Data processing method, first equipment and storage medium

Abstract

The embodiment of the invention provides a data processing method, first equipment and a storage medium. The data processing method comprises the following steps: receiving a BSM sent by at least one first type of vehicle through a first roadside device, the BSM comprising a first coordinate position, a first speed and a course angle of the first type of vehicle; a preset field in the BSM is a first indication, and the first indication is used for requesting priority passage; based on the first coordinate position, the course angle and map data, determining a first lane where the first type of vehicle is located; determining an early warning range of a lane corresponding to the first type of vehicles based on the first speed and the early warning level of the first type of vehicles; on the basis of the first lane and the early warning range, determining at least one second type of vehicle needing avoidance and / or early warning; a first notification is sent to at least one second type of vehicle through the second roadside equipment, and the first notification comprises an early warning notification and / or an avoidance notification; therefore, the road utilization rate and the traffic passing efficiency can be improved.

Description

Technical Field

[0001] The present invention relates to the technical field of vehicle networking, and in particular, to a data processing method, a first device, and a storage medium. Background Art

[0002] With the development of vehicle-to-everything (V2X) technology, intelligent transportation can utilize a new generation of communication networks and data processing capabilities, and can be improved in many performance aspects.

[0003] However, currently, for some special vehicles on the road, such as ambulances and / or fire trucks, etc., they are still identified by honking or sensing; thus, ordinary vehicles may not be able to sense and identify nearby special vehicles in a timely and accurate manner, which may affect the passage of special vehicles. Summary of the Invention

[0004] In view of this, embodiments of the present invention provide a data processing method, a first device, and a storage medium to solve the above technical problems.

[0005] The technical solution of the present invention is realized as follows:

[0006] In a first aspect, an embodiment of the present invention provides a data processing method, including:

[0007] Receiving a basic safety message (BSM) sent by at least one first type of vehicle through a first roadside device, where the BSM includes a first coordinate position, a first speed, and a heading angle of the first type of vehicle; a preset field in the BSM is a first indication, and the first indication is used to request priority passage;

[0008] Based on the first coordinate position, the heading angle, and map data, determining a first lane where the first type of vehicle is located;

[0009] Based on the first speed and the warning level of the first type of vehicle, determining a warning range of the lane corresponding to the first type of vehicle;

[0010] Based on the first lane and the warning range, determining at least one second type of vehicle that needs to be avoided and / or warned;

[0011] Sending a first notification to at least one second type of vehicle through a second roadside device, where the first notification includes a warning notification and / or an avoidance notification.

[0012] In some embodiments, based on the first coordinate position, the heading angle, and map data, determining a first lane where the first type of vehicle is located includes:

[0013] Based on the first coordinate position and map data, determining an alternative intersection corresponding to the first coordinate position;

[0014] Determine an alternative lane based on the first coordinate position and the alternative intersection;

[0015] Determine the first lane based on the difference between the heading angle and the included angle between the lane line of the alternative lane.

[0016] In some embodiments, determining the warning range of the lane corresponding to the first type of vehicle based on the first speed and the warning level of the first type of vehicle includes:

[0017] Determine the warning times corresponding to the first lane and the second lane within a predetermined distance of the first lane respectively based on the warning level of the first type of vehicle and the warning mapping information; wherein, the warning mapping information is used to indicate the corresponding relationship between the warning level and the warning times of at least one lane;

[0018] Determine the warning range of the first lane based on the first speed and the warning time of the first lane, and / or determine the warning range of the second lane based on the first speed and the warning time of the second lane.

[0019] In some embodiments, the second type of vehicle includes: a second vehicle and / or a third vehicle;

[0020] Determine at least one second type of vehicle that needs to be avoided and / or warned based on the first lane and the warning range, including: determine the second vehicle that needs to be avoided based on the first lane, the first coordinate position and the warning range of the first lane; and / or determine the third vehicle that needs to be warned based on the second lane within a predetermined distance of the first lane, the first coordinate position and the warning range of the second lane;

[0021] Send a first notification to at least one second type of vehicle through the second roadside device, including: send an avoidance notification to the second vehicle through the second roadside device; and / or send a warning notification to the third vehicle through the second roadside device.

[0022] In some embodiments, the method further includes: determine the predicted collision point of the first type of vehicle and the second vehicle based on the first speed of the first type of vehicle and the second speed of the second vehicle; determine the recommended speed and / or recommended lane of the second vehicle based on the predicted collision point;

[0023] Send an avoidance notification to the second vehicle, including: send an avoidance notification including the recommended speed and / or recommended lane to the second vehicle.

[0024] In some embodiments, the method further includes: determine whether the first type of vehicle is allowed to have priority based on the BSM and the whitelist;

[0025] Based on the first coordinate position, the heading angle, and the map data, determine the first lane where the first type of vehicle is located, including: when the first type of vehicle is allowed to have priority, based on the first coordinate position, the heading angle, and the map data, determine the first lane where the first type of vehicle is located.

[0026] In some embodiments, the BSM includes the priority of the first type of vehicle;

[0027] The method further includes: when there are multiple first type of vehicles allowed to have priority in the first lane, based on the priorities of the multiple first type of vehicles, determine the first type of vehicle corresponding to the highest priority as the target vehicle;

[0028] Send an avoidance notice for the first lane of the target vehicle and / or a warning notice for the second lane of the target vehicle to the first type of vehicles other than the target vehicle among the multiple first type of vehicles.

[0029] In some embodiments, sending a first notice to at least one second type of vehicle includes: sending an avoidance notice for the first lane of the multiple first type of vehicles sorted by priority and / or a warning notice for the second lane of the multiple first type of vehicles to at least one second type of vehicle.

[0030] In a second aspect, an embodiment of the present invention provides a data processing system, including: a first device, at least one first roadside device, at least one first type of vehicle, at least one second roadside device, and at least one second type of vehicle; wherein,

[0031] The first type of vehicle sends basic safety information BSM to the first roadside device, where the BSM includes the first coordinate position, the first speed, and the heading angle of the first type of vehicle; a preset field in the BSM is a first indication, and the first indication is used to request priority;

[0032] The first roadside device sends the BSM to the first device;

[0033] The first device determines the first lane where the first type of vehicle is located based on the first coordinate position, the heading angle, and the map data; determines the warning range of the lane corresponding to the first type of vehicle based on the first speed and the warning level of the first type of vehicle; determines at least one second type of vehicle that needs to be avoided and / or warned based on the first lane and the warning range;

[0034] The first device sends a first notice to the second roadside device, where the first notice includes a warning notice and / or an avoidance notice;

[0035] The second roadside device sends the first notice to the second type of vehicle.

[0036] In a third aspect, an embodiment of the present invention provides a first device, including:

[0037] A receiving module, configured to receive Basic Safety Messages (BSMs) sent by at least one first type of vehicle through a first roadside device, where the BSMs include a first coordinate position, a first speed, and a heading angle of the first type of vehicle; a preset field in the BSMs is a first indication, and the first indication is used to request priority passage.

[0038] A processing module, configured to determine a first lane where the first type of vehicle is located based on the first coordinate position, the heading angle, and map data.

[0039] A processing module, configured to determine a warning range of the lane corresponding to the first type of vehicle based on the first speed and the warning level of the first type of vehicle.

[0040] A processing module, configured to determine at least one second type of vehicle that needs to avoid and / or be warned based on the first lane and the warning range.

[0041] A sending module, configured to send a first notification to at least one second type of vehicle through a second roadside device, where the first notification includes a warning notification and / or an avoidance notification.

[0042] In a fourth aspect, an embodiment of the present invention provides a first device, which includes a processor and a memory for storing a computer program that can run on the processor; wherein, when the processor is used to run the computer program, it implements the data processing method of any embodiment of the present invention.

[0043] In a fifth aspect, an embodiment of the present invention further provides a computer storage medium, in which there are computer-executable instructions, and when the computer-executable instructions are executed by a processor, they implement the data processing method of any embodiment of the present invention.

[0044] In an embodiment of the present invention, the first device can receive BSMs sent by at least one first type of vehicle through a first roadside device, where the BSMs include a first coordinate position, a first speed, and a heading angle of the first type of vehicle; a preset field in the BSMs is a first indication, and the first indication is used to request priority passage; determine a first lane where the first type of vehicle is located based on the first coordinate position, the heading angle, and map data; determine a warning range of the lane corresponding to the first type of vehicle based on the first speed and the warning level of the first type of vehicle; determine at least one second type of vehicle that needs to avoid and / or be warned based on the first lane and the warning range; send a first notification to at least one second type of vehicle through a second roadside device, where the first notification includes a warning notification and / or an avoidance notification. In this way, the second type of vehicle can accurately perceive the first type of vehicle that needs priority passage nearby, which is beneficial for the second type of vehicle to make effective avoidance, thereby improving the passing efficiency of the first type of vehicle, and further enhancing the road utilization rate and traffic passing efficiency. Description of the Drawings

[0045] Figure 1Schematic diagram of communication by a V2X platform provided by an embodiment of the present invention.

[0046] Figure 2 Flow schematic diagram of the first data processing method provided by an embodiment of the present invention.

[0047] Figure 3 Flow schematic diagram of the second data processing method provided by an embodiment of the present invention.

[0048] Figure 4 Flow schematic diagram of the third data processing method provided by an embodiment of the present invention.

[0049] Figure 5 Flow schematic diagram of the fourth data processing method provided by an embodiment of the present invention.

[0050] Figure 6 Flow schematic diagram of the fifth data processing method provided by an embodiment of the present invention.

[0051] Figure 7 Flow schematic diagram of the sixth data processing method provided by an embodiment of the present invention.

[0052] Figure 8 Schematic diagram of the main structure of a MAP message provided by an embodiment of the present invention.

[0053] Figure 9 Flow schematic diagram of the seventh data processing method provided by an embodiment of the present invention.

[0054] Figure 10 Flow schematic diagram of the eighth data processing method provided by an embodiment of the present invention.

[0055] Figure 11 Flow schematic diagram of the ninth data processing method provided by an embodiment of the present invention.

[0056] Figure 12 Flow schematic diagram of the tenth data processing method provided by an embodiment of the present invention.

[0057] Figure 13 Schematic diagram of the structure of a first device provided by an embodiment of the present invention.

[0058] Figure 14 Hardware structure schematic diagram of a first device provided by an embodiment of the present invention. Detailed implementation manners

[0059] The present invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention.

[0060] In the following description, suffixes such as "module", "component", or "unit" used to represent elements are only for facilitating the description of the present invention, and have no specific meaning in themselves. Therefore, "module", "component", or "unit" can be used interchangeably. In addition, in the following description, prefixes such as "first" or "second" used to identify information are only for facilitating the description of the present invention, and have no specific meaning in themselves. In addition, in the following description, "a plurality of" means two or more; "a variety of" means two or more.

