V2X system shadow vehicle identification processing method and apparatus, and electronic device

Abstract

The invention relates to the technical field of Internet of Vehicles, and provides a V2X system shadow vehicle recognition processing method and device and electronic equipment, and the method comprises the steps: receiving and analyzing a roadside message sent by roadside equipment, obtaining the motion state information of a target vehicle, and carrying out the recognition of a shadow vehicle based on the motion state information of the target vehicle and the motion state information of a vehicle, and determining whether the target vehicle is a shadow vehicle of the vehicle, and removing information of the target vehicle from the roadside message when the target vehicle is the shadow vehicle of the vehicle, the motion state information including at least one of a vehicle length, a vehicle width, a vehicle speed, a vehicle position and a course angle.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of Internet of Vehicles, and in particular to a V2X system shadow vehicle identification processing method and device and electronic equipment. BACKGROUND

[0002] The vehicle receives the roadside message sensed by the roadside device, and the motion state information of the host vehicle included in the roadside message will interfere with the host vehicle itself, causing the host vehicle to make a false judgment and thus affecting safe driving. Therefore, the vehicle corresponding to the motion state information of the host vehicle included in the roadside message is referred to as the shadow vehicle of the host vehicle. In related technologies, an additional camera or radar device needs to be installed to sense the information of the surrounding vehicles and filter out the shadow vehicle. This method has the defects of high cost and inconvenience of operation, and cannot accurately identify and filter the shadow vehicle. SUMMARY

[0003] The present application provides a V2X system shadow vehicle identification processing method and device and electronic equipment to solve the problem of how to improve the accuracy of vehicle identification and filtering.

[0004] In a first aspect, the present application provides a V2X system shadow vehicle identification processing method, comprising: receiving and analyzing the roadside message sent by the roadside device to obtain the motion state information of the target vehicle; determining whether the target vehicle is the shadow vehicle of the host vehicle based on the motion state information of the target vehicle and the motion state information of the host vehicle; in the case where the target vehicle is the shadow vehicle of the host vehicle, removing the information of the target vehicle from the roadside message; The motion state information includes at least one of the vehicle length, the vehicle width, the vehicle speed, the vehicle position and the heading angle.

[0005] In some embodiments, determining whether the target vehicle is the shadow vehicle of the host vehicle based on the motion state information of the target vehicle and the motion state information of the host vehicle comprises: in the case where the difference between the vehicle length of the target vehicle and the host vehicle is greater than or equal to a first threshold value, or the difference between the vehicle width of the target vehicle and the host vehicle is greater than or equal to a second threshold value, determining that the target vehicle is not a shadow vehicle; in the case where the difference between the vehicle length of the target vehicle and the host vehicle is less than the first threshold value, and the difference between the vehicle width of the target vehicle and the host vehicle is less than the second threshold value, determining whether the target vehicle is a shadow vehicle based on the difference between the vehicle speed of the target vehicle and the host vehicle.

[0006] In some embodiments, determining whether the target vehicle is a shadow vehicle based on the difference between the vehicle speed of the target vehicle and the host vehicle comprises: In a case where the vehicle speed difference between the target vehicle and the ego vehicle is greater than or equal to the third threshold value, it is determined that the target vehicle is not a ghost vehicle; In a case where the vehicle speed difference between the target vehicle and the ego vehicle is less than the third threshold value, it is determined whether the target vehicle is a ghost vehicle based on the distance between the target vehicle and the ego vehicle.

[0007] In some embodiments, determining whether the target vehicle is a ghost vehicle based on the distance between the target vehicle and the ego vehicle comprises: determining the distance between the target vehicle and the ego vehicle based on the vehicle position of the target vehicle and the vehicle position of the ego vehicle; In a case where the distance is less than the fourth threshold value, it is determined that the target vehicle is a ghost vehicle; In a case where the distance is greater than or equal to the fourth threshold value, it is determined whether the target vehicle is a ghost vehicle based on the size relationship between the vehicle speed of the target vehicle and the fifth threshold value and the size relationship between the vehicle speed of the ego vehicle and the fifth threshold value.

[0008] In some embodiments, determining whether the target vehicle is a ghost vehicle based on the size relationship between the vehicle speed of the target vehicle and the fifth threshold value and the size relationship between the vehicle speed of the ego vehicle and the fifth threshold value comprises: In a case where the vehicle speed of the target vehicle and the vehicle speed of the ego vehicle are both greater than the fifth threshold value, and the heading angle difference between the target vehicle and the ego vehicle is greater than or equal to the sixth threshold value, it is determined that the target vehicle is not a ghost vehicle; In a case where the vehicle speed of the target vehicle and the vehicle speed of the ego vehicle are not both greater than the fifth threshold value, or the vehicle speed of the target vehicle and the vehicle speed of the ego vehicle are both greater than the fifth threshold value but the heading angle difference between the target vehicle and the ego vehicle is less than the sixth threshold value, it is determined whether the target vehicle is a ghost vehicle based on the longitudinal distance and the lateral distance between the target vehicle and the ego vehicle.

[0009] In some embodiments, determining whether the target vehicle is a ghost vehicle based on the longitudinal distance and the lateral distance between the target vehicle and the ego vehicle comprises: determining a delay distance based on the vehicle speed of the ego vehicle and the delay time of the roadside message, and taking the larger value between the delay distance and the average of the vehicle lengths of the target vehicle and the ego vehicle as the maximum vehicle length; In a case where the longitudinal distance between the target vehicle and the ego vehicle is less than the maximum vehicle length, and the lateral distance between the target vehicle and the ego vehicle is less than the average of the vehicle widths of the target vehicle and the ego vehicle, it is determined that the target vehicle is a ghost vehicle; In a case where the longitudinal distance between the target vehicle and the ego vehicle is greater than or equal to the maximum vehicle length, or the lateral distance between the target vehicle and the ego vehicle is greater than or equal to the average of the vehicle widths of the target vehicle and the ego vehicle, it is determined that the target vehicle is not a ghost vehicle.

[0010] In a second aspect, the present application also provides a V2X system shadow vehicle identification processing device, comprising: The receiving module is configured to receive and parse a roadside message sent by a roadside device to obtain motion state information of a target vehicle; The determining module is configured to determine whether the target vehicle is a shadow vehicle of the ego vehicle based on the motion state information of the target vehicle and the motion state information of the ego vehicle; The removing module is configured to remove information of the target vehicle from the roadside message if the target vehicle is the shadow vehicle of the ego vehicle. The motion state information includes at least one of a vehicle length, a vehicle width, a vehicle speed, a vehicle position, and a heading angle.

[0011] In a third aspect, the present application also provides an electronic device, comprising a processor and a memory storing a computer program, wherein the processor implements the V2X system shadow vehicle identification processing method of the first aspect when executing the program.

[0012] In a fourth aspect, the present application also provides a processor-readable storage medium, wherein the processor-readable storage medium stores a program, and the program is configured to cause a processor to execute the V2X system shadow vehicle identification processing method of the first aspect.

[0013] In a fifth aspect, the present application also provides a computer program product, comprising a computer program, wherein the computer program is executed by a processor to implement the V2X system shadow vehicle identification processing method of the first aspect.

