors are technically limited by physics and therefore cannot perform beyond-visual-range perception, which means that the AEB function of current ADAS systems cannot sense potential threats at long distances around the vehicle, which may result in the vehicle being unable to prevent accidents that occur at high speeds or far from the line of sight.

[0004] Therefore, there is a need to improve the performance of the vehicle's ADAS system. Summary of the invention

[0005] The purpose of the present invention is to solve the problems existing in the above-mentioned prior art and to provide a vehicle-road cooperative system to improve the performance of the vehicle's advanced driver assistance system in a cost-effective and reliable manner.

[0006] To this end, according to one aspect of the present invention, a vehicle-road cooperative system is provided, which includes: an information acquisition module, which is configured to acquire the vehicle's connected vehicle information; an advanced driving assistance system, which is configured to monitor the surrounding environment of the vehicle and generate driving assistance information; a control module, which includes a fusion unit, which is configured to receive and fuse the connected vehicle information and the driving assistance information and generate a fusion control instruction; an execution module, which includes a chassis controller, and the chassis controller is configured to control the chassis of the vehicle based on the fusion control instruction from the control module.

[0007] According to the above technical concept, the present invention may further include any one or more of the following optional forms.

[0008] In some optional forms, the fusion unit includes a judgment model, which is configured to perform a fusion judgment on the received connected vehicle information and the driving assistance information and generate the fusion control instruction.

[0009] In certain optional forms, the judgment model is configured as at least one of a fuzzy rule model, a machine learning model, and a logical rule model.

[0010] In certain optional forms, the chassis controller is further configured to control the chassis of the vehicle based on the driver assistance information from the advanced driver assistance system.

[0011] In certain optional forms, the chassis controller is further configured to: upon receiving the driving assistance information and the fused control instruction, control the chassis based on the fused control instruction.

[0012] In certain optional forms, the information acquisition module includes at least one of a roadside unit, a mobile communication base station and a satellite navigation system.

[0013] In some optional forms, the control module further includes an onboard unit configured to receive the vehicle-connected everything information from the information acquisition module and transmit the vehicle-connected everything information to the fusion unit.

[0014] In certain optional forms, the control module further includes a handshake unit configured to communicate with the information acquisition module and the execution module via a handshake protocol.

[0015] According to another aspect of the present invention, a vehicle-road collaboration method is provided, and the vehicle-road system method includes: acquiring vehicle-connected everything information of the vehicle; monitoring the surrounding environment of the vehicle and generating driving assistance information; receiving and fusing the vehicle-connected everything information and the driving assistance information, and generating a fusion control instruction; and controlling the chassis of the vehicle based on the fusion control instruction.

[0016] In some optional forms, the vehicle-road collaboration method includes: performing a fusion judgment on the received vehicle-connected everything information and the driving assistance information and generating the fusion control instruction.

[0017] In certain optional forms, the vehicle-road collaboration method includes: controlling the chassis of the vehicle based on the driving assistance information.

[0018] In some optional forms, the vehicle-road collaboration method includes: upon receiving the driving assistance information and the fusion control instruction, controlling the chassis based on the fusion control instruction.

[0019] According to another aspect of the present invention, a vehicle is provided, the vehicle comprising the above-mentioned vehicle-road cooperative system.

[0020] According to another aspect of the present invention, a computer device is provided, which includes a memory, a processor, and instructions stored in the memory and executable by the processor, wherein the processor implements the above-mentioned vehicle-road collaborative method when executing the instructions.

[0021] According to another aspect of the present invention, a computer-readable storage medium is provided, wherein the computer-readable storage medium has computer-executable instructions stored thereon, and the computer-executable instructions are used to execute the above-mentioned vehicle-road collaboration method.