[0061] In some embodiments, the V2X technology is applied in the transportation field, which can improve the overall efficiency of the transportation system, reduce energy consumption, and improve the safety and / or traffic capacity of transportation. The V2X technology also emphasizes functions such as intelligent decision-making and collaborative control; this V2X technology is based on a powerful background data analysis, decision-making, and / or scheduling service system to achieve a safer and more efficient intelligent transportation system.

[0062] In some embodiments, a flexible dedicated lane control method and system based on 5G vehicle-road cooperation in a high-speed scenario are provided; this method can control whether the flexible dedicated lane needs to be opened and the opening range according to the operating state of the dedicated vehicle. The 5G vehicle-road cooperation flexible dedicated lane control system includes a 5G V2X vehicle-road cooperation platform (which can be simply referred to as the V2X platform), and this V2X platform can integrate resources such as vehicle-end terminals, roadside terminals, and / or other third-party data platforms (such as meteorological information platforms, public service information platforms), analyze and utilize these resources to form some decision-making information and send it to the corresponding entities. As Figure 1 shown, the V2X platform communicates with roadside devices and / or vehicles through the cellular network communication (UU) interface and the direct communication (PC5) interface; the Mobile Edge Computing (MEC) node will perform simple processing on some roadside data, including processing the perception data to generate perception results, etc.; the V2X platform will be based on the received roadside data, statistically analyze the roadside data to obtain roadside results, and send the roadside results to vehicles and other roadside devices through roadside devices such as Road Side Unit (RSU).

[0063] As Figure 2 shown, an embodiment of the present invention provides a data processing method, which is executed by a first device and includes the following steps:

[0064] Step S11, receiving a BSM sent by at least one first type of vehicle through a first roadside device, where the BSM includes the first coordinate position, the first speed, and the heading angle of the first type of vehicle; a preset field in the BSM is a first indication, and the first indication is used to request priority passage;

[0065] Step S12: Based on the first coordinate position, the heading angle, and the map data, determine the first lane where the first type of vehicle is located.

[0066] Step S13: Based on the first speed and the warning level of the first type of vehicle, determine the warning range of the lane corresponding to the first type of vehicle.

[0067] Step S14: Based on the first lane and the warning range, determine at least one second type of vehicle that needs to be avoided and / or warned.

[0068] Step S15: Send a first notification to at least one second type of vehicle through the second roadside device, where the first notification includes a warning notification and / or an avoidance notification.

[0069] In some embodiments, the first device can be any type of mobile terminal or fixed terminal, or a server. For example, the terminal can be, but is not limited to, at least one of the following: a mobile communication device, a computer, a server, a game device, a smart office device, an industrial device, and / or a wearable device, etc. For example, the server can be a cloud server.

[0070] Optionally, the first device can be a device in the V2X platform in the previous embodiments; for example, a host in the V2X platform, or a cloud server, etc.

[0071] In some embodiments, the first type of vehicle includes a first vehicle; the second type of vehicle includes a second vehicle and / or a third vehicle. Optionally, the second vehicle is a vehicle that needs to be avoided; and / or, the third vehicle is a vehicle that needs to be warned.

[0072] Exemplarily, the first type of vehicle is a special-purpose vehicle or a special vehicle; and / or the second type of vehicle is a general vehicle. For example, the special-purpose vehicle can be an ambulance, a fire truck, and / or a police car, etc. For example, the general vehicle can be a private car, a bus, and / or a coach, etc.

[0073] Exemplarily, both the first type of vehicle and the second type of vehicle can be special-purpose vehicles, special vehicles, and / or general vehicles; as long as the order of the first type of vehicle and the second type of vehicle being authorized for priority passage is different. For example, both the first type of vehicle and the second type of vehicle can be special-purpose vehicles or special vehicles, but the order of the first type of vehicle being authorized for priority passage is higher than the order of the second type of vehicle being authorized for priority passage. Another example is that both the first type of vehicle and the second type of vehicle can be general vehicles, but the order of the first type of vehicle being authorized for priority passage is higher than the order of the second type of vehicle being authorized for priority passage.

[0074] Exemplarily, the first type of vehicle is a vehicle authorized for priority passage; the second type of vehicle is a vehicle not authorized for priority passage. Exemplarily, the first type of vehicle can be a vehicle with the first priority, and the second type of vehicle is a vehicle with the second priority; wherein, the order of priority passage of the first priority is higher than that of the second priority.

[0075] In some embodiments, a first type of on-vehicle terminal is provided in the first type of vehicle, and / or a second type of on-vehicle terminal is provided in the second type of vehicle.

[0076] Optionally, the first type of on-vehicle terminal includes a first on-vehicle terminal; the second type of on-vehicle terminal includes a second on-vehicle terminal and / or a third on-vehicle terminal. Exemplarily, the first type of vehicle includes a first vehicle, and the first vehicle is provided with a first on-vehicle terminal; the second type of vehicle includes a second vehicle and / or a third vehicle, the second vehicle is provided with a second on-vehicle terminal, and the third vehicle is provided with a third on-vehicle terminal.

[0077] In some embodiments, the first roadside device and the second roadside device can be the same, or the first roadside device and the second roadside can be different. Exemplarily, the first roadside device and the second roadside device can be any device set in the road. Exemplarily, the first roadside device and the second roadside device can be a traffic control platform, an electronic display screen, a roadside host, and / or a charging pile, etc. in the road.

[0078] In some embodiments, for a vehicle to communicate with a roadside device, it can be that the vehicle communicates with the roadside device through an on-vehicle terminal; and / or for a vehicle to communicate with a first device, it can be that the vehicle communicates with the first device through an on-vehicle terminal. Exemplarily, for the first device to receive BSMs sent by at least one first type of vehicle through the first roadside device, it can be: the first device receives BSMs sent by at least one first type of on-vehicle terminal through the first roadside device. Exemplarily, for the first device to send a first notification to at least one second type of vehicle through the second roadside device, it can be: the first device sends a first notification to at least one second type of on-vehicle terminal through the second roadside device.

[0079] In some embodiments, the first coordinate position is a longitude and latitude coordinate position. Exemplarily, the first coordinate position is a position in any coordinate system. For example, any coordinate system can be a coordinate system of the xyz axis; the x-axis and the y-axis are perpendicular to each other in the horizontal direction, and the positive direction of the x-axis points due east; the z-axis is perpendicular to the plane of the x-axis and the y-axis, and the positive direction of the z-axis is the direction of horizontal upward.

[0080] In some other embodiments, the first coordinate position can be a position relative to a predetermined reference point. Exemplarily, the first coordinate position is a position 100 meters east of the first intersection, or a position 150 meters west of the first building.

[0081] In some embodiments, the heading angle is used to indicate the angle between the vehicle speed and the North Pole. Exemplarily, the heading angle can be obtained from an on-vehicle terminal; for example, obtained from a first type of on-vehicle terminal or a second type of on-vehicle terminal. Exemplarily, the heading angle can be the angle between the direction of the vehicle's center-of-mass velocity and the horizontal axis in the ground coordinate system; the heading angle θ = β + ψ; where β is the vehicle's center-of-mass sideslip angle and ψ is the vehicle's yaw angle.

[0082] In some embodiments, the first speed is the current instantaneous speed of a first type of vehicle, or the first speed is the average speed or the maximum speed of a first type of vehicle within a predetermined time range, etc.

[0083] In some embodiments, the preset field can be the "emergencyExt-ResponseType" field or any field set in advance. Optionally, the first indication can be an emergency event indication.

[0084] In some embodiments, the map data can be geographical location data including at least one intersection. The map data can be carried in a MAP message.

[0085] In some embodiments, the first lane is a flexible dedicated lane. Optionally, the first lane is the current lane where a first type of vehicle is located.

[0086] In some embodiments, different vehicles correspond to different warning levels. Exemplarily, the warning level of a first type of vehicle can be determined according to the type of the first type of vehicle. For example, if the first type of vehicle is an ambulance-type vehicle, the warning level of the first type of vehicle is the third priority; or, if the first type of vehicle is a public security maintenance-type vehicle, the warning level of the first type of vehicle is the second priority; or, if the first type of vehicle is a passenger-carrying type of vehicle, the warning level of the first type of vehicle is the first priority; where the third priority is higher than the second priority, and the second priority is higher than the first priority.

[0087] In some embodiments, the first notification includes: an avoidance notification and / or a warning notification. Optionally, the avoidance notification is used to indicate that avoidance is required within the warning range. Optionally, the warning notification is used to indicate that a warning is required within the warning range. Optionally, the avoidance notification and / or the warning notification can also be used to indicate the recommended speed and / or the recommended lane of the vehicle.

[0088] In some embodiments, step S11 may include: the first device receiving a BSM sent by a first roadside device; where the BSM is sent by a first type of vehicle to the first roadside device.

[0089] In some embodiments, step S15 may include: the first device sending a first notification to the second roadside device, where the first notification is for the second roadside device to send to the second type of vehicle.

[0090] In some embodiments, the first type of vehicle sends a BSM in step S11 after the first type of vehicle turns on the flexible dedicated lane. Exemplarily, the first type of vehicle determines whether it is necessary to turn on the flexible dedicated lane. If so, it turns on the flexible dedicated lane switch; after the first type of vehicle turns on the flexible dedicated lane switch, it sends a BSM to the first device.

[0091] In some embodiments, the first lane is any lane on the road. Optionally, the first lane is a flexible dedicated lane.

[0092] In the embodiments of the present invention, the BSM of the first type of vehicle can be obtained through the first device, and based on the first position coordinate, heading angle, first speed, and map information in the BSM, etc., the first lane and the warning range of the first type of vehicle are determined. The second type of vehicle that needs to avoid and / or be warned is determined through the first lane and the warning range, so that a warning notice and / or an avoidance notice can be sent to the second type of vehicle through the first device; in this way, the second type of vehicle can accurately perceive the first type of vehicle that needs to give priority to passing nearby, which is beneficial for the second type of vehicle to make an effective avoidance, thereby improving the passing efficiency of the first type of vehicle, and further improving the road utilization rate and traffic passing efficiency.

[0093] As Figure 3 shown, in some embodiments, step S12 includes:

[0094] Step S121, based on the first coordinate position and the map data, determine the alternative intersections corresponding to the first coordinate position;

[0095] Step S122, based on the first coordinate position and the alternative intersections, determine the alternative lanes;

[0096] Step S123, based on the difference between the heading angle and the included angle between the lane lines of the alternative lane, determine the first lane.

