A quality evaluation method and device for a SPAT message based on V2X communication

Abstract

The application relates to the technical field of automatic driving, and discloses a quality evaluation method and device for SPAT messages based on V2X communication, wherein the quality evaluation result of a target SPAT service message sent by an RSU (road side unit) of a target intersection is obtained by comparing the target SPAT service message and signal lamp true value data, the dynamic real traffic environment 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 application relates to the technical field of automatic driving communication, in particular to a quality evaluation method and device of SPAT message based on V2X communication. BACKGROUND

[0002] With the rapid development of automatic driving technology, modern transportation systems are gradually moving towards intelligentization. The realization of automatic driving cannot be achieved without accurate and real-time road information support, and higher requirements are put forward for vehicle-to-external information interaction (Vehicle to Everything, V2X for short) communication. Among them, the accuracy of roadside information will directly affect the driving safety of automatic driving vehicles, in order to ensure that automatic driving vehicles can obtain accurate roadside information, it is particularly important to evaluate the quality of V2X roadside messages.

[0003] Among the messages sent by the roadside unit, the signal phase and timing (SPAT for short) message provides real-time state information of traffic signal lights, so that automatic driving vehicles can accurately judge the intersection traffic situation and make correct driving decisions. However, due to the influence of signal link and other factors on the transmission quality of the current SPAT message, there may be problems of inaccurate or delayed transmission of messages. This not only affects the normal driving of automatic driving vehicles, but also may cause traffic safety hazards. Therefore, it is necessary to test and evaluate the SPAT message in V2X completely and accurately, verify its accuracy and real-time performance in various traffic environments, and ensure the safe and reliable operation of automatic driving vehicles.

[0004] In related technologies, the evaluation method of signal light time data based on V2X communication mainly includes simulation laboratory test and closed road test. Laboratory environment simulation refers to building a V2X communication network in a laboratory environment, simulating real traffic signal 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 signal 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 changes of the real traffic environment, resulting in inaccurate test results. Closed site testing requires special test facilities and equipment, and the cost is high. SUMMARY

[0006] Therefore, the present application provides a quality evaluation method and device of SPAT message based on V2X communication to solve the problems of inaccurate test results and high investment cost.

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

[0008] obtaining a target SPAT service message sent by an RSU roadside unit of a target intersection and signal light truth value data of each lane of the target intersection;

[0009] based on the target SPAT service message, obtaining a first light change time of a signal light of the target intersection, a signal receiving time and a signal preset time of the target SPAT service message, and a first working state of a signal machine;

[0010] based on the signal light truth value data, obtaining a second light change time of the signal light of the target intersection and a second working state of the signal machine;

[0011] 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;

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

[0013] In some optional embodiments, the quality evaluation method of the SPAT message based on V2X communication in the present application further comprises:

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

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

[0016] if the current packet loss rate is less than a preset threshold, determining that the effective communication distance of the RSU roadside unit of the target intersection meets the requirements.

[0017] In some optional embodiments, the quality evaluation method of the SPAT message based on V2X communication in the present application further comprises:

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

[0019] storing all the signal light data sent in the preset period for offline analysis.

[0020] In some optional embodiments, the quality evaluation method of the SPAT message based on V2X communication in the present application further comprises:

[0021] based on the target SPAT service message, obtaining first phase information of a signal light of the target intersection;

[0022] based on the signal light truth value data, obtaining second phase information of the signal light of the target intersection;

[0023] if the phase consistency between the first phase information and the second phase information, the phase of the target SPAT service message sent by the RSU road side unit of the target intersection meets the requirements.

[0024] In some optional embodiments, based on the light change difference, the state comparison result, and the time difference, the quality evaluation result of the target SPAT service message sent by the RSU road side unit of the target intersection is obtained, including:

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

[0026] In some optional embodiments, the quality evaluation method of the SPAT message based on V2X communication in the embodiments of the present disclosure includes:

[0027] obtaining an initial SPAT service message sent by the RSU road side unit of the target intersection;

[0028] obtaining the node identifier and the MAP message of the target intersection by analyzing the initial SPAT service message;

[0029] based on the node identifier and the MAP message, obtaining the target SPAT service message.