[0022] The vehicle-road cooperative system of the present invention increases an information acquisition module so that the vehicle-road cooperative system can acquire vehicle-connected everything information, and integrates the acquired vehicle-connected everything information with the driving assistance information of the vehicle's advanced driving assistance system through a control module equipped with a fusion unit, so that the vehicle's advanced driving assistance system can have beyond-visual-range perception capabilities, predict the occurrence of emergency situations in advance, and give the driver and the advanced driving assistance system more time to respond, thereby reducing the probability of accidents and improving the safety of the vehicle. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Other features and advantages of the present invention will be better understood through the following optional embodiments described in detail in conjunction with the accompanying drawings, in which:

[0024] Figure 1 A schematic diagram of a vehicle-road cooperative system according to an embodiment of the present invention is shown;

[0025] Figure 2 A flow chart of a vehicle-road collaboration method according to an embodiment of the present invention is shown;

[0026] Figure 3 A flow chart of a vehicle-road collaboration method according to another embodiment of the present invention is shown;

[0027] Figure 4 A flow chart of a vehicle-road collaboration method according to another embodiment of the present invention is shown;

[0028] Figure 5 A flowchart showing a vehicle-road collaboration method according to another embodiment of the present invention is shown; and

[0029] Figure 6A schematic diagram of a computer device according to an embodiment of the present invention is shown. DETAILED DESCRIPTION

[0030] The implementation and use of the embodiments are discussed in detail below. However, it should be understood that the specific embodiments discussed are merely illustrative of specific ways to implement and use the invention, and are not intended to limit the scope of the invention.

[0031] In addition, the flowcharts and block diagrams in the accompanying drawings illustrate possible implementation architectures, functions, and operations of the methods and systems according to various embodiments of the present invention. It should be noted that the functions marked in the blocks may also occur in an order different from that marked in the accompanying drawings. For example, two consecutively represented blocks may actually be executed substantially in parallel, or they may sometimes be executed in the opposite order, depending on the functions involved.

[0032] During the driving process of the vehicle, the ADAS system may use the vehicle's equipment such as radar, camera, ultrasound, GPS, etc. to monitor the environment around the vehicle, allowing the driver to be aware of possible dangers. The inventors have found that most of the ADAS systems currently equipped in vehicles cannot perform beyond-visual-range perception, resulting in the driver being unable to perceive dangers that are far from the line of sight.

[0033] Reference Figure 1 , Figure 1 A schematic diagram of a vehicle-road cooperative system according to an embodiment of the present invention is shown.

[0034] The vehicle-road cooperative system 100 according to one embodiment of the present invention generally includes an information acquisition module 110, an ADAS system 120, a control module 130 and an execution module 140. Specifically, the information acquisition module 110 is used to obtain the vehicle's vehicle-to-everything (V2X) information, and the V2X information includes communication information between vehicles (V2V), vehicles and infrastructure (V2I), vehicles and pedestrians (V2P), vehicles and networks (V2N), etc. The ADAS system 120 is used to monitor the surrounding environment of the vehicle and generate driving assistance information based on the monitored environment. The control module 130 includes a fusion unit 131, which is used to receive the V2X information from the information acquisition module 110 and the driving assistance information from the ADAS system 120, and fuse the V2X information and the driving assistance information to generate a fusion control instruction. The execution module 140 includes a chassis controller 141 , which is used to receive the fusion control instruction from the control module 130 and control the chassis of the vehicle based on the fusion control instruction.

[0035] In this way, the vehicle-road cooperative system provided by the present invention can improve the perception ability and perception range of the vehicle's ADAS system by adding an information acquisition module and accessing V2X information without changing the hardware architecture of the ADAS and without affecting the original performance of the vehicle's ADAS system. Only when the V2X information is obtained, the V2X information is integrated with the driving assistance information, thereby enabling the ADAS system to have beyond-visual-range perception capabilities.

