V2X communication-based SPAT message quality evaluation method and device

Abstract

The invention relates to the technical field of automatic driving, and discloses a V2X communication-based SPAT message quality evaluation method and device, and the method comprises the steps: obtaining a quality evaluation result of a target SPAT service message sent by an RSU of a target intersection through comparing a specific target SPAT service message with signal lamp truth value data, and obtaining the quality evaluation result of the target SPAT service message; the real traffic environment with dynamic change can be reproduced, the accuracy of the test result can be improved, and more importantly, the input cost can be reduced.

Description

Technical Field

[0001] The present invention relates to the field of autonomous driving communication technology, and in particular to a quality evaluation method and device for SPAT messages based on V2X communication. Background Art

[0002] With the rapid development of autonomous driving technology, modern transportation systems are gradually moving towards intelligence. The realization of autonomous driving is inseparable from the support of accurate and real-time road information, and higher requirements are put forward for vehicle-to-everything (V2X) communication. Among them, the accuracy of roadside information will directly affect the driving safety of autonomous vehicles. In order to ensure that autonomous vehicles can obtain accurate roadside information, the evaluation of V2X roadside message quality is particularly important.

[0003] Among the messages sent by the roadside unit, the Signal Phase and Timing (SPAT) message provides real-time status information of traffic lights, enabling autonomous vehicles to accurately judge the traffic conditions at intersections and make correct driving decisions. However, since the current transmission quality of SPAT messages is affected by various factors such as the signal link, there may be problems with inaccurate or delayed message transmission. This will not only affect the normal driving of autonomous vehicles, but may also pose a traffic safety hazard. Therefore, it is necessary to completely and accurately test and evaluate the SPAT messages in V2X to verify their accuracy and real-time performance in various traffic environments, and to ensure the safe and reliable operation of autonomous vehicles.

[0004] In the related technology, the evaluation method of traffic light time data based on V2X communication is mainly divided into simulated laboratory testing and closed road testing. Laboratory environment simulation refers to building a V2X communication network in a laboratory environment to simulate real traffic lights and road scenes. Use simulation software to generate and transmit SPAT messages, simulate various traffic signal changes, and test the performance of communication equipment and the transmission quality of SPAT messages. Closed test site testing refers to arranging V2X communication equipment and traffic lights in a closed test site, simulating real traffic conditions by testing vehicle operation, and then evaluating the transmission delay of SPAT messages.

[0005] However, the simulation laboratory test method cannot reproduce the dynamic and changing real traffic environment, resulting in inaccurate test results. Closed-field testing requires specialized testing facilities and equipment, which is costly. Summary of the invention

[0006] In view of this, the present invention provides a quality evaluation method and device for SPAT messages based on V2X communication to solve the problems of inaccurate test results and high investment costs.

[0007] In a first aspect, the present invention provides a method for evaluating the quality of a SPAT message based on V2X communication, the method comprising:

[0008] Obtain the target SPAT service message sent by the RSU roadside unit of the target intersection and the true value data of the traffic lights of each lane of the target intersection;

[0009] Based on the target SPAT service message, obtain the first light change time of the traffic light at the target intersection, the signal reception time and signal preset time of the target SPAT service message, and the first working state of the traffic light;

[0010] Based on the true value data of the signal light, a second light changing time of the signal light at the target intersection and a second working state of the signal light are obtained;

[0011] Obtaining a light change difference between a first light change time and a second light change time, a state comparison result between a first working state and a second working state, and a time difference between a signal receiving time and a signal preset time;

[0012] Based on the light change difference, state comparison result and time difference, the quality evaluation result of the target SPAT service message sent by the RSU roadside unit of the target intersection is obtained.

[0013] In some optional implementations, the quality assessment method of the SPAT message based on V2X communication in the embodiment of the present disclosure further includes:

[0014] At a preset distance from the stop line of the target intersection, receiving a target SPAT service message sent by the RSU roadside unit;

[0015] Obtain the current packet loss rate of the target SPAT service message sent by the receiving RSU roadside unit;

[0016] If the current packet loss rate is less than the preset threshold, it is determined that the effective communication distance of the RSU roadside unit at the target intersection meets the requirements.