[0030] According to a second aspect, the embodiments of the present disclosure provide a quality evaluation device of a SPAT message based on V2X communication, the device includes:

[0031] a first data acquisition module for obtaining a target SPAT service message sent by an RSU road side unit of a target intersection and signal light truth value data of each lane of the target intersection;

[0032] a second data acquisition module for obtaining, based on the target SPAT service message, first light change time of a signal light of the target intersection, signal receiving time and signal preset time of the target SPAT service message, and first working state of a signal machine;

[0033] a third data acquisition module for obtaining, based on the signal light truth value data, second light change time of the signal light of the target intersection and second working state of the signal machine;

[0034] The fourth data acquisition module is 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.

[0035] The fifth data acquisition module is configured to acquire a quality evaluation result of a target SPAT service message sent by an RSU (Road Side Unit) of a target intersection based on the light change difference, the state comparison result and the time difference.

[0036] In a third aspect, the present application provides a computer device, comprising a memory and a processor, the memory and the processor are communicatively connected with each other, the memory stores computer instructions, and the processor executes the computer instructions to perform the quality evaluation method of the SPAT message based on the V2X communication according to the first aspect or any one of the corresponding embodiments thereof.

[0037] In a fourth aspect, the present application provides a computer readable storage medium, which stores computer instructions, and the computer instructions are used to make a computer execute the quality evaluation method of the SPAT message based on the V2X communication according to the first aspect or any one of the corresponding embodiments thereof.

[0038] In a fifth aspect, the present application provides a computer program product, which comprises computer instructions, and the computer instructions are used to make a computer execute the quality evaluation method of the SPAT message based on the V2X communication according to the first aspect or any one of the corresponding embodiments thereof.

[0039] The technical scheme of the present application has the following advantages:

[0040] The present application discloses a quality evaluation method and device for a SPAT message based on V2X communication, wherein the method is used to compare a specific target SPAT service message with signal lamp true value data, so as to acquire a quality evaluation result of a target SPAT service message sent by an RSU (Road Side Unit) of a target intersection, which can reproduce a dynamic and real traffic environment, improve the accuracy of test results, and more importantly, reduce the investment cost. BRIEF DESCRIPTION OF DRAWINGS

[0041] In order to more clearly illustrate the specific embodiments of the present application or the technical scheme in the prior art, the following will briefly introduce the drawings needed to be used in the specific embodiments or the prior art description. Obviously, the drawings in the following description are some embodiments of the present application, and those skilled in the art can obtain other drawings according to these drawings without any creative labor.

[0042] Figure 1is a flowchart of a quality evaluation method of a SPAT message based on V2X communication according to an embodiment of the present application;

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

[0044] Figure 3 is a simple test flowchart of a quality evaluation method of a SPAT message based on V2X communication according to an embodiment of the present application;

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

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

[0047] To make the objectives, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be described below in conjunction with the accompanying drawings of the embodiments of the present application. Obviously, the described embodiments are some but not all of the embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative work fall within the scope of protection of the present application.

[0048] Among the messages sent by the roadside unit, the signal phase and timing message (SPAT) provides real-time state information of the traffic signal, so that the autonomous vehicle can accurately judge the intersection traffic situation and make correct driving decisions. However, the transmission quality of the current SPAT message is affected by many factors such as signal link, and there may be problems of inaccurate or delayed transmission of messages. For example, there are three main reasons for the time delay of the SPAT message: first, in 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, and time delay is generated in the conversion process; second, the SPAT message is transmitted through the network, and network time delay will be generated in the transmission process; third, there is a problem of time asynchronization between the signal machine and the roadside device, which will also cause time delay or large time difference.

[0049] In an open road, the SPAT message is often affected by various aspects such as the surrounding environment, resulting in a decline in message quality. However, in the current test methods (simulated laboratory test method and closed road test method), the simulated laboratory test method cannot fully reproduce the complexity and dynamic changes of the real traffic environment, resulting in inaccurate test results. The closed field test requires special test facilities and equipment, and the investment cost is high. Therefore, the current test method cannot truly reflect the quality of the SPAT message, and the accuracy of the time directly affects the usability of the SPAT message. The current test method is not conducive to the rectification of road test equipment by the intelligent network connection demonstration area and the application of the message by the related vehicle enterprises.