[0014] The V2X system shadow vehicle identification processing method, device, and electronic device provided by the present application can accurately identify whether the target vehicle is the shadow vehicle of the ego vehicle by receiving and parsing a roadside message to obtain motion state information of the target vehicle, comparing the motion state information of the target vehicle with the motion state information of the ego vehicle, identifying the target vehicle as the shadow vehicle of the ego vehicle, and removing information of the shadow vehicle from the roadside message. The accuracy of shadow vehicle identification and filtering is improved, and the real and reliable vehicle system environment perception information is ensured, thereby providing higher-quality data support for subsequent driving decisions. BRIEF DESCRIPTION OF DRAWINGS

[0015] In order to more clearly illustrate the technical solutions in the present application or the related art, the following will briefly introduce the drawings needed to be used in the embodiments or the related art descriptions. Obviously, the drawings in the following description are some embodiments of the present application, and those skilled in the art can obtain other drawings according to these drawings without any creative effort.

[0016] Figure 1 This is a flowchart illustrating the V2X system shadow vehicle recognition processing method provided in the embodiments of this application.

[0017] Figure 2 A flowchart illustrating the shadow vehicle recognition process of a V2X system provided in this application embodiment.

[0018] Figure 3 This is a schematic diagram of the structure of the V2X system shadow vehicle recognition and processing device provided in the embodiments of this application.

[0019] Figure 4 is a schematic diagram of the structure of the electronic device provided in the embodiment of this application. Detailed Implementation

[0020] In the embodiments of this application, the term "and / or" describes the relationship between associated objects, indicating that three relationships can exist. For example, A and / or B can represent three cases: A alone, A and B simultaneously, and B alone. The character " / " generally indicates that the preceding and following associated objects have an "or" relationship.

[0021] In the embodiments of this application, the term "multiple" refers to two or more, and other quantifiers are similar.

[0022] In the embodiments of this application, the terms "first," "second," etc., are used to distinguish similar objects, and not to describe a specific order or sequence. It should be understood that such terms can be used interchangeably where appropriate so that embodiments of this application can be implemented in orders other than those illustrated or described herein, and the objects distinguished by "first" and "second" are generally of the same class, and the number of objects is not limited; for example, the first object can be one or more.

[0023] The technical solutions of 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 of ordinary skill in the art without creative effort are within the scope of protection of this application.

[0024] To facilitate a clearer understanding of the technical solutions of the various embodiments of this application, some technical content related to the various embodiments of this application will be introduced first.

[0025] In the field of connected vehicles, Roadside Units (RSUs) encapsulate the vehicle information they perceive into Roadside Messages (RSMs) and send them out. Vehicles with Vehicle-to-Everything (V2X) sensing capabilities receive the RSM messages and can perceive the motion status of surrounding vehicles. For the lead vehicle, the received RSM message contains not only information about the vehicles around it but also its own motion status information. The lead vehicle's own motion status information can interfere with its judgment, causing it to perceive a vehicle very close to it, which can easily lead to misjudgment and affect safe driving.

[0026] In related technologies, existing solutions to the "shadow vehicle" problem, caused by vehicles receiving information about themselves from roadside equipment, mainly involve deploying radar or cameras to sense surrounding vehicles and fusing this information with the V2X information received by the main vehicle to filter out shadow vehicles. This approach requires the installation of additional cameras or radar devices, resulting in high costs and operational inconvenience.

[0027] To address the aforementioned issues, this application provides a method, apparatus, and electronic device for identifying and processing shadow vehicles in a V2X system. It receives and parses roadside messages to obtain the motion state information of a target vehicle, compares this information with the motion state information of the current vehicle, identifies the target vehicle as a shadow vehicle, and removes the shadow vehicle information from the roadside messages. By comparing and judging multiple dimensions of motion state information, this application can accurately identify whether a target vehicle is a shadow vehicle of the current vehicle, improving the accuracy of shadow vehicle identification and filtering. This ensures the authenticity and reliability of the environmental perception information of the onboard system, providing higher-quality data support for subsequent driving decisions.

[0028] Figure 1 This is a flowchart illustrating the V2X system shadow vehicle recognition processing method provided in the embodiments of this application, as shown below. Figure 1 As shown, the method includes the following steps 101, 102 and 103.

[0029] Step 101: Receive and parse the roadside message sent by the roadside equipment to obtain the motion status information of the target vehicle.

[0030] Specifically, roadside equipment refers to the Roadside Unit (RSU), which is a communication device deployed on the roadside in the Vehicle to Everything (V2X) system. The roadside equipment is an intelligent terminal with wireless communication capabilities. It can communicate with the On-Board Unit (OBU), periodically broadcast roadside messages to the vehicle, and receive driving data uploaded by the vehicle.

[0031] Roadside messages refer to real-time traffic-related information sent by roadside equipment to vehicles, which may include vehicle motion status information and other traffic environment information. Roadside messages can contain multiple vehicles and their corresponding motion status information. The technical solution of this application identifies the target vehicle from among these multiple vehicles. Therefore, each of the multiple vehicles can be considered a target vehicle during the identification process. For example, if the roadside message contains vehicle 1, vehicle 2, vehicle 3, and their corresponding motion status information, according to the technical solution of this application, each vehicle can be identified separately. When identifying whether vehicle 1 is a target vehicle, vehicle 1 is the target vehicle; when identifying whether vehicle 2 is a target vehicle, vehicle 2 is the target vehicle; and when identifying whether vehicle 3 is a target vehicle, vehicle 3 is the target vehicle.

[0032] Motion state information can be used to describe the driving state of a vehicle, including at least one of the following: vehicle length, vehicle width, vehicle speed, vehicle position, and heading angle.

[0033] Vehicle length refers to the vehicle's physical longitudinal dimension, which is the straight-line distance from the frontmost point of the vehicle to the rearmost point. Vehicle width refers to the vehicle's physical lateral dimension, which is the straight-line distance from the leftmost to the rightmost point of the vehicle. Vehicle speed refers to the real-time rate of movement of the vehicle during travel, reflecting how fast the vehicle is moving. Vehicle position refers to the vehicle's real-time coordinates in geographic space, used for precise location. Heading angle refers to the angle between the vehicle's direction of travel and true north, reflecting the vehicle's orientation.

[0034] Step 102: Based on the motion state information of the target vehicle and the motion state information of this vehicle, determine whether the target vehicle is a shadow vehicle of this vehicle.

[0035] Specifically, a shadow vehicle is the vehicle whose motion status information in the roadside message corresponds to that of the vehicle in the roadside message. The motion status information of the shadow vehicle in the roadside message can interfere with the motion status information of the vehicle in the roadside message.

[0036] Therefore, it is necessary to determine whether the target vehicle is a shadow vehicle of this vehicle. This vehicle can compare the motion state information of the target vehicle with its own stored motion state information. By setting comparison rules, it can determine whether the target vehicle is a shadow vehicle of this vehicle.

[0037] Step 103: If the target vehicle is a shadow vehicle of this vehicle, remove the target vehicle information from the roadside message.

[0038] Specifically, when the target vehicle is a shadow vehicle of this vehicle, the motion status information of the target vehicle will interfere with this vehicle. Therefore, this vehicle needs to remove the motion status information of the target vehicle from the roadside message to ensure the safe driving of this vehicle.