[0017] In some optional implementations, the quality assessment method of the SPAT message based on V2X communication in the embodiment of the present disclosure further includes:

[0018] Obtain all traffic light data sent by the RSU roadside unit of the target intersection based on a preset period;

[0019] All signal light data sent at a preset period is stored for offline analysis.

[0020] In some optional implementations, the quality assessment method of the SPAT message based on V2X communication in the embodiment of the present disclosure further includes:

[0021] Based on the target SPAT service message, obtain the first phase information of the traffic light at the target intersection;

[0022] Based on the true value data of the traffic light, obtaining the second phase information of the traffic light at the target intersection;

[0023] If the phases of the first phase information and the second phase information are consistent, the phase of the target SPAT service message sent by the RSU roadside unit of the target intersection meets the requirements.

[0024] In some optional implementations, based on the light change difference, the state comparison result, and the time difference, obtaining the quality evaluation result of the target SPAT service message sent by the RSU roadside unit of the target intersection includes:

[0025] If the light change difference is less than the first preset value, and the status comparison result shows consistency and the time difference is less than the second preset value, the quality of the target SPAT service message sent by the RSU roadside unit of the target intersection meets the requirements.

[0026] In some optional implementations, the quality assessment method of a SPAT message based on V2X communication in an embodiment of the present disclosure obtains a target SPAT service message, including:

[0027] Obtain the initial SPAT service message sent by the RSU roadside unit at the target intersection;

[0028] By parsing the initial SPAT service message, the node identifier and MAP message of the target intersection are obtained;

[0029] Based on the node identifier and the MAP message, a target SPAT service message is acquired.

[0030] According to a second aspect, an embodiment of the present disclosure provides a quality evaluation device for a SPAT message based on V2X communication, the device comprising:

[0031] The first data acquisition module is used to acquire the target SPAT service message sent by the RSU roadside unit of the target intersection and the signal light true value data of each lane of the target intersection;

[0032] The second data acquisition module is used to acquire the first light change time of the traffic light at the target intersection, the signal reception time and signal preset time of the target SPAT service message, and the first working state of the signal machine based on the target SPAT service message;

[0033] A third data acquisition module is used to acquire a second light changing time of the signal light at the target intersection and a second working state of the signal light based on the signal light true value data;

[0034] A fourth data acquisition module, used to acquire a light change difference between a first light change time and a second light change time, a state comparison result between a first working state and a second working state, and a time difference between a signal receiving time and a signal preset time;

[0035] The fifth data acquisition module is used to obtain the quality evaluation result of the target SPAT service message sent by the RSU roadside unit of the target intersection based on the light change difference, the state comparison result, and the time difference.

[0036] In a third aspect, the present invention provides a computer device, comprising: a memory and a processor, the memory and the processor are communicatively connected to each other, the memory stores computer instructions, and the processor executes the quality assessment method of SPAT messages based on V2X communication of the above-mentioned first aspect or any corresponding embodiment thereof by executing the computer instructions.

[0037] In a fourth aspect, the present invention provides a computer-readable storage medium having computer instructions stored thereon, the computer instructions being used to enable a computer to execute the quality assessment method of SPAT messages based on V2X communication of the above-mentioned first aspect or any corresponding embodiment thereof.

[0038] In a fifth aspect, the present invention provides a computer program product, including computer instructions, which are used to enable a computer to execute the quality assessment method of SPAT messages based on V2X communication of the above-mentioned first aspect or any corresponding embodiment thereof.

