Monitoring methods, devices, and systems

Abstract

A monitoring method, apparatus, and system are provided. The method may be applied to the field of intelligent driving. The method includes the steps of: determining operational design condition ODC information for an area, wherein the ODC information indicates ODC objects and the state of the ODC objects (S801); obtaining pre-configured ODC elements for a vehicle (S802); and determining, based on the area's ODC information and pre-configured ODC elements, whether the vehicle's ODC exceeds a driving boundary (S803). The provided monitoring method may be applied to new energy vehicles or intelligent vehicles. This helps to improve the reliability of the results of determining whether the vehicle's ODC exceeds a driving boundary and to ensure vehicle safety. In addition, the ODC objects or the state of the ODC objects that cause the vehicle's ODC to exceed a driving boundary can be further determined to assist the vehicle in updating pre-configured ODC elements.

Description

Technical Field

[0001] This application was filed with the China National Intellectual Property Administration on April 12, 2023, and claims priority to Chinese Patent Application No. 202310415634.2, titled "Monitoring Method, Device, and System", the entire content of which is incorporated herein by reference.

[0002] This application relates to the field of intelligent driving, and more specifically, to a monitoring method, device, and system.

Background Art

[0003] With the rapid development and transformation of the automotive industry, autonomous vehicles are becoming increasingly integrated with industries such as the Internet, artificial intelligence, and information communication, accelerating the pace of entering the new era of intelligent networks. The basis for the safe use of autonomous driving technology is to establish and communicate the functions and limitations of the technology. The first step in defining the functions of an automated driving system (ADS) is to define the operational design conditions (ODC) of the automated driving system. In autonomous driving technology, ODC mainly specifies various conditions applicable to the functional execution of autonomous driving technology, such as the operational design domain (ODD), vehicle state, and occupant state. The ODC of an autonomous vehicle is closely related to the safe driving of the vehicle. If the ODC of an autonomous vehicle exceeds the driving boundary, the safety of the autonomous vehicle may be threatened.

[0004] However, in the current technical background, the reliability of the ODC monitoring results of autonomous vehicles is insufficient.

Summary of the Invention

Means for Solving the Problems

[0005] This application provides a monitoring method, apparatus, and system for improving the reliability of ODC monitoring results for autonomous driving devices.

[0006] According to a first aspect, a monitoring method is provided. The method may be carried out by a roadside device, or by a chip or circuit used in a roadside device. This is not particularly limited in this application.

[0007] The roadside device in this application is a device that can be configured to collect road environment information, and may include a roadside unit (RSU) in the narrow sense, or a handheld terminal device, the handheld terminal device may include another form of device that can collect road environment information in response to user input, or is configured to collect road environment information.

[0008] In this application, "vehicle" refers to a vehicle in a broad sense and may include means of transport (e.g., commercial vehicles, passenger cars, motorcycles, aircraft, or trains), industrial vehicles (e.g., forklift trucks, trailers, or tractors), civil engineering vehicles (e.g., excavators, bulldozers, or cranes), agricultural machinery (e.g., lawnmowers or harvesters), recreational devices, toy vehicles, etc. The type of vehicle is not limited in detail in the embodiments of this application.

[0009] The method includes the steps of determining ODC information for a first area, wherein the ODC information indicates ODC objects and the state of the ODC objects; obtaining pre-configured ODC elements for a vehicle; and determining, based on the ODC information for the first area and the pre-configured ODC elements, whether the vehicle's ODC crosses a travel boundary.

[0010] A roadside device will be understood to be a device related to a first area. For example, a roadside device may be configured to communicate with vehicles traveling in the first area, and / or to detect environmental information of the first area.

[0011] For example, the ODC information for the first area may be determined based on ODC information collected by roadside devices.

[0012] Vehicles are limited to their pre-configured ODC elements and may not be able to recognize or fully define ODC objects other than the pre-configured ODC elements. Therefore, the reliability of the vehicle's determination of whether its ODC has crossed the travel boundary, based on data collected by the vehicle, is insufficient.

[0013] In the aforementioned technical solution, the roadside device can determine whether the vehicle's ODC exceeds the travel boundary based on the ODC information of the first area. This improves the reliability of the determination of whether the vehicle's ODC exceeds the travel boundary and helps ensure vehicle safety. In addition, the ODC object or the state of the ODC object that causes the vehicle's ODC to exceed the travel boundary can be further determined to help the vehicle update pre-configured ODC elements.

[0014] It should be noted that pre-configured ODC elements can indicate ODC objects and the states of ODC objects that need to be recognized when the vehicle's autonomous driving function is running, or they can indicate ODC objects and the states of ODC objects that are prohibited from appearing when the vehicle's autonomous driving function is running.

[0015] For example, autonomous driving functions include, but are not limited to, adaptive driving, automatic emergency braking, automatic parking, blind spot monitoring, traffic warning / braking at intersections ahead, traffic warning / braking at intersections behind, collision warning for vehicles ahead, lane departure warning, lane keeping assist, collision warning for vehicles behind, traffic sign recognition, traffic congestion assistance, and highway assistance.

[0016] For example, a pre-configured ODC element may include ODC elements defined by the vehicle, such as an ODC list declared by the vehicle, or it may be another form of information.

[0017] Referring to the first embodiment, in some implementations of the first embodiment, the method further includes the step of obtaining ODC information determined by the vehicle, and the step of determining the ODC information of the first area includes the step of determining the ODC information of the first area based on the ODC information determined by the vehicle and the ODC information collected by the roadside device.

[0018] For example, ODC information determined by a vehicle may include ODC information collected by the vehicle, or ODC information determined by a vehicle may include ODC information related to the vehicle and a first area and generated by the vehicle based on an ODC information reporting request. For example, ODC information may indicate the state of an ODC object or an ODC object prohibited by the vehicle for a first area, or it may indicate an ODC object and the state of an ODC object recognized by the vehicle within a first area.

[0019] In some possible implementations, the ODC information for the first area is determined based on an intersection of ODC information determined by the vehicle and ODC information collected by roadside devices.

[0020] For example, the intersection of ODC information determined by the vehicle and ODC information collected by the roadside device indicates that the ODC object determined by the vehicle and the state of the ODC object are the same as the ODC object and the state of the ODC object collected by the roadside device.

[0021] In one example, the ODC information for the first area is the difference set between the ODC information collected by the roadside device and the crossover set.

[0022] In yet another example, both the difference set between the ODC information collected by the roadside device and the intersection set, and the difference set between the ODC information determined by the vehicle and the intersection set, contain information about the same ODC object. The state of the ODC object collected by the roadside device may be the same as or different from the state of the ODC object determined by the vehicle. In this case, the ODC information for the first area may be determined based on information about the ODC object with higher confidence.

[0023] In the aforementioned technical solution, information collected by roadside devices is compared with information determined by the vehicle, and as a result, the amount of ODC data for the first area can be reduced. This helps to improve the efficiency of determining whether the ODC has crossed the driving boundary.

[0024] Referring to the first embodiment, in some implementations of the first embodiment, the step of determining whether the vehicle's ODC has crossed a travel boundary includes, if the ODC information collected by the roadside device includes information about a first ODC object, and the ODC information determined by the vehicle does not include information about the first ODC object, the step of determining whether the vehicle's ODC has crossed a travel boundary based on information about the first ODC object and a pre-configured ODC element.

[0025] Note that if the ODC information determined by the vehicle indicates that the first ODC object is prohibited or the state of the first ODC object is prohibited, the ODC information determined by the vehicle may be considered to include information about the first ODC object.

[0026] In one example, if the first ODC object is specified by a preset ODC element and the state of the first ODC object meets the conditions satisfied by the first ODC object specified by the preset ODC element, the first ODC object can at least be determined not to cause the vehicle ODC to exceed the driving boundary.

[0027] In yet another example, if the first ODC object is not specified by a preset ODC element or, although the first ODC object is specified by a preset ODC element, the state of the first ODC object does not meet the conditions satisfied by the first ODC object specified by the preset ODC element, the vehicle's ODC has exceeded the driving boundary and the first ODC object can be determined to be one of the ODC objects not collected by the vehicle.