[0039] The V2X system shadow vehicle identification and processing method provided in this application receives and parses roadside messages to obtain the motion state information of the target vehicle, compares it with the motion state information of the current vehicle, identifies the target vehicle as a shadow vehicle of the current vehicle, and removes the information of the shadow vehicle from the roadside messages. This application, through comparison and judgment of multiple dimensions of motion state information, can accurately identify whether the target vehicle is a shadow vehicle of the current vehicle, improving the accuracy of shadow vehicle identification and filtering, thereby ensuring the authenticity and reliability of the environmental perception information of the onboard system and providing higher quality data support for subsequent driving decisions.

[0040] In some embodiments, determining whether a target vehicle is a shadow vehicle of the current vehicle based on the motion state information of the target vehicle and the motion state information of the current vehicle includes: If the difference in vehicle length between the target vehicle and the vehicle itself is greater than or equal to the first threshold, or the difference in vehicle width between the target vehicle and the vehicle itself is greater than or equal to the second threshold, the target vehicle is determined not to be a shadow vehicle. If the difference in vehicle length between the target vehicle and the vehicle itself is less than a first threshold, and the difference in vehicle width between the target vehicle and the vehicle itself is less than a second threshold, the vehicle is determined to be a shadow vehicle based on the difference in vehicle speed between the target vehicle and the vehicle itself.

[0041] Specifically, the first threshold and the second threshold can be set manually. Preferably, the first threshold and the second threshold can be set to 1m. The first threshold can be used to determine whether the lengths of the target vehicle and the current vehicle are similar, and the second threshold can be used to determine whether the widths of the target vehicle and the current vehicle are similar.

[0042] Vehicle length and width are static parameters and do not need to be acquired in real time. Compared to other motion state information, they are acquired and compared relatively quickly. Vehicles with large size differences can be directly filtered out, avoiding the need to perform complex subsequent motion state information comparisons on all target vehicles. This reduces the system's computational load and shortens the time required to determine whether a target vehicle is a shadow vehicle.

[0043] If the difference in vehicle length between the target vehicle and the current vehicle is greater than or equal to a first threshold, or the difference in vehicle width between the target vehicle and the current vehicle is greater than or equal to a second threshold, it can be determined that the target vehicle is not a shadow vehicle. For example, if the target vehicle's length is 5.4m and the current vehicle's length is 6.8m, the difference in vehicle length between the target vehicle and the current vehicle is 1.4m, which is greater than the first threshold of 1m, thus it can be determined that the target vehicle is not a shadow vehicle. Similarly, if the target vehicle's width is 2.2m and the current vehicle's width is 1m, the difference in vehicle length between the target vehicle and the current vehicle is 1.2m, which is also greater than the first threshold of 1m, thus it can be determined that the target vehicle is not a shadow vehicle.

[0044] If the difference in vehicle length between the target vehicle and the vehicle itself is less than the first threshold, and the difference in vehicle width between the target vehicle and the vehicle itself is less than the second threshold, it can be concluded that the target vehicle and the vehicle itself are vehicles of similar size, and there is a possibility that the target vehicle is a shadow vehicle of the vehicle itself. It is necessary to further distinguish whether the target vehicle is a shadow vehicle of the vehicle itself by combining other motion state information of the target vehicle and the vehicle itself. The vehicle speed in the motion state information can be used to further determine whether the target vehicle is a shadow vehicle of the vehicle itself.

[0045] In some embodiments, after determining whether a target vehicle is a shadow vehicle of the vehicle by using the vehicle length and vehicle width in the motion state information, other motion state information besides the vehicle length and vehicle width in the motion state information can be used to determine whether the target vehicle is a shadow vehicle of the vehicle, such as using vehicle speed, vehicle position or heading angle to determine whether the target vehicle is a shadow vehicle of the vehicle.

[0046] For example, the target vehicle has a length of 5.4m and a width of 2.2m, while the current vehicle has a length of 5m and a width of 2m. The difference in length between the target vehicle and the current vehicle is 0.4m, and the difference in width is 0.2m. A first threshold can be set to 1m, and a second threshold can be set to 0.5m. The difference in vehicle length and width is less than the first and second thresholds, respectively. The vehicle speed in the motion state information can be used to determine whether the target vehicle is a shadow vehicle of the current vehicle. Other motion state information, such as vehicle position or heading angle, can also be used to determine whether the target vehicle is a shadow vehicle of the current vehicle.

[0047] In some embodiments, motion state information other than vehicle length and vehicle width in the motion state information can be used first to determine whether the target vehicle is a shadow vehicle of this vehicle. If the target vehicle is likely to be a shadow vehicle, the vehicle length and vehicle width in the motion state information can be used to determine whether the target vehicle is a shadow vehicle of this vehicle.

[0048] For example, you can first determine whether the target vehicle is a shadow vehicle of your own vehicle by checking its location. If it is determined that the target vehicle is likely to be a shadow vehicle, then you can use the vehicle length and vehicle width to determine whether the target vehicle is a shadow vehicle of your own vehicle.

[0049] The V2X system shadow vehicle recognition processing method provided in this application compares the difference in vehicle length between the target vehicle and the current vehicle with a first threshold, and compares the difference in vehicle width between the target vehicle and the current vehicle with a second threshold. It can determine whether a target vehicle is a shadow vehicle based on vehicle length and width, eliminating the need for real-time dynamic calculations. It directly filters vehicles with large size differences, avoiding the need for subsequent complex motion state information comparisons for all target vehicles, thus reducing the system's computational load and shortening the judgment time.

[0050] In some embodiments, determining whether a target vehicle is a shadow vehicle based on the speed difference between the target vehicle and the current vehicle includes: If the speed difference between the target vehicle and the vehicle is greater than or equal to the third threshold, the target vehicle is determined not to be a shadow vehicle. If the speed difference between the target vehicle and the vehicle is less than the third threshold, the distance between the target vehicle and the vehicle determines whether the target vehicle is a shadow vehicle.

[0051] Specifically, the third threshold can be set manually, preferably 15 km / h. The first threshold is used to determine whether the speeds of the target vehicle and the current vehicle are similar. If the length and width of both the target vehicle and the current vehicle are less than the threshold, the target vehicle can be further filtered by the speed difference to determine whether it is a shadow vehicle.

[0052] The target vehicle's shadow vehicle needs to have a similar driving state to the target vehicle. When the speed difference exceeds a threshold, the target vehicle's driving state is not related to the target vehicle's, and it can be directly determined that the target vehicle is not a shadow vehicle, avoiding subsequent invalid calculations. Non-shadow vehicles can be quickly filtered out using static parameters such as vehicle width and length, and then more accurately verified using dynamic parameters such as vehicle speed, which require real-time acquisition, thus improving the efficiency of the judgment. Among all parameters in the motion state information, the comparison rules for vehicle width, vehicle length, and vehicle speed are relatively simple, and the thresholds are easy to set. Prioritizing these comparisons can reduce the system's computational load in subsequent judgment processes.

[0053] If the speed difference between the target vehicle and the current vehicle is greater than or equal to the third threshold, it can be determined that the target vehicle is not a shadow vehicle. For example, the third threshold can be set to 15 km / h. If the current vehicle's speed is 60 km / h and the target vehicle's speed is 80 km / h, the speed difference is 20 km / h, which is greater than the third threshold of 15 km / h. Therefore, it can be determined that the target vehicle is not a shadow vehicle.

[0054] If the speed difference between the target vehicle and the vehicle is less than the third threshold, it can be concluded that the speeds of the target vehicle and the vehicle are similar, and there is a possibility that the target vehicle is a shadow vehicle of the vehicle. It is necessary to further distinguish whether the target vehicle is a shadow vehicle of the vehicle by combining other motion state information of the target vehicle and the vehicle. The distance between the vehicles can be obtained by using the vehicle position in the motion state information to further determine whether the target vehicle is a shadow vehicle of the vehicle.