[0036] In some embodiments, the fusion unit 131 may include a preconfigured judgment model 132, which is configured to perform fusion judgment on the received V2X information and driving assistance information to generate a fusion control instruction. Fusion rules and logic can be predefined for the judgment model 132 to determine when and how to fuse the V2X information and driving assistance information. In addition, methods for processing the V2X information and driving assistance information can also be predefined, such as preprocessing steps such as data cleaning, filtering, and normalization to ensure the quality and consistency of the generated fusion control instructions. It is understood that the preconfigured content is not limited to this. In addition, the judgment model 132 can perform fusion judgment based on, for example, information about the vehicle's surrounding environment (such as other vehicles, pedestrians, road environment, etc.), V2X information, etc., to determine whether there is a potential collision risk. If there is a danger, the judgment model 132 can generate corresponding control instructions, such as emergency braking, etc., to ensure the safety of the vehicle and the user. In this way, the fusion unit 131 can integrate information from different data sources (in this embodiment, the information acquisition module 110 and the ADAS system 120) to make more accurate and reliable decisions, thereby providing more comprehensive, reliable and safe information in a complex traffic environment to ensure safe and efficient driving of the vehicle.

[0037] In some embodiments, the judgment model 132 may be configured as a fuzzy rule model, which may process the fuzziness and uncertainty of V2X information and driver assistance information by using corresponding fuzzy membership functions to improve the adaptability and robustness of the vehicle-road cooperative system 100. It is understood that the judgment model 132 is not limited thereto, for example, the judgment model 132 may be a machine learning model, a logic rule model, etc.

[0038] like Figure 1 As shown in , the chassis controller 141 can also control the chassis of the vehicle based on the driving assistance information from the ADAS system 120. In this case, the control module 130 does not work, and the ADAS system 120 of the vehicle works alone to send driving assistance information to the chassis controller 141. In this way, the vehicle-road cooperative system 100 can provide the functions of the conventional ADAS system 120, such as AEB, ACC, etc., when the V2X information is not obtained, thereby ensuring the safety of the driving process.

[0039] In some embodiments, when the chassis controller 141 receives the driving assistance information of the ADAS system 120 and the fusion control instruction of the control module 130 at the same time, the chassis controller 141 will control the chassis of the vehicle based on the fusion control instruction of the control module 130. In this way, the vehicle can better adapt to different driving scenarios and environmental changes. When the driving assistance information of the ADAS system 120 is not accurate or applicable, the fusion control instruction can ensure the stability and safety of the vehicle.

[0040] Figure 1 The information acquisition module 110 in the vehicle may include a road side unit (RSU) 111, which is set on the road side and usually uses a dedicated short range communication technology (DSRC) to communicate with the vehicle. The road side unit 111 can provide real-time traffic information, including traffic congestion, traffic accident alarms, construction information, etc., which helps the driver to take timely actions, choose a faster and safer route, and avoid potential dangers. It is understandable that the information acquisition module 110 is not limited to this. For example, the information acquisition module 110 may also include a mobile communication base station, a satellite navigation system, etc., wherein the satellite navigation system is, for example, a global positioning system, i.e., GPS.

[0041] Continue to refer to Figure 1 The control module 130 may also include an on-board unit (OBU) 133, which is used to receive V2X information from the information acquisition module 110 and transmit the V2X information to the fusion unit 131. The on-board unit 133 enables the vehicle to communicate with infrastructure, other vehicles, and traffic management centers, etc., so as to provide key traffic information, improve road safety, traffic flow management, and traffic efficiency. In some embodiments, the on-board unit 133 may communicate with the roadside unit 111 using DSRC technology. When the vehicle passes the roadside unit 111 at high speed, microwave communication may be used between the on-board unit 133 and the roadside unit 111 to receive V2X information from the roadside unit 111.

[0042] In some embodiments, the control module 130 may further include a handshake unit 134 , which may communicate with the information acquisition module 110 and the execution module 140 via a handshake protocol to ensure that the information acquisition module 110 and the execution module 140 are continuously controllable.

[0043] Reference Figure 2 , Figure 2 A flow chart of a vehicle-road collaboration method according to an embodiment of the present invention is shown.

[0044] In this embodiment, the vehicle-road collaboration method includes the following steps:

[0045] Step S101: Obtain the vehicle's V2X information.

[0046] In step S101 , the V2X information of the vehicle may be acquired through the information acquisition module 110 .