[0028] In the above technical solution, in order to determine whether the vehicle's ODC has exceeded the driving boundary, ODC information not detected by the vehicle is used as part of the ODC information in the first area. This helps to further improve the reliability of the vehicle ODC monitoring result (i.e., the result of whether the vehicle's ODC has exceeded the driving boundary).

[0029] Referring to the first aspect, in some implementations of the first aspect, the step of determining the ODC information in the first area includes determining the ODC information in the first area based on information with higher data freshness and / or higher reliability regarding the second ODC object when both the ODC information collected by the roadside device and the ODC information determined by the vehicle include information about the second ODC object.

[0030] It will be appreciated that the information regarding the second ODC object includes the state of the second ODC object.

[0031] It will be appreciated that data freshness indicates the moment when the ODC information was collected, and the closer the moment when the ODC information was collected is to the current moment, the higher the data freshness.

[0032] In the foregoing technical solution, when both the vehicle and the roadside device collect ODC objects, the ODC information of the first area is determined based on information with higher data freshness and / or higher reliability regarding the ODC object. This can improve the decision-making efficiency of the monitoring results and the reliability of the ODC monitoring results.

[0033] Referring to the first aspect, in some implementations of the first aspect, the method further includes the step of sending an ODC information reporting request to the vehicle, where the ODC information reporting request is used to request the ODC information determined by the vehicle.

[0034] In the foregoing technical solution, the vehicle does not need to actively report the ODC information determined by the vehicle. This helps to reduce the signaling overhead in the ODC monitoring process.

[0035] Referring to the first aspect, in some implementations of the first aspect, the method further includes the step of generating an ODC information reporting request based on the ODC information collected by the roadside device, where the ODC information reporting request includes an information identifier field and a reporting requirement field, the information identifier field indicates the ODC object that needs to be reported by the vehicle, and the reporting requirement field indicates the conditions that need to be satisfied by the ODC object reported by the vehicle.

[0036] For example, ODC objects that need to be reported by a vehicle include ODC objects indicated by ODC information collected by roadside devices.

[0037] For example, the conditions that must be met by the indicated ODC object reported by the vehicle may include the current state of the indicated ODC object reported by the vehicle (e.g., information about the ODC object collected by the vehicle).

[0038] In the aforementioned technical solution, information about ODC objects collected by the vehicle is obtained from the vehicle based on ODC object-related information collected by the roadside device, or vehicle pre-configured ODC object-related information (e.g., conditions that must be met) is obtained based on ODC object-related information collected by the roadside device. This helps to improve the efficiency of the roadside device in determining the ODC information for a first area, and improve the efficiency of the roadside device in determining whether the vehicle's ODC crosses the travel boundary.

[0039] Referring to the first embodiment, in some implementations of the first embodiment, the method further includes the step of obtaining vehicle autonomous driving information, wherein the autonomous driving information indicates an autonomous driving function enabled by the vehicle, and the step of determining whether the vehicle's ODC has crossed a driving boundary, wherein the autonomous driving function enabled by the vehicle is a first autonomous driving function.

[0040] In some possible implementations, the vehicle may have two modes: a human-driven mode and an autonomous driving mode. In human-driven mode, the vehicle can disable all autonomous driving functions. In this case, ODC monitoring does not need to be performed.

[0041] In some possible implementations, in autonomous driving mode, the vehicle may enable one or more autonomous driving functions, or in human driving mode, the vehicle may enable several autonomous driving functions.

[0042] In the aforementioned technical solution, ODC monitoring is performed when the vehicle is operating autonomous driving functions. This helps reduce the vehicle's energy consumption and improve safety when the vehicle is operating autonomous driving functions.

[0043] Referring to the first embodiment, in some implementations of the first embodiment, the step of determining whether the vehicle's ODC has crossed a driving boundary includes the steps of determining a subset of ODC elements corresponding to a first autonomous driving function based on a first autonomous driving function and pre-configured ODC elements, and determining whether the vehicle's ODC has crossed a driving boundary based on ODC information and the subset of ODC elements for a first area.

[0044] It should be noted that the subset of ODC elements corresponding to the first autonomous driving function may include ODC objects that enable the first autonomous driving function to operate correctly, and conditions that must be satisfied by the ODC objects.

[0045] In the aforementioned technical solution, different autonomous driving functions correspond to different pre-configured ODC elements. In this case, several pre-configured ODC elements are selected based on the autonomous driving functions activated by the vehicle, and as a result, the amount of data can be reduced. This helps to improve the efficiency of determining whether the vehicle's ODC has crossed the driving boundary.

[0046] Referring to the first embodiment, in some implementations of the first embodiment, the method further includes the step of performing at least one of the following steps when the vehicle's ODC is beyond a travel boundary: storing instruction information, transmitting the instruction information to the vehicle, or transmitting the instruction information to a cloud server, wherein the instruction information indicates at least one of the vehicle's ODC that is beyond a travel boundary, or an ODC object not collected by the vehicle and / or the state of an ODC object.

[0047] In the aforementioned technical solution, when the vehicle's ODC crosses a driving boundary, instruction information is sent directly to the vehicle. This helps the vehicle disable the relevant autonomous driving functions based on the instruction information, improving vehicle and user safety. Roadside devices either store the instruction information or send it to a cloud server. This helps stakeholders update the vehicle's pre-configured ODC elements based on the instruction information, further improving vehicle safety.

[0048] Referring to the first embodiment, in some implementations of the first embodiment, the method further includes the step of receiving vehicle identification information, and the step of obtaining a pre-configured ODC element of the vehicle includes the step of obtaining a pre-configured ODC element from a cloud server based on the identification information.

[0049] For example, a roadside device sends vehicle identification information to a cloud server, which then determines the vehicle's pre-configured ODC elements based on the identification information and sends the pre-configured ODC elements to the roadside device.

[0050] In the aforementioned technical solution, the roadside device does not need to store the vehicle's pre-configured ODC elements. This helps to save storage space in the roadside device.

[0051] Referring to the first embodiment, in some implementations of the first embodiment, the step of determining whether the vehicle's ODC has crossed a travel boundary includes: transmitting ODC information for a first area to a cloud server; receiving first information determined by the cloud server based on the ODC information for the first area and pre-configured ODC elements, wherein the first information indicates whether the vehicle's ODC has crossed a travel boundary; and determining whether the vehicle's ODC has crossed a travel boundary based on the first information.

[0052] In the aforementioned technical solution, the step of determining whether a vehicle's ODC crosses a travel boundary, based on the ODC information of the first area and the vehicle's pre-configured ODC elements, is performed by a cloud server. This helps reduce the complexity of calculations for roadside devices.

[0053] According to a second aspect, a monitoring method is provided. The method may be performed by a vehicle or by a chip or circuit used in a vehicle. This is not particularly limited in this application.

[0054] The method includes the steps of: receiving an ODC information reporting request transmitted by a roadside device; and transmitting ODC information determined by a vehicle based on the ODC information reporting request, wherein the ODC information determined by the vehicle is used to determine the ODC information of a first area, and the ODC information of the first area is used to determine whether the vehicle's ODC exceeds a travel boundary.

[0055] In the aforementioned technical solution, the vehicle transmits ODC information based on the ODC information reporting request, and as a result, the amount of ODC data for the first area can be reduced. This helps to improve the efficiency of determining whether the ODC has crossed the driving boundary. In addition, this helps to improve the reliability of the vehicle ODC monitoring results.

[0056] Referring to the second aspect, in some implementations of the second aspect, the method further includes the step of transmitting autonomous driving information to a roadside device, wherein the autonomous driving information indicates an autonomous driving function enabled by the vehicle, and the autonomous driving information is used to determine whether the vehicle's ODC has crossed a driving boundary.

[0057] In some possible implementations, autonomous driving information may alternatively be transmitted in response to an ODC information reporting request. For example, autonomous driving information and ODC information determined by the vehicle may be transmitted using the same data packet or using different data packets.

