Environmental data statistical analysis method, system and equipment for vehicle-road cooperation air interface message

Abstract

The invention discloses an environmental data statistical analysis method, system and device for vehicle-road cooperation air interface messages, which are applied to the technical field of Internet of Vehicles, and comprises the following steps: acquiring air interface messages transmitted by Internet of Vehicles devices on each road in a test area and collected by an air interface collection device; converting the latitude and longitude coordinates in each air interface message into plane projection coordinates; obtaining a message icon of each air interface message from a preset icon library based on the message type of each air interface message; drawing a message icon of each air interface message at a corresponding position in the base map of the map; generating a click hotspot for each air interface message in the base map of the map and binding the click hotspot with a message identifier of the air interface message; and in response to the click event of the click hotspot for any message icon, the environmental data statistical analysis result of the air interface message is displayed in the message analysis detail window, so that the environmental data statistical analysis complexity can be reduced by visually displaying the environmental data statistical analysis result.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of Internet of Vehicles, and in particular to an environment data statistical analysis method, system and device for vehicle-road cooperative air interface messages. BACKGROUND

[0002] The environment data statistical analysis (environment message sniffing characterization) of vehicle-road cooperative air interface messages faces multiple technical challenges: first, the data quality and consistency problem is prominent, the precision and sampling frequency difference is significant, and there are missing values and error values; second, the massive data processing pressure is great, hundreds of data are generated per second for a single vehicle, and real-time analysis demand needs to be met for hundreds of devices access; third, the communication reliability is insufficient, the actual vehicle-road interaction message reliability is only about 95%, and the V2X network coverage is low (only 20% in some cities); in addition, the multi-modal data (time series, space, event flow) fusion is difficult, the feature domain gap problem is caused by the erection height and model difference of vehicle-side and roadside sensors, and the traditional domain adaptive method is difficult to effectively solve; at the same time, the data security and privacy protection face severe challenges, the utilization and compliance requirements of sensitive information (such as vehicle trajectory) need to be balanced, and the non-uniformity of technical standards and the lack of edge-cloud collaborative mechanism further aggravate the complexity of environment data statistical analysis. SUMMARY

[0003] The present application provides an environment data statistical analysis method, system and device for vehicle-road cooperative air interface messages, to solve the problem of high complexity of environment data statistical analysis for vehicle-road cooperative air interface messages in the prior art. The technical solution provided by the present application is as follows: On the one hand, the present application provides an environment data statistical analysis method for vehicle-road cooperative air interface messages, comprising: acquiring air interface messages transmitted by Internet of Vehicles devices on each road in a target test area collected by an air interface collection device installed on a test vehicle; wherein the message types of the air interface messages at least include BSM, RSI, RSM, SPAT and MAP messages; converting the latitude and longitude coordinates in each air interface message into plane projection coordinates under a plane coordinate system used by a map base map of the target test area; based on the message types of each air interface message, acquiring message icons of each air interface message from a preset icon library; drawing the message icons of each air interface message at the corresponding positions of the plane projection coordinates of the corresponding air interface messages in the map base map of the target test area, respectively; for each air interface message in the map base map, generating a click hot area for the message icon of the air interface message, and associating and binding the click hot area of the message icon of the air interface message with the message identifier of the air interface message; In response to a click event of the click hot area of any message icon, the message parsing detail window displays the environmental data statistical analysis result of the air interface message represented by the message identifier bound to the click hot area.

[0004] Optionally, the message icons of the respective air interface messages are respectively drawn at the respective positions of the respective air interface messages in the map base map of the target test area, including: According to the current map scale, the planar projection coordinates of the respective air interface messages in the planar coordinate system are mapped to screen pixel coordinates. According to the screen pixel coordinates of the respective air interface messages, the message icons of the respective air interface messages are respectively drawn at the respective positions in the map base map of the target test area.

[0005] Optionally, the message parsing detail window displays the environmental data statistical analysis result of the air interface message represented by the message identifier bound to the click hot area, including: The message parsing detail window synchronously displays the field name, the original data after ASN.1 decoding, and the readable data after V2X standard parsing of the air interface message represented by the message identifier bound to the click hot area in a three-column form.

[0006] Optionally, the vehicle-road cooperation air interface message environmental data statistical analysis method provided by the present application further includes: The message icons and their associated click hot areas that have exceeded the sliding time window are periodically deleted, the message icons and click hot areas of the air interface messages newly entering the sliding time window are generated after coordinate mapping and added to the dynamic annotation layer, and the display attributes of the message icons still located in the sliding time window and having changed field contents are updated without changing their positions.