[0047] Step S102: Monitor the surrounding environment of the vehicle and generate driving assistance information.

[0048] In step S102 , the vehicle's ADAS system 120 may monitor the vehicle's surrounding environment and generate driving assistance information.

[0049] Step S103: Receive and fuse V2X information and driving assistance information, and generate fusion control instructions.

[0050] In step S103 , the V2X information and the driving assistance information may be received and fused by the fusion unit 131 provided in the control module 130 , and a fusion control instruction may be generated.

[0051] Step S104: Control the chassis of the vehicle based on the fusion control instruction.

[0052] In step S104 , the chassis may be controlled by the chassis controller 141 in response to the fusion control instruction.

[0053] In this way, the vehicle-road collaboration method of this embodiment integrates V2X information with driving assistance information to control the vehicle's chassis, so that the vehicle can predict emergency situations at a long distance in advance and improve the vehicle's safety performance.

[0054] Reference Figure 3 , Figure 3 A flow chart of a vehicle-road collaboration method according to another embodiment of the present invention is shown.

[0055] In this embodiment, the vehicle-road collaboration method includes the following steps:

[0056] Step S201: Obtain the vehicle's V2X information.

[0057] In step S201 , the V2X information of the vehicle may be acquired through the information acquisition module 110 .

[0058] Step S202: The onboard unit communicates with the roadside unit via a handshake protocol.

[0059] In step S202 , the handshake unit 134 may enable the onboard unit 133 and the roadside unit 111 to communicate via a handshake protocol.

[0060] Step S203: The onboard unit receives the V2X information and transmits the V2X information to the fusion unit.

[0061] In step S203 , after the onboard unit 133 successfully shakes hands with the roadside unit 111 , the onboard unit 133 receives the V2X information from the roadside unit 111 and transmits the V2X information to the fusion unit 131 .

[0062] Step S204: monitor the surrounding environment of the vehicle and generate driving assistance information.

[0063] In step S204 , the vehicle's surrounding environment may be monitored by the vehicle's ADAS system 120 and driving assistance information may be generated based on the monitored environment.

[0064] Step S205: receiving V2X information and driving assistance information, performing fusion judgment on the received V2X information and driving assistance information, and generating fusion control instructions.

[0065] In step S205, the V2X information and the driving assistance information may be fused and judged by the pre-configured judgment model 132 to generate a more reliable fusion control instruction.

[0066] Step S206: Control the chassis based on the fusion control instruction.

[0067] In step S206 , the chassis of the vehicle may be controlled by the chassis controller 141 of the vehicle based on the fusion control instruction.

[0068] In this way, the vehicle-road collaboration method of this embodiment enables the vehicle to achieve beyond-visual-range perception capabilities and improve the vehicle's safety performance by adding a V2X information interface and an on-board unit without changing the hardware architecture of the vehicle-side ADAS system.

[0069] Reference Figure 4 , Figure 4 A flow chart of a vehicle-road collaboration method according to another embodiment of the present invention is shown.

[0070] In this embodiment, the vehicle-road collaboration method includes the following steps:

[0071] Step S301: Monitor the surrounding environment of the vehicle and generate driving assistance information.

[0072] Step S302: Control the chassis of the vehicle based on the driving assistance information.

[0073] In this way, the vehicle-road collaboration method of this embodiment can provide conventional driving assistance functions without acquiring V2X information to ensure the safety of the driving process.

[0074] Reference Figure 5 , Figure 5 A flow chart of a vehicle-road collaboration method according to another embodiment of the present invention is shown.

[0075] In this embodiment, the vehicle-road collaboration method includes the following steps:

[0076] Step S401: Monitor the surrounding environment of the vehicle and generate driving assistance information.

[0077] Step S402: Obtain the vehicle's V2X information.

[0078] Step S403: Receive and fuse V2X information and driving assistance information, and generate fusion control instructions.

[0079] Step S404: When the driving assistance information and the fusion control instruction are received simultaneously, the chassis of the vehicle is controlled based on the fusion control instruction.