[0058] In the aforementioned technical solution, vehicle autonomous driving information is transmitted to a roadside device, and as a result, the roadside device or cloud server pre-selects several pre-configured ODC elements based on the autonomous driving functions enabled by the vehicle in order to reduce the amount of data. This helps to improve the efficiency of determining whether the vehicle's ODC has crossed a driving boundary.

[0059] Referring to the second aspect, in some implementations of the second aspect, the method further includes the step of transmitting identification information to a roadside device, the identification information being used to obtain a pre-configured ODC element of the vehicle.

[0060] Referring to the second aspect, in some implementations of the second aspect, the method further includes the step of receiving instruction information, wherein the instruction information indicates at least one of the following: an ODC of a vehicle that has crossed a travel boundary, or an ODC object not collected by a vehicle and / or the state of an ODC object.

[0061] In the aforementioned technical solution, when the vehicle's ODC (Operational Design Code) crosses the driving boundary, the vehicle can receive instruction information and, based on that information, disable the relevant autonomous driving functions. This helps to improve vehicle and user safety.

[0062] According to a third aspect, a monitoring device is provided, the device including a first determination unit located on a roadside device and configured to determine operational design condition ODC information for a first area, wherein the ODC information indicates ODC objects and the state of the ODC objects; a transceiver unit configured to acquire pre-configured ODC elements of a vehicle; and a second determination unit configured to determine whether the vehicle's ODC has crossed a travel boundary based on the ODC information for the first area and the pre-configured ODC elements.

[0063] Referring to the third aspect, in some implementations of the third aspect, the transceiver unit is further configured to acquire ODC information determined by the vehicle, and the first determination unit is configured to determine the ODC information of a first area based on the ODC information determined by the vehicle and the ODC information collected by the roadside device.

[0064] Referring to the third embodiment, in some implementations of the third embodiment, the second determination unit is configured to determine whether the vehicle's ODC has crossed a travel boundary, based on information about the first ODC object and a pre-configured ODC element, if the ODC information collected by the roadside device includes information about a first ODC object, but the ODC information determined by the vehicle does not include information about the first ODC object.

[0065] Referring to the third aspect, in some implementations of the third aspect, the first determination unit is configured to determine the ODC information for the first area based on information having higher data freshness and / or higher reliability regarding the second ODC object, when both the ODC information collected by the roadside device and the ODC information determined by the vehicle include information regarding the second ODC object.

[0066] Referring to the third aspect, in some implementations of the third aspect, the transceiver unit is further configured to transmit an ODC information report request to the vehicle, which is used to request ODC information determined by the vehicle.

[0067] Referring to the third aspect, in some implementations of the third aspect, the device further includes a generating unit configured to generate an ODC information report request based on ODC information collected by a roadside device, the ODC information report request including an information identifier field and a report requirement field, the information identifier field indicating an ODC object that needs to be reported by a vehicle, and the report requirement field indicating a condition that needs to be met by the ODC object reported by the vehicle.

[0068] Referring to the third aspect, in some implementations of the third aspect, the transceiver unit is further configured to acquire vehicle autonomous driving information, the autonomous driving information indicates an autonomous driving function enabled by the vehicle, and the second decision unit is configured to determine whether the vehicle's ODC has crossed a driving boundary if the autonomous driving function enabled by the vehicle is a first autonomous driving function.

[0069] Referring to the third aspect, in some implementations of the third aspect, the second decision unit is configured to determine a subset of ODC elements corresponding to the first autonomous driving function based on the first autonomous driving function and pre-configured ODC elements, and to determine whether the vehicle's ODC has crossed a driving boundary based on the ODC information of the first area and the subset of ODC elements.

[0070] Referring to a third aspect, in some implementations of the third aspect, the device further comprises a processing unit configured to store instruction information when the vehicle's ODC is crossing a travel boundary, the instruction information indicating at least one of the vehicle's ODC crossing a travel boundary, or an ODC object not collected by the vehicle and / or the state of an ODC object, and a transceiver unit further configured to transmit the instruction information to the vehicle and / or transmit the instruction information to a cloud server.

[0071] Referring to the third aspect, in some implementations of the third aspect, the transceiver unit is further configured to receive vehicle identification information and to retrieve pre-configured ODC elements from a cloud server based on the identification information.

[0072] Referring to a third aspect, in some implementations of the third aspect, the transceiver unit is further configured to transmit ODC information for a first area to a cloud server and to receive first information determined by the cloud server based on the ODC information for the first area and pre-configured ODC elements, the first information indicating whether the vehicle's ODC has crossed a travel boundary, and the second determination unit is configured to determine, based on the first information, whether the vehicle's ODC has crossed a travel boundary.

[0073] According to a fourth aspect, a monitoring device is provided, the device including a receiving unit positioned in a vehicle and configured to receive ODC information reporting requests transmitted by a roadside device, and a transmitting unit configured to transmit ODC information determined by the vehicle based on the ODC information reporting request, wherein the ODC information determined by the vehicle is used to determine the ODC information of a first area, and the ODC information of the first area is used to determine whether the vehicle's ODC exceeds a travel boundary.

[0074] Referring to the fourth aspect, in some implementations of the fourth aspect, the transmitting unit is further configured to transmit autonomous driving information to a roadside device, the autonomous driving information indicating an autonomous driving function enabled by the vehicle, and the autonomous driving information is used to determine whether the vehicle's ODC has crossed a driving boundary.

[0075] Referring to the fourth aspect, in some implementations of the fourth aspect, the transmitting unit is further configured to transmit identification information to a roadside device, which is used to obtain a pre-configured ODC element of the vehicle.

[0076] Referring to the fourth aspect, in some implementations of the fourth aspect, the receiving unit is further configured to receive instruction information, which indicates at least one of the following: an ODC of a vehicle that has crossed a travel boundary, or an ODC object not collected by a vehicle and / or the state of an ODC object.

[0077] According to a fifth aspect, a monitoring device is provided, the device including a memory configured to store a computer program and a processor configured to execute the computer program stored in the memory in order to enable the device to perform a method in any one of the possible implementations of the first to second aspects.

[0078] According to the sixth aspect, a roadside device is provided, which includes a device in any one of the possible implementation forms of the third aspect.

[0079] According to the seventh aspect, a vehicle is provided, which includes a device in any one of the possible implementations of the fourth aspect.

[0080] According to the eighth aspect, a monitoring system is provided, the system comprising a device in any one of the possible implementations of the third aspect and a device in any one of the possible implementations of the fourth aspect, or the system comprising a roadside device in any one of the possible implementations of the seventh aspect and a vehicle in any one of the possible implementations of the eighth aspect.

[0081] According to the ninth aspect, a computer program product is provided, the computer program product includes computer program code. When the computer program code is executed on a computer, the computer becomes capable of performing a method according to any one of the possible implementations of the first or second aspect.

[0082] It should be noted that all or part of the computer program code may be stored in a first storage medium. The first storage medium may be encapsulated together with the processor or separately from the processor.

[0083] According to the tenth aspect, a computer-readable medium is provided which stores instructions. When the instructions are executed by a processor, the processor is enabled to implement a method according to any one of the possible implementations of the first or second aspect.