[0097] In some embodiments, step S121 may include: selecting one or a predetermined number of intersections closest to the first coordinate position in the map data as the alternative intersections; or, selecting the intersections within the first distance range from the first coordinate position in the map data as the alternative intersections; or, selecting the intersections within the first distance range from the first coordinate position in the map data and in the same driving direction as the first type of vehicle as the alternative intersections. Optionally, the predetermined number is 1 or 2 or 3 or 4, etc.

[0098] In some embodiments, step S122 may include: determining the section traveled by the first type of vehicle based on the first coordinate position and the alternative intersections; and determining the alternative lanes for the first type of vehicle based on the section. Exemplarily, if there are N lanes on the section from the first coordinate position to the alternative intersections, determine these N lanes as the alternative lanes.

[0099] In some embodiments, the included angle between the lane lines of the alternative lanes is the included angle between the current lane where the first type of vehicle is located and the alternative lanes.

[0100] In some embodiments, step S123 includes: if the difference between the heading angle and the included angle between the lane lines of the alternative lane is less than or equal to the threshold, determining the alternative lane as the first lane; or, if the difference between the heading angle and the included angle between the lane lines of the alternative lane is greater than the threshold, determining that the alternative lane is not the first lane. In this way, the lane traveled by the first type of vehicle can be accurately determined.

[0101] In some embodiments, the method may further include: if there are multiple alternative lanes, determining the differences between the included angles between the lane lines of the multiple alternative lanes and the heading angle in the order from the nearest to the farthest distance from the current lane where the first type of vehicle is located.

[0102] Exemplarily, if the alternative lanes are lane 1, lane 2, lane 4, and lane 5, and the current lane where the first type of vehicle is located is lane 3. If the distances from lane 3 from the nearest to the farthest are lane 4, lane 2, lane 5, and lane 1, then determine the differences between the included angles between the lane lines of the alternative lanes and the heading angle in the order of lane 4, lane 2, lane 5, and lane 1; that is, first determine whether the difference between the included angle between the lane lines of lane 4 and the heading angle is less than or equal to the threshold; if the difference between the included angle between the lane lines of lane 4 and the heading angle is less than or equal to the threshold, determine lane 4 as the first lane, or, if the difference between the included angle between the lane lines of lane 4 and the heading angle is greater than the threshold, determine that lane 4 is not the first lane, and determine whether the difference between the included angle between the lane lines of lane 2 and the heading angle is less than or equal to the threshold; and so on, until determining whether the difference between the included angle between the lane lines of lane 1 and the heading angle is less than or equal to the threshold; if the difference between the included angle between the lane lines of lane 1 and the heading angle is less than or equal to the threshold, determine lane 1 as the first lane, or, if it is determined that the difference between the included angle between the lane lines of lane 1 and the heading angle is greater than the threshold, determine that lane 1 is not the first lane.

[0103] In this way, the differences between the included angles between the lane lines and the heading angle can be compared in the order from the nearest to the farthest distance between the alternative lanes and the current lane where the first type of vehicle is located, so that the matching can be performed first from the alternative lane that is most likely to be the first lane, which can reduce the complexity of determining the first lane.

[0104] In some embodiments, there may be one or more first lanes (such as flexible dedicated lanes) for the first type of vehicle. In the embodiments of the present invention, "a plurality" may mean two or more.

[0105] In some other embodiments, the difference between the heading angle and the included angle between the lane line of the alternative lane in step S123 may also be replaced by the included angle between the lane lines of the alternative lane. Exemplarily, the first device determines the first lane based on the included angle between the lane lines of the alternative lane. For example, if the included angle between the lane lines of the alternative lane is less than or equal to the threshold, it is determined that the alternative lane is the first lane.

[0106] In the embodiments of the present invention, the alternative intersection can be determined through the first coordinate position and the map data, the alternative lane can be determined through the first coordinate position and the alternative intersection, and then it is determined whether the alternative lane is the first lane by whether the difference between the included angle between the lane lines of the alternative lane and the heading angle is less than or equal to the threshold. In this way, the first lane, that is, the flexible dedicated lane, can be accurately determined, so as to facilitate determining the second type of vehicle that needs to be avoided and / or pre-warned.

[0107] As Figure 4 shown, in some embodiments, step S13 includes:

[0108] Step S131, based on the warning level of the first type of vehicle and the warning mapping information, determines the warning times corresponding to the first lane and the second lane within a predetermined distance of the first lane respectively; wherein, the warning mapping information is used to indicate the corresponding relationship between the warning level and the warning times of at least one lane;

[0109] Step S132, based on the first speed and the warning time of the first lane, determines the warning range of the first lane, and / or based on the first speed and the warning time of the second lane, determines the warning range of the second lane.

[0110] In some embodiments, the warning time includes the forward warning time and / or the backward warning time. Optionally, the warning mapping information is used to indicate the corresponding relationship between the warning level and the forward warning time and / or the backward warning time of at least one lane.

[0111] Exemplarily, the lane includes N lanes on the left and right, for example, the lane includes 3 lanes on the left and right; the warning mapping information may include at least one of the following: the current lane, and the forward warning time and / or backward warning time of the current lane; the first lane on the left, the forward warning time and / or backward warning time of the first lane on the left; the second lane on the left, and the forward warning time and / or backward warning time of the second lane on the left; the third lane on the left, and the forward warning time and / or backward warning time of the third lane on the left; the first lane on the right, the forward warning time and / or backward warning time of the first lane on the right; the second lane on the right, and the forward warning time and / or backward warning time of the second lane on the right; the third lane on the right, and the forward warning time and / or backward warning time of the third lane on the right. For example, the warning mapping information can be represented by data in the following format: "warningTimeRange":{"region":3,"localFront":300,"localRear":60,"left1Front":240,"left1Rear":50,"right1Front":240,"right1Rear":50,"left2Front":180,"left2Rear":40,"right2Front":180,"right2Rear":40,"left3Front":120,"left3Rear":30,"right3Front":120,"right3Rear":30}; where "region" is the affected range, and its value represents the influence on N lanes on both sides; the remaining fields all represent the time range of the influence on different lanes in different directions, and the unit can be seconds. "localFront" represents in front of the current lane, "localRear" represents behind the current lane; "left1Front" represents in front of the first lane on the left, "left1Rear" represents behind the first lane on the left; "left2Front" represents in front of the second lane on the left, "left2Rear" represents behind the second lane on the left; "left3Front" represents in front of the third lane on the left, "left3Rear" represents behind the third lane on the left; "right1Front" represents in front of the first lane on the right, "right1Rear" represents behind the first lane on the right; "right2Front" represents in front of the second lane on the right, "right2Rear" represents behind the second lane on the right; "right3Front" represents in front of the third lane on the right, "right3Rear" represents behind the third lane on the right.

[0112] In some embodiments, the predetermined distance range may be a first distance. For example, the first distance is 5 meters or 10 meters, etc.

[0113] In some other embodiments, the predetermined distance range may be one or more left and right lanes closest to the first lane. For example, the first left lane and the first right lane closest to the first lane, and the second left lane and the second right lane that are the second closest to the first lane.

[0114] In some embodiments, step S132 includes: determining a warning range of the first lane based on the product of the first speed and the warning time of the first lane; and / or determining a warning range of the second lane based on the product of the first speed and the warning time of the second lane.

[0115] Optionally, the warning range includes: a forward warning range and / or a backward warning range.

[0116] Exemplarily, if the first speed of the first type of vehicle is 20 meters per second (m / s), and the current lane where the first type of vehicle is located is the first lane; the first left lane and the first right lane of the lane are the second lanes. The first device determines that the forward warning time corresponding to the front of the current lane is 60 seconds (s) and the backward warning time corresponding to the rear of the current lane is 30 s based on the warning mapping information, then determines that the forward warning range of the current lane is 20 * 60 = 1200 meters and the backward warning range is 20 * 30 = 600 meters. The first device determines that the forward warning time corresponding to the front of the first left lane is 50 s and the backward warning time corresponding to the rear of the first left lane is 40 s based on the warning mapping information, then determines that the forward warning range of the first left lane is 20 * 50 = 1000 meters and the backward warning range is 20 * 40 = 800 meters. The first device determines that the forward warning time corresponding to the front of the first right lane is 40 s and the backward warning time corresponding to the rear of the first right lane is 30 s based on the warning mapping information, then determines that the forward warning range of the first right lane is 20 * 40 = 800 meters and the backward warning range is 20 * 30 = 600 meters.

[0117] In the embodiments of the present invention, the warning times corresponding to the first lane and the second lane can be determined through the warning level of the first type of vehicle and the warning mapping information, and based on the first speed of the first type of vehicle and the warning times of the first lane and the second lane respectively, the warning ranges of the first lane and the second lane can be determined respectively. In this way, the warning ranges of the flexible dedicated lane and the warning ranges of the lanes near the flexible dedicated lane can be accurately determined, which is conducive to determining the vehicles that need to avoid and / or be warned in the flexible dedicated lane and / or its nearby lanes. On the one hand, it is convenient to improve the traffic passing efficiency on these lanes, and on the other hand, the occurrence of traffic accidents can be reduced.

[0118] In some embodiments, the second type of vehicle includes: a second vehicle and / or a third vehicle;

[0119] Step S14 includes: determining a second vehicle that needs to be avoided based on the first lane, the first coordinate position, and the warning range of the first lane; and / or determining a third vehicle that needs to be warned based on the second lane within a predetermined distance range of the first lane, the first coordinate position, and the warning range of the second lane;

[0120] Step S15 includes: sending an avoidance notice to the second vehicle through the second roadside device; and / or sending a warning notice to the third vehicle through the second roadside device.

[0121] In some embodiments, the avoidance notice may include at least one of the following: a warning level, a type of warning, an urgency of the warning, information about the first type of vehicle, and avoidance information. Optionally, the avoidance information includes at least an avoidance range or a warning range that needs to be avoided. Optionally, the avoidance range is the warning range.

[0122] In some embodiments, the warning notice may include at least one of the following: a warning level, a type of warning, an urgency of the warning, information about the first type of vehicle, and warning information. Optionally, the warning information includes at least a warning range that needs to be warned.

[0123] Optionally, the information about the first type of vehicle includes at least one of the following: the type of the first type of vehicle, the license plate of the first type of vehicle, the size of the first type of vehicle, the speed of the first type of vehicle, and the position of the first type of vehicle, etc. The type of the first type of vehicle may be a sedan, a bus, a train, a bus, a fire truck, an ambulance, and / or an engineering vehicle, etc.

[0124] Optionally, the urgency of the warning is an urgency determined based on the warning range and / or the warning time. Exemplarily, the urgency of the warning may include: a first urgency, a second urgency, and a third urgency; the urgency of the first urgency is lower than the urgency of the second urgency, and the urgency of the second urgency is lower than the urgency of the third urgency. Exemplarily, the urgency of the warning is positively correlated with the numerical value of the urgency of the warning; that is, if the numerical value of the urgency of the warning is smaller, it indicates that the urgency of the warning is less urgent; or, if the numerical value of the urgency of the warning is larger, it indicates that the urgency of the warning is more urgent.