[0007] Optionally, the vehicle-road cooperation air interface message environmental data statistical analysis method provided by the present application further includes: The working state of the test vehicle is dynamically updated in the left area of the status bar; wherein the working state at least includes no positioning, no message in the environment, and recording. The time, 4G signal quality, and battery state are normally displayed in the right area of the status bar.

[0008] Optionally, the vehicle-road cooperation air interface message environmental data statistical analysis method provided by the present application further includes: The positioning following function is enabled, so that the vehicle position of the test vehicle is always located at the center position of the map base map, and the scale adjustment, full screen, and manual positioning operations are supported.

[0009] Optionally, the vehicle-road cooperation air interface message environmental data statistical analysis method provided by the present application further includes: Display the number of OBU devices and / or the number of RSU devices within the current communication range of the test vehicle and the number of messages of BSM, RSI, RSM, SPAT and MAP per second through a peripheral statistical data window.

[0010] Optionally, the application provides a vehicle-road cooperation air interface message environment data statistical analysis method, which further comprises: Periodically count the number of Internet of Vehicles devices and the number of air interface messages within the communicable range, and filter the displayed object categories on the map base map through check boxes. In response to a selection operation on any message icon in the map base map, the message receiving strength, packet receiving rate, communication distance, message delay, transmission period, signal-to-noise ratio and channel occupancy rate of the air interface message corresponding to the message icon are displayed in the communication performance window.

[0011] In another aspect, the application provides a vehicle-road cooperation air interface message environment data statistical analysis system, comprising: A message acquisition module is configured to acquire air interface messages transmitted by Internet of Vehicles devices on each road in a target test area collected by an air interface collection device; wherein the message types of the air interface messages at least include BSM, RSI, RSM, SPAT and MAP messages. An icon drawing module is configured to convert the latitude and longitude coordinates in each air interface message into plane projection coordinates in a plane coordinate system used by a map base map of the target test area; acquire message icons of each air interface message from a preset icon library based on the message types of each air interface message; and draw the message icons of each air interface message at the corresponding positions of the plane projection coordinates of the corresponding air interface message in the map base map of the target test area. A statistical display module is configured to generate a click hot area for the message icon of each air interface message in the map base map, and bind the click hot area of the message icon of the air interface message with a message identifier of the air interface message; and in response to a click event on the click hot area of any message icon, display the environment data statistical analysis result of the air interface message represented by the message identifier bound by the click hot area in a message analysis details window.

[0012] In another aspect, the application provides an electronic device, comprising a memory, a processor and a computer program stored in the memory and executable on the processor, and the processor implements the vehicle-road cooperation air interface message environment data statistical analysis method when executing the computer program.

[0013] The application has the following beneficial effects: This application converts the latitude and longitude coordinates in each air interface message into planar projected coordinates, and retrieves the message icons of each air interface message from a pre-set icon library based on the message type of each air interface message. After drawing the message icons of each air interface message at the corresponding positions on the map base map, a click hotspot is generated for each air interface message on the map base map and bound to the message identifier of the air interface message. In response to a click event on the click hotspot of any message icon, the environmental data statistical analysis results of the air interface message are displayed in the message parsing details window. This enables statistical analysis of environmental data and visualization of the statistical analysis results, thereby reducing the complexity of environmental data statistical analysis.

[0014] Other features and advantages of this application will be set forth in the following description, and will be apparent in part from the description, or may be learned by practicing the application. The objectives and other advantages of this application may be realized and obtained by means of the structures particularly pointed out in the written description, claims, and drawings. Attached Figure Description

[0015] The accompanying drawings, which are included to provide a further understanding of this application and form part of this application, illustrate exemplary embodiments and are used to explain this application, but do not constitute an undue limitation of this application. In the drawings: Figure 1 This is a schematic diagram outlining the environmental data statistical analysis method in the embodiments of this application; Figure 2 This is a schematic diagram of the message parsing details window in an embodiment of this application; Figure 3 This is a schematic diagram of the message visualization interface in the embodiments of this application; Figure 4 This is a schematic diagram of the surrounding statistics window in the embodiments of this application; Figure 5 This is a schematic diagram of the communication performance window in an embodiment of this application; Figure 6 This is a schematic diagram of the logical architecture of the software system in the embodiments of this application; Figure 7 This is a schematic diagram of the process architecture in an embodiment of this application; Figure 8 This is a schematic diagram of the deployment architecture in an embodiment of this application; Figure 9 This is a functional structure diagram of the environmental data statistical analysis system in the embodiments of this application; Figure 10 This is a schematic diagram of the hardware structure of the electronic device in the embodiments of this application. Detailed Implementation