[0084] According to the eleventh aspect, a chip is provided. The chip includes a circuit. The circuit is configured to perform a method according to any one of the possible implementation forms of the first or second aspect. [Brief explanation of the drawing]

[0085] [Figure 1] This is a functional block diagram of a vehicle according to one embodiment of the present application. [Figure 2] This is a block diagram of the architecture of a monitoring system according to one embodiment of this application. [Figure 3] This is a diagram of a monitoring system according to one embodiment of the present application. [Figure 4] This is a schematic flowchart of a monitoring method according to one embodiment of this application. [Figure 5] This is a schematic flowchart of another monitoring method according to one embodiment of this application. [Figure 6] This is a schematic flowchart of yet another monitoring method according to one embodiment of this application. [Figure 7] This is a schematic flowchart of yet another monitoring method according to one embodiment of this application. [Figure 8] This is a schematic flowchart of yet another monitoring method according to one embodiment of this application. [Figure 9] This is a block diagram of a monitoring device according to one embodiment of the present application. [Figure 10] This is a block diagram of another monitoring device according to one embodiment of this application. [Figure 11] This is a block diagram of yet another monitoring device according to one embodiment of this application. [Modes for carrying out the invention]

[0086] In the description of embodiments of this application, unless otherwise specified, " / " means "or". For example, A / B may represent A or B. In this specification, "and / or" describes a relational relationship between related objects and indicates that three relationships may exist. For example, A and / or B may mean the following three cases: the case where only A exists, the case where both A and B exist, and the case where only B exists. In this application, "at least one" means one or more, and "plural" means two or more. "At least one of the following (elements)" or a similar expression means any combination of these, including any single (element) or any combination of multiple (elements). For example, at least one of a, b, or c may represent a, b, c, a and b, a and c, b and c, or a, b, and c, where a, b, and c may be singular or plural.

[0087] In the embodiments of this application, prefixes such as “first” and “second” are used solely to distinguish different described objects and do not limit the location, order, priority, quantity, or content of the described objects. In the embodiments of this application, the use of prefixes such as ordinal numbers used to distinguish described objects does not constitute a limitation on the described objects. For a description of the described subject matter, please refer to the claims or the contextual description in the embodiments. The use of such prefixes should not constitute a redundant limitation.

[0088] As mentioned above, in autonomous driving technology, the Operational Design Code (ODC) specifies various conditions applicable to the functional execution of autonomous driving technology. However, when a vehicle performs autonomous driving functions, some scenarios or elements of the execution scenario may not satisfy the vehicle's pre-configured ODC elements. In other words, the vehicle may ignore the aforementioned scenarios or elements when executing the autonomous driving plan, potentially causing danger to the vehicle.

[0089] With this in mind, embodiments of the present application provide a monitoring method, apparatus, and system for monitoring whether the vehicle's ODC (Oriented Control Center) is crossing a driving boundary when the vehicle is performing an autonomous driving function. Furthermore, if it is determined that the vehicle's ODC is crossing a driving boundary, the information is fed back to the vehicle to ensure driving safety.

[0090] To facilitate understanding of the solutions in the embodiments of this application, the concepts of this application will first be explained.

[0091] 1. ODD: External environmental conditions determined during the design of the automated driving system and applicable to the functional execution of the automated driving system.

[0092] 2. ODC: A general term for various conditions determined during the design of an automated driving system and applicable to the functional execution of the automated driving system, including ODD, vehicle conditions, occupant conditions, and other required conditions.

[0093] 3. Operational Automation Function: This refers to the ability of an operational automation system to perform some or all of the dynamic operation tasks under specific operational design conditions. An operational automation system can implement one or more operational automation functions, each function being associated with a specific operational automation level and operational design conditions.

[0094] 4. ODC Objects: These are objects, scenarios, etc., that may affect the execution of the vehicle's automated driving functions.

[0095] 5. Vehicle-declared ODC list: Contains one or more ODC elements, each ODC element indicating one ODC object and the conditions that the ODC object must satisfy.

[0096] 6. Preconfigured ODC elements: These include, but are not limited to, the ODC objects required to implement the vehicle's automated driving functions, and the conditions that must be met by the ODC objects, i.e., the ODC element name, the requirements of the ODC element, and the association relationships between the ODC element and other ODC elements. The ODC element name indicates the ODC object, and the requirements of the ODC element and the association relationships between the ODC element may indicate the conditions that must be met by the ODC object. The conditions that must be met by the ODC object may include the state of the ODC object that the vehicle must recognize, or an ODC object or state of an ODC object whose appearance is prohibited. A particular form of preconfigured ODC elements may be an ODC list declared by the vehicle, or it may take another form.

[0097] In the embodiments of this application, the driving automation system is also called an autonomous driving system, and the driving automation function is also called an autonomous driving function.

[0098] 7. ODC crosses driving boundary: An ODC object appearing in a vehicle driving scenario is not included in a pre-configured ODC element, or the state of an ODC object appearing in a driving scenario does not meet the requirements of a pre-configured ODC element, resulting in the vehicle being unable to perform autonomous driving functions or the vehicle's safety being compromised during the process of performing autonomous driving functions.

[0099] The following describes the technical solutions of the embodiments in this application with reference to the attached drawings.

[0100] Figure 1 is a functional block diagram of a vehicle 100 according to one embodiment of the present application. The vehicle 100 may include a sensing system 120, a communication system 130, and a computing platform 150. The sensing system 120 may include one or more sensors that sense information about the surrounding environment of the vehicle 100. For example, the sensing system 120 may include a positioning system. The positioning system may be a global positioning system (GPS), a BeiDou system, or another positioning system, or an inertial measurement unit (IMU). As another example, the sensing system 120 may further include one or more of a lidar, millimeter-wave radar, ultrasonic radar, and imaging device.

[0101] Vehicle 100 interacts with cloud servers, roadside devices, other vehicles, etc., using a communication system 130. The communication system 130 may include a wireless communication system.

[0102] For example, vehicle 100 may communicate with other objects by using at least one of the following: a vehicle-to-everything (V2X) communication network, a vehicle-to-infrastructure (V2I) communication network, a vehicle-to-vehicle (V2V) communication network, a vehicle-to-pedestrian (V2P) communication network, or a vehicle-to-network (V2N) communication network.

[0103] Some or all of the functions of vehicle 100 may be controlled by a computing platform 150. The computing platform 150 may include one or more processors such as processors 151 to 15n (where n is a positive integer). A processor is a circuit having instruction processing capability. In one implementation, a processor may be a circuit having the capability to read and execute instructions, and may be, for example, a central processing unit (CPU), a microprocessor, a graphics processing unit (GPU) (which may be understood as a microprocessor), or a digital signal processor (DSP). In another implementation, a processor can perform specific functions by using logical relationships of hardware circuits. Logical relationships of hardware circuits may be fixed or reconfigurable. For example, a processor may be a hardware circuit implemented by an application-specific integrated circuit (ASIC) or a programmable logic device (PLD), such as a field programmable gate array (FPGA). In a reconfigurable hardware circuit, the process by which a processor loads configuration documents to implement a hardware circuit configuration can be understood as the process by which a processor loads instructions to implement some or all of the functions of the aforementioned unit. In addition, the circuit may be a hardware circuit designed for artificial intelligence and can be understood as an ASIC, for example, a neural network processing unit (NPU), a tensor processing unit (TPU), or a deep learning processing unit (DPU). Furthermore, the computing platform 150 may further include memory.Memory is configured to store instructions. Some or all of the processors 151-15n can call and execute instructions in memory to perform their corresponding functions.

[0104] Vehicle 100 may include an advanced driving assistance system (ADAS). The ADAS uses multiple sensors on the vehicle (including, but not limited to, LiDAR, millimeter-wave radar, imaging devices, ultrasonic sensors, global positioning systems, and inertial measurement units) to acquire information about the vehicle's surroundings, and analyzes and processes the acquired information to implement functions such as obstacle detection, target recognition, vehicle positioning, path planning, and driver monitoring / warning. This improves the safety, automation, and comfort of driving the vehicle.

[0105] In terms of logical functions, ADAS systems generally include three main functional modules: a sensing module, a decision-making module, and an execution module. The sensing module senses the surrounding environment of the vehicle using sensors and inputs the corresponding real-time data to the processing center of the decision layer. The sensing module mainly includes on-board cameras, ultrasonic radar, millimeter-wave radar, and lidar. The decision-making module uses computing devices and algorithms to make corresponding decisions based on the information acquired by the sensing module. After receiving a decision command from the decision-making module, the execution module performs the corresponding action, such as driving, changing lanes, steering, braking, or issuing a warning.

[0106] In this embodiment of the present application, the sensing system 120 may be configured to collect ODC information. The communication system 130 may be configured to transmit the ODC information collected by the sensing system to a roadside device or cloud server, and may be further configured to receive ODC monitoring results from the roadside device or cloud server. The computing platform 150 may be configured to control the vehicle 100 to disable the autonomous driving function or to keep the autonomous driving function enabled based on the ODC monitoring results.