[0125] Exemplarily, if the forward warning range of the first lane is 1200 meters and the backward warning range is 600 meters, then the vehicles in the section of the first lane from 1200 meters in front of the first coordinate position of the first type of vehicle to 600 meters behind the first coordinate position can all be the second vehicles; the first device can send a avoidance notice to these second vehicles. For example, the first device can send a avoidance notice to the second roadside device in the section of the first lane from 1200 meters in front of the first coordinate position to 600 meters behind the first position coordinate, and the second roadside device sends a avoidance notice to the second vehicles in this section. For example, the first device sends a avoidance notice of "There is an ambulance at the position of the first coordinate (0, 0), and the license plate number of this ambulance is AXXXXXX. Please avoid the vehicles 1200 meters in front and 600 meters behind the first lane where the first coordinate (0, 0) is located."

[0126] Exemplarily, if the forward warning range of the second lane is 1000 meters and the backward warning range is 800 meters, then the vehicles in the section of the second lane from 1000 meters in front of the first coordinate position of the first type of vehicle to 800 meters behind the first coordinate position can all be the third vehicles; the first device can send a warning notice to these third vehicles. For example, the first device can send a warning notice to the second roadside device in the section of the second lane from 1000 meters in front of the first coordinate position to 800 meters behind the first position coordinate, and the second roadside device sends a warning notice to the third vehicles in this section. For example, the first device sends a avoidance notice of "There is an ambulance at the position of the first coordinate (0, 0), and the license plate number of this ambulance is AXXXXXX. Please pay attention to the vehicles 1000 meters in front and 800 meters behind the second lane where the first coordinate (0, )0) is located."

[0127] In some embodiments, the first notice can also be displayed on the display screen of the roadside device. For example, the first notice is displayed on the cloud control large screen or the electronic sign of the road.

[0128] In some other embodiments, the first notice can be output by voice. For example, the first device outputs the first notice by voice, or the second roadside device outputs the first notice by voice.

[0129] In still some other embodiments, the first notice can be displayed through indicator lights and / or horns. For example, the first device outputs a avoidance notice through a constantly lit red indicator light, a first-frequency flashing indicator light and / or a first-frequency siren. Another example is that the first device outputs a warning notice through a constantly lit blue indicator light, a second-frequency flashing indicator light and / or a second-frequency siren.

[0130] In some other embodiments, after the first device sends the first notification to the second type of vehicle through the second roadside device, it is displayed on the in-vehicle terminal of the second type of vehicle. The display methods include voice output, text output, and / or indicator light display, etc.

[0131] In the embodiments of the present invention, the first device can send a first notification (such as a warning notification and / or an avoidance notification) so that the second type of vehicle can know the driving conditions of the first type of vehicle in the flexible dedicated lane and / or its adjacent lanes, which is convenient for the second type of vehicle to avoid, etc. On the one hand, it can improve traffic efficiency, and on the other hand, it can reduce the occurrence of situations such as collisions between the first type of vehicle and the second type of vehicle.

[0132] In some embodiments, the method further includes: determining the predicted collision point of the first type of vehicle and the second vehicle based on the first speed of the first type of vehicle and the second speed of the second vehicle; determining the recommended speed and / or recommended lane of the second vehicle based on the predicted collision point;

[0133] Sending the avoidance notification to the second vehicle in step S15 includes: sending an avoidance notification including the recommended speed and / or recommended lane to the second vehicle.

[0134] In some embodiments, determining the predicted collision point of the first type of vehicle and the second vehicle based on the first speed of the first type of vehicle and the second speed of the second vehicle includes: determining whether the first type of vehicle and the second vehicle will collide based on the first speed of the first type of vehicle and the second speed of the second vehicle; in the case of determining that the first type of vehicle and the second vehicle will collide, determining the predicted collision point of the first type of vehicle and the second vehicle based on the first coordinate position, first speed of the first type of vehicle and the second speed.

[0135] In some embodiments, determining whether the first type of vehicle and the second vehicle will collide based on the first speed of the first type of vehicle and the second speed of the second vehicle includes at least one of the following:

[0136] If the first type of vehicle is in front of the second vehicle and the first speed is less than the second speed, it is determined that the first type of vehicle and the second vehicle will collide;

[0137] If the first type of vehicle is in front of the second vehicle and the first speed is greater than or equal to the second speed, it is determined that the first type of vehicle and the second vehicle will not collide;

[0138] If the first type of vehicle is behind the second vehicle and the first speed is less than or equal to the second speed, it is determined that the first type of vehicle and the second vehicle will not collide;

[0139] If the first type of vehicle is behind the second vehicle and the first speed is greater than the second speed, it is determined that the first type of vehicle and the second vehicle will collide.

[0140] In some embodiments, determining a predicted collision point between a first type of vehicle and a second vehicle based on a first coordinate position, a first speed, and a second speed of the first type of vehicle includes: determining a collision time when the first type of vehicle collides with the second vehicle based on the first speed and the second speed; and determining the predicted collision point based on the first coordinate position, the first speed, and the collision time. Optionally, the first device determines a first distance based on the first speed and the collision time; and determines a second coordinate position based on the sum of the first coordinate position and the first distance; and the second coordinate position may be the predicted collision point.

[0141] Of course, in other embodiments, the method for determining the predicted collision point may be any implementable method. For example, it may be determined based on the second speed of the second vehicle, the coordinate position of the second vehicle, and the collision time, or determined based on the relative speed of the first speed and the second speed and the distance between the first type of vehicle and the second vehicle, etc., which is not limited herein.

[0142] In some embodiments, determining a recommended speed and / or a recommended lane for the second vehicle includes at least one of the following:

[0143] If the second vehicle is behind the first type of vehicle and the second speed is greater than the first speed, determining the recommended speed of the second vehicle to be a speed less than or equal to the first speed;

[0144] If the second vehicle is in front of the first type of vehicle and the second speed is less than the first speed, determining the recommended speed of the second vehicle to be a speed greater than or equal to the first speed;

[0145] Determining the recommended lane of the second vehicle to be the second lane;

[0146] Determining the recommended lane of the second vehicle to be a lane other than the first lane and the second lane.

[0147] In the embodiments of the present invention, a predicted collision point at which the first type of vehicle and the second vehicle are predicted to collide can be determined, so as to recommend a suitable driving speed and / or a driving lane for the second vehicle; in this way, while giving priority to the passage of the first type of vehicle, the occurrence of vehicle collisions can be reduced, thereby improving traffic efficiency, etc.

[0148] In some special scenarios, such as the scenario where the first type of vehicle suddenly changes lanes and / or the third vehicle suddenly changes lanes, the embodiments of the present invention can reduce the occurrence of collisions between the first type of vehicle and the third vehicle in such scenarios. For example, the data processing method provided by the present disclosure embodiment further includes: determining the predicted collision point of the first type of vehicle and the third vehicle based on the first speed of the first type of vehicle and the third speed of the third vehicle; determining the recommended speed and / or recommended lane of the third vehicle based on the predicted collision point; and sending an avoidance notice including the recommended speed and / or recommended lane to the third vehicle. In the embodiments of the present invention, determining the predicted collision point, recommended speed and / or recommended lane of the third vehicle is similar to determining the predicted collision point, recommended speed and / or recommended lane of the second vehicle.

[0149] In other embodiments, the method further includes: the first device sends the information of the first type of vehicle to the second vehicle through the second type of roadside device; the information of the first type of vehicle is used for the second vehicle to determine the predicted collision point of the first type of vehicle and the second vehicle, and / or determine the recommended speed and / or recommended lane of the second vehicle. Optionally, the information of the first type of vehicle may include the first coordinate position and / or the first speed of the first type of vehicle, etc. Thus, in the embodiments of the present invention, the second vehicle can also determine a suitable driving speed and / or driving lane by itself, so as to reduce the occurrence of vehicle collisions while giving priority to the first type of vehicle.

[0150] In some embodiments, the method further includes: determining whether the first type of vehicle is allowed to have priority based on the BSM and the whitelist;

[0151] Step S12 includes: in the case where the first type of vehicle is allowed to have priority, determining the first lane where the first type of vehicle is located based on the first coordinate position, the heading angle, and the map data.

[0152] In some embodiments, the whitelist includes information of at least one vehicle allowed to have priority. Optionally, the information of the vehicle includes the license plate of the vehicle or the number of the vehicle. The number of the vehicle is used to uniquely indicate the vehicle.

[0153] In some embodiments, the BSM includes the information of the first type of vehicle; determining whether the first type of vehicle is allowed to have priority based on the BSM and the whitelist includes: if the information of the first type of vehicle matches the information of any vehicle in the whitelist, determining that the first type of vehicle is allowed to have priority, or, if the information of the first type of vehicle does not match the information of all vehicles in the whitelist, determining that the first type of vehicle is not allowed to have priority.

[0154] Optionally, the information of the first type of vehicle matching the information of any vehicle in the whitelist may include: the license plate of the first type of vehicle is the same as the license plate of a vehicle in the whitelist, or the number of the first type of vehicle is the same as the number of a vehicle in the whitelist.

[0155] Thus, in the embodiments of the present invention, the first type of vehicle can be accurately determined whether it is a vehicle with priority to pass through by means of a whitelist.

[0156] In some other embodiments, the method may include: determining whether the first type of vehicle is allowed to have priority to pass through based on the BSM and the blacklist.

[0157] Optionally, the black and white list includes information of at least one vehicle not allowed to have priority to pass through.

[0158] Optionally, determining whether the first type of vehicle is allowed to have priority to pass through based on the BSM and the blacklist includes: if the information of the first type of vehicle does not match the information of all vehicles in the blacklist, determining that the first type of vehicle is allowed to have priority to pass through; or, if the information of the first type of vehicle matches the information of any one vehicle in the blacklist, determining that the first type of vehicle is not allowed to have priority to pass through. Thus, the first type of vehicle can also be accurately determined whether it is a vehicle with priority to pass through by means of the blacklist.

[0159] In other embodiments, other authentication methods can also be used to authenticate or review whether the first type of vehicle is allowed to have priority to pass through, which is not limited herein.

[0160] In some embodiments, the BSM includes the priority of the first type of vehicle; the method further includes: when there are multiple first type of vehicles allowed to have priority to pass through in the first lane, determining the first type of vehicle corresponding to the highest priority as the target vehicle based on the priorities of the multiple first type of vehicles;

[0161] Sending a avoidance notice for the first lane of the target vehicle and / or a warning notice for the second lane of the target vehicle to the first type of vehicles other than the target vehicle among the multiple first type of vehicles.