[0039] The technical solution of the present invention has the following advantages:

[0040] The present invention discloses a quality evaluation method and device for SPAT messages based on V2X communication, wherein the method obtains the quality evaluation result of the target SPAT service message sent by the RSU roadside unit of the target intersection by comparing the specific target SPAT service message and the true value data of the signal light, which can not only reproduce the dynamically changing real traffic environment, but also improve the accuracy of the test result, and more importantly, reduce the investment cost. BRIEF DESCRIPTION OF THE DRAWINGS

[0041] In order to more clearly illustrate the specific implementation methods of the present invention or the technical solutions in the prior art, the drawings required for use in the specific implementation methods or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some implementation methods of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0042] Figure 1is a flow chart of a quality assessment method of a SPAT message based on V2X communication according to an embodiment of the present invention;

[0043] Figure 2 2 is a schematic diagram of the overall framework of a quality evaluation system for SPAT messages based on V2X communication according to an embodiment of the present invention;

[0044] Figure 3 is a simplified test flow chart of a quality evaluation method of a SPAT message based on V2X communication according to an embodiment of the present invention;

[0045] Figure 4 is a structural block diagram of a quality evaluation device for a SPAT message based on V2X communication according to an embodiment of the present invention;

[0046] Figure 5 It is a schematic diagram of the hardware structure of a computer device according to an embodiment of the present invention. DETAILED DESCRIPTION

[0047] In order to make the purpose, technical solution and advantages of the embodiments of the present invention clearer, the technical solution in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative work are within the scope of protection of the present invention.

[0048] Among the messages sent by the roadside unit, the Signal Phase and Timing (SPAT) message provides real-time status information of traffic lights, enabling autonomous vehicles to accurately judge the traffic conditions at intersections and make correct driving decisions. However, since the current transmission quality of SPAT messages is affected by multiple factors such as the signal link, there may be problems with inaccurate or delayed message transmission. For example, there are three main reasons for the delay in SPAT messages: First, during the transmission process between the signal machine and the platform, the signal needs to be converted according to the relevant standards of the Ministry of Public Security and the relevant standards of the Internet of Vehicles platform, which causes a delay in the conversion process; second, SPAT messages are transmitted through the network, and network delays will be generated during the transmission process; third, there is a problem of time asynchrony between the signal machine and the roadside equipment, which will also cause delays or large time differences.

[0049] On open roads, SPAT messages are often affected by the surrounding environment and other factors, resulting in reduced message quality. However, in the current test methods (simulated laboratory test methods and closed road test methods), the simulated laboratory test methods cannot fully reproduce the complexity and dynamic changes of the real traffic environment, resulting in inaccurate test results. Closed-site testing requires special testing facilities and equipment, which is costly. Therefore, the current test methods cannot truly reflect the quality of SPAT messages, and the accuracy of time directly affects the availability of SPAT messages. The current test methods are not conducive to the rectification of road test equipment in the intelligent network demonstration area and the application of the message by related car companies.

[0050] In view of this, according to an embodiment of the present invention, an embodiment of a method for quality assessment of SPAT messages based on V2X communication is provided. It should be noted that the steps shown in the flowchart of the accompanying drawings can be executed in a computer system such as a set of computer executable instructions, and although a logical order is shown in the flowchart, in some cases, the steps shown or described may be executed in an order different from that shown here.

[0051] In this embodiment, a quality evaluation method of SPAT messages based on V2X communication is provided, which can be used in computer devices, such as mobile phones, tablet computers, desktop computers, portable notebooks, servers, etc. Among them, the computer device includes a processor (Central Processing Unit, referred to as CPU), and the bandwidth allocation method provided in this embodiment can be specifically applied to the processor. Figure 1 is a flow chart of a method for quality evaluation of a SPAT message based on V2X communication according to an embodiment of the present invention. Figure 1 As shown, the process includes the following steps:

[0052] Step S101, obtaining a target SPAT service message sent by an RSU roadside unit at a target intersection and true value data of traffic lights of each lane at the target intersection.

[0053] Specifically, before executing the quality assessment method of SPAT messages based on V2X communication in the embodiment of the present disclosure, the equipment of the roadside infrastructure is debugged to ensure that the link of the test system is unobstructed and the time synchronization between the target SPAT service message and the true value data of the traffic light is ensured.