[0107] Figure 2 is a block diagram of a monitoring system according to one embodiment of the present application. As shown in Figure 2, the system includes a road ODC information acquisition module 210, a vehicle information acquisition module 220, a vehicle ODC-related information determination module 230, and an ODC monitoring result determination module 240. The road ODC information acquisition module 210 may include one or more sensors of a roadside unit (RSU). The vehicle information acquisition module 220, the vehicle ODC-related information determination module 230, and the ODC monitoring result determination module 240 may include one or more processors in the RSU or one or more processors in a cloud server.

[0108] The road ODC information acquisition module 210 is configured to acquire ODC information collected by the RSU, and the ODC information includes ODC objects in area 1 and the status of the ODC objects collected by the RSU.

[0109] The vehicle information acquisition module 220 is configured to acquire identification information of a vehicle traveling in Area 1 and at least one piece of information regarding the vehicle's autonomous driving function, and to transfer the aforementioned information to the vehicle ODC-related information determination module 230. Alternatively, the vehicle information acquisition module 220 may be further configured to acquire ODC information determined by the vehicle from the vehicle and / or to acquire pre-configured ODC elements of the vehicle from a cloud server, and to transfer the aforementioned information to the ODC monitoring result determination module 240.

[0110] The vehicle ODC-related information determination module 230 can select a subset of ODC elements corresponding to the executed autonomous driving function from the vehicle's pre-configured ODC elements based on the vehicle's autonomous driving function, or the vehicle ODC-related information determination module 230 can further determine the vehicle's pre-configured ODC elements based on the vehicle's identification information and transmit the ODC element subset or pre-configured ODC elements to the ODC monitoring result determination module 240.

[0111] The ODC monitoring result determination module 240 is configured to determine whether the vehicle's ODC crosses the travel boundary when the vehicle is traveling within Area 1, based on the ODC information collected by the RSU and the vehicle's pre-configured ODC elements (or subset of ODC elements). Alternatively, the ODC monitoring result determination module 240 can perform further selections based on the ODC information collected by the RSU and the ODC information determined by the vehicle to determine the ODC information for Area 1, and then determine whether the vehicle's ODC crosses the travel boundary based on the ODC information for Area 1 and the vehicle's pre-configured ODC elements (or subset of ODC elements).

[0112] It should be understood that the modules described above are merely examples. In actual application, the modules described above may be added or removed based on actual requirements. For example, in the system architecture shown in Figure 2, the vehicle information acquisition module 220 and the vehicle ODC-related information determination module 230 may be combined into a single module.

[0113] Figure 3 is a diagram of a monitoring system according to one embodiment of the present application. As shown in Figure 3, the system includes a vehicle 100, a roadside device 200, and a server 300. The roadside device 200 is associated with area 1. When traveling within area 1, the vehicle 100 can communicate with the roadside device 200.

[0114] In one example, vehicle 100 reports its identification information to roadside device 200. Roadside device 200 transmits vehicle 100's identification information to server 300. Server 300 determines vehicle 100's pre-configured ODC elements (e.g., an ODC list declared by vehicle 100) based on vehicle 100's identification information and transmits the pre-configured ODC elements to roadside device 200. Roadside device 200 determines the ODC information for area 1 and, based on vehicle 100's pre-configured ODC elements and the ODC information for area 1, determines whether vehicle 100's ODC crosses the travel boundary.

[0115] In yet another example, vehicle 100 reports its identification information to roadside device 200. Roadside device 200 transmits vehicle 100's identification information to server 300, which determines vehicle 100's pre-configured ODC elements based on the vehicle 100's identification information. In addition, roadside device 200 transmits area 1's ODC information determined by the roadside device to server 300, which then determines whether vehicle 100's ODC crosses the travel boundary based on vehicle 100's pre-configured ODC elements and area 1's ODC information.

[0116] In yet another example, vehicle 100 can further transmit the ODC information determined by vehicle 100 to roadside device 200, which in turn determines the ODC information for area 1 based on the information.

[0117] In some possible implementations, when it is determined that the vehicle 100's ODC has crossed a travel boundary, the roadside device 200 or server 300 sends instructional information to the vehicle 100 to indicate to the vehicle 100 that the vehicle's ODC has crossed a travel boundary, or to indicate to the vehicle 100 the ODC objects that have not been collected by the vehicle and / or the state of the ODC objects.

[0118] For example, the monitoring system shown in Figure 2 may be placed on the roadside device 200 shown in Figure 3, or on the server 300 shown in Figure 3.

[0119] Figure 4 is a schematic flowchart of a monitoring method according to one embodiment of the present application. The method may be performed by the system shown in Figure 2 or by the system shown in Figure 3. For example, the vehicle may be an example of vehicle 100, the roadside device may be an example of roadside device 200, the server may be an example of server 300, and the method 400 may include the following steps.

[0120] S401: The roadside device determines the ODC information for Area 1.

[0121] For example, a roadside device can determine the ODC information for Area 1 based on ODC information collected by the roadside device, or a roadside device can determine the ODC information for Area 1 based on ODC information collected by the roadside device and ODC information determined by and transmitted by a vehicle.

[0122] In some possible implementations, before determining the ODC information for Area 1, the roadside device receives ODC information determined and transmitted by the vehicle. For example, the vehicle-determined ODC information may include ODC information collected by the vehicle, such as ODC objects in Area 1 collected by the vehicle and the state of the ODC objects, or the vehicle-determined ODC information may include ODC objects recognized and reported by the vehicle, and conditions that the ODC objects must satisfy.

[0123] For example, ODC information collected by a vehicle may be collected using the vehicle's sensing system.

[0124] For example, ODC information determined by the vehicle and periodically transmitted by the vehicle is received, or a roadside device sends an ODC information reporting request to the vehicle and receives ODC information determined by the vehicle transmitted by the vehicle in response to the ODC information reporting request.

[0125] For example, ODC information collected by a roadside device may include ODC information collected by the roadside device's sensing system, or ODC information collected by a roadside device may include manually entered ODC information.

[0126] In some possible implementations, the ODC information for Area 1 further includes time identifier 1, which indicates the moment when the roadside device collects the ODC information.

[0127] S402: The roadside device transmits vehicle information report request 1 to the vehicle.

[0128] In some possible implementations, Vehicle Information Report Request 1 is used to request the vehicle to report its identification information. Alternatively, Vehicle Information Report Request 1 is further used to request the vehicle to report its autonomous driving information, such as whether the vehicle has enabled autonomous driving functions or information about the autonomous driving functions the vehicle is currently performing.

[0129] S403: The vehicle transmits vehicle information 1 to a roadside device based on vehicle information report request 1, and vehicle information 1 includes vehicle identification information.

[0130] For example, the identification information may include at least one of the following: vehicle identification number (VIN), vehicle model, license plate number, and electronic registration identification of the motor vehicle (ERI).

[0131] In some possible implementations, vehicle information 1 further includes information about the vehicle's autonomous driving capabilities.

[0132] In some possible implementations, vehicle information 1 further includes time identification information 2, which indicates the moment when the vehicle transmits vehicle information 1.

[0133] S404: The roadside device transmits vehicle identification information to the server.

[0134] S405: The server determines the vehicle's pre-configured ODC elements based on the vehicle's identification information.

[0135] For example, the server queries the vehicle's pre-configured ODC elements based on the vehicle's identification information. The pre-configured ODC elements may include one or more ODC element subsets, each of which defines the driving conditions for the autonomous driving functions supported by the vehicle.

[0136] S406: The server sends the vehicle's pre-configured ODC elements to the roadside device.

[0137] S407: The roadside device determines whether the vehicle's ODC exceeds the travel boundary based on the ODC information for Area 1 and pre-configured ODC elements.