[0162] In some embodiments, sending a first notice to at least one second type of vehicle includes: sending an avoidance notice for the first lane of multiple first type of vehicles sorted by priority and / or a warning notice for the second lane of the multiple first type of vehicles to at least one second type of vehicle.

[0163] Optionally, the priority of the first type of vehicle is used to indicate the priority degree of the first type of vehicle being allowed to have priority to pass through. Exemplarily, if the priority of vehicle 1 is higher than the priority of vehicle 2, then vehicle 1 has priority to pass through more than vehicle 2.

[0164] Exemplarily, there are three first - type vehicles in the first lane. These three first - type vehicles include the first first vehicle, the second first vehicle, and the third first vehicle. The priority of the first first vehicle is the first priority, the priority corresponding to the second first vehicle is the second priority, and the priority of the third first vehicle is the third priority. The first priority is higher than the second priority, and the second priority is higher than the third priority. There are two second vehicles in the first lane and three third vehicles in the second lane within a predetermined distance range of the first lane. Since the first first vehicle among the three first - type vehicles has the highest priority, the first device sends an avoidance notice of the first first vehicle to the second first vehicle and the third first vehicle through the roadside device.

[0165] Exemplarily, based on the above example, the first device can also send an avoidance notice of the first first vehicle, an avoidance notice of the second first vehicle, and / or an avoidance notice of the third first vehicle to the two second vehicles in the first lane through the roadside device; among them, the avoidance notice of the first first vehicle takes precedence over the avoidance notice of the second first vehicle, and the avoidance notice of the second first vehicle is higher than the avoidance notice of the third first vehicle.

[0166] Exemplarily, based on the above example, the first device can also send a warning notice of the first first vehicle, a warning notice of the second first vehicle, and / or a warning notice of the third first vehicle to the three third vehicles in the second lane through the roadside device; among them, the warning notice of the first first vehicle takes precedence over the warning notice of the second first vehicle, and the warning notice of the second first vehicle is higher than the warning notice of the third first vehicle.

[0167] In the embodiment of the present invention, when multiple first - type vehicles are allowed to have priority in passing, the first - type vehicle with the highest priority can be determined based on the priorities of these multiple first - type vehicles, so as to accurately determine the avoidance notice and / or warning notice sent to the first - type vehicles with lower priorities and / or second - type vehicles; thus, it is convenient to improve the traffic passing efficiency of the entire road, etc.

[0168] In some embodiments, if the first device detects that the preset field becomes the second indication, it determines that the first - type vehicle is a second - type vehicle.

[0169] Optionally, the second indication can be a non - emergency event indication, or the second indication is empty.

[0170] Optionally, if the first - type vehicle determines that it does not need to have priority in passing, it modifies the preset field to the second indication.

[0171] In an embodiment of the present invention, when a first type of vehicle no longer meets the conditions for priority passage, the first type of vehicle is determined as a second type of vehicle, that is, the first type of vehicle is determined as an ordinary vehicle; in this way, there is no need to send avoidance notices and / or warning notices to other second type of vehicles for this first type of vehicle, thereby reducing the power consumption of the first device, etc. and improving the traffic passing efficiency of the entire road, etc.

[0172] It should be noted here that the following description of the data processing method executed by the first type of vehicle is similar to the description of the data processing method executed by the first device above, and the beneficial effects of the data processing method executed by the first device will not be elaborated. For the technical details not disclosed in the embodiment of the data processing method executed by the first type of vehicle of the present invention, please refer to the description of the embodiment of the data processing method executed by the first device of the present invention.

[0173] As Figure 5 shown, an embodiment of the present invention provides a data processing method, which is executed by a first type of vehicle and includes the following steps:

[0174] Step S21, sending a BSM to a first device through a first roadside device, where the BSM includes a first coordinate position, a first speed, and a heading angle of the first type of vehicle; a preset field in the BSM is a first indication, and the first indication is used to request priority passage;

[0175] Among them, the first coordinate position, the heading angle, and the map data are used by the first device to determine the first lane where the first type of vehicle is located; the first speed and the warning level of the first type of vehicle are used by the first device to determine the warning range of the lane corresponding to the first type of vehicle; the first lane and the warning range are used by the first device to determine at least one second type of vehicle that needs to be avoided and / or warned.

[0176] In some embodiments, before step S21, the method further includes: determining whether to activate a flexible dedicated lane; step S21 includes: in the case of determining to activate the flexible dedicated lane, sending a BSM to the first device through the first roadside device.

[0177] In some embodiments, the method further includes: if it is determined that priority passage is not required, closing the flexible dedicated lane and / or modifying the preset field to a second indication.

[0178] It should be noted here that the following description of the data processing method executed by the second type of vehicle is similar to the description of the data processing method executed by the first device and / or the first type of vehicle above, and the beneficial effects of the data processing method executed by the first device and / or the first type of vehicle will not be elaborated. For the technical details not disclosed in the embodiment of the data processing method executed by the second type of vehicle of the present invention, please refer to the description of the embodiment of the data processing method executed by the first device and / or the first type of vehicle of the present invention.

[0179] As Figure 6 shown, an embodiment of the present invention provides a data processing method, which is executed by a second type of vehicle and includes the following steps:

[0180] Step S31: Receive a first notification sent by a first device through a second roadside device. The first notification includes a warning notification and / or an avoidance notification; wherein, the first notification is determined by the first device based on the BSM;

[0181] wherein, the BSM is sent by a first type of vehicle to the first device through a first roadside device; the BSM includes a first coordinate position, a first speed, and a heading angle of the first type of vehicle; a preset field in the BSM is a first indication, and the first indication is used to request right of way.

[0182] In some embodiments, when the second type of vehicle is a second vehicle, step S31 includes: receiving an avoidance notification sent by the first device through the second roadside device.

[0183] In some embodiments, when the second type of vehicle is a third vehicle, step S31 includes: receiving a warning notification sent by the first device through the second roadside device.

[0184] It should be noted here that the following description of the data processing system is similar to the description of the above data processing method, and the beneficial effects of the method will not be elaborated. For the technical details not disclosed in the embodiment of the data processing system of the present invention, please refer to the description of the embodiment of the data processing method of the present invention.

[0185] An embodiment of the present invention provides a data processing system, including: a first device, at least one first roadside device, at least one first type of vehicle, at least one second roadside device, and at least one second type of vehicle; wherein,

[0186] The first type of vehicle sends a BSM to the first roadside device, wherein the BSM includes a first coordinate position, a first speed, and a heading angle of the first type of vehicle; a preset field in the BSM is a first indication, and the first indication is used to request right of way;

[0187] The first roadside device sends the BSM to the first device;

[0188] The first device determines the first lane where the first type of vehicle is located based on the first coordinate position, the heading angle, and the map data; determines the warning range of the lane corresponding to the first type of vehicle based on the first speed and the warning level of the first type of vehicle; determines at least one second type of vehicle that needs to be avoided and / or warned based on the first lane and the warning range;

[0189] The first device sends a first notification to the second roadside device, wherein the first notification includes a warning notification and / or an avoidance notification;

[0190] The second roadside device sends a first notification to the second type of vehicle.

[0191] In some embodiments, the data processing system further includes an edge node; the edge node is configured to receive the BSM sent by the first device and send the BSM to at least one first roadside device; and / or, the edge node is configured to receive the first notification sent by the first device and send the first notification to at least one second roadside device.

[0192] Optionally, the edge node may be a Mobile Edge Computing (MEC) node.

[0193] Optionally, the data processing system may include a first platform; or the data processing system may be a first platform.

[0194] Optionally, the first platform includes a first roadside device, a second roadside device, a first device, and / or an MEC node, etc.

[0195] Optionally, the first platform may also be used to communicate with the first type of vehicle and / or the second type of vehicle; or, the first platform may further include the first type of vehicle and / or the second type of vehicle. Exemplarily, the first platform may be a V2X platform.

[0196] To further explain any embodiment of the present invention, several specific embodiments are provided below.

[0197] Example 1

[0198] As Figure 7 shown, an embodiment of the present invention provides a data processing method, which is executed by a data processing system. The data processing method includes the following steps:

[0199] Optionally, the data processing system may include a V2X platform; the data processing system may further include special vehicles, ordinary vehicles, and / or roadside devices, etc.

[0200] Step S401, the special vehicle determines whether to open the flexible dedicated lane; if so, turns on the flexible dedicated lane traffic switch and reports the BSM to the V2X platform.

[0201] Optionally, the emergencyExt-ResponseType field in the BSM becomes emergency(1). Optionally, the priority of priority passage is carried in the BSM.

[0202] Optionally, the special vehicle is the first type of vehicle in the previous embodiment; the emergencyExt-ResponseType field is the preset field in the previous embodiment; the V2X platform may be the first device in the previous embodiment or the first platform including the first device.

[0203] Step S402, the V2X platform identifies the special vehicle that needs to have priority access through the emergencyExt-ResponseType field.

[0204] Optionally, the V2X platform reviews the priority access request of the special vehicle; the priority access request may be a BSM, or the priority access request is indicated based on the first indication (such as "emergency(1)") in the preset field.

[0205] Step S403, if the V2X platform approves the priority access request of the special vehicle, it processes the priority access request according to the priority of priority access.

[0206] Optionally, if there are multiple special vehicles requesting priority access in the same area at the same time, they are processed in descending order of priority.

[0207] Step S404, the V2X platform matches the position information such as coordinates, speed, and / or heading angle in the BSM with the MAP message to determine the lane where the special vehicle is located and its position in the lane.

[0208] Optionally, the specific logic of MAP matching is as follows: using the current position of the vehicle as a buffer, obtaining the lane line data within a certain radius range, and sorting them from small to large in distance. Calculate the current heading angle of the vehicle. If the angle with the lane line is less than a certain threshold, it is determined that the matching is successful; otherwise, the next lane is matched. The key fields of the MAP message are as follows:

[0209]

[0210]

[0211] Such as Figure 8As shown, a MAP message body structure is disclosed; the MAP message includes: "timeStamp", "msgCnt", and "nodes" fields; "timeStamp" represents the timestamp, "msgCnt" identifies the message count, and "nodes" represents the nodes. The "nodes" field further includes: "name", "id", "refPos(3D)", and "inLinks" fields; here, "name" represents the node name, "id" represents the identifier, "refPos(3D)" represents the reference position (3D), and "inLinks" represents the road section. The "inLinks" field further includes: "name", "upstreamNodeId", "speedLimits", "linkWidth", "lanes", "points", and "Movements"; here, "name" represents the road section name, "upstreamNodeId" represents the upstream node identifier, "speedLimits" represents the speed limit, "linkWidth" represents the road section bandwidth, "lanes" represents the lanes, "points" represents the position points, and "Movements" represents the movement. The "lanes" field further includes: "laneWidth", "laneID", "laneAttributes", "maneuvers", "connectsTo", "points", and "speedLimits" fields; here, "laneWidth" represents the lane width, "laneID" represents the lane identifier, "laneAttributes" represents the lane attributes, "maneuvers" represents the strategy, "connectsTo" represents the connection relationship, "points" represents the position points, and "speedLimits" represents the speed limit. The "Movements" field further includes: "remoteIntersection" and "phaseId" fields; here, "remoteIntersection" represents the remote intersection, and "phaseId" represents the corresponding identifier. The "laneAttributes" field further includes: "shareWith" and "laneType" fields; here, "shareWith" represents sharing, and "laneType" represents the lane type.The "connectsTo" field further includes the "Seq.of Connection" field; the "Seq.of Connection" field includes: "remoteIntersection", "connectingLane", and "phaseId"; here, "remoteIntersection" represents a remote intersection, "connectingLane" represents a connecting lane, and "phaseId" represents a corresponding identifier. The "points" field further includes the "Seq.of RoadPoint" field; the "Seq.of RoadPoint" field includes the "posOffset" field; here, "posOffset" represents a relative position.