[0054] Furthermore, the target SPAT service message and the true value data of the traffic light are collected. The target SPAT service message refers to the SPAT information in the V2X message sent by the RSU roadside unit at the target intersection. The target SPAT service message includes the phase information of the target intersection, the message timestamp, the signal machine status, the light color change timestamp, etc. The phase information of the target intersection includes the phase information, phase cycle, phase change time and other information of the traffic light. Figure 2 The following is a schematic diagram of the roadside infrastructure. Figure 2 In the embodiment, the signal machine is connected to the RSU roadside unit, the signal machine is connected to the edge computing unit, the edge computing unit is connected to the RSU roadside unit, and the above-mentioned computer equipment is deployed in the edge computing unit.

[0055] Furthermore, the signal light true value data mentioned above can be collected at the target intersection through the true value collection tool to collect signal light information, and the signal light true value data includes signal light color, signal light countdown, signal light complete cycle, phase information of the target intersection, etc. Among them, the phase information of the target intersection includes the phase information, phase cycle, phase change time and other information of the signal light.

[0056] Step S102, based on the target SPAT service message, obtain the first light change time of the traffic light at the target intersection, the signal reception time and signal preset time of the target SPAT service message, and the first working state of the traffic light.

[0057] Specifically, the first light change time of the traffic light at the target intersection is the light change timestamp information in the target SPAT service message, and the signal reception time is Figure 2 The timestamp of the target SPAT service message received by the computer device in the edge computing unit, the signal preset time is the preset timestamp used to evaluate the target SPAT service message, and the first working state of the signal light is the status information extracted from the status field of the working state of the signal light.

[0058] Step S103, based on the true value data of the traffic light, obtaining a second light changing time of the traffic light at the target intersection and a second working state of the traffic light.

[0059] Specifically, the second light change time of the traffic light at the target intersection is the timestamp of the light color change moment automatically recognized by the traffic light truth value tool, and the second working state of the traffic light is the second working state of the traffic light automatically recognized by the traffic light truth value tool.

[0060] Step S104, obtaining a light change difference between the first light change time and the second light change time, a state comparison result between the first working state and the second working state, and a time difference between a signal receiving time and a signal preset time.

[0061] Specifically, the light change difference represents the light color delay between the target SPAT service message and the signal light true value data, the state comparison result represents the working state difference between the target SPAT service message and the signal light true value data, and the time difference represents the difference in signal reception time.

[0062] Step S105, based on the light change difference, the state comparison result, and the time difference, obtain the quality evaluation result of the target SPAT service message sent by the RSU roadside unit of the target intersection.

[0063] Specifically, the light color delay (light change difference), state comparison result (signal state indicator), and time difference (SPAT service message reception time) between the target SPAT service message and the true value data of the traffic light are comprehensively compared, and then the complete SPAT message quality evaluation result is output.

[0064] like Figure 3 As shown, it is a simplified test flow diagram of the quality evaluation method of SPAT message based on V2X communication in an embodiment of the present disclosure.

[0065] The quality evaluation method of the SPAT message based on V2X communication in the embodiment of the present disclosure obtains the quality evaluation result of the target SPAT service message sent by the RSU roadside unit of the target intersection by comparing the specific target SPAT service message and the true value data of the traffic light. It can not only reproduce the dynamically changing real traffic environment, but also improve the accuracy of the test results. More importantly, it can also reduce the investment cost.

[0066] In some optional implementations, the quality assessment method of the SPAT message based on V2X communication in the embodiment of the present disclosure further includes:

[0067] Step a1: acquiring first phase information of a traffic light at a target intersection based on a target SPAT service message.

[0068] Specifically, the first phase information of the traffic light at the target intersection includes information such as the phase cycle and phase change time of the traffic light.

[0069] Step a2: acquiring the second phase information of the traffic light at the target intersection based on the traffic light true value data.

[0070] Specifically, the second phase information of the target intersection is collected through the traffic light truth value tool, and the second phase information also includes: the phase cycle of the traffic light, the phase change time and other information.