[0055] In some embodiments, the vehicle speed in the motion state information can be used first to determine whether the target vehicle is a shadow vehicle of the vehicle. If the target vehicle is likely to be a shadow vehicle, other motion state information besides the vehicle speed in the motion state information can be used to determine whether the target vehicle is a shadow vehicle of the vehicle. For example, the vehicle length, vehicle width, or heading angle can be used to determine whether the target vehicle is a shadow vehicle of the vehicle.

[0056] For example, the third threshold can be set to 15 km / h. If the current vehicle's speed is 60 km / h and the target vehicle's speed is 65 km / h, the speed difference is 5 km / h, which is less than the third threshold of 15 km / h. To determine if the target vehicle is a shadow vehicle of the current vehicle, the distance between vehicles can be obtained from the vehicle positions in the motion state information. Alternatively, other motion state information can be used to determine if the target vehicle is a shadow vehicle, such as vehicle length, vehicle width, or heading angle.

[0057] In some embodiments, motion state information other than vehicle speed in the motion state information may be used first to determine whether the target vehicle is a shadow vehicle of the vehicle. If there is a possibility that the target vehicle is a shadow vehicle, the vehicle speed in the motion state information may be used to determine whether the target vehicle is a shadow vehicle of the vehicle.

[0058] For example, you can first determine whether the target vehicle is a shadow vehicle of your own vehicle by checking its location. If it is determined that the target vehicle is likely to be a shadow vehicle, then you can use the vehicle speed to determine whether the target vehicle is a shadow vehicle of your own vehicle.

[0059] The V2X system shadow vehicle identification processing method provided in this application compares the speed difference between the target vehicle and the current vehicle with a third threshold. It can determine whether the target vehicle is a shadow vehicle by the vehicle speed, and can filter out target vehicles with asynchronous speed states. It eliminates the need for subsequent calculations for vehicles with large speed differences, thereby reducing the computational load of the system.

[0060] In some embodiments, determining whether a target vehicle is a shadow vehicle based on the distance between the target vehicle and the current vehicle includes: Determine the distance between the target vehicle and the current vehicle based on their respective positions. If the distance is less than the fourth threshold, the target vehicle is identified as a shadow vehicle; If the distance is greater than or equal to the fourth threshold, the system determines whether the target vehicle is a shadow vehicle based on the relationship between the target vehicle's speed and the vehicle's speed and the fifth threshold.

[0061] Specifically, the fourth threshold can be set manually, preferably to 0.3m. The fourth threshold can be used to determine whether the target vehicle and the vehicle are close enough. The distance between the target vehicle and the vehicle refers to the straight-line distance between the center of the target vehicle and the center of the vehicle, which can be calculated using the positions of the target vehicle and the vehicle itself. For example, the position of the vehicle is... The target vehicle's location is The distance D between the vehicle and the target vehicle can be obtained as follows: If the length, width, and speed of the target vehicle and the vehicle itself are within the threshold range, there is a possibility that the target vehicle may be a shadow vehicle. The distance between the target vehicle and the vehicle itself can be obtained using the vehicle position, and the distance between the two vehicles can be used to determine whether the target vehicle is a shadow vehicle.

[0062] If the distance between the target vehicle and the current vehicle is less than the fourth threshold, it indicates that the target vehicle and the current vehicle have similar vehicle width, length, and speed, and the distance between them is also similar. In this case, the target vehicle can be directly identified as a shadow vehicle. For example, if the fourth threshold is set to 0.3m, and the distance between the current vehicle and the target vehicle is 0.2m, which is less than the fourth threshold of 0.3m, the target vehicle can be identified as a shadow vehicle.

[0063] If the distance between the target vehicle and the vehicle is greater than or equal to the fourth threshold, it indicates that the distance between the target vehicle and the vehicle is not close, and the target vehicle may be a shadow vehicle of the vehicle. It is necessary to further distinguish whether the target vehicle is a shadow vehicle by combining other motion state information of the target vehicle and the vehicle. The vehicle speed of the target vehicle and the vehicle speed of the vehicle can be used to further determine whether the target vehicle is a shadow vehicle of the vehicle.

[0064] In some embodiments, the vehicle distance can be obtained first using the vehicle position in the motion state information, and the vehicle distance can be used to determine whether the target vehicle is a shadow vehicle of the current vehicle. If there is a possibility that the target vehicle is a shadow vehicle, other motion state information besides the vehicle distance in the motion state information can be used to determine whether the target vehicle is a shadow vehicle of the current vehicle, such as using vehicle length, vehicle width, or heading angle.

[0065] For example, the fourth threshold can be set to 0.3m. If the distance between the current vehicle and the target vehicle is 0.5m, which is greater than the fourth threshold of 0.3m, it is determined that the target vehicle may be a shadow vehicle of the current vehicle. The vehicle speed of the target vehicle and the vehicle speed of the current vehicle can be used in the motion state information to determine whether the target vehicle is a shadow vehicle of the current vehicle. Other motion state information in the motion state information can also be used to determine whether the target vehicle is a shadow vehicle of the current vehicle, such as vehicle length, vehicle width, or heading angle.

[0066] In some embodiments, motion state information other than vehicle speed in the motion state information can be used first to determine whether the target vehicle is a shadow vehicle of the current vehicle. If the target vehicle is likely to be a shadow vehicle, the vehicle speed in the motion state information can then be used to determine whether the target vehicle is a shadow vehicle of the current vehicle.

[0067] For example, you can first determine whether the target vehicle is a shadow vehicle of your own vehicle by using the vehicle speed and heading angle. If it is determined that the target vehicle may be a shadow vehicle, then use the vehicle position to obtain the distance between the vehicles to determine whether the target vehicle is a shadow vehicle of your own vehicle.

[0068] The V2X system shadow vehicle identification processing method provided in this application compares the distance between the target vehicle and the current vehicle with a fourth threshold. It can determine whether the target vehicle is a shadow vehicle by the distance between the vehicles. When the target vehicle and the current vehicle are similar in size and speed, they can be directly identified as shadow vehicles by the distance between them. Only vehicles that are far away are subject to subsequent calculation and judgment, which can reduce invalid calculations and improve the efficiency of judgment.

[0069] In some embodiments, determining whether a target vehicle is a shadow vehicle based on the relationship between the vehicle speed of the target vehicle and the vehicle speed of the current vehicle and a fifth threshold includes: If both the target vehicle's speed and the vehicle's speed are greater than the fifth threshold, and the difference in heading angle between the target vehicle and the vehicle is greater than or equal to the sixth threshold, then the target vehicle is determined not to be a shadow vehicle. If the speed of the target vehicle and the speed of the vehicle itself are not both greater than the fifth threshold, or if the speed of the target vehicle and the speed of the vehicle itself are both greater than the fifth threshold but the difference in heading angle between the target vehicle and the vehicle itself is less than the sixth threshold, the target vehicle is determined to be a shadow vehicle based on the longitudinal and lateral distances between the target vehicle and the vehicle itself.