[0212] Step S405: The V2X platform pre-sets warning times corresponding to different warning levels; and determines a warning range based on the current vehicle speed information and the warning time in the received BSM.

[0213] Optionally, the warning time includes a forward warning time and / or a backward warning time for N lanes on the left and right.

[0214] Optionally, the format of the warning impact time range can be as follows: "warningTimeRange":{"region":3,"localFront":300,"localRear":60,"left1Front":240,"left1Rear":50,"right1Front":240,"right1Rear":50,"left2Front":180,"left2Rear":40,"right2Front":180,"right2Rear":40,"left3Front":120,"left3Rear":30,"right3Front":120,"right3Rear":30}. Herein, "region" is the affected range, and its value represents the impact on N lanes on both sides; the remaining fields all represent the time ranges of the impacts on different lanes in different directions, and the unit can be seconds. "localFront" represents in front of the current lane, "localRear" represents behind the current lane; "left1Front" represents in front of the first lane on the left, "left1Rear" represents behind the first lane on the left; "left2Front" represents in front of the second lane on the left, "left2Rear" represents behind the second lane on the left; "left3Front" represents in front of the third lane on the left, "left3Rear" represents behind the third lane on the left; "right1Front" represents in front of the first lane on the right, "right1Rear" represents behind the first lane on the right; "right2Front" represents in front of the second lane on the right, "right2Rear" represents behind the second lane on the right; "right3Front" represents in front of the third lane on the right, "right3Rear" represents behind the third lane on the right.

[0215] Optionally, the V2X platform determines the warning range (range) according to the product of the current vehicle speed information (speed) and the warning time (time), i.e., range = speed * time. In this way, the warning range at the warning level on the lane can be obtained.

[0216] Optionally, some key fields of the BSM can be as follows:

[0217]

[0218]

[0219] Step S406: The V2X platform determines the sections of the flexible dedicated lane on the map that need to be activated based on the lane where the dedicated vehicle is located, the warning range to be activated, and the MAP message.

[0220] Optionally, the operation of determining the flexible dedicated lane to be activated needs to be configured according to the actual lane conditions, that is: (1) If the N lanes on the left include oncoming lanes, they are excluded and only the same-direction lanes are calculated; (2) If the actual number of the N lanes to the right is insufficient, it is calculated according to the actual number of lanes; (3) If the calculated distance range spans multiple MAP messages, warning configurations need to be made for the sections corresponding to other MAP messages. This flexible dedicated lane can be the first lane in the previous embodiments.

[0221] Step S407: The V2X issues a warning for the warning range of the section according to the MAP message.

[0222] Optionally, V2X sends corresponding warning messages to vehicles, roadside devices, and each cloud control large screen within the warning range of a road section. Exemplarily, the sent warning messages can be as follows: "warning": [{"warningrank": 3, "warningType": 103, "emergency": 2, "message": "There is a fire truck traveling 512 meters behind. Please pay attention and give way.", "vehicleType": "Fire truck", "plate": "Shanghai A123456", "location": {"longitude": 1231231231, "latitude": 123125321}, "size": {"length": 500, "width": 180}, "speed": 100}, {"warningrank": 2, "warningType": 102, "emergency": 1, "message": "There is a construction vehicle traveling 1045 meters in the front side. Please pay attention and give way.", "vehicleType": "Construction vehicle", "plate": "Shanghai B654321", "location": {"longitude": 1123123123, "latitude": 123125456}, "size": {"length": 1024, "width": 256}, "speed": 45},...]. Among them, the warning message "warning" is an array, including multiple warning messages, and each warning message content includes multiple fields. "warningrank" represents the warning level; "warningType" represents the type of warning; "emergency" represents the urgency of the warning; "message" represents the information displayed by the warning, and this "message" is used to show the specific information of the warning to a specific vehicle; "vehicleType" represents the type of the vehicle, and this "vehicleType" is used to graphically display icons of different types of vehicles on the cloud control large screen, mobile APP, and in-vehicle display screen; "plate" represents the license plate number; "location" represents the location, and this "location" is used to show the location of the warning vehicle on the map and / or for convenient graphical display; "size" represents the size of the vehicle; "speed" represents the speed of the vehicle. Optionally, the warning message can be the warning notice and / or avoidance notice in the previous embodiments.

[0223] Optionally, the warning emergency level "emergency" is an emergency level comprehensively obtained based on the warning range and warning time. Exemplarily, the warning range is 500 meters forward in the current lane; (1) According to the distance, vehicles within 100 meters will receive a warning with an emergency level of 1, vehicles from 100 meters to 300 meters will receive a warning with an emergency level of 2, and vehicles from 300 meters to 500 meters will receive a warning with an emergency level of 3; (2) According to the current speeds of two vehicles (such as the speeds of special vehicles and ordinary vehicles), calculate the time to collision. Vehicles whose possible collision time is within 60s will receive a warning with an emergency level of 1, vehicles whose collision time is between 60s and 120s will receive a warning with an emergency level of 2, and vehicles whose collision time is between 120s and 300s will receive a warning with an emergency level of 3. Make a comprehensive judgment and set the highest warning emergency level, and display the basis for distance judgment and time judgment in the warning information.

[0224] Optionally, the relationship between the warning level "warningrank" and the warning emergency level "emergency": If multiple vehicles set flexible dedicated lanes for a section of road, then determine the warning level of this section of road according to the highest warning level, and notify other relevant vehicles. The warning emergency level is mainly used to show the driver the warning that currently most requires their response.

[0225] Step S408, the ordinary vehicle makes a avoidance according to the received information of the flexible dedicated lane. Optionally, the ordinary vehicle is the second type of vehicle in the previous embodiment.

[0226] Optionally, in the related art, the usual avoidance management means are set as: clearance distance division, time period division, and / or emergency state division. However, in the embodiments of the present invention: According to the information of the opened flexible dedicated lane obtained in step S406, comprehensively consider information such as the length of the flexible dedicated lane, the lane edge lane-changing attribute, lane obstacles, and / or road conditions, calculate the relative speed between the special vehicle and the ordinary vehicle on the current flexible dedicated lane, and obtain the predicted collision point. Perform a lane-level path planning algorithm on the ordinary vehicle and set a recommended speed to avoid the predicted collision point and / or obstacles. As the position of the special vehicle changes, perform real-time navigation on the ordinary vehicle. After the priority passage request is closed, the previous flexible dedicated lane can continue to be used to avoid congestion. This path guidance information can be sent as roadside coordination information (Roadside Coordination, RSC) as supplementary information for the warning. In this way, through the multi-vehicle collaborative planning method, the lane passing utilization efficiency can be improved.

[0227] Optionally, as Figure 9 shown, the embodiments of the present invention provide a data processing method, which is mainly used to determine the collision point and the recommended lane of the ordinary vehicle, etc.; this data processing method is executed by the V2X platform and includes the following steps:

[0228] Step S4081: Obtain the first speed of the special vehicle on the flexible dedicated lane and the second speed of the ordinary vehicle in front of the special vehicle according to the opened flexible dedicated lane;

[0229] Step S4082: Determine the relative speed between the first speed and the second speed;

[0230] Step S4083: Determine whether the second speed is greater than the first speed; if so, execute Step S4084, if not, execute Step S4085;

[0231] Step S4084: If it is determined that the ordinary vehicle will not occupy the flexible dedicated lane, execute Step S4081 after a first predetermined time;

[0232] Step S4085: Determine the predicted collision point according to the relative speed and the distance between the special vehicle and the ordinary vehicle; determine the recommended lane of the ordinary vehicle according to the obtained map message and the predicted collision point, and guide the ordinary vehicle to drive on the recommended lane;

[0233] Optionally, the V2X platform determines the predicted collision point as an obstacle point or an obstacle; the V2X platform determines other obstacles such as map messages, current lane boundary line lane-changing attributes, construction, etc.; and based on the network topology relationship, the above obstacles and a predetermined algorithm, guides the driving route of the ordinary vehicle to the adjacent lane of the flexible dedicated lane.

[0234] Optionally, the predetermined algorithm may be a Dijkstra algorithm and / or an A-Star (A*) algorithm, etc.

[0235] Exemplarily, the Dijkstra algorithm is the shortest path algorithm from one vertex to the remaining vertices; the Dijkstra algorithm can be used to determine the shortest path problem in a weighted graph.

[0236] Exemplarily, the A* algorithm is the most effective direct search method for solving the shortest path in a static road network; the A* algorithm can be used to search for the shortest path.

[0237] Step S4086: After a second predetermined time, determine whether the ordinary vehicle occupies the flexible dedicated lane; if so, execute Step S4081; if not, execute Step S4087;

[0238] Step S4087: End the navigation guidance for the ordinary vehicle.

[0239] The above-mentioned Figure 9 The data processing method as shown can also be executed by a first device, a data processing system, a first platform or a second type of vehicle (such as an ordinary vehicle).

[0240] Step S409, if the special vehicle no longer needs to have priority access, turn off the priority access switch and report the BSM to the V2X platform.

[0241] Optionally, the emergencyExt-ResponseType field in the BSM becomes nonEmergency(2), or the emergencyExt field is set to empty.

[0242] Step S410, the V2X platform treats the special vehicle as an ordinary vehicle and stops forwarding the warning information of the special vehicle to the surrounding ordinary vehicles.

[0243] In some alternative embodiments, the above method further includes: the V2X platform can review the priority access requests of special vehicles; for example, by means of a whitelist, the vehicles meeting the priority access requirements are recorded in the whitelist, and only the priority access requests of the whitelist vehicles are recognized. In this way, the review of the opening of the flexible special lane can be realized.