[0071] Step a3: If the phases of the first phase information and the second phase information are consistent, the phase of the target SPAT service message sent by the RSU roadside unit at the target intersection is evaluated to meet the requirements.

[0072] Specifically, the first phase information is compared with the second phase information to obtain the corresponding situation of the phase data of the target intersection, and then evaluate whether the phase of the target SPAT service message sent by the RSU roadside unit of the target intersection meets the requirements.

[0073] In some optional implementations, the above step S105, based on the light change difference, the state comparison result, and the time difference, obtains the quality evaluation result of the target SPAT service message sent by the RSU roadside unit of the target intersection, including:

[0074] If the light change difference is less than the first preset value, and the status comparison result shows consistency and the time difference is less than the second preset value, the quality of the target SPAT service message sent by the RSU roadside unit of the target intersection meets the requirements.

[0075] Specifically, the light change difference represents the light color delay between the light change timestamp of the target SPAT service message and the light change timestamp of the signal light true value data; the state comparison result is the working state comparison result between the target SPAT service message and the signal light true value data; the time difference is the time difference between the signal reception time of the target SPAT service message and the signal preset time used to evaluate the target SPAT service message. When the light color delay is less than the first preset value, the state comparison result is consistent, and the time difference is less than the second preset value, it means that the quality of the target SPAT service message sent by the RSU roadside unit at the target intersection meets the requirements.

[0076] In some optional implementations, the quality assessment method of the SPAT message based on V2X communication in the embodiment of the present disclosure further includes:

[0077] Step b1, receiving a target SPAT service message sent by an RSU roadside unit at a preset distance from the stop line of the target intersection;

[0078] Step b2, obtaining the current packet loss rate of the target SPAT service message sent by the receiving RSU roadside unit.

[0079] Step b3: If the current packet loss rate is less than the preset threshold, it is determined that the effective communication distance of the RSU roadside unit at the target intersection meets the requirement.

[0080] Specifically, the effective communication distance of the RSU roadside unit at the target intersection is used to evaluate the signal quality of the SPAT message of the target service when it is a certain distance away from the stop line. It is mainly judged by the packet loss rate of the SPAT message of the target service. When the packet loss rate is less than the preset threshold, the message is considered to have high reliability, that is, it meets the requirements. Conversely, when the packet loss rate is greater than the preset threshold, the message is considered to have low reliability and does not meet the requirements. The preset threshold can be 10%, and can also be flexibly set according to the actual application scenario.

[0081] In some optional implementations, the quality assessment method of the SPAT message based on V2X communication in the embodiment of the present disclosure further includes:

[0082] Step c1, obtaining all traffic light data sent by the RSU roadside unit of the target intersection based on a preset period.

[0083] Step c2, storing all signal light data sent in a preset period for offline analysis.

[0084] Specifically, in the process of receiving all the traffic light data sent by the RSU roadside unit of the target intersection based on the preset period, all the traffic light data sent in the preset period are stored and recorded at the same time. After the collection is completed, all the traffic light data will be uploaded subsequently. All the traffic light data sent in the preset period of the target intersection can also be exported to facilitate offline analysis and comparison.

[0085] In some optional implementations, the quality assessment method of the SPAT message based on V2X communication in the embodiment of the present disclosure further includes:

[0086] Step d1, obtaining the initial SPAT service message sent by the RSU roadside unit of the target intersection.

[0087] Step d2, obtaining the node identifier and MAP message of the target intersection by parsing the initial SPAT service message.

[0088] Step d3: Acquire the target SPAT service message based on the node identifier and the MAP message.

[0089] Specifically, the initial service SPAT message sent by the RSU roadside unit of the target intersection is parsed in real time, the node identifier (NodeID) in the initial service SPAT message is extracted and compared with the accurate MAP message sent by the target intersection, and the target service SPAT message matching this intersection is screened out to ensure the accuracy and relevance of the data.

[0090] In this embodiment, a quality assessment device for SPAT messages based on V2X communication is also provided, which is used to implement the above embodiments and preferred implementations, and will not be repeated here. 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.