[0080] In this way, the vehicle can better adapt to different driving scenarios and environmental changes. When the driving assistance information is not accurate or applicable, the fusion control instructions can ensure the stability and safety of the vehicle.

[0081] Reference Figure 6 , Figure 6 A schematic diagram of a computer device according to an embodiment of the present invention is shown.

[0082] The present invention also provides a computer device 200, such as Figure 6 As shown, the computer device 200 may include a memory 210 and a processor 220. Instructions 211 may be stored in the memory 210, and the instructions 211 may be executed by the processor 220. When the processor 220 executes the instructions 211, the vehicle-road collaboration method according to the above-mentioned embodiment is implemented.

[0083] The computer device 200 of this embodiment can be a notebook, a desktop computer, a cloud server, etc. It is understandable that the components included in the computer device 200 are not limited to the memory 210 and the processor 220, and can vary depending on different needs. Exemplarily, the computer device 200 can also include multiple components ( Figure 6 ), including but not limited to: input units, such as a keyboard, a mouse, etc.; output units, such as a display, a speaker, etc.; storage units, such as semiconductor storage devices, magnetic surface storage devices, optical storage devices, etc.; and communication units, such as a network card, a wireless communication transceiver, etc.

[0084] In some embodiments, the memory 210 may include, for example, a random access memory (RAM) or a read-only memory (ROM). The memory 210 may be used to store instructions, programs, codes, and other programs and data required by the computer device 200, but is not limited thereto.

[0085] In addition, the processor 220 can be a central processing unit (CPU) or other general-purpose processors, such as a digital signal processing (DSP), a field programmable gate array (FPGA), a programmable logic array (PLA), etc.

[0086] In an exemplary embodiment of the present invention, a computer-readable storage medium is further provided. The computer-readable storage medium has computer-executable instructions stored thereon. The computer-executable instructions are used to execute the vehicle-road collaboration method according to the above embodiment.

[0087] Alternatively, the computer-readable storage medium according to the present embodiment may be a ROM, a RAM, a semiconductor storage device, a magnetic surface storage device, an optical storage device, and the like.

[0088] The vehicle-road cooperative system 100 of the present invention addresses the problem that the ADAS system 120 of the vehicle cannot perform beyond-visual-range perception. By adding additional information input to the ADAS system 120, accessing V2X information and transmitting V2X information to the ADAS system 120, V2X information can be added to the AEB function of the ADAS system 120, thereby solving the radar perception blind spot problem existing in the AEB function, such as the front vehicle blocking pedestrians, pedestrians rushing out of the intersection, and vehicles continuously changing lanes to merge into the lane of the vehicle. In addition, V2X information can be added to the ACC function of the ADAS system 120, and the ACC cruising speed can be adjusted by judging the positions of the front vehicle and the vehicle, so that the cruise control can be upgraded to adaptive cruise. In addition, V2X information can also be added to the TJA function to enhance the perception ability of the ADAS system 120, so that the ADAS system 120 can provide a faster control response when the side vehicle merges in, provide advance judgment time in following the vehicle, and increase the comfort and safety of following the vehicle.

[0089] In addition, the vehicle-road cooperative system of the present invention can also be applied to a higher-level ADAS system 120, such as an L4+ level autonomous driving system, to improve the performance of the L4+ level autonomous driving system. When applied to an L4+ level autonomous driving system, the fusion unit 131 receives and fuses the V2X information from the information acquisition module 110 with the autonomous driving information from the L4+ level autonomous driving system and generates a fusion control instruction, and the chassis controller 141 controls the chassis of the vehicle based on the fusion control instruction.

[0090] It should be understood that the embodiments shown in the figures only illustrate optional configurations of the vehicle-road cooperative system according to the present invention, which are only illustrative and not restrictive, and other configurations may be adopted without departing from the spirit and scope of the present invention.