[0138] In some possible implementations, a pre-configured ODC element defines an ODC object and the conditions that the ODC object must satisfy. In this case, the roadside device may first determine whether the ODC object indicated by the ODC information for Area 1 is included in the ODC object defined by the pre-configured ODC element. If the ODC object indicated by the ODC information for Area 1 is not included in the ODC object defined by the pre-configured ODC element, the roadside device determines that the vehicle's ODC has crossed the travel boundary. If the ODC object indicated by the ODC information for Area 1 is included in the ODC object defined by the pre-configured ODC element, the roadside device may further determine whether the state of the ODC object indicated by the ODC information for Area 1 satisfies the conditions that the ODC object must satisfy. If the state of the ODC object indicated by the ODC information for Area 1 satisfies the conditions that the ODC object must satisfy, the roadside device determines that the vehicle's ODC has not crossed the travel boundary. If the state of the ODC object indicated by the ODC information in Area 1 does not satisfy the conditions that must be met by the ODC object defined by the pre-configured ODC element, the roadside device determines that the vehicle's ODC has crossed the travel boundary.

[0139] In one example, a vehicle's pre-configured ODC element defines the following ODC objects and conditions that must be met by the ODC object. The ODC object includes road surface material, road surface quality, target object, and weather. The conditions that the ODC object must meet include: road surface material state: pavement is permitted, road surface quality state: cracks are permitted, target object state: vehicles and pedestrians are permitted, and weather state: recognition of rainfall of level 2 or higher is permitted. The ODC information for Area 1 includes road surface material (ODC object) as pavement condition (ODC object state), cracks on the road surface (ODC object is road surface quality, and ODC object state is "cracks"), target object (ODC object) as pedestrians and vehicles (ODC object state), and temporary sign (ODC object is traffic sign, and ODC object state is temporary sign). If a temporary sign is not defined in the pre-configured ODC element, it can be determined that the vehicle's ODC has crossed the travel boundary.

[0140] In another example, the vehicle's pre-configured ODC element defines the following: The condition that "Weather" must satisfy is "Recognition of rainfall of level 2 or higher," and the ODC information for Area 1 includes "Weather: Level 1 rainfall." In other words, the ODC object "Weather" is defined in the vehicle's pre-configured ODC element, but the state of "Weather" in the Area 1 ODC information does not conform to the definition in the vehicle's pre-configured ODC element. Therefore, it is determined that the vehicle's ODC has crossed the driving boundary.

[0141] In some possible implementations, the roadside device determines whether the vehicle's ODC has crossed the driving boundary based on pre-configured ODC elements, ODC information for Area 1, and the autonomous driving functions performed by the vehicle.

[0142] For example, a vehicle supports multiple autonomous driving functions, and the currently running autonomous driving function is one that operates on a highway. The pre-configured ODC element defines the following ODC objects: road surface material, road surface quality, target object, weather, number of lanes, and target object, as well as the conditions that must be met by the ODC object. Within the pre-configured ODC element, the subset of ODC elements corresponding to "functions that operate on a highway" includes the following ODC objects and conditions that must be met: number of lanes, lane number state (2 to 5 lanes are allowed), target object, and target object state (vehicles are allowed, pedestrians are not). The ODC information for Area 1 shows that the number of lanes (ODC object) is 4 (ODC object state), and the target object (ODC object) includes pedestrians and vehicles (ODC object state). It can be seen that the state of the target object (ODC object) in the ODC information for Area 1 does not conform to the conditions that must be met by the ODC object and are defined by the pre-configured ODC element. Therefore, it can be determined that the vehicle's ODC (Oriented Control Diameter) has crossed the travel boundary.

[0143] For example, a roadside device can alternatively select a subset of ODC information from the ODC information in Area 1 based on the autonomous driving functions performed by the vehicle. The ODC information subset represents the ODC objects and states of the ODC objects corresponding to the autonomous driving functions. Furthermore, to determine whether the vehicle's ODC crosses the driving boundary, the roadside device selects a subset of ODC elements corresponding to the autonomous driving functions from a set of ODC elements to compare the ODC information subset with an ODC element subset.

[0144] S408: The roadside device stores the result of S407.

[0145] In some possible implementations, the roadside device stores either the result that the vehicle's ODC (Orientation Distance Control) has not crossed the travel boundary, or the result that the vehicle's ODC has crossed the travel boundary.

[0146] In some possible implementations, roadside devices store information about ODC objects that are collected by the roadside device but are not included in pre-configured ODC elements.

[0147] S408': The roadside device transmits the result of S407 to the vehicle.

[0148] For example, a roadside device can send the vehicle a result indicating whether the vehicle's ODC has crossed a travel boundary, or the roadside device can send the vehicle further information about ODC objects collected by the roadside device but not included in a pre-configured ODC element.

[0149] S408: The roadside device sends the result of S407 to the server.

[0150] For example, a roadside device can send a result to a server indicating whether a vehicle's ODC has crossed a travel boundary, or the roadside device can send further information to the server about ODC objects collected by the roadside device but not included in a pre-configured ODC element.

[0151] In some possible implementations, not all operations shown in Figure 4 may be performed. For example, one or more of S408, S408', and S408'' may be performed. In addition, the operations shown in Figure 4 do not have to be performed in the order shown in the figure. For example, S402 and S403 may be performed before S401.

[0152] According to the monitoring method provided in this embodiment of the present application, a roadside device can determine, based on ODC information for area 1, whether the vehicle's ODC has crossed a travel boundary. This improves the reliability of the result of determining whether the vehicle's ODC has crossed a travel boundary and helps ensure vehicle safety. In addition, the ODC object or state of the ODC object that causes the vehicle's ODC to cross a travel boundary can be further determined to assist the vehicle in updating a pre-configured ODC element.

[0153] Figure 5 is a schematic flowchart of another monitoring method according to one embodiment of the present application. The method may be performed by the system shown in Figure 2, or by the system shown in Figure 3. For example, method 500 may include S501 to S509.

[0154] For step S501, please refer to the explanation of S401. For steps S503 to S506, please refer to the explanations of S402 to S405. Method 500 differs from Method 400 in that the step of determining whether the vehicle has crossed the travel boundary is performed by the server (S507). Therefore, before S507 is performed, the server needs to obtain ODC information for Area 1 from the roadside device (S502). Furthermore, after determining whether the vehicle's ODC has crossed the travel boundary or not, the server can store the monitoring result (S508), or send the monitoring result to the roadside device (S508"), and / or send the result to the vehicle (for example, the result is sent directly to the vehicle in S508', or the result is sent to the vehicle using the roadside device in S509).

[0155] For example, for the specific method by which the server determines whether a vehicle's ODC (Orientation Distance Control) has crossed the travel boundary, please refer to the explanation in S407. Further details will not be provided here.

[0156] According to the monitoring method provided in this embodiment of the present application, a cloud server determines, based on ODC information for Area 1, whether the vehicle's ODC has crossed a travel boundary. This improves the reliability of the result of determining whether the vehicle's ODC has crossed a travel boundary, helps ensure vehicle safety, and helps reduce the computational complexity of roadside devices.

[0157] Figure 6 is a schematic flowchart of yet another monitoring method according to one embodiment of the present application. The method may be performed by the system shown in Figure 2 or by the system shown in Figure 3. For example, method 600 may be understood as an extension of method 400 or method 500. For example, method 600 may be performed before S401 or S501, and method 600 may include the following steps.

[0158] S601: Roadside devices collect ODC information.

[0159] For example, a roadside device collects ODC information for Area 1.

[0160] S602: The roadside device transmits vehicle information report request 2 to the vehicle.

[0161] In one example, vehicle information reporting request 2 may be used to request a vehicle to transmit ODC information collected by the vehicle to a roadside device.

[0162] In another example, Vehicle Information Report Request 2 could be used to request a vehicle to submit information about a specific ODC object, for example, conditions that must be met by that specific ODC object. For example, a Vehicle Information Report Request may include an Information Identifier field and a Reporting Requirements field. The Information Identifier field indicates the ODC object that the vehicle needs to report, and the Reporting Requirements field indicates the conditions that must be met by the ODC object reported by the vehicle.