[0050] Therefore, according to the embodiments of the present application, a quality evaluation method for SPAT message 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 the logical order is shown in the flowchart, in some cases, the steps shown or described herein can be executed in a different order.

[0051] In this embodiment, a quality evaluation method for SPAT message 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. The computer device includes a processor (Central Processing Unit, CPU), and the bandwidth allocation method provided in this embodiment can be specifically applied to the processor. Figure 1 The flowchart of the quality evaluation method for SPAT message based on V2X communication according to the embodiments of the present application is shown in Figure 1 The flowchart includes the following steps:

[0052] Step S101, obtaining the target SPAT service message sent by the RSU road side unit of the target intersection and the signal lamp true value data of each lane of the target intersection.

[0053] Specifically, before executing the quality evaluation method for SPAT message based on V2X communication in the embodiments of the present disclosure, the device of the road side infrastructure is debugged to ensure the smoothness of the link of the test system, and to ensure the time synchronization between the target SPAT service message and the signal lamp true value data.

[0054] Further, the target SPAT service message and the signal lamp truth value data are collected. The target SPAT service message refers to the SPAT information in the V2X message sent by the RSU road side unit of the target intersection. The target SPAT service message includes phase information of the target intersection, message timestamp, signal state, lamp color change timestamp, etc. The phase information of the target intersection includes phase information of the signal lamp, phase period, phase change time, etc. As shown in FIG. 8, it is a schematic diagram of the road side infrastructure, in which Figure 2 the signal lamp is connected with the RSU road side unit, the signal lamp is connected with the edge computing unit, the edge computing unit is connected with the RSU road side unit, and the computer device in the above embodiment is deployed in the edge computing unit. Figure 2

[0055] Further, the signal lamp truth value data can be collected by the truth value collection tool at the target intersection. The signal lamp truth value data includes signal lamp color, signal lamp countdown, signal lamp complete cycle, phase information of the target intersection, etc. The phase information of the target intersection includes phase information of the signal lamp, phase period, phase change time, etc.

[0056] Step S102, based on the target SPAT service message, the first light change time of the signal lamp of the target intersection, the signal receiving time and the signal preset time of the target SPAT service message, and the first working state of the signal lamp are obtained.

[0057] Specifically, the first light change time of the signal lamp of the target intersection is the light change timestamp information in the target SPAT service message, the signal receiving time is the timestamp when the computer device in the edge computing unit in Figure 2 receives the target SPAT service message, the signal preset time is the preset timestamp for evaluating the target SPAT service message, and the first working state of the signal lamp is the state information extracted from the field status of the working state of the signal lamp.

[0058] Step S103, based on the signal lamp truth value data, the second light change time of the signal lamp of the target intersection and the second working state of the signal lamp are obtained.

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

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

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

[0062] In step S105, based on the light change difference, the state comparison result, and the time difference, a quality evaluation result of the target SPAT service message sent by the RSU road side unit of the target intersection is obtained.

[0063] Specifically, the light change difference, the state comparison result (signal machine state indicator), and the time difference (SPAT service message receiving time) between the target SPAT service message and the signal lamp truth value data are compared, and then a complete SPAT message quality evaluation result is output.

[0064] As shown in Figure 3 FIG. 1 is a simple test flowchart of the SPAT message quality evaluation method based on V2X communication in the embodiment of the present disclosure.

[0065] The SPAT message quality evaluation method based on V2X communication in the embodiment of the present disclosure can reproduce a dynamically changing real traffic environment, improve the accuracy of test results, and more importantly, reduce the investment cost by comparing a specific target SPAT service message with signal lamp truth value data to obtain a quality evaluation result of the target SPAT service message sent by the RSU road side unit of the target intersection.

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

[0067] In step a1, based on the target SPAT service message, first phase information of the signal lamp of the target intersection is obtained.

[0068] Specifically, the first phase information of the signal lamp of the target intersection includes phase period, phase change time, and other information of the signal lamp.

[0069] In step a2, based on the signal lamp truth value data, second phase information of the signal lamp of the target intersection is obtained.

[0070] Specifically, the second phase information of the target intersection is collected by a signal lamp truth value tool, and the second phase information also includes phase period, phase change time, and other information of the signal lamp.