[0070] Specifically, the fifth and sixth thresholds can be set manually. Preferably, the fifth threshold can be set to 5 km / h, and the sixth threshold can be set to... The fifth threshold can be used to determine the speed of the target vehicle and the vehicle itself, and whether the target vehicle and the vehicle itself are in a normal driving state. The sixth threshold can be used to determine whether the heading angles of the target vehicle and the vehicle itself are similar.

[0071] If the target vehicle and this vehicle have similar length, width, and speed, but the distance between them is far, it cannot be determined that the target vehicle is a shadow vehicle of this vehicle. Further judgment is needed based on the speed and heading angle of the two vehicles.

[0072] If both the target vehicle's speed and the vehicle's speed are greater than the fifth threshold, it can be concluded that both the target vehicle and the vehicle are in normal driving condition. If, when both the target vehicle and the vehicle are in normal driving condition, the difference in their heading angles is greater than or equal to the sixth threshold, it can be concluded that the target vehicle's driving direction deviates significantly from that of the vehicle, and in this case, it can be determined that the target vehicle is not a shadow vehicle.

[0073] For example, if the vehicle's speed is 10 km / h and the target vehicle's speed is 20 km / h, and both vehicles' speeds exceed the fifth threshold setting of 5 km / h, then the vehicle's heading angle is... The heading angle of the target vehicle is The difference between their heading angles is Greater than the sixth threshold set This confirms that the target vehicle is not a shadow vehicle.

[0074] If the difference in heading angle between the target vehicle and the vehicle is less than the sixth threshold when both are in normal driving conditions, it indicates that the deviation in driving direction between the target vehicle and the vehicle is not significant, and there is a possibility that the target vehicle is a shadow vehicle of the vehicle. It is necessary to further distinguish whether the target vehicle is a shadow vehicle by combining other motion status information of the target vehicle and the vehicle. The vehicle position, longitudinal distance and lateral distance between the target vehicle and the vehicle can be used in the motion status information to further determine whether the target vehicle is a shadow vehicle of the vehicle.

[0075] If neither the target vehicle's speed nor the vehicle's speed exceeds the fifth threshold, it indicates that both vehicles are traveling at relatively low speeds and may not be in normal driving conditions. In this case, judging the difference in heading angle between the target and vehicle is not very meaningful. However, there is a possibility that the target vehicle is a shadow vehicle of the vehicle. It is necessary to further distinguish whether the target vehicle is a shadow vehicle by combining other motion state information of the target and vehicle. This can be done by using the vehicle position, longitudinal distance, and lateral distance between the target and vehicle in the motion state information.

[0076] In some embodiments, the vehicle speed and heading angle in the motion state information can be used first to determine whether the target vehicle is a shadow vehicle of the vehicle. If there is a possibility that the target vehicle is a shadow vehicle, other motion state information in the motion state information besides the vehicle speed and heading angle can be used to determine whether the target vehicle is a shadow vehicle of the vehicle. For example, the vehicle length and vehicle width can be used to determine whether the target vehicle is a shadow vehicle of the vehicle, or the distance between the two can be obtained by using the vehicle position to determine whether the target vehicle is a shadow vehicle of the vehicle.

[0077] For example, if the target vehicle's speed is 2 km / h and the vehicle's speed is 4 km / h, it indicates that both vehicles are traveling at relatively low speeds, suggesting the possibility that the target vehicle is a shadow vehicle of the vehicle. If the target vehicle's speed is 20 km / h and the vehicle's speed is 40 km / h, it indicates that both vehicles are traveling at normal speeds, and the vehicle's heading angle is... The heading angle of the target vehicle is The difference between their heading angles is Less than the sixth threshold set There is also the possibility that the target vehicle is a shadow vehicle of this vehicle. In this case, we can continue to use the vehicle position, the longitudinal distance and lateral distance between the target vehicle and this vehicle in the motion state information to further determine whether the target vehicle is a shadow vehicle of this vehicle. We can also continue to use other motion state information in the motion state information to determine whether the target vehicle is a shadow vehicle of this vehicle, such as using the vehicle length and vehicle width to determine whether the target vehicle is a shadow vehicle of this vehicle, or using the vehicle position to obtain the distance between the two to determine whether the target vehicle is a shadow vehicle of this vehicle.

[0078] In some embodiments, motion state information other than vehicle speed in the motion state information can be used first to determine whether the target vehicle is a shadow vehicle of the current vehicle. If the target vehicle is likely to be a shadow vehicle, the vehicle speed in the motion state information can then be used to determine whether the target vehicle is a shadow vehicle of the current vehicle.

[0079] For example, the distance between vehicles can be obtained by first determining the vehicle's position to determine whether the target vehicle is a shadow vehicle of this vehicle. If it is determined that the target vehicle may be a shadow vehicle, then the vehicle speed and heading angle can be used to determine whether the target vehicle is a shadow vehicle of this vehicle.

[0080] The V2X system shadow vehicle identification processing method provided in this application compares the vehicle speeds of the target vehicle and the current vehicle with a fifth threshold, and also compares the difference in heading angle between the target vehicle and the current vehicle with a sixth threshold to determine whether the target vehicle is a shadow vehicle. When both the target vehicle and the current vehicle are traveling normally, the difference in heading angle between them is then considered. This prevents misjudgment of heading angle at low vehicle speeds, making the shadow vehicle identification logic more comprehensive. Subsequent calculations are only performed on vehicles with low speeds or traveling in the same direction, reducing invalid calculations and improving the efficiency of the identification process.

[0081] In some embodiments, determining whether a target vehicle is a shadow vehicle based on the longitudinal and lateral distances between the target vehicle and the current vehicle includes: Based on the vehicle speed and the delay time of the roadside message, the delay distance is determined, and the larger of the delay distance and the average vehicle length of the target vehicle and the vehicle is taken as the maximum vehicle length. If the longitudinal distance between the target vehicle and the vehicle is less than the maximum length of the vehicle, and the lateral distance between the target vehicle and the vehicle is less than the average width of the target vehicle and the vehicle, the target vehicle is identified as a shadow vehicle. If the longitudinal distance between the target vehicle and the vehicle is greater than or equal to the maximum length of the vehicle, or the lateral distance between the target vehicle and the vehicle is greater than or equal to the average width of the target vehicle and the vehicle, then the target vehicle is determined not to be a shadow vehicle.

[0082] Specifically, the delay time refers to the time difference in message transmission during the sending and receiving of roadside messages. The delay distance refers to the distance the vehicle has traveled within the delay time. The delay time can be set manually using empirical values; preferably, it can be set to 100ms. The delay distance can be obtained by multiplying the vehicle's speed by the delay time. The average vehicle length can be obtained by comparing the target vehicle's length and the vehicle's length; the larger of the average vehicle length and the delay distance is selected as the maximum vehicle length. The average vehicle width can also be obtained by comparing the target vehicle's width and the vehicle's width.

[0083] The transmission of roadside messages is delayed, so the delayed distance that the vehicle has already traveled will cause the vehicle position data to lag. If the delayed original distance is used for judgment, it is easy to make a mistake. By calculating the delay error and taking the maximum value of the average length of the two vehicles as the maximum length of the vehicle, the judgment error caused by the delay can be corrected.

[0084] Lateral distance refers to the distance between the target vehicle and the current vehicle along the x-axis in the world coordinate system, while longitudinal distance refers to the distance between the target vehicle and the current vehicle along the y-axis in the world coordinate system. For example, the current vehicle's position is... The target vehicle's location is The lateral distance between the target vehicle and the current vehicle can be expressed as: The longitudinal distance between the target vehicle and the current vehicle can be expressed as: .