[0163] In some possible implementations, specific ODC objects may be pre-configured by the system. Alternatively, the vehicle information report request 2 is generated based on ODC information collected by a roadside device. For example, if the ODC information collected by a roadside device includes information about ODC object 1 through ODC object 3, the vehicle information report request 2 may be used to request the vehicle to transmit information about ODC object 1 through ODC object 3.

[0164] For example, the form of Vehicle Information Reporting Request 2 may be shown in Table 1. "ODC Element Name" indicates the ODC object that needs to be reported by the vehicle, and "Reporting Requirements" and "Relationship" indicate the conditions that must be met by the ODC object reported by the vehicle. For example, "ODC Element Name 1" to "ODC Element Name 3" may correspond to ODC Object 1 to ODC Object 3, respectively.

[0165] [Table 1]

[0166] For example, Vehicle Information Reporting Request 2, shown in Table 1, is used to request a vehicle to report information regarding road surface, temporary signs, and driver handover status. For "Road Surface," the vehicle is requested to report details, including the area and time range in which the "Road Surface" should be recognized. For "Temporary Sign," the vehicle is requested to report whether the temporary sign was recognized. For "Driver Handover Status," the vehicle is requested to report whether the vehicle is ready for handover.

[0167] For example, "\" indicates that the field is empty. Based on the information that the field is empty, the vehicle may proactively report a "correspondence" to an ODC object, such as a time limit for the driver to take over the vehicle or a geographical location limit for recognizing a temporary sign. Alternatively, based on the information that the field is empty, the vehicle may not have to report a "correspondence" to an ODC object.

[0168] In a particular implementation process, the ODC element name may be a number or other code, and the correspondence between the number or other code and the ODC object is pre-configured, so that the vehicle can determine information about the ODC object that needs to be reported based on the number or other code.

[0169] In some possible implementations, vehicle information report request 2 and vehicle information report request 1 are sent simultaneously, for example, using the same packet or using different packets.

[0170] S603: The vehicle transmits vehicle information 2 to the roadside device based on the vehicle information report request 2, and the vehicle information 2 includes ODC information determined by the vehicle.

[0171] For example, the ODC information determined by a vehicle may be the same as the ODC information collected by a vehicle within Area 1.

[0172] For example, the ODC information determined by the vehicle may be a list generated based on the vehicle information reporting request 2. For example, Table 2 shows the form of the vehicle-determined ODC information generated based on the vehicle information reporting request 2 shown in Table 1.

[0173] [Table 2]

[0174] For example, regarding the ODC information determined by the vehicle shown in Table 2, for "Road Surface," the ODC information determined by the vehicle includes more detailed ODC objects and the state of the ODC objects, including road surface material, road surface quality, and road surface cover. The area range for recognizing the road surface is "Urban Area," and the time range is "19:00 to 06:00 the next day." For "Temporary Signs," if the road type is "Country Road," the ODC information determined by the vehicle provides feedback that the vehicle has recognized a temporary sign. For "Driver Handover Status," the ODC information determined by the vehicle provides feedback that "Handover is Possible."

[0175] S604: The roadside device determines the ODC information for Area 1 based on the ODC information determined by the vehicle and the ODC information collected by the roadside device.

[0176] For example, the ODC information for Area 1 includes information about ODC objects that are included in the ODC information collected by roadside devices but are not included in the ODC information determined by the vehicle.

[0177] For example, if ODC information collected by a roadside device includes information about ODC object 1 and ODC object 2, and ODC information determined by a vehicle includes information about ODC object 2 but does not include information about ODC object 1, then the determined ODC information for area 1 includes information about ODC object 1 but does not include information about ODC object 2.

[0178] In yet another example, both the ODC information collected by the roadside device and the ODC information determined by the vehicle contain information about ODC object 3, but the state of ODC object 3 indicated by the two ODC sources is different. Alternatively, if the state of ODC object 3 indicated by the ODC information collected by the roadside device does not meet the conditions that must be met by ODC object 3 for ODC information reporting, the ODC information for area 1 is determined based on information with higher data freshness and / or higher reliability regarding ODC object 3.

[0179] For example, data freshness indicates the moment the ODC information was collected. The closer the moment the ODC information was collected is to the present moment, the fresher the data is.

[0180] For example, the confidence level of the state of ODC object 3 may be determined based on the historical data of ODC object 3.

[0181] According to the monitoring method provided in this embodiment of the present application, ODC information not detected by the vehicle can be used as part of the ODC information for Area 1 to determine whether the vehicle's ODC has crossed a travel boundary. This helps to improve the efficiency of determining the monitoring results. When both the vehicle and the roadside device collect ODC objects, the ODC information for Area 1 is determined based on information with higher data freshness and / or higher reliability regarding the ODC objects. This can improve the efficiency of determining the monitoring results and improve the reliability of the ODC monitoring results.

[0182] In some possible implementations, the step of determining the ODC information for Area 1 may be performed by a server instead. Specifically, in method 700 shown in Figure 7, method 700 includes S701 to S705.

[0183] For example, after the roadside device collects ODC information (S701), it sends the ODC information collected by the roadside device to the server (S702).

[0184] Furthermore, the roadside device sends a vehicle information report request 3 to the vehicle, which is used to request the vehicle to report its vehicle information 3 to the server. For specific implementation details of S703 and S704, please refer to the descriptions of S602 and S603. Details will not be explained again here. For example, in S704, the vehicle can send vehicle information 3 to the server by using the roadside device.

[0185] Furthermore, the server determines the ODC information for Area 1 based on the ODC information determined by the vehicle and the ODC information collected by roadside devices (S705). For the specific method by which the server determines the ODC information for Area 1, please refer to the explanation in S704. Details will not be explained again here.

[0186] Figure 8 is a schematic flowchart of a monitoring method according to one embodiment of the present application. The method may be performed by the system shown in Figure 2, or by roadside devices of the system shown in Figure 3. For example, method 800 may include the following steps:

[0187] S801: Determine the ODC information for the first area, which indicates the ODC object and the state of the ODC object.

[0188] For example, the first area includes area 1 in the embodiment described above.

[0189] For example, please refer to the description of the embodiment above for a specific method for determining the ODC information of the first area. Further details will not be provided here.

[0190] S802: Retrieve the vehicle's pre-configured ODC elements.

[0191] For example, the vehicle may include the vehicle in the embodiment described above, or it may be another vehicle traveling in the first area.

[0192] For example, a pre-configured ODC element may include an ODC list declared by the vehicle, or it may include other forms of information.

[0193] For example, please refer to the description of the embodiment above for a specific method for obtaining the vehicle's pre-configured ODC elements. Further details will not be provided here.

[0194] S803: Based on the ODC information and pre-configured ODC elements of the first area, determine whether the vehicle's ODC exceeds the pre-configured boundary.

[0195] For example, for a specific method of determining whether a vehicle's ODC (Oriented Control Diagram) exceeds a predefined boundary, please refer to the description of the embodiments above. Further details will not be provided here.

[0196] In some possible implementations, the roadside device can further perform other steps that are carried out by the roadside devices in Figures 4 through 7.

[0197] According to the monitoring method provided in this embodiment of the present application, a roadside device can determine, based on ODC information of a first area, whether the vehicle's ODC exceeds a travel boundary. This improves the reliability of the result of determining whether the vehicle's ODC exceeds a travel boundary and helps ensure vehicle safety. In addition, the ODC object or state of the ODC object that causes the vehicle's ODC to exceed a travel boundary can be further determined to assist the vehicle in updating a pre-configured ODC element.

[0198] In the various embodiments of this application, unless otherwise specified or unless there is a logical inconsistency, the terminology and / or descriptions in different embodiments are consistent and can be referenced to one another, and the technical features in different embodiments can be combined on the basis of their internal logical relationships to form new embodiments.

[0199] The above describes in detail the method provided in the embodiments of this application with reference to Figures 1 to 8. Below, the apparatus provided in the embodiments of this application will be described in detail with reference to Figures 9 to 11. Please understand that the description of the apparatus embodiments corresponds to the description of the method embodiments. Therefore, for details not described in detail, please refer to the method embodiments. For brevity, further details will not be described here.