[0016] To make the objectives, technical solutions, and beneficial effects of this application clearer, the technical solutions in the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of this application, and not all of the embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0017] This application provides a method for statistical analysis of environmental data related to vehicle-road cooperative air interface messages. (See attached document.) Figure 1 As shown in the embodiments of this application, the general flow of the environmental data statistical analysis method for vehicle-road cooperative air interface messages is as follows: Step 101: Obtain air interface messages transmitted by vehicle-to-everything (V2X) devices on each road within the target test area, collected by the air interface acquisition device installed on the test vehicle; wherein, the message types of the air interface messages include at least BSM, RSI, RSM, SPAT, and MAP messages.

[0018] In this embodiment of the application, the air interface messages are collected by on-site construction and implementation personnel carrying terminals with air interface message collection capabilities. This requires driving at a constant speed for at least one lap on the uphill and downhill sections of each road within the target test area to complete the air interface message collection work.

[0019] Step 102: Convert the latitude and longitude coordinates in each air interface message into planar projection coordinates in the planar coordinate system used by the base map of the target test area; based on the message type of each air interface message, obtain the message icon of each air interface message from the preset icon library; draw the message icon of each air interface message at the corresponding position of the planar projection coordinates of the corresponding air interface message on the base map of the target test area.

[0020] In this embodiment of the application, when the message icons of each air interface message are drawn at the corresponding positions of the planar projection coordinates of the corresponding air interface message on the map base map of the target test area, the planar projection coordinates of each air interface message in the planar coordinate system can be mapped to screen pixel coordinates according to the current map scale; and the message icons of each air interface message are drawn at the corresponding positions of the map base map of the target test area according to the screen pixel coordinates of each air interface message.

[0021] Step 103: For each air interface message in the base map, generate a click hotspot for the message icon of the air interface message, and associate and bind the click hotspot of the message icon of the air interface message with the message identifier of the air interface message; in response to a click event for the click hotspot of any message icon, display the environmental data statistical analysis results of the air interface message represented by the message identifier associated with the click hotspot in the message parsing details window.

[0022] In this embodiment of the application, in response to a click event on a click hotspot of any message icon, when displaying the environmental data statistical analysis results of the air interface message represented by the message identifier associated with the click hotspot in the message parsing details window, refer to... Figure 2 As shown, the message parsing details window can simultaneously display, in three columns, the field names corresponding to the air interface message represented by the message identifier associated with the clicked hotspot, the original data after ASN.1 decoding, and the readable data parsed according to the V2X standard.

[0023] In this embodiment of the application, after the message parsing details window displays the environmental data statistical analysis results of the air interface messages represented by the message identifiers associated with the click hotspots, the message icons and their associated click hotspots that have exceeded the sliding time window can be periodically deleted with a set duration sliding time window as the life cycle. The newly entered air interface messages are generated into message icons and click hotspots after coordinate mapping and added to the dynamic annotation layer. For message icons that are still within the sliding time window and whose field content has changed, their display attributes are updated without changing their position.

[0024] In this embodiment, a location tracking function can also be enabled to ensure the test vehicle's position is always centered on the map base. It supports scale adjustment, full-screen mode, and manual self-location, as well as dynamically updating the test vehicle's working status in the left area of ​​the status bar. The working status includes at least no location tracking, no environmental messages, and recording. The right area of ​​the status bar normally displays the time, 4G signal quality, battery status, and other information. Figure 3 The message visualization interface shown supports visual mapping of key fields in air interface messages of different message types, facilitating quick error correction during walkthroughs and reducing error correction costs. When users no longer intend to use this section, they can click the collapse icon to close it and increase the display area for message parsing details.

[0025] In this embodiment of the application, it can also be achieved through methods such as Figure 4 The surrounding statistics window displays the number of OBU / RSU devices within the current communication range, as well as the number of BSM, RSI, RSM, SPAT, and MAP messages per second, so that users can intuitively understand the number of OBU / RSU devices within the current communication range, and the number of BSM, RSI, RSM, SPAT, and MAP messages per second.

[0026] In this embodiment, the number of vehicle-to-everything (V2X) devices and the number of air interface messages within the communication range can be periodically counted, and the display object categories on the map base map can be filtered by checkboxes; in response to the selection of any message icon on the map base map, in such a way... Figure 5The communication performance window displays the message reception strength, packet reception rate, communication distance, message delay, transmission cycle, signal-to-noise ratio, and channel occupancy rate of the air interface message corresponding to the message icon.