[0085] If the longitudinal distance between the target vehicle and the vehicle being driven is less than the maximum length of the target vehicle, and the lateral distance between the target vehicle and the vehicle being driven is less than the average width of the target vehicle and the vehicle being driven, it indicates that the longitudinal and lateral distances between the target vehicle and the vehicle being small, and that the target vehicle and the vehicle being driven are relatively close in both directions. Therefore, the target vehicle can be identified as a shadow vehicle. For example, if the lateral distance between the target vehicle and the vehicle being driven is 0.5m, the longitudinal distance is 0.9m, the average width of the target vehicle and the vehicle being driven is 1m, and the maximum length of the vehicle is 1.5m, then the longitudinal distance between the target vehicle and the vehicle being driven is less than the maximum length of the vehicle, and the lateral distance between the target vehicle and the vehicle being less than the average width of the target vehicle and the vehicle being driven, the target vehicle can be identified as a shadow vehicle.

[0086] If the longitudinal distance between the target vehicle and the vehicle is greater than or equal to the maximum length of the vehicle, or the lateral distance between the target vehicle and the vehicle is greater than or equal to the average width of the target vehicle and the vehicle, it can be concluded that there is a large longitudinal or lateral distance between the target vehicle and the vehicle, and the target vehicle and the vehicle are not close in the lateral or longitudinal direction. It can be determined that the target vehicle is not a shadow vehicle.

[0087] For example, if the lateral distance between the target vehicle and your own vehicle is 0.7m, the longitudinal distance is 0.9m, the average width of both vehicles is 0.5m, and the maximum length is 1.5m, then the lateral distance between the target vehicle and your own vehicle is greater than the average width of both vehicles, confirming that the target vehicle is not a shadow vehicle. As another example, if the lateral distance between the target vehicle and your own vehicle is 0.5m, the longitudinal distance is 1.5m, the average width of both vehicles is 1m, and the maximum length is 0.5m, then the longitudinal distance between the target vehicle and your own vehicle is greater than the maximum length of both vehicles, confirming that the target vehicle is not a shadow vehicle.

[0088] In some embodiments, after determining whether the target vehicle is a shadow vehicle of the current vehicle using the longitudinal and lateral distances between the target vehicle and the current vehicle, other motion state information can be used to further determine whether the target vehicle is a shadow vehicle. For example, vehicle length and width can be used to determine whether the target vehicle is a shadow vehicle, or the distance between the two vehicles can be obtained using the vehicle position, or vehicle speed and heading angle can be used to determine whether the target vehicle is a shadow vehicle. The determination of whether the target vehicle is a shadow vehicle is based on the combined results of multiple motion state information.

[0089] In some embodiments, other motion state information in the motion state information may be used first to determine whether the target vehicle is a shadow vehicle of the vehicle. If the target vehicle is likely to be a shadow vehicle, the lateral distance and longitudinal distance between the target vehicle and the vehicle may be used to determine whether the target vehicle is a shadow vehicle of the vehicle.

[0090] For example, you can first obtain the distance between vehicles by their positions to determine whether the target vehicle is a shadow vehicle of your own vehicle. If it is determined that the target vehicle may be a shadow vehicle, then use the lateral and longitudinal distances between the target vehicle and your own vehicle to determine whether the target vehicle is a shadow vehicle of your own vehicle.

[0091] The V2X system shadow vehicle identification processing method provided in this application calculates the delay distance of roadside messages, obtains the average value of the maximum vehicle length and width, and compares the lateral and longitudinal distances between the target vehicle and the current vehicle with the average value of the maximum vehicle length and width, respectively, to determine whether the target vehicle is a shadow vehicle. It takes into account the delay problem in the roadside message transmission process, using a corrected delay distance for judgment, avoiding misjudgments caused by roadside data transmission lag, and improving the accuracy of shadow vehicle identification.

[0092] The methods provided in the above embodiments of this application are illustrated by specific examples below.

[0093] Figure 2 The flowchart of the V2X system shadow vehicle recognition processing provided in the embodiments of this application is as follows: Figure 2 As shown. HV represents the current vehicle, which receives vehicle information from multiple vehicles sensed by the RSU. SV represents one of these vehicles, i.e., the target vehicle. HV needs to perform shadow deduplication on the received shadow vehicles. HV determines whether the vehicle information carried in the RSM message is a shadow vehicle of HV according to the shadow vehicle identification method, as follows: Step 1: Determine whether the length and width of HV and SV are basically the same. If they are not the same, they are not considered to be the same vehicle, i.e., not a shadow vehicle. If they are basically the same, proceed to Step 2.

[0094] Step 2: Determine whether the speed difference between HV and SV is less than the threshold speedT1. If it is not less than the threshold, it is considered that they are not the same vehicle, that is, not a shadow vehicle. Otherwise, proceed to step 3.

[0095] Step 3: Check if the distance between HV and SV is less than the threshold disT. If it is less than the threshold, it is considered to be a single vehicle, i.e., a shadow vehicle. If it is greater than or equal to the threshold, proceed to Step 4.

[0096] Step 4: Determine whether the difference between the HV and SV heading angles is less than the threshold. If it is not less than the threshold, it is considered not to be a single vehicle, i.e., not a shadow vehicle. Otherwise, proceed to Step 5.

[0097] Step 5: Multiply the HV vehicle speed by the RSM delay time to obtain the delay distance, which can be denoted as space. (HV vehicle length + SV vehicle length) / 2 can be denoted as carLen. Take the maximum value of space and carLen, which can be denoted as maxLen. Determine whether the longitudinal distance between HV and SV is less than maxLen, and whether the lateral distance is less than the average of HV and SV vehicle widths. If they are less, it is considered to be a single vehicle, i.e., a shadow vehicle; otherwise, it is considered not to be a single vehicle, i.e., not a shadow vehicle.

[0098] HV filters information about shadow vehicles to avoid misjudgments caused by shadow vehicles.

[0099] The following describes the V2X system shadow vehicle recognition processing device provided in the embodiments of this application. The V2X system shadow vehicle recognition processing device described below can be referred to in correspondence with the V2X system shadow vehicle recognition processing method described above.

[0100] Figure 3 This is a schematic diagram of the structure of the V2X system shadow vehicle recognition processing device provided in the embodiments of this application, as shown below. Figure 3 As shown, the device includes: The receiving module 310 is used to receive and parse the roadside messages sent by the roadside equipment to obtain the motion status information of the target vehicle; The determination module 320 is used to determine whether the target vehicle is a shadow vehicle of the current vehicle based on the motion state information of the target vehicle and the motion state information of the current vehicle. The removal module 330 is used to remove information about the target vehicle from the roadside message when the target vehicle is a shadow vehicle of the vehicle itself. The motion status information includes at least one of the following: vehicle length, vehicle width, vehicle speed, vehicle position, and heading angle.

[0101] In some embodiments, determining whether a target vehicle is a shadow vehicle of the current vehicle based on the motion state information of the target vehicle and the motion state information of the current vehicle includes: If the difference in vehicle length between the target vehicle and the vehicle itself is greater than or equal to the first threshold, or the difference in vehicle width between the target vehicle and the vehicle itself is greater than or equal to the second threshold, the target vehicle is determined not to be a shadow vehicle. If the difference in vehicle length between the target vehicle and the vehicle itself is less than a first threshold, and the difference in vehicle width between the target vehicle and the vehicle itself is less than a second threshold, the vehicle is determined to be a shadow vehicle based on the difference in vehicle speed between the target vehicle and the vehicle itself.