[0071] In step a3, if the phases of the first phase information and the second phase information are consistent, it is determined that the phase of the target SPAT service message sent by the RSU road side unit of the target intersection meets the requirements.

[0072] Specifically, the first phase information is compared with the second phase information to obtain a correspondence of phase data of the target intersection, and then it is evaluated whether the phase of the target SPAT service message sent by the RSU road side unit of the target intersection meets the requirements.

[0073] In some optional embodiments, the step S105 of obtaining the quality evaluation result of the target SPAT service message sent by the RSU road side unit of the target intersection based on the light change difference, the state comparison result and the time difference includes:

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

[0075] Specifically, the light change difference represents a light color delay between the light change timestamp of the target SPAT service message and the light change timestamp of the signal lamp true value data; the state comparison result is a working state comparison result between the target SPAT service message and the signal lamp true value data; and the time difference is a time difference between the signal receiving time of the target SPAT service message and the signal preset time for evaluating 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 is determined that the quality of the target SPAT service message sent by the RSU road side unit of the target intersection meets the requirements.

[0076] In some optional embodiments, the method for evaluating the quality of the SPAT message based on V2X communication in the embodiments of the present disclosure further includes:

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

[0078] Step b2, obtaining a current packet loss rate of the target SPAT service message received from the RSU road side unit.

[0079] Step b3, if the current packet loss rate is less than a preset threshold, determining that the effective communication distance of the RSU road side unit of the target intersection meets the requirements.

[0080] Specifically, the effective communication distance of the RSU road side unit of the target intersection is used to evaluate the signal quality of the target service SPAT message at a certain distance from the stop line, which is mainly determined by the packet loss rate of the target service SPAT message. When the packet loss rate is less than a preset threshold, it is considered that the message has high reliability, i.e., it meets the requirements. Otherwise, when the packet loss rate is greater than the preset threshold, it is considered that the message has low reliability, i.e., it 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 embodiments, the method for evaluating the quality of the SPAT message based on V2X communication in the embodiments of the present disclosure further comprises:

[0082] Step c1, obtaining all the signal lamp data sent by the RSU road side unit of the target intersection based on the preset period.

[0083] Step c2, storing all the signal lamp data sent by the preset period for offline analysis.

[0084] Specifically, in the process of receiving all the signal lamp data sent by the RSU road side unit of the target intersection based on the preset period, all the signal lamp data sent by the preset period is recorded at the same time, and after the collection is completed, all the signal lamp data is uploaded, and the all the signal lamp data sent by the preset period of the target intersection can be exported for offline analysis and comparison.

[0085] In some optional embodiments, the method for evaluating the quality of the SPAT message based on V2X communication in the embodiments of the present disclosure further comprises:

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

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

[0088] Step d3, obtaining the target SPAT service message based on the node identification and MAP message.

[0089] Specifically, the initial service SPAT message sent by the RSU road side unit of the target intersection is analyzed in real time, the node identification (NodeID) in the initial service SPAT message is extracted, and the accurate MAP message issued by the target intersection is compared to filter out the target service SPAT message matched with the intersection, so as to ensure the accuracy and relevance of the data.

[0090] In the embodiments, a device for evaluating the quality of the SPAT message based on V2X communication is also provided, which is used to implement the above-mentioned embodiments and preferred embodiments, and details are not repeated. As used below, the term "module" can be a combination of software and / or hardware that implements a predetermined function. Although the device described in the following embodiments is preferably implemented in software, hardware, or a combination of software and hardware is also possible and is contemplated.

[0091] The embodiments provide a device for evaluating the quality of the SPAT message based on V2X communication, as shown in Figure 4 , comprising:

[0092] The first data acquisition module 41 is configured to acquire target SPAT service messages sent by RSU road side units of the target intersection and signal lamp true value data of each lane of the target intersection.

[0093] The second data acquisition module 42 is configured to acquire a first light changing time of the signal lamp of the target intersection, a signal receiving time and a signal preset time of the target SPAT service message, and a first working state of the signal machine based on the target SPAT service message.

[0094] The third data acquisition module 43 is configured to acquire a second light changing time of the signal lamp of the target intersection and a second working state of the signal machine based on the signal lamp true value data.