[0027] Specifically, the data displayed on the interface in the embodiments of this application can be obtained through, for example... Figure 6 The software system logical architecture shown is as follows: Figure 7 The process architecture shown and as Figure 8 The deployment architecture shown is statistically analyzed; the software system logical architecture includes: Message Database: Stores various messages parsed by CWAVEII; Message Classify / Filter: Used to classify message types and source sending devices, and calculate communication distance; Compliance Check: Used for the standardization check of various types of messages; Statistic Module: Used to statistically analyze the number of messages, message types, number of devices, and device types within a certain spatial and temporal range, and to calculate the packet loss rate; Painter: Used for drawing various types of data and charts in the GUI interface; Scenarios Record / Replay: Used to record test operation and maintenance processes, and stored as a log file that can be replayed.

[0028] The surrounding data statistics provided in this application embodiment are shown in Table 1: Table 1

[0029] The methods for collecting peripheral data include: (1) Handling of the effective period; 1. Based on the system's overall statistics and various display requirements, it is necessary to save messages within a certain time range. However, for system stability and resource utilization reasons, the current setting is to save data within 2 seconds, and the message list needs to be updated promptly.

[0030] 2. Upon receiving a message, parse it to obtain relevant data (id, latitude and longitude, secmark, etc.); 2.1. Perform statistical processing on new messages, incrementing the count under the corresponding msgType by one, and simultaneously incrementing the corresponding obu or rsu count based on msgType and msgID; where a) since only bsm, rsm, and rsi have msgid, it is only necessary to count the obu and rsu counts for these three message types; b) the msgids of rsm and rsi are consistent, so the rsu count can be distinguished by directly comparing the msg ID. 2.2. Upon receiving a map message, save one map message with a different ID, as needed for subsequent SPAT queries.

[0031] 3. Update messages within the valid period; 3.1. Update once per second (period of 2 seconds or more is sufficient); 3.2. Traverse the message list. When the last message within two seconds of the current time is obtained, perform the following operations: a) Delete the corresponding id and type statistics of all messages before this message in the device count and message count statistics; b) Save the last message and update the message list to the beginning of this message; c) Set the message update time to the saving time of the last message. 3.3. If all messages time out for two seconds, clear the entire data statistics list and the current message list.

[0032] (2) Statistics on the number of obu and rsu; You can directly obtain the number of OBUs and RSUs from the above statistics.

[0033] (3) Statistics on the number of messages in the five categories; 1. Obtain the difference in seconds between the save time of the latest message and the message update time (floating-point type, with millisecond decimals, precision required); 2. Round up to get the statistical result of dividing the number of messages of each type by the number of seconds.

[0034] The communication performance statistics provided in this application embodiment are shown in Table 2: Table 2

[0035] The methods for statistical analysis of communication performance include: (1) First, two conditions must be met: a) within the valid period, b) more than 5 messages. The current valid period is set to 2 seconds. Statistical calculations can only be performed if more than 5 messages are received; otherwise, the sample size is too small / packet loss is extremely serious, and statistical calculations are meaningless.

[0036] (2) The reference signal received power and signal-to-noise ratio are obtained directly from the system statistics. They are different for each message received, so the parameters corresponding to the latest message can be displayed directly.

[0037] (3) The following processing measures are taken for packet reception rate, relative distance to local machine, average message length, average latency, and average period: 1. Retrieve messages with corresponding message IDs and message types within a 2-second validity period; 2. The distance relative to the local machine can only be obtained from BSM and RSM statistics. The latitude and longitude of the latest message parsed can be calculated using the Haversine formula with the current local machine location. 3. Package acceptance rate calculation: 3.1. Subtract the msgcnt of the current message from the msgcnt of the previous message to obtain the expected value; 3.2. If the previous msgcnt is greater than the current msgcnt and the difference is greater than 5, it is considered to have entered the next cycle of msgcnt, and the expected value is increased by 128. 3.3. If the expected value is less than zero and condition 2 is not met, it is considered that network fluctuations caused the abnormal packet receiving order, and the absolute value of the expected value is taken. 3.4. Add up the expected values ​​of all messages and divide by the total number of packets received * 100% to get the packet reception rate.

[0038] (4) Average message latency; 1. Only BSM, RSM, and SPA messages have the secMark field; therefore, processing is only applied to these three message types. 2. Compare the difference between the recorded time of receiving the message and the secmark time; 3. If the delay is greater than zero (indicating normal time synchronization) and the delay is within ten seconds, it is considered a valid delay and is statistically summed, and the average value is taken.