[0091] This embodiment provides a quality evaluation device for SPAT messages based on V2X communication, such as Figure 4 As shown, including:

[0092] The first data acquisition module 41 is used to acquire the target SPAT service message sent by the RSU roadside unit of the target intersection and the signal light true value data of each lane of the target intersection;

[0093] The second data acquisition module 42 is used to acquire the first light change time of the traffic light at the target intersection, the signal reception time and signal preset time of the target SPAT service message, and the first working state of the signal machine based on the target SPAT service message;

[0094] A third data acquisition module 43 is used to acquire a second light change time of the signal light at the target intersection and a second working state of the signal light based on the signal light true value data;

[0095] A fourth data acquisition module 44 is used to acquire a light change difference between the first light change time and the second light change time, a state comparison result between the first working state and the second working state, and a time difference between a signal receiving time and a signal preset time;

[0096] The fifth data acquisition module 45 is used to obtain the quality evaluation result of the target SPAT service message sent by the RSU roadside unit of the target intersection based on the light change difference, the state comparison result, and the time difference.

[0097] In some optional implementations, the quality assessment device of the SPAT message based on V2X communication in the embodiment of the present disclosure further includes:

[0098] A service data receiving module, used to receive a target SPAT service message sent by an RSU roadside unit at a preset distance from the stop line of a target intersection;

[0099] The packet loss data acquisition module is used to obtain the current packet loss rate of the target SPAT service message sent by the receiving RSU roadside unit;

[0100] The communication distance determination module is used to determine whether the effective communication distance of the RSU roadside unit at the target intersection meets the requirements if the current packet loss rate is less than a preset threshold.

[0101] In some optional implementations, the quality assessment device of the SPAT message based on V2X communication in the embodiment of the present disclosure further includes:

[0102] A sixth data acquisition module, used to acquire all signal light data sent by the RSU roadside unit of the target intersection based on a preset period;

[0103] The offline data analysis module is used to store all the signal light data sent in a preset period for offline analysis.

[0104] In some optional implementations, the quality assessment device of the SPAT message based on V2X communication in the embodiment of the present disclosure further includes:

[0105] A first phase information acquisition module, used to acquire first phase information of a traffic light at a target intersection based on a target SPAT service message;

[0106] A second phase information acquisition module, used to acquire second phase information of the traffic light at the target intersection based on the traffic light true value data;

[0107] The phase information evaluation module is used to evaluate whether the phase of the target SPAT service message sent by the RSU roadside unit of the target intersection meets the requirements if the phase between the first phase information and the second phase information is consistent.

[0108] In some optional implementations, the communication distance determination module includes:

[0109] The evaluation result acquisition submodule is used to evaluate whether the quality of the target SPAT service message sent by the RSU roadside unit of the target intersection meets the requirements if the light change difference is less than the first preset value, the state comparison result shows consistency, and the time difference is less than the second preset value.

[0110] In some optional implementations, the first data acquisition module 41 includes:

[0111] The first acquisition submodule is used to acquire the initial SPAT service message sent by the RSU roadside unit of the target intersection;

[0112] The data parsing submodule is used to obtain the node identification and MAP message of the target intersection by parsing the initial SPAT service message;

[0113] The second acquisition submodule is used to acquire a target SPAT service message based on the node identifier and the MAP message.

[0114] The further functional description of each of the above modules and units is the same as that of the above corresponding embodiments and will not be repeated here.

[0115] The quality assessment device of the SPAT message based on V2X communication in this embodiment is presented in the form of a functional unit, where the unit refers to an ASIC (Application Specific Integrated Circuit) circuit, a processor and memory that executes one or more software or fixed programs, and / or other devices that can provide the above functions.

[0116] An embodiment of the present invention also provides a computer device having the above-mentioned quality assessment device for SPAT messages based on V2X communication.