[0244] In some alternative embodiments, the above method further includes: if multiple special vehicles send priority access requests simultaneously, the V2X platform processes them in the order from high to low according to the priorities reported by the special vehicles. In this way, the integration of multiple flexible special lanes can be realized.

[0245] In some alternative embodiments, the above method further includes: after the V2X platform identifies the information of the flexible special lane, according to the position information of the flexible special lane, it sends a avoidance notice to other vehicles currently running on this flexible special lane. In this way, the sending of the avoidance notice can be realized.

[0246] In some alternative embodiments, the above method further includes: after the V2X platform identifies the information of the flexible special lane, according to the information of the flexible special lane, it sends a warning notice to the vehicles running on the lanes within a predetermined distance range around the flexible special lane. In this way, the sending of the warning notice can be realized.

[0247] In some alternative embodiments, the above method further includes: after the V2X platform determines the vehicles that need to send the avoidance notice or the warning notice, it displays the information of the flexible special lane and the information of the special vehicle on the map. In this way, the warned vehicles can intuitively understand the information of the flexible special lane by viewing the Local dynamic map (LDM); in this way, the visual warning can be realized.

[0248] In some alternative embodiments, the above method further includes: after the V2X platform identifies a priority passage request of a special vehicle, based on information such as the coordinates, speed, heading angle, and / or priority of the priority passage carried in the BSM of the vehicle, as well as the local path planning information obtained through collaborative planning by the calculation unit, continuously calculate the range of the flexible special lane and update the affected lane information, so that the V2X platform can send avoidance notices and early warning notices to surrounding vehicles according to the lane information.

[0249] Example 2

[0250] As Figure 10 shown, an embodiment of the present invention provides a data processing method, which is executed by a data processing system. The data processing method includes the following steps:

[0251] Step S501, if the special vehicle needs to pass with priority, turn on the priority passage switch.

[0252] Step S502, the special vehicle reports the BSM to the V2X platform.

[0253] Optionally, the emergencyExt-ResponseType field in the BSM becomes emergency(1). Optionally, this emergencyExt-ResponseType field carries the priority of the priority passage.

[0254] Step S503, the V2X platform identifies that the special vehicle needs to pass with priority through the emergencyExt-ResponseType field; and audits this priority passage request.

[0255] Step S504, if the V2X platform approves the priority passage request of the special vehicle, process this priority passage request according to the priority of the priority passage.

[0256] Optionally, if there are multiple special vehicles requesting priority passage in the same area at the same time, they are processed in descending order of priority.

[0257] Step S505, the V2X platform determines the lane and / or driving direction where the special vehicle is located according to the position information of the coordinates, speed, and / or heading angle in the BSM of the special vehicle.

[0258] Optionally, if the center position of the special vehicle is very close to the lane line in the middle of two same-direction lanes, it is considered that the special vehicle occupies two same-direction lanes.

[0259] Step S506, the V2X platform determines a flexible special lane according to the priority of the special vehicle in the BSM of the special vehicle and the speed of the special vehicle. Optionally, the priority of the special vehicle refers to the priority of the special vehicle to pass with priority.

[0260] Optionally, the V2X platform determines the length and width of the flexible dedicated lane according to the priority of the special vehicle and the speed of the special vehicle; the V2X platform determines the section of the flexible dedicated lane required by the special vehicle according to the map position, and configures the flexible dedicated lane information for this section. Optionally, the duration for which the flexible dedicated information of this section is saved is set according to the definition of the V2X platform.

[0261] Step S507, the V2X platform sends a avoidance notice to ordinary vehicles driving on the flexible dedicated lane, and sends a warning notice to ordinary vehicles driving on the lanes near the flexible dedicated lane.

[0262] Optionally, the range of the warning notice is set according to the definition of the V2X platform.

[0263] Step S508, the ordinary vehicle determines the azimuth information of the special vehicle relative to the ordinary vehicle according to the received position information of the special vehicle; and determines the predicted collision point between the special vehicle and the ordinary vehicle.

[0264] Optionally, the azimuth information includes at least one of the following: front left, straight ahead, front right, left, right, rear left, straight rear, rear right, and / or the distance between the two vehicles (such as the special vehicle and the ordinary vehicle), etc. The ordinary vehicle comprehensively considers information such as the length of the flexible dedicated lane, the lane line change attribute, lane obstacles, and road conditions to determine the relative speed between the special vehicle and the ordinary vehicle on the current flexible dedicated lane, and obtains the predicted collision point based on this relative speed. Perform a lane-level path planning algorithm on the ordinary vehicle and set a recommended speed to avoid the predicted collision point and / or obstacles. As the position of the special vehicle changes, perform real-time navigation on the ordinary vehicle. After the priority passage request is closed, the previous flexible dedicated lane can continue to be used to avoid congestion. In this way, through the collaborative planning method, the lane passing utilization efficiency can be improved.

[0265] Step S509, the ordinary vehicle presents the azimuth information of the special vehicle relative to the ordinary vehicle in a warning manner.

[0266] Optionally, the ordinary vehicle takes avoidance measures with reference to the azimuth information presented in this warning manner.

[0267] Example 3

[0268] As Figure 11 shown, an embodiment of the present invention provides a data processing method, which is executed by a data processing system. The data processing method includes the following steps:

[0269] Step S601, if the special vehicle needs to give priority to passing, turn on the priority passing switch.

[0270] Step S602, the special vehicle reports the BSM to the V2X platform.

[0271] Optionally, the emergencyExt-ResponseType field in the BSM becomes emergency(1). Optionally, the emergencyExt-ResponseType field carries the priority for right of way.

[0272] In step S603, the V2X platform identifies that the special vehicle needs right of way through the emergencyExt-ResponseType field; and reviews the right of way request.

[0273] In step S604, if the V2X platform approves the right of way request of the special vehicle, it processes the right of way request according to the priority of the right of way.

[0274] Optionally, if the V2X platform approves the right of way request of the special vehicle, it determines the flexible special lane information of the special vehicle according to information such as the position, speed, heading angle, and right of way priority of the special lane; and calibrates each lane section on the highway.

[0275] Optionally, if the V2X platform determines that there are multiple special vehicles requesting right of way in the same area at the same time, it processes them in descending order of the priority of the multiple special vehicles. Among them, the processing method for special vehicles is: multiple special vehicles will receive the original priorities of all special vehicles near them, that is, the special flexible lanes required by other special vehicles and the required priorities; each special vehicle then takes evasive action according to the warning information of other special vehicles it receives. The processing method for ordinary vehicles is: fuse the flexible special lanes of each special vehicle, and each section is set according to the highest priority to form an evasive notice and / or warning notice to notify other ordinary vehicles.

[0276] In step S605, the V2X platform continuously calculates ordinary vehicles with a collision risk around the special vehicle according to the position information such as coordinates, speed, and / or heading angle in the BSM of the special vehicle.

[0277] In step S606, the V2X platform sends an evasive notice and / or warning notice to ordinary vehicles with a collision risk to inform the ordinary vehicles of the azimuth information and / or distance information of the special vehicle relative to the ordinary vehicles. In this way, the evasive notice and / or warning notice can be used as a reference for ordinary vehicles to take evasive measures.

[0278] Example 4

[0279] As Figure 12 shown, an embodiment of the present invention provides a data processing method, which is executed by a data processing system. The data processing method includes the following steps:

[0280] Step S701: If the special vehicle no longer needs to have priority access, turn off the priority access switch.

[0281] Step S702: The BSM reported by the special vehicle to the V2X platform.

[0282] Optionally, the emergencyExt-ResponseType field in the BMS becomes nonEmergency(2), or the emergencyExt field is set to empty.

[0283] Step S703: The V2X platform identifies through the BSM that the special vehicle no longer needs priority access; treats the special vehicle as an ordinary vehicle and stops sending warning notifications and / or avoidance notifications of the special vehicle to the ordinary vehicles around the special vehicle.

[0284] It should be noted that those skilled in the art can understand that the method provided in the embodiment of the present invention can be executed alone or can be executed together with some methods in the embodiment of the present invention or some methods in the related art.

[0285] It should be pointed out here that the description of the following first device is similar to the description of the above data processing method, and the beneficial effects of the method will not be elaborated. For the technical details not disclosed in the first device embodiment of the present invention, please refer to the description of the data processing method embodiment of the present invention.

[0286] As Figure 13 shown, the embodiment of the present invention provides a first device, including:

[0287] A receiving module 801, configured to receive a BSM sent by at least one first type of vehicle through a first roadside device, where the BSM includes a first coordinate position, a first speed, and a heading angle of the first type of vehicle; a preset field in the BSM is a first indication, and the first indication is used to request priority access;

[0288] A processing module 802, configured to determine a first lane where the first type of vehicle is located based on the first coordinate position, the heading angle, and map data;

[0289] The processing module 802 is configured to determine a warning range of the lane corresponding to the first type of vehicle based on the first speed and the warning level of the first type of vehicle;

[0290] The processing module 802 is configured to determine at least one second type of vehicle that needs to be avoided and / or warned based on the first lane and the warning range;

[0291] A sending module 803, configured to send a first notification to at least one second type of vehicle through a second roadside device, where the first notification includes a warning notification and / or an avoidance notification.

[0292] In some embodiments, the processing module 802 is configured to determine an alternative intersection corresponding to the first coordinate position based on the first coordinate position and the map data; determine an alternative lane based on the first coordinate position and the alternative intersection; and determine a first lane based on the difference between the heading angle and the included angle between the lane lines of the alternative lane.

[0293] In some embodiments, the processing module 802 is configured to determine the warning times corresponding to the first lane and the second lane within a predetermined distance of the first lane respectively based on the warning level of the first type of vehicle and the warning mapping information; wherein the warning mapping information is used to indicate the corresponding relationship between the warning level and the warning times of at least one lane.

[0294] The processing module 802 is further configured to determine the warning range of the first lane based on the first speed and the warning time of the first lane, and / or determine the warning range of the second lane based on the first speed and the warning time of the second lane.

[0295] In some embodiments, the second type of vehicle includes: a second vehicle and / or a third vehicle.

[0296] The processing module 802 is configured to determine a second vehicle to be avoided based on the first lane, the first coordinate position, and the warning range of the first lane; and / or determine a third vehicle to be warned based on the second lane within a predetermined distance of the first lane, the first coordinate position, and the warning range of the second lane.

[0297] The sending module 803 is configured to send an avoidance notice to the second vehicle through the second roadside device; and / or send a warning notice to the third vehicle through the second roadside device.

[0298] In some embodiments, the apparatus further includes: a determination module, configured to determine the predicted collision point of the first type of vehicle and the second vehicle based on the first speed of the first type of vehicle and the second speed of the second vehicle; and determine the recommended speed and / or recommended lane of the second vehicle based on the predicted collision point.