[0102] In some embodiments, determining whether a target vehicle is a shadow vehicle based on the speed difference between the target vehicle and the current vehicle includes: If the speed difference between the target vehicle and the vehicle is greater than or equal to the third threshold, the target vehicle is determined not to be a shadow vehicle. If the speed difference between the target vehicle and the vehicle is less than the third threshold, the distance between the target vehicle and the vehicle determines whether the target vehicle is a shadow vehicle.

[0103] In some embodiments, determining whether a target vehicle is a shadow vehicle based on the distance between the target vehicle and the current vehicle includes: Determine the distance between the target vehicle and the current vehicle based on their respective positions. If the distance is less than the fourth threshold, the target vehicle is identified as a shadow vehicle; If the distance is greater than or equal to the fourth threshold, the system determines whether the target vehicle is a shadow vehicle based on the relationship between the target vehicle's speed and the vehicle's speed and the fifth threshold.

[0104] In some embodiments, determining whether a target vehicle is a shadow vehicle based on the relationship between the vehicle speed of the target vehicle and the vehicle speed of the current vehicle and a fifth threshold includes: If both the target vehicle's speed and the vehicle's speed are greater than the fifth threshold, and the difference in heading angle between the target vehicle and the vehicle is greater than or equal to the sixth threshold, then the target vehicle is determined not to be a shadow vehicle. If the speed of the target vehicle and the speed of the vehicle itself are not both greater than the fifth threshold, or if the speed of the target vehicle and the speed of the vehicle itself are both greater than the fifth threshold but the difference in heading angle between the target vehicle and the vehicle itself is less than the sixth threshold, the target vehicle is determined to be a shadow vehicle based on the longitudinal and lateral distances between the target vehicle and the vehicle itself.

[0105] In some embodiments, determining whether a target vehicle is a shadow vehicle based on the longitudinal and lateral distances between the target vehicle and the current vehicle includes: Based on the vehicle speed and the delay time of the roadside message, the delay distance is determined, and the larger of the delay distance and the average vehicle length of the target vehicle and the vehicle is taken as the maximum vehicle length. If the longitudinal distance between the target vehicle and the vehicle is less than the maximum length of the vehicle, and the lateral distance between the target vehicle and the vehicle is less than the average width of the target vehicle and the vehicle, the target vehicle is identified as a shadow vehicle. If the longitudinal distance between the target vehicle and the vehicle is greater than or equal to the maximum length of the vehicle, or the lateral distance between the target vehicle and the vehicle is greater than or equal to the average width of the target vehicle and the vehicle, then the target vehicle is determined not to be a shadow vehicle.

[0106] It should be noted that the V2X system shadow vehicle recognition processing device provided in this application embodiment can implement all the method steps implemented in the above method embodiment and can achieve the same technical effect. Here, the parts that are the same as those in the method embodiment and the beneficial effects will not be described in detail.

[0107] Figure 4 is a schematic diagram of the structure of the electronic device provided in an embodiment of this application, as shown below. Figure 4 As shown, the electronic device may include: a processor 410, a communication interface 420, a memory 430, and a communication bus 440, wherein the processor 410, the communication interface 420, and the memory 430 communicate with each other via the communication bus 440. The processor 410 can call the computer program in the memory 430 to execute the steps of the V2X system shadow vehicle recognition processing method provided in the above embodiments, such as including: Receive and parse roadside messages sent by roadside equipment to obtain the motion status information of the target vehicle; Based on the motion state information of the target vehicle and the motion state information of this vehicle, determine whether the target vehicle is a shadow vehicle of this vehicle. If the target vehicle is a shadow vehicle of this vehicle, remove the target vehicle's information from the roadside message; The motion status information includes at least one of the following: vehicle length, vehicle width, vehicle speed, vehicle position, and heading angle.

[0108] Furthermore, the logical instructions in the aforementioned memory 430 can be implemented as software functional units and, when sold or used as independent products, can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, or a part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of this application. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0109] On the other hand, this application also provides a computer program product, which includes a computer program that can be stored on a non-transitory computer-readable storage medium. When the computer program is executed by a processor, the computer can perform the steps of the V2X system shadow vehicle recognition processing method provided in the above embodiments, such as including: Receive and parse roadside messages sent by roadside equipment to obtain the motion status information of the target vehicle; Based on the motion state information of the target vehicle and the motion state information of this vehicle, determine whether the target vehicle is a shadow vehicle of this vehicle. If the target vehicle is a shadow vehicle of this vehicle, remove the target vehicle's information from the roadside message; The motion status information includes at least one of the following: vehicle length, vehicle width, vehicle speed, vehicle position, and heading angle.

[0110] It should be noted that the computer program product provided in this application embodiment can implement all the method steps implemented in the above method embodiment and can achieve the same technical effect. Here, the parts that are the same as those in the method embodiment and the beneficial effects will not be described in detail.

[0111] On the other hand, embodiments of this application also provide a processor-readable storage medium storing a computer program for causing a processor to execute the steps of the V2X system shadow vehicle recognition processing method provided in the above embodiments, including, for example: Receive and parse roadside messages sent by roadside equipment to obtain the motion status information of the target vehicle; Based on the motion state information of the target vehicle and the motion state information of this vehicle, determine whether the target vehicle is a shadow vehicle of this vehicle. If the target vehicle is a shadow vehicle of this vehicle, remove the target vehicle's information from the roadside message; The motion status information includes at least one of the following: vehicle length, vehicle width, vehicle speed, vehicle position, and heading angle.

[0112] It should be noted that the processor-readable storage medium provided in this application embodiment can implement all the method steps implemented in the above method embodiment and can achieve the same technical effect. Here, the parts that are the same as those in the method embodiment and the beneficial effects will not be described in detail.

[0113] The processor-readable storage medium can be any available medium or data storage device that the processor can access, including but not limited to magnetic memory (e.g., floppy disk, hard disk, magnetic tape, magneto-optical disk (MO)), optical memory (e.g., CD, DVD, BD, HVD), and semiconductor memory (e.g., ROM, EPROM, EEPROM, non-volatile memory (NAND FLASH), solid-state drive (SSD)).

[0114] The device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the modules can be selected to achieve the purpose of this embodiment according to actual needs. Those skilled in the art can understand and implement this without any creative effort.

[0115] Through the above description of the embodiments, those skilled in the art can clearly understand that each embodiment can be implemented by means of software plus necessary general-purpose hardware platforms, and of course, it can also be implemented by hardware. Based on this understanding, the above technical solutions, in essence or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, magnetic disk, optical disk, etc., and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute the methods described in the various embodiments or some parts of the embodiments.

[0116] The technical solutions provided in this application can be applied to a variety of systems. For example, applicable systems may include Long Term Evolution (LTE) systems, LTE Frequency Division Duplex (FDD) systems, LTE Time Division Duplex (TDD) systems, Long Term Evolution Advanced (LTE-A) systems, Universal Mobile Telecommunications System (UMTS), Worldwide Interoperability for Microwave Access (WiMAX) systems, 5G New Radio (NR) systems and their evolved communication systems, and 6G (sixth generation mobile communication technology) systems. These systems may include terminal equipment and network equipment. The systems may also include a core network component, such as an Evolved Packet Core (EPC) or a 5G core network (5GC).