[0117] See also Figure 5 , Figure 5 is a schematic diagram of the structure of a computer device provided by an optional embodiment of the present invention, such as Figure 5 As shown, the computer device includes: one or more processors 10, a memory 20, and interfaces for connecting various components, including high-speed interfaces and low-speed interfaces. Various components are connected to each other using different buses for communication, and can be installed on a common mainboard or installed in other ways as needed. The processor can process the instructions executed in the computer device, including instructions stored in or on the memory to display the graphical information of the GUI on an external input / output device (such as, a display device coupled to the interface). In some optional embodiments, if necessary, multiple processors and / or multiple buses can be used together with multiple memories and multiple memories. Similarly, multiple computer devices can be connected, and each device provides some necessary operations (for example, as a server array, a group of blade servers, or a multi-processor system). Figure 5 A processor 10 is taken as an example.

[0118] The processor 10 may be a central processing unit, a network processor or a combination thereof. The processor 10 may further include a hardware chip. The hardware chip may be a dedicated integrated circuit, a programmable logic device or a combination thereof. The programmable logic device may be a complex programmable logic device, a field programmable gate array, a general purpose array logic or any combination thereof.

[0119] The memory 20 stores instructions executable by at least one processor 10, so that the at least one processor 10 executes the method shown in the above embodiment.

[0120] The memory 20 may include a program storage area and a data storage area, wherein the program storage area may store an operating system, an application required for at least one function; the data storage area may store data created according to the use of the computer device, etc. In addition, the memory 20 may include a high-speed random access memory, and may also include a non-transient memory, such as at least one disk storage device, a flash memory device, or other non-transient solid-state storage device. In some optional embodiments, the memory 20 may optionally include a memory remotely arranged relative to the processor 10, and these remote memories may be connected to the computer device via a network. Examples of the above-mentioned network include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network, and combinations thereof.

[0121] The memory 20 may include a volatile memory, such as a random access memory; the memory may also include a non-volatile memory, such as a flash memory, a hard disk or a solid state drive; the memory 20 may also include a combination of the above types of memory.

[0122] The computer device further comprises a communication interface 30 for the computer device to communicate with other devices or a communication network.

[0123] The embodiment of the present invention also provides a computer-readable storage medium. The method according to the embodiment of the present invention can be implemented in hardware, firmware, or can be implemented as a computer code that can be recorded in a storage medium, or can be implemented as a computer code that is originally stored in a remote storage medium or a non-temporary machine-readable storage medium and will be stored in a local storage medium through a network download, so that the method described herein can be stored in such software processing on a storage medium using a general-purpose computer, a dedicated processor, or programmable or dedicated hardware. Among them, the storage medium can be a magnetic disk, an optical disk, a read-only storage memory, a random access memory, a flash memory, a hard disk or a solid-state hard disk, etc.; further, the storage medium can also include a combination of the above types of memories. It can be understood that a computer, a processor, a microprocessor controller, or programmable hardware includes a storage component that can store or receive software or computer code. When the software or computer code is accessed and executed by a computer, a processor, or hardware, the method shown in the above embodiment is implemented.

[0124] A part of the present invention may be applied as a computer program product, such as a computer program instruction, which, when executed by a computer, can call or provide the method and / or technical solution according to the present invention through the operation of the computer. Those skilled in the art should understand that the existence of the computer program instruction in a computer-readable medium includes, but is not limited to, a source file, an executable file, an installation package file, etc., and accordingly, the way in which the computer program instruction is executed by the computer includes, but is not limited to: the computer directly executes the instruction, or the computer compiles the instruction and then executes the corresponding compiled program, or the computer reads and executes the instruction, or the computer reads and installs the instruction and then executes the corresponding installed program. Here, the computer-readable medium may be any available computer-readable storage medium or communication medium accessible to the computer.

[0125] Although the embodiments of the present invention have been described in conjunction with the accompanying drawings, those skilled in the art may make various modifications and variations without departing from the spirit and scope of the present invention, and such modifications and variations are all within the scope defined by the appended claims.