[0095] The fourth data acquisition module 44 is configured to acquire a light changing difference between the first light changing time and the second light changing 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.

[0096] The fifth data acquisition module 45 is configured to acquire a quality evaluation result of the target SPAT service message sent by the RSU road side unit of the target intersection based on the light changing difference, the state comparison result, and the time difference.

[0097] In some optional embodiments, the quality evaluation device for the SPAT message based on V2X communication in the present disclosure further comprises:

[0098] The service data receiving module is configured to receive the target SPAT service message sent by the RSU road side unit at a preset distance of a stop line of the target intersection.

[0099] The packet loss data acquisition module is configured to acquire a current packet loss rate of the target SPAT service message received by the RSU road side unit.

[0100] The communication distance determination module is configured to determine that the effective communication distance of the RSU road side unit of the target intersection meets the requirements if the current packet loss rate is less than a preset threshold.

[0101] In some optional embodiments, the quality evaluation device for the SPAT message based on V2X communication in the present disclosure further comprises:

[0102] The sixth data acquisition module is configured to acquire all signal lamp data sent by the RSU road side unit of the target intersection based on a preset period.

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

[0104] In some optional embodiments, the quality evaluation device for the SPAT message based on the V2X communication in the present disclosure further comprises:

[0105] The first phase information acquisition module is configured to acquire first phase information of the signal lamp of the target intersection based on the target SPAT service message.

[0106] The second phase information acquisition module is configured to acquire second phase information of the signal lamp of the target intersection based on the signal lamp true value data.

[0107] The phase information evaluation module is configured to evaluate that the phase of the target SPAT service message sent by the RSU road side unit of the target intersection meets the requirement if the phases of the first phase information and the second phase information are consistent.

[0108] In some optional embodiments, the communication distance determination module comprises:

[0109] The evaluation result acquisition submodule is configured to evaluate that the quality of the target SPAT service message sent by the RSU road side unit of the target intersection meets the requirement if the light change difference is less than the first preset value, the state comparison result is consistent, and the time difference is less than the second preset value.

[0110] In some optional embodiments, the first data acquisition module 41 comprises:

[0111] The first acquisition submodule is configured to acquire the initial SPAT service message sent by the RSU road side unit of the target intersection.

[0112] The data analysis submodule is configured to obtain the node identifier and the MAP message of the target intersection by analyzing the initial SPAT service message.

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

[0114] Further function descriptions of the above-mentioned modules and units are the same as those of the corresponding embodiments, and will not be described here.

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

[0116] The present embodiment further provides a computer device with the quality evaluation device for the SPAT message based on the V2X communication.

[0117] Referring to Figure 5 , Figure 5 is a structural schematic diagram of a computer device provided by an optional embodiment of the present application, as Figure 5 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 communicatively connected through different buses, and can be installed on a common mainboard or in other manners as needed. The processor can process instructions executed within the computer device, including instructions stored in the memory or on the memory to display graphical information of a GUI on an external input / output device, such as a display device coupled to the interface. In some optional embodiments, multiple processors and / or buses can be used with multiple memories and multiple memory, if needed. Also, multiple computer devices can be connected, each providing part of the necessary operations (for example, as a server array, a group of blade servers, or a multi-processor system). Figure 5 In the following description, the processor 10 is taken as an example.

[0118] The processor 10 can be a central processor, a network processor, or a combination thereof. The processor 10 can further include a hardware chip. The hardware chip can be an application specific integrated circuit, a programmable logic device, or a combination thereof. The programmable logic device can be a complex programmable logic device, a field programmable logic device, a general array logic, or any combination thereof.

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

[0120] The memory 20 can include a program storage area and a data storage area. The program storage area can store an operating system and application programs required by at least one function; the data storage area can store data created according to the use of the computer device, etc. In addition, the memory 20 can include a high-speed random access memory, and can also include a non-transitory memory, such as at least one magnetic disk storage device, a flash memory device, or other non-transitory solid-state memory device. In some optional embodiments, the memory 20 can optionally include a memory remotely arranged with respect to the processor 10, which can be connected to the computer device through a network. Examples of the network include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network, and a combination thereof.