[0299] The sending module 803 is configured to send an avoidance notice including the recommended speed and / or recommended lane to the second vehicle.

[0300] In some embodiments, the determination module is configured to determine whether the first type of vehicle is allowed to have priority based on the BSM and the whitelist.

[0301] The processing module 802 is configured to determine the first lane where the first type of vehicle is located based on the first coordinate position, the heading angle, and the map data when the first type of vehicle is allowed to have priority.

[0302] In some embodiments, the BSM includes the priority of the first type of vehicle.

[0303] A determination module, configured to, when there are multiple first-type vehicles allowed to have priority in the first lane, determine, based on the priorities of the multiple first-type vehicles, the first-type vehicle corresponding to the highest priority as the target vehicle;

[0304] A sending module 803, configured to send, to the first-type vehicles other than the target vehicle among the multiple first-type vehicles, a lane-changing notice for the first lane of the target vehicle and / or a warning notice for the second lane of the target vehicle.

[0305] In some embodiments, the sending module 803 is configured to send, to at least one second-type vehicle, a lane-changing notice for the first lane of the multiple first-type vehicles sorted by priority and / or a warning notice for the second lane of the multiple first-type vehicles.

[0306] As Figure 14 shown, an embodiment of the present invention further provides a first device, where the first device includes a processor 901 and a memory 902 for storing a computer program that can run on the processor 901; wherein, when the processor 901 is used to run the computer program, the data processing method of any embodiment of the present invention is implemented. Optionally, the first device is a terminal.

[0307] In some embodiments, the memory in the embodiments of the present invention may be a volatile memory or a non-volatile memory, or may include both volatile and non-volatile memories. Among them, the non-volatile memory may be a read-only memory (ROM), a programmable ROM (PROM), an erasable programmable ROM (EPROM), an electrically erasable programmable ROM (EEPROM), or a flash memory. The volatile memory may be a random access memory (RAM), which is used as an external cache. By way of example but not limitation, many forms of RAM are available, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double data rate SDRAM (DDR SDRAM), enhanced SDRAM (ESDRAM), synchlink DRAM (SLDRAM), and direct rambus RAM (DRRAM). The memory of the systems and methods described herein is intended to include but not be limited to these and any other suitable types of memory.

[0308] The processor may be a kind of integrated circuit chip with signal processing capabilities. In the implementation process, each step of the above method can be completed by the integrated logic circuit in the hardware of the processor or instructions in the form of software. The above-mentioned processor may be a general-purpose processor, a digital signal processor (DSP), an application specific integrated circuit (ASIC), a field programmable gate array (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components. It can implement or execute each method, step, and logic block diagram disclosed in the embodiments of the present invention. The general-purpose processor may be a microprocessor, or the processor may also be any conventional processor, etc. The steps of the method disclosed in combination with the embodiments of the present invention can be directly embodied as being executed and completed by the hardware decoding processor, or executed and completed by a combination of the hardware and software modules in the decoding processor. The software module may be located in a mature storage medium in the art such as random access memory, flash memory, read-only memory, programmable read-only memory, or electrically erasable programmable memory, registers, etc. This storage medium is located in the memory, and the processor reads the information in the memory and combines its hardware to complete the steps of the above method.

[0309] In some embodiments, the embodiments described herein can be implemented using hardware, software, firmware, middleware, microcode, or a combination thereof. For a hardware implementation, the processing unit can be implemented in one or more application specific integrated circuits (ASICs), digital signal processors (DSPs), digital signal processing devices (DSPDs), programmable logic devices (PLDs), field-programmable gate arrays (FPGAs), general-purpose processors, controllers, microcontrollers, microprocessors, other electronic units for performing the functions described in the invention, or a combination thereof.

[0310] For a software implementation, the technologies described herein can be implemented by modules (such as procedures, functions, etc.) that execute the functions described herein. The software code can be stored in the memory and executed by the processor. The memory can be implemented inside or outside the processor.

[0311] An embodiment of the present invention provides a computer storage medium. The computer-readable storage medium stores an executable program, and when the executable program is executed by a processor, the steps of the data processing method according to any embodiment of the present invention can be implemented.

[0312] In some embodiments, the computer storage medium may include: various media that can store program codes, such as USB flash drives, mobile hard disks, read-only memories (ROMs), random access memories (RAMs), magnetic disks, or optical discs.

[0313] It should be noted that the technical solutions described in the embodiments of the present invention can be arbitrarily combined without conflict.

[0314] The above is only the specific implementation manner of the present invention, but the protection scope of the present invention is not limited thereto. Any person skilled in the art within the technical scope disclosed by the present invention can easily think of changes or substitutions, which should all be covered by the protection scope of the present invention. Therefore, the protection scope of the present invention should be subject to the protection scope of the claims.

Claims

1. A data processing method, characterized in that: The method is executed by a first device and includes: Receiving a basic safety message BSM sent by at least one first-category vehicle through a first roadside device, wherein the BSM includes a first coordinate position, a first speed, and a heading angle of the first-category vehicle; a preset field in the BSM is a first indication, and the first indication is used to request priority passage; Determine a first lane where the first type of vehicle is located based on the first coordinate position, the heading angle, and the map data; Determining a warning range of a lane corresponding to the first type of vehicle based on the first speed and the warning level of the first type of vehicle; Based on the first lane and the warning range, determining at least one second-category vehicle that needs to be avoided and / or warned; A first notification is sent to at least one of the second-category vehicles through a second roadside device, wherein the first notification includes a warning notification and / or an avoidance notification.

2. The method according to claim 1, characterized in that The determining, based on the first coordinate position, the heading angle, and the map data, of a first lane where the first type of vehicle is located includes: Based on the first coordinate position and the map data, determining an alternative intersection corresponding to the first coordinate position; Determining an alternative lane based on the first coordinate position and the alternative intersection; The first lane is determined based on a difference between the heading angle and a lane line angle of the candidate lane.

3. The method according to claim 1, characterized in that The determining, based on the first speed and the warning level of the first category of vehicles, a warning range of the lane corresponding to the first category of vehicles includes: Based on the warning level and warning mapping information of the first type of vehicle, determining the warning time corresponding to the first lane and the second lane within a predetermined distance range of the first lane, respectively; wherein the warning mapping information is used to indicate the corresponding relationship between the warning level and the warning time of at least one lane; Based on the first speed and the warning time of the first lane, a warning range of the first lane is determined, and / or based on the first speed and the warning time of the second lane, a warning range of the second lane is determined.

4. The method according to any one of claims 1 to 3, characterized in that: The second type of vehicles includes: a second vehicle and / or a third vehicle; The determining of at least one second type of vehicle that needs to be avoided and / or warned based on the first lane and the warning range includes: determining the second vehicle that needs to be avoided based on the first lane, the first coordinate position, and the warning range of the first lane; and / or determining the third vehicle that needs to be warned based on a second lane within a predetermined distance range of the first lane, the first coordinate position, and the warning range of the second lane; The sending of the first notification to at least one of the second-category vehicles through the second roadside equipment includes: sending the avoidance notification to the second vehicle through the second roadside equipment; and / or sending the warning notification to the third vehicle through the second roadside equipment.

5. The method according to claim 4, characterized in that The method further includes: determining an expected collision point between the first type of vehicle and the second type of vehicle based on a first speed of the first type of vehicle and a second speed of the second type of vehicle; determining a recommended speed and / or a recommended lane for the second vehicle based on the expected collision point; The sending the avoidance notification to the second vehicle includes: sending the avoidance notification including the recommended speed and / or the recommended lane to the second vehicle.

6. The method according to any one of claims 1 to 3, characterized in that: The method further includes: determining whether the first category of vehicles is allowed to have priority passage based on the BSM and the whitelist; The determining the first lane where the first type of vehicle is located based on the first coordinate position, the heading angle and the map data includes: when the first type of vehicle is allowed priority passage, determining the first lane where the first type of vehicle is located based on the first coordinate position, the heading angle and the map data.

7. The method according to any one of claims 1 to 3, characterized in that: The BSM includes a priority of the first category of vehicles; The method further includes: when there are a plurality of first-category vehicles in the first lane that are allowed to have priority passage, based on the priorities of the plurality of first-category vehicles, determining the first-category vehicle corresponding to the highest priority as the target vehicle; The avoidance notification for the first lane of the target vehicle and / or the warning notification for the second lane of the target vehicle are sent to first-category vehicles other than the target vehicle among the plurality of first-category vehicles.

8. The method according to claim 7, characterized in that The sending a first notification to at least one of the second-category vehicles comprises: Sending, to at least one of the second-category vehicles, avoidance notifications of the first lane of multiple vehicles of the first category sorted by priority and / or the warning notifications of the second lane of multiple vehicles of the first category.

9. A data processing system, characterized in that: include: a first device, at least one first roadside device, at least one first-category vehicle, at least one second roadside device and at least one second-category vehicle; wherein, The first type of vehicle sends basic safety information BSM to the first roadside device, wherein the BSM includes a first coordinate position, a first speed and a heading angle of the first type of vehicle; a preset field in the BSM is a first indication, and the first indication is used to request priority passage; The first roadside device sends the BSM to the first device; The first device determines, based on the first coordinate position, the heading angle, and the map data, a first lane in which the first-category vehicle is located; determines, based on the first speed and the warning level of the first-category vehicle, a warning range of the lane corresponding to the first-category vehicle; and determines, based on the first lane and the warning range, at least one second-category vehicle that needs to be avoided and / or warned; The first device sends a first notification to the second roadside device, wherein the first notification includes a warning notification and / or an avoidance notification; The second roadside apparatus sends the first notification to the second category of vehicles.

10. A first device, characterized in that: include: A receiving module, configured to receive a basic safety message BSM sent by at least one first-category vehicle through a first roadside device, wherein the BSM includes a first coordinate position, a first speed, and a heading angle of the first-category vehicle; a preset field in the BSM is a first indication, and the first indication is used to request priority passage; a processing module, configured to determine a first lane where the first type of vehicle is located based on the first coordinate position, the heading angle, and map data; The processing module is used to determine the warning range of the lane corresponding to the first category of vehicles based on the first speed and the warning level of the first category of vehicles; The processing module is used to determine at least one second-category vehicle that needs to be avoided and / or warned based on the first lane and the warning range; A sending module is used to send a first notification to at least one of the second-category vehicles through a second roadside device, wherein the first notification includes a warning notification and / or an avoidance notification.

11. A first device, characterized in that: The first device includes a processor and a memory for storing a computer program that can be run on the processor; wherein the processor, when used to run the computer program, implements the data processing method according to any one of claims 1 to 8.

12. A computer storage medium, characterized in that: The computer storage medium contains computer executable instructions, wherein the computer executable instructions are executed by a processor to implement the data processing method according to any one of claims 1 to 8.

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