[0039] (5) Average message length; Iterate through the message list, get the length of each message, and calculate the average length.

[0040] (6) Average message cycle; 1. Similar to calculating the packet reception rate, the expected value is obtained by subtracting the msgcnt of the current message from the msgcnt of the previous message; 2. When the expected value is less than zero, that is, if the previous msgcnt is greater than the current msgcnt, it is considered that it has entered the next cycle of msgcnt, and the expected value is increased by 128. 3. If the expected value is greater than zero, calculate the difference in milliseconds between the reception time of this message and the reception time of the previous message, and then divide it by the expected value to obtain the average period of each msgcnt message. 4. Sum the results and take the average.

[0041] In this embodiment of the application, SPAT (i.e., traffic light data) does not exist independently during vehicle-road cooperation; it needs to be combined with MAP (map data). Therefore, in data statistics and display, it is necessary to match and associate SPAT messages with MAP messages. Specifically, this includes: 1. Upon receiving a map message, parse it and determine if it is a matching map message by concatenating the node ID (region + ID) in the map message (the node ID consists of a globally unique region ID and a node ID unique within the region).

[0042] 2. Save all received MAP messages with different IDs (saving all MAP messages consumes high resources and wastes resources in subsequent retrieval. Save resources).

[0043] 3. Retrieve the node ID from the SPA message and match it with the list of map messages mentioned above. After finding the corresponding map message node, take the 3D coordinates of that node as the location where the SPA message is sent (if there is only one such node in the map message, then the location is the same as the location where the map message is sent).

[0044] 4. Extract the link segment information from the map message of the corresponding node and expand the display of the SPA message.

[0045] 5. Use the timing from the spat message to display the phase countdown. Find the one where startTime is zero; that's the actual light status displayed at the intersection (green light in the image above). Then use likelyEndTime as the countdown timer.

[0046] 6. Use phaseID to display traffic lights at each direction at the intersection in lane level.

[0047] Based on the above embodiments, this application provides an environmental data statistical analysis system for vehicle-road cooperative air interface messages, see below. Figure 9 As shown, the environmental data statistical analysis system 200 for vehicle-road cooperative air interface messages provided in this application embodiment includes at least: The message acquisition module 201 is used to acquire air interface messages transmitted by vehicle networking devices on each road within the target test area, collected by the air interface acquisition device; wherein, the message types of the air interface messages include at least BSM, RSI, RSM, SPAT and MAP messages. The icon drawing module 202 is used to convert the latitude and longitude coordinates in each air interface message into planar projection coordinates in the planar coordinate system used by the map base map of the target test area; based on the message type of each air interface message, it retrieves the message icon of each air interface message from the preset icon library; and draws the message icon of each air interface message at the corresponding position of the planar projection coordinate of the corresponding air interface message in the map base map of the target test area. The statistics display module 203 is used to generate a click hotspot for the message icon of each air interface message in the map base map, and associate and bind the click hotspot of the message icon of the air interface message with the message identifier of the air interface message; in response to a click event for the click hotspot of any message icon, the environmental data statistical analysis results of the air interface message represented by the message identifier associated with the click hotspot are displayed in the message parsing details window.

[0048] In one possible implementation, the icon drawing module 202 is used to map the planar projection coordinates of each air interface message in the planar coordinate system to screen pixel coordinates according to the current map scale; and to draw the message icon of each air interface message at the corresponding position on the map base map of the target test area according to the screen pixel coordinates of each air interface message.

[0049] In one possible implementation, the statistics display module 203 is used to simultaneously display in the message parsing details window the field names corresponding to the air interface message represented by the message identifier associated with the click hotspot, the original data after ASN.1 decoding, and the readable data parsed according to the V2X standard in three columns.

[0050] In one possible implementation, the environmental data statistical analysis system for vehicle-road cooperative air interface messages provided in this application further includes: Using a set duration sliding time window as the lifecycle, message icons and their associated click hotspots that have exceeded the sliding time window are periodically deleted. Newly entered air messages in the sliding time window are mapped by coordinates to generate message icons and click hotspots and added to a dynamic annotation layer. For message icons that are still within the sliding time window and whose field content has changed, their display attributes are updated without changing their position.

[0051] In one possible implementation, the environmental data statistical analysis system for vehicle-road cooperative air interface messages provided in this application further includes: The working status of the test vehicle is dynamically updated in the left area of ​​the status bar; the working status includes at least no location, no environmental messages, and recording. The right side of the status bar normally displays the time, 4G signal quality, and battery status.