[0117] The terminal involved in the embodiments of this application can be a device that provides voice and / or data connectivity to a user, a handheld device with wireless connectivity, or other processing devices connected to a wireless modem. The name of the terminal may differ in different systems; for example, in a 5G system, the terminal can be called a User Equipment (UE). Wireless terminal devices can communicate with one or more core networks (CNs) via a Radio Access Network (RAN). Wireless terminal devices can be mobile terminal devices, such as mobile phones (or "cellular" phones) and computers with mobile terminal devices, for example, portable, pocket-sized, handheld, computer-embedded, or vehicle-mounted mobile devices that exchange voice and / or data with the RAN. Examples include Personal Communication Service (PCS) phones, cordless phones, Session Initiated Protocol (SIP) phones, Wireless Local Loop (WLL) stations, and Personal Digital Assistants (PDAs). Wireless terminal equipment can also be referred to as a system, subscriber unit, subscriber station, mobile station, mobile station, remote station, access point, remote terminal, access terminal, user terminal, user agent, or user device, but this application does not limit the terminology.

[0118] Those skilled in the art will understand that embodiments of this application can be provided as methods, systems, or computer program products. Therefore, this application can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, this application can take the form of a computer program product implemented on one or more computer-usable storage media (including, but not limited to, disk storage and optical storage) containing computer-usable program code.

[0119] This application is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of this application. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer-executable instructions. These computer-executable instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart... Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0120] These processor-executable instructions may also be stored in a processor-readable memory that can direct a computer or other programmable data processing device to operate in a particular manner, such that the instructions stored in the processor-readable memory produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0121] These processors can execute instructions that can also be loaded onto a computer or other programmable data processing device, causing a series of operational steps to be performed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable device for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0122] Obviously, those skilled in the art can make various modifications and variations to this application without departing from the spirit and scope of this application. Therefore, if such modifications and variations fall within the scope of the claims of this application and their equivalents, this application also intends to include such modifications and variations.

Claims

1. A method for identifying and processing shadow vehicles in a V2X system, characterized in that, The method includes: Receive and parse roadside messages sent by roadside equipment to obtain the motion status information of the target vehicle; Based on the motion state information of the target vehicle and the motion state information of this vehicle, determine whether the target vehicle is a shadow vehicle of this vehicle; If the target vehicle is a shadow vehicle of the vehicle itself, the information of the target vehicle is removed from the roadside message; The motion state information includes at least one of the following: vehicle length, vehicle width, vehicle speed, vehicle position, and heading angle.

2. The V2X system shadow vehicle recognition processing method according to claim 1, characterized in that, The step of determining whether the target vehicle is a shadow vehicle of the current vehicle based on the motion state information of the target vehicle and the motion state information of the current vehicle includes: If the difference in vehicle length between the target vehicle and the vehicle itself is greater than or equal to a first threshold, or the difference in vehicle width between the target vehicle and the vehicle itself is greater than or equal to a second threshold, then the target vehicle is determined not to be a shadow vehicle. If the difference in vehicle length between the target vehicle and the vehicle itself is less than the first threshold, and the difference in vehicle width between the target vehicle and the vehicle itself is less than the second threshold, the vehicle is determined to be a shadow vehicle based on the difference in vehicle speed between the target vehicle and the vehicle itself.

3. The V2X system shadow vehicle recognition processing method according to claim 2, characterized in that, Determining whether the target vehicle is a shadow vehicle based on the speed difference between the target vehicle and the current vehicle includes: If the speed difference between the target vehicle and the vehicle itself is greater than or equal to a third threshold, the target vehicle is determined not to be a shadow vehicle. If the speed difference between the target vehicle and the vehicle itself is less than the third threshold, the distance between the target vehicle and the vehicle itself is used to determine whether the target vehicle is a shadow vehicle.

4. The V2X system shadow vehicle recognition processing method according to claim 3, characterized in that, Determining whether the target vehicle is a shadow vehicle based on the distance between the target vehicle and the current vehicle includes: Based on the vehicle positions of the target vehicle and the vehicle positions of the current vehicle, determine the distance between the target vehicle and the current vehicle; If the distance is less than the fourth threshold, the target vehicle is determined to be a shadow vehicle; If the distance is greater than or equal to the fourth threshold, the target vehicle is determined to be a shadow vehicle based on the relationship between the vehicle speed of the target vehicle and the vehicle speed of the current vehicle and the fifth threshold, respectively.

5. The V2X system shadow vehicle recognition processing method according to claim 4, characterized in that, The step of determining whether the target vehicle is a shadow vehicle based on the relationship between the vehicle speed of the target vehicle and the vehicle speed of the current vehicle and a fifth threshold includes: If both the speed of the target vehicle and the speed of the vehicle itself are greater than the fifth threshold, and the difference in heading angle between the target vehicle and the vehicle itself is greater than or equal to the sixth threshold, then the target vehicle is determined not to be a shadow vehicle. If the speed of the target vehicle and the speed of the vehicle itself are not both greater than the fifth threshold, or if the speed of the target vehicle and the speed of the vehicle itself are both greater than the fifth threshold but the difference in heading angle between the target vehicle and the vehicle itself is less than the sixth threshold, the target vehicle is determined to be a shadow vehicle based on the longitudinal and lateral distances between the target vehicle and the vehicle itself.

6. The V2X system shadow vehicle recognition processing method according to claim 5, characterized in that, Determining whether the target vehicle is a shadow vehicle based on the longitudinal and lateral distances between the target vehicle and the current vehicle includes: Based on the vehicle speed of the vehicle and the delay time of the roadside message, the delay distance is determined, and the larger of the delay distance and the average vehicle length of the target vehicle and the vehicle is taken as the maximum vehicle length; If the longitudinal distance between the target vehicle and the vehicle is less than the maximum length of the vehicle, and the lateral distance between the target vehicle and the vehicle is less than the average width of the target vehicle and the vehicle, then the target vehicle is determined to be a shadow vehicle. If the longitudinal distance between the target vehicle and the vehicle is greater than or equal to the maximum length of the vehicle, or the lateral distance between the target vehicle and the vehicle is greater than or equal to the average width of the target vehicle and the vehicle, then the target vehicle is determined not to be a shadow vehicle.

7. A V2X system shadow vehicle recognition and processing device, characterized in that, include: The receiving module is used to receive and parse roadside messages sent by roadside equipment to obtain the motion status information of the target vehicle; The determination module is used to determine whether the target vehicle is a shadow vehicle of the current vehicle based on the motion state information of the target vehicle and the motion state information of the current vehicle. A removal module is used to remove information about the target vehicle from the roadside message when the target vehicle is a shadow vehicle of the vehicle itself. The motion state information includes at least one of the following: vehicle length, vehicle width, vehicle speed, vehicle position, and heading angle.

8. An electronic device comprising a processor and a memory storing a computer program, characterized in that, When the processor executes the computer program, it implements the V2X system shadow vehicle recognition processing method according to any one of claims 1 to 6.

9. A processor-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by the processor, it implements the V2X system shadow vehicle recognition processing method according to any one of claims 1 to 6.

10. A computer program product, comprising a computer program, characterized in that, When the computer program is executed by the processor, it implements the V2X system shadow vehicle recognition processing method according to any one of claims 1 to 6.

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