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

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

[0123] The embodiments of the present application also provide a computer readable storage medium, and the method according to the embodiments of the present application can be implemented in hardware, firmware, or recorded in a storage medium, or be implemented as computer code originally stored in a remote storage medium or non-transitory machine readable storage medium and downloaded to a local storage medium, so that the method described herein can be processed by such software on a storage medium using a general purpose computer, a special purpose processor, or programmable or special purpose hardware. The storage medium can be a magnetic disk, an optical disk, a read-only memory, a random access memory, a flash memory, a hard disk or a solid state disk, etc. Further, the storage medium can also include a combination of the above-mentioned types of memories. It can be understood that the computer, processor, 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 the computer, processor or hardware, the method shown in the above embodiments is implemented.

[0124] Part of the present application can be applied as a computer program product, for example, computer program instructions, when executed by a computer, through the operation of the computer, the method and / or technical solutions according to the present application can be invoked or provided. Those skilled in the art should understand that the form of computer program instructions in computer readable medium includes but is not limited to source file, executable file, installation package file, etc. Correspondingly, the way of computer program instructions executed by computer includes but is not limited to: the computer directly executes the instructions, or the computer compiles the instructions and then executes the corresponding compiled program, or the computer reads and executes the instructions, or the computer reads and installs the instructions and then executes the corresponding installed program. Here, the computer readable medium can be any available computer readable storage medium or communication medium accessible to the computer.

[0125] Although the embodiments of the present application are described in conjunction with the accompanying drawings, various modifications and changes can be made by those skilled in the art without departing from the spirit and scope of the present application, and such modifications and changes fall within the scope defined by the appended claims.

Claims

1. A method for quality assessment of SPAT messages based on V2X communication, characterized in that, The method comprises: acquiring a target SPAT service message sent by an RSU roadside unit of a target intersection and signal lamp true value data of each lane of the target intersection; based on the target SPAT service message, acquiring a first light change time of a signal lamp of the target intersection, a signal receiving time and a signal preset time of the target SPAT service message, and a first working state of a signal machine; based on the signal lamp true value data, acquiring a second light change time of the signal lamp of the target intersection and a second working state of the signal machine; acquiring 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, acquiring a quality evaluation result of the target SPAT service message sent by the RSU roadside unit of the target intersection.

2. The method of claim 1, wherein, Further comprising: receiving the target SPAT service message sent by the RSU roadside unit at a preset distance of a stop line of the target intersection; acquiring a current packet loss rate of receiving the target SPAT service message sent by the RSU roadside unit; if the current packet loss rate is less than a preset threshold, determining that the effective communication distance of the RSU roadside unit of the target intersection meets the requirements.

3. The method of claim 1, wherein, Further comprising: acquiring all signal lamp data sent by the RSU roadside unit of the target intersection based on a preset period; storing all the signal lamp data sent in the preset period for offline analysis.

4. The method of claim 1, wherein, Further comprising: based on the target SPAT service message, acquiring first phase information of the signal lamp of the target intersection; based on the signal lamp true value data, acquiring second phase information of the signal lamp of the target intersection; if the first phase information and the second phase information are consistent in phase, evaluating 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 of claim 1, wherein, Based on the light change difference, the state comparison result, and the time difference, acquiring a quality evaluation result of the target SPAT service message sent by the RSU roadside unit of the target intersection, comprising: if the light change difference is less than a first preset value, the state comparison result shows consistency, and the time difference is less than a second preset value, evaluating 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, Acquiring the target SPAT service message comprises: acquiring an initial SPAT service message sent by an RSU roadside unit of a target intersection; obtaining a node identifier and a MAP message of the target intersection by analyzing the initial SPAT service message; based on the node identifier and the MAP message, acquiring the target SPAT service message.

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

8. A computer device, comprising: The memory and the processor are communicatively connected, the memory stores computer instructions, and the processor executes the computer instructions to perform the method for evaluating the quality of the SPAT message based on the V2X communication according to any one of claims 1 to 6. The computer readable storage medium stores computer instructions for causing a computer to perform the method for evaluating the quality of the SPAT message based on the V2X communication according to any one of claims 1 to 6.

9. A computer-readable storage medium, characterized in that, The computer instructions are used to cause a computer to perform the method for evaluating the quality of the SPAT message based on the V2X communication according to any one of claims 1 to 6.

10. A computer program product, characterised in that, ​

Images