[0052] In one possible implementation, the environmental data statistical analysis system for vehicle-road cooperative air interface messages provided in this application further includes: Enable the location tracking function to ensure that the test vehicle's position is always centered on the map base, and supports scale adjustment, full-screen mode, and manual positioning.

[0053] In one possible implementation, the environmental data statistical analysis system for vehicle-road cooperative air interface messages provided in this application further includes: The peripheral statistics window displays the number of OBU devices and / or RSU devices within the current communication range of the test vehicle, as well as the number of messages per second for BSM, RSI, RSM, SPAT, and MAP.

[0054] In one possible implementation, the environmental data statistical analysis system for vehicle-road cooperative air interface messages provided in this application further includes: The system periodically counts the number of connected vehicle devices and air interface messages within the communication range, and filters the categories of displayed objects on the map base map using checkboxes. In response to the selection of any message icon on the map base map, the communication performance window displays the message reception strength, packet reception rate, communication distance, message delay, transmission cycle, signal-to-noise ratio, and channel occupancy rate of the air interface message corresponding to that message icon.

[0055] The environmental data statistical analysis method and system for vehicle-road cooperative air interface messages provided in this application, by capturing and parsing air interface data in real time, solves problems such as inconsistent data from multi-source heterogeneous sensors, high pressure of massive data processing, and insufficient communication reliability, and significantly improves the data statistical efficiency and communication performance of the vehicle-road cooperative system, specifically in the following aspects: (1) Surrounding data statistics: Device count statistics: Statistics are based on the devices that can currently receive messages. The statistics for the past 2 seconds are displayed. If the ID is not successfully parsed, it is still included in the statistics. The refresh rule is once every 2 seconds.

[0056] Message count statistics: All received messages are counted and refreshed every 2 seconds, and are categorized into five message types: BSM, RSI, RSM, SPAT, and MAP. If a message type does not exist, 0 is displayed.

[0057] (2) Communication performance statistics: Reference Received Power (RSRP) and Signal-to-Noise Ratio (SNR): Directly displays the RSRP and SNR values ​​of the specific selected message.

[0058] Message delay: The delay is calculated by parsing the message sending time T1 and the handheld device receiving time T2 using secmark / timestamp.

[0059] Communication distance: The distance between two points is calculated based on the latitude and longitude in the BSM and RSM message bodies and the current location.

[0060] Packet reception rate (PRR): The number of packets received for the current device ID message is divided by the expected number value multiplied by 100%. The expected number is calculated by accumulating the difference using msgcnt.

[0061] Sending period: Record the msgCnt count within time T within the valid period, fill in the discontinuous msgCnt caused by packet loss, and calculate 1000T / N to obtain the sending period.

[0062] (3) Specific message processing: SPAT messages need to be used in conjunction with MAP messages. The same MAP messages are identified by splicing the node ID (region+id), and MAP messages with different IDs are saved to save resources. After matching the SPAT message nodes, the three-dimensional coordinate position and phase countdown information are obtained.

[0063] Next, a brief introduction will be given to the electronic device provided in the embodiments of this application. In the embodiments of this application, the electronic device can be an environmental data statistical analysis device for vehicle-road cooperative air interface messages, such as a computer, tablet computer, or mobile phone. (See also...) Figure 10 As shown, the electronic device 300 provided in this application embodiment includes at least a processor 301, a memory 302, and a computer program stored in the memory 302 and capable of running on the processor 301. When the processor 301 executes the computer program, it implements the above-mentioned environmental data statistical analysis method for vehicle-road cooperative air interface messages provided in this application embodiment.

[0064] The electronic device 300 provided in this application embodiment may further include a bus 303 connecting different components (including processor 301 and memory 302). The bus 303 represents one or more types of bus structures, including memory bus, peripheral bus, local area bus, etc.

[0065] Memory 302 may include readable media in the form of volatile memory, such as random access memory (RAM) 3021 and / or cache memory 3022, and may further include read-only memory (ROM) 3023. Memory 302 may also include a program tool 3025 having a set (at least one) of program modules 3024, including but not limited to an operating subsystem, one or more application programs, other program modules, and program data, each or some combination of these examples may include an implementation of a network environment.

[0066] Processor 301 can be a single processing element or a collective term for multiple processing elements. For example, processor 301 can be a microcontroller unit (MCU), a central processing unit (CPU), or one or more integrated circuits configured to implement the environmental data statistical analysis method for vehicle-road cooperative air interface messages provided in the embodiments of this application. Specifically, processor 301 can be a general-purpose processor, including but not limited to CPUs, application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc.