[0091] The technical content and technical features of the present invention have been disclosed above. However, it can be understood that under the creative ideas of the present invention, those skilled in the art can make various changes and improvements to the above disclosed concepts, but they all belong to the protection scope of the present invention. The description of the above embodiments is illustrative rather than restrictive, and the protection scope of the present invention is determined by the claims.

Claims

1. A vehicle-road cooperative system, characterized in that: The vehicle-road cooperative system (100) comprises: An information acquisition module (110), the information acquisition module (110) being configured to acquire vehicle-connected everything information of the vehicle; an advanced driver assistance system (120), the advanced driver assistance system (120) being configured to monitor the surrounding environment of the vehicle and generate driver assistance information; A control module (130), the control module (130) comprising a fusion unit (131), the fusion unit (131) being configured to receive and fuse the connected vehicle information and the driving assistance information and generate a fusion control instruction; An execution module (140) includes a chassis controller (141) configured to control a chassis of the vehicle based on the fused control instruction from the control module (130).

2. The vehicle-road cooperative system according to claim 1, characterized in that: The fusion unit (131) includes a judgment model (132), and the judgment model (132) is configured to perform fusion judgment on the received connected vehicle information and the driving assistance information and generate the fusion control instruction.

3. The vehicle-road cooperative system according to claim 2, characterized in that: The judgment model (132) is configured as at least one of a fuzzy rule model, a machine learning model, and a logical rule model.

4. The vehicle-road cooperative system according to claim 1, characterized in that: The chassis controller (141) is further configured to control the chassis of the vehicle based on the driving assistance information from the advanced driving assistance system (120).

5. The vehicle-road cooperative system according to claim 4, characterized in that: The chassis controller (141) is further configured to: upon receiving the driving assistance information and the fused control instruction, control the chassis based on the fused control instruction.

6. The vehicle-road cooperative system according to claim 1, characterized in that: The information acquisition module (110) includes at least one of a roadside unit (111), a mobile communication base station and a satellite navigation system.

7. The vehicle-road cooperative system according to claim 1, characterized in that: The control module (130) further comprises an on-board unit (133), wherein the on-board unit (133) is configured to receive the vehicle-connected everything information from the information acquisition module (110) and transmit the vehicle-connected everything information to the fusion unit (131).

8. The vehicle-road cooperative system according to claim 1, characterized in that: The control module (130) further includes a handshake unit (134), and the handshake unit (134) is configured to communicate with the information acquisition module (110) and the execution module (140) via a handshake protocol.

9. A vehicle-road collaboration method, characterized in that: The vehicle-road collaboration method comprises: Obtaining vehicle-connected everything information of the vehicle (S101; S201; S402); Monitoring the surrounding environment of the vehicle and generating driving assistance information (S102; S204; S301; S401); Receiving and fusing the IoV information and the driving assistance information, and generating a fusion control instruction (S103; S403); The chassis of the vehicle is controlled based on the fusion control instruction (S104; S206).

10. The vehicle-road cooperative method according to claim 9, characterized in that: The vehicle-road collaboration method includes: performing a fusion judgment on the received connected vehicle information and the driving assistance information and generating the fusion control instruction (S205).

11. The vehicle-road cooperative method according to claim 9, characterized in that: The vehicle-road collaboration method includes: controlling the chassis of the vehicle based on the driving assistance information (S302).

12. The vehicle-road cooperative method according to claim 11, characterized in that: The vehicle-road collaboration method includes: upon receiving the driving assistance information and the fusion control instruction, controlling the chassis based on the fusion control instruction (S404).

13. A vehicle, characterized in that: The vehicle includes the vehicle-road cooperative system according to any one of claims 1 to 8.

14. A computer device, characterized in that: The computer device (200) includes a memory (210), a processor (220), and instructions (211) stored in the memory (210) and executable by the processor (220), wherein the processor (220) implements the vehicle-road collaborative method described in any one of claims 9 to 12 when executing the instructions (211).

15. A computer-readable storage medium, characterized in that: The computer-readable storage medium has computer-executable instructions stored thereon, and the computer-executable instructions are used to execute the vehicle-road collaboration method according to any one of claims 9 to 12.

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