Claims

1. A quality evaluation method for SPAT messages based on V2X communication, characterized in that: The method comprises: Obtain the target SPAT service message sent by the RSU roadside unit of the target intersection and the true value data of the traffic lights of each lane of the target intersection; Based on the target SPAT service message, obtaining the first light change time of the traffic light at the target intersection, the signal reception time and signal preset time of the target SPAT service message, and the first working state of the traffic light; Based on the signal light true value data, obtaining a second light changing time of the signal light at the target intersection and a second working state of the signal light; Obtaining a light change difference between the first light change time and the second light change time, a state comparison result between the first working state and the second working state, and a time difference between the signal receiving time and the signal preset time; Based on the light change difference, the state comparison result, and the time difference, a quality evaluation result of a target SPAT service message sent by the RSU roadside unit of the target intersection is obtained.

2. The method according to claim 1, characterized in that Also includes: At a preset distance from the stop line of the target intersection, receiving a target SPAT service message sent by the RSU roadside unit; Obtaining a current packet loss rate of a target SPAT service message sent by the RSU roadside unit; If the current packet loss rate is less than a preset threshold, it is determined that the effective communication distance of the RSU roadside unit of the target intersection meets the requirement.

3. The method according to claim 1, characterized in that Also includes: Obtain all traffic light data sent by the RSU roadside unit of the target intersection based on a preset period; All signal light data sent in the preset period are stored for offline analysis.

4. The method according to claim 1, characterized in that: Also includes: Based on the target SPAT service message, obtaining first phase information of the traffic light at the target intersection; Based on the signal light true value data, obtaining second phase information of the signal light at the target intersection; If the phases of the first phase information and the second phase information are consistent, it is evaluated that the phase of the target SPAT service message sent by the RSU roadside unit of the target intersection meets the requirements.

5. The method according to claim 1, characterized in that Based on the light change difference, the state comparison result, and the time difference, obtaining a quality evaluation result of a target SPAT service message sent by the RSU roadside unit of the target intersection, including: If the light change difference is less than the first preset value, and the state comparison result shows consistency and the time difference is less than the second preset value, it is evaluated that the quality of the target SPAT service message sent by the RSU roadside unit of the target intersection meets the requirements.

6. The method according to any one of claims 1 to 5, characterized in that Obtaining the target SPAT service message includes: Obtain the initial SPAT service message sent by the RSU roadside unit at the target intersection; Obtaining a node identifier and a MAP message of the target intersection by parsing the initial SPAT service message; The target SPAT service message is acquired based on the node identifier and the MAP message.

7. A quality evaluation device for SPAT messages based on V2X communication, characterized in that: The device comprises: The first data acquisition module is used to acquire the target SPAT service message sent by the RSU roadside unit of the target intersection and the signal light true value data of each lane of the target intersection; A second data acquisition module is used to acquire, based on the target SPAT service message, a first light change time of the traffic light at the target intersection, a signal reception time and a signal preset time of the target SPAT service message, and a first working state of the traffic light; A third data acquisition module is used to acquire a second light change time of the signal light at the target intersection and a second working state of the signal light based on the signal light true value data; a fourth data acquisition module, configured to acquire a light change difference between the first light change time and the second light change time, a state comparison result between the first working state and the second working state, and a time difference between the signal receiving time and the signal preset time; The fifth data acquisition module is used to obtain the quality evaluation result of the target SPAT service message sent by the RSU roadside unit of the target intersection based on the light change difference, the state comparison result, and the time difference.

8. A computer device, characterized in that: include: A memory and a processor, wherein the memory and the processor are communicatively connected to each other, the memory stores computer instructions, and the processor executes the quality assessment method of the SPAT message based on V2X communication according to any one of claims 1 to 6 by executing the computer instructions.

9. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer instructions, and the computer instructions are used to enable a computer to execute the quality assessment method of SPAT messages based on V2X communication according to any one of claims 1 to 6.

10. A computer program product, characterized in that The method comprises computer instructions, wherein the computer instructions are used to enable a computer to execute the quality assessment method of a SPAT message based on V2X communication according to any one of claims 1 to 6.

Images