[0067] The electronic device 300 can also communicate with one or more devices that enable users to interact with the electronic device 300 (e.g., mobile phones, computers, etc.), and / or with various external devices 304 such as devices that enable the electronic device 300 to communicate with one or more other electronic devices (e.g., routers, modems, etc.). This communication can be performed through an input / output (I / O) interface 305. Furthermore, the electronic device 300 can also communicate with one or more networks (e.g., local area networks (LANs), wide area networks (WANs), and / or public networks, such as the Internet) through a network adapter 306. Figure 10 As shown, network adapter 306 communicates with other modules of electronic device 300 via bus 303. It should be understood that, although... Figure 10As not shown, other hardware and / or software modules may be used in conjunction with electronic device 300, including but not limited to microcode, device drivers, redundant processors, external disk drive arrays, Redundant Arrays of Independent Disks (RAID) subsystems, tape drives, and data backup storage subsystems.

[0068] It should be noted that, Figure 10 The electronic device 300 shown is merely an example and should not impose any limitations on the functionality and scope of use of the embodiments of this application.

[0069] In addition, this application embodiment also provides a computer-readable storage medium storing computer instructions. When executed by a processor, these computer instructions implement the environmental data statistical analysis method for vehicle-road cooperative air interface messages provided in this application embodiment. Specifically, the computer instructions can be built into or installed in the processor, so that the processor can implement the environmental data statistical analysis method for vehicle-road cooperative air interface messages provided in this application embodiment by executing the built-in or installed computer instructions.

[0070] Furthermore, the environmental data statistical analysis method for vehicle-road cooperative air interface messages provided in the embodiments of this application can also be implemented as a program product. The program product includes program code, which, when executed by a processor, implements the environmental data statistical analysis method for vehicle-road cooperative air interface messages provided in the embodiments of this application.

[0071] The program product provided in this application embodiment can be any combination of one or more readable media, wherein the readable media can be a readable signal medium or a readable storage medium, and the readable storage medium can be, but is not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, device or apparatus, or any combination thereof. Specifically, more specific examples of readable storage media (a non-exhaustive list) include electrical connections with one or more wires, portable disks, hard disks, RAM, ROM, erasable programmable read-only memory (EPROM), optical fibers, portable compact disc read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination thereof.

[0072] The program product provided in this application embodiment can be a CD-ROM and include program code, and can also run on an electronic device. However, the program product provided in this application embodiment is not limited thereto. In this application embodiment, the readable storage medium can be any tangible medium that contains or stores a program, which can be used by or in conjunction with an instruction execution system, device, or apparatus.

[0073] It should be noted that although several units or sub-units of the device have been mentioned in the detailed description above, this division is merely exemplary and not mandatory. In fact, according to embodiments of this application, the features and functions of two or more units described above can be embodied in one unit. Conversely, the features and functions of one unit described above can be further divided and embodied by multiple units.

[0074] Furthermore, although the operations of the method of this application are described in a specific order in the accompanying drawings, this does not require or imply that these operations must be performed in that specific order, or that all the operations shown must be performed to achieve the desired result. Additionally or alternatively, certain steps may be omitted, multiple steps may be combined into one step, and / or one step may be broken down into multiple steps.

[0075] Although preferred embodiments of this application have been described, those skilled in the art, upon learning the basic inventive concept, can make other changes and modifications to these embodiments. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments as well as all changes and modifications falling within the scope of this application.

[0076] Obviously, those skilled in the art can make various modifications and variations to the embodiments of this application without departing from the spirit and scope of the embodiments of this application. Therefore, if these modifications and variations to the embodiments of this application fall within the scope of the claims of this application and their equivalents, this application also intends to include these modifications and variations.

Claims

1. A method for statistical analysis of environmental data of vehicle-road cooperative air interface messages, characterized in that, include: The test vehicle acquires air interface messages transmitted by vehicle-to-everything (V2X) devices on various roads within the target test area, collected by an air interface acquisition device installed on the test vehicle; wherein the message types of the air interface messages include at least BSM, RSI, RSM, SPAT, and MAP messages. Convert the latitude and longitude coordinates in each of the air interface messages into planar projected coordinates in the planar coordinate system used by the base map of the target test area; Based on the message type of each air interface message, obtain the message icon of each air interface message from the preset icon library; The message icons of each of the aforementioned air interface messages are drawn at the corresponding positions on the map base map of the target test area, with the corresponding air interface message's planar projection coordinates. For each air interface message in the map base map, a clickable hotspot is generated for the message icon of the air interface message, and the clickable hotspot of the message icon of the air interface message is associated and bound with the message identifier of the air interface message; In response to a click event on a click hotspot for any message icon, the environmental data statistical analysis results of the air interface message represented by the message identifier associated with the click hotspot are displayed in the message parsing details window.

2. The environmental data statistical analysis method for vehicle-road cooperative air interface messages as described in claim 1, characterized in that, The message icons of each of the aforementioned air interface messages are respectively drawn at the corresponding positions on the map base map of the target test area based on the planar projection coordinates of the corresponding air interface message, including: Based on the current map scale, the planar projection coordinates of each air interface message in the planar coordinate system are mapped to screen pixel coordinates; Based on the screen pixel coordinates of each air interface message, the message icon of each air interface message is drawn at the corresponding position on the map base map of the target test area.

3. The environmental data statistical analysis method for vehicle-road cooperative air interface messages as described in claim 1, characterized in that, The message parsing details window displays the environmental data statistical analysis results of the air interface messages represented by the message identifiers associated with the clicked hotspots, including: The message parsing details window displays the field names corresponding to the air interface message represented by the message identifier associated with the clicked hotspot, the original data after ASN.1 decoding, and the readable data parsed according to the V2X standard in three columns simultaneously.

4. The environmental data statistical analysis method for vehicle-road cooperative air interface messages as described in claim 1, characterized in that, Also includes: Using a set duration sliding time window as the lifecycle, message icons and their associated click hotspots that have exceeded the sliding time window are periodically deleted. Newly entered air interface messages are mapped by coordinates to generate message icons and click hotspots and added to a dynamic annotation layer. For message icons that are still within the sliding time window and whose field content has changed, their display attributes are updated without changing their position.

5. The environmental data statistical analysis method for vehicle-road cooperative air interface messages as described in claim 1, characterized in that, Also includes: The working status of the test vehicle is dynamically updated in the left area of ​​the status bar; wherein the working status includes at least no location, no environmental messages, and recording. The right side of the status bar normally displays the time, 4G signal quality, and battery status.

6. The environmental data statistical analysis method for vehicle-road cooperative air interface messages as described in claim 1, characterized in that, Also includes: Enable the positioning and following function to ensure that the test vehicle's position is always centered on the map base map, and support scale adjustment, full-screen mode, and manual positioning.

7. The environmental data statistical analysis method for vehicle-road cooperative air interface messages as described in claim 1, characterized in that, Also includes: The peripheral statistics window displays the number of OBU devices and / or RSU devices within the current communication range of the test vehicle, as well as the number of messages per second for BSM, RSI, RSM, SPAT, and MAP.

8. The environmental data statistical analysis method for vehicle-road cooperative air interface messages as described in claim 1, characterized in that, Also includes: The system periodically counts the number of vehicle-to-everything (V2X) devices and the number of air interface messages within the communication range, and filters the display object categories on the map base map using checkboxes. In response to the selection of any message icon on the map base map, the message reception strength, packet reception rate, communication distance, message delay, transmission period, signal-to-noise ratio, and channel occupancy rate of the air interface message corresponding to that message icon are displayed in the communication performance window.

9. A system for statistical analysis of environmental data related to vehicle-road cooperative air interface messages, characterized in that, include: The message acquisition module is used to acquire air interface messages transmitted by vehicle-to-everything (V2X) devices on various roads within the target test area, collected by the air interface acquisition device; wherein, the message types of the air interface messages include at least BSM, RSI, RSM, SPAT, and MAP messages; The icon drawing module is used to convert the latitude and longitude coordinates in each of the air interface messages into planar projection coordinates in the planar coordinate system used by the map base map of the target test area; based on the message type of each of the air interface messages, to obtain the message icon of each of the air interface messages from the preset icon library; and to draw the message icon of each of the air interface messages at the corresponding position of the planar projection coordinate of the corresponding air interface message in the map base map of the target test area. The statistics display module is used to generate a click hotspot for the message icon of each air interface message in the base map, and associate the click hotspot of the message icon with the message identifier of the air interface message; in response to a click event on the click hotspot of any message icon, the module displays the environmental data statistical analysis results of the air interface message represented by the message identifier associated with the click hotspot in the message parsing details window.

10. An electronic device, characterized in that, The method includes a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, it implements the environmental data statistical analysis method for vehicle-road cooperative air interface messages as described in any one of claims 1-8.

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