[0200] Figure 9 is a block diagram of a monitoring device 2000 according to one embodiment of the present application. The device 2000 includes a first decision unit 2010, a transceiver unit 2020, and a second decision unit 2030.

[0201] The apparatus 2000 may include units configured to perform the methods shown in Figures 4 through 8. In addition, the units within the apparatus 2000 are separately configured to implement the corresponding steps of the embodiments of the methods shown in Figures 4 through 8.

[0202] Specifically, the first decision unit 2010 is configured to determine operational design condition ODC information for the first area, where ODC information indicates ODC objects and the state of the ODC objects; the transceiver unit 2020 is configured to acquire the vehicle's pre-configured ODC elements; and the second decision unit 2030 is configured to determine whether the vehicle's ODC exceeds the travel boundary based on the ODC information and pre-configured ODC elements of the first area.

[0203] Optionally, the transceiver unit 2020 is further configured to acquire ODC information determined by the vehicle, and the first determination unit 2010 is configured to determine the ODC information for a first area based on the ODC information determined by the vehicle and the ODC information collected by the roadside device.

[0204] Optionally, the second determination unit 2030 is configured to determine whether the vehicle's ODC has crossed a travel boundary, based on information about the first ODC object and pre-configured ODC elements, if the ODC information collected by the roadside device includes information about the first ODC object, but the ODC information determined by the vehicle does not include information about the first ODC object.

[0205] Optionally, the first determination unit 2010 is configured to determine the ODC information for the first area based on the information having higher data freshness and / or higher reliability regarding the second ODC object, if both the ODC information collected by the roadside device and the ODC information determined by the vehicle include information regarding the second ODC object.

[0206] Optionally, the transceiver unit 2020 may be further configured to send ODC information reporting requests to the vehicle, which are used to request ODC information determined by the vehicle.

[0207] Optionally, the device further includes a generating unit configured to generate an ODC information report request based on ODC information collected by a roadside device, the ODC information report request including an information identifier field and a reporting requirements field, the information identifier field indicating an ODC object that needs to be reported by a vehicle, and the reporting requirements field indicating a condition that needs to be met by the ODC object reported by the vehicle.

[0208] Optionally, the transceiver unit 2020 is further configured to acquire autonomous driving information of the vehicle, which indicates the autonomous driving function enabled by the vehicle, and the second decision unit 2030 is configured to determine whether the vehicle's ODC has crossed the driving boundary if the autonomous driving function enabled by the vehicle is the first autonomous driving function.

[0209] Optionally, the second decision unit 2030 is configured to determine a subset of ODC elements corresponding to the first autonomous driving function based on the first autonomous driving function and pre-configured ODC elements, and to determine whether the vehicle's ODC has crossed a driving boundary based on the ODC information and the subset of ODC elements.

[0210] Optionally, the device further includes a processing unit configured to store instruction information when the vehicle's ODC crosses a travel boundary, the instruction information indicating at least one of the vehicle's ODC crossing a travel boundary, or an ODC object not collected by the vehicle and / or the state of an ODC object, and the transceiver unit 2020 is further configured to transmit the instruction information to the vehicle and / or to a cloud server.

[0211] Optionally, the transceiver unit 2020 is further configured to receive vehicle identification information and retrieve pre-configured ODC elements from a cloud server based on that identification information.

[0212] Optionally, the transceiver unit 2020 is further configured to transmit ODC information for a first area to a cloud server and to receive first information determined by the cloud server based on the ODC information for the first area and pre-configured ODC elements, the first information indicating whether the vehicle's ODC has crossed a travel boundary, and the second determination unit 2030 is configured to determine, based on the first information, whether the vehicle's ODC has crossed a travel boundary.

[0213] Figure 10 is a block diagram of a monitoring device 2100 according to one embodiment of the present application. The device 2100 includes a receiving unit 2110 and a transmitting unit 2120.

[0214] Apparatus 2100 may include units configured to perform the methods shown in Figures 4 to 8. In addition, units within apparatus 2000 are separately configured to implement the corresponding steps of the embodiments of the methods shown in Figures 4 to 8.

[0215] Specifically, the receiving unit 2110 is configured to receive ODC information reporting requests transmitted by roadside devices, and the transmitting unit 2120 is configured to transmit ODC information determined by the vehicle based on the ODC information reporting requests. The ODC information determined by the vehicle is used to determine the ODC information for a first area, and the ODC information for the first area is used to determine whether the vehicle's ODC crosses a travel boundary.

[0216] Optionally, the transmission unit 2120 is further configured to transmit autonomous driving information to a roadside device, which indicates the autonomous driving function enabled by the vehicle, and is used to determine whether the vehicle's ODC has crossed a driving boundary.

[0217] Optionally, the transmission unit 2120 is further configured to transmit identification information to a roadside device, which is used to obtain the vehicle's pre-configured ODC element.

[0218] Optionally, the receiving unit 2110 is further configured to receive instruction information, which indicates at least one of the following: an ODC of a vehicle that has crossed a travel boundary, or an ODC object not collected by a vehicle and / or the state of an ODC object.

[0219] For example, the first decision unit 2010, the transceiver unit 2020, and the second decision unit 2030 may be arranged in the system shown in Figure 2 or in the roadside device 200 shown in Figure 3.

[0220] For example, the receiving unit 2110 and the transmitting unit 2120 may be located in the vehicle 100 shown in Figure 1 or Figure 3.

[0221] It should be understood that the aforementioned division of the device into units is merely a logical functional division, and in actual implementation, all or part of the units may be incorporated into a physical entity, or the units may be physically separated. In addition, the units within the device may be implemented in the form of software invoked by a processor. For example, the device includes a processor, the processor is connected to memory, the memory stores instructions, and the processor invokes the instructions stored in memory to perform one of the aforementioned methods or to perform the functions of the units within the device. For example, the processor is a general-purpose processor, such as a CPU or microprocessor, and the memory is either in-device memory or external memory. Alternatively, the units within the device may be implemented in the form of hardware circuits, and some or all of the functions of the units may be implemented by designing hardware circuits. Hardware circuits may be understood as one or more processors. For example, in one implementation, the hardware circuit is an ASIC, and some or all of the functions of the units are implemented by designing the logical relationships between elements in the circuit. As another example, in a different implementation, the hardware circuit may be implemented using a PLD, such as an FPGA, which may contain a large number of logic gate circuits, and the connections between the logic gate circuits are configured using a configuration file to implement some or all of the functions of the aforementioned unit. All units of the aforementioned device may be implemented in the form of software invoked by a processor, or all units may be implemented in the form of hardware circuitry, or some units may be implemented in the form of software invoked by a processor and the rest in the form of hardware circuitry.

[0222] Each unit within the aforementioned apparatus may be one or more processors (or processing circuits) configured to carry out the aforementioned method, such as a CPU, GPU, NPU, TPU, DPU, microprocessor, DSP, ASIC, FPGA, or a combination of at least two of these processor forms.

[0223] In addition, all or some of the units of the device may be integrated or implemented independently. In one implementation configuration, these units are integrated with each other and implemented in the form of a System of Device (SOC). The SOC may include at least one processor configured to perform one of the methods or to perform the functions of the units in the device. The type of at least one processor may vary; for example, the at least one processor may include a CPU and an FPGA, a CPU and an artificial intelligence processor, or a CPU and a GPU.

[0224] In a particular implementation process, the operations performed by the first decision unit 2010, the transceiver unit 2020, and the second decision unit 2030 may be performed by one processor or by different processors. In a particular implementation process, one or more processors may be processors located in the roadside device 200 shown in Figure 2, or the device 2000 may be a chip located in the roadside device 200.

[0225] In a particular implementation process, the operations performed by the receiving unit 2110 and the transmitting unit 2120 may be performed by a single processor or by different processors. In a particular implementation process, one or more processors may be processors located in the vehicle 100 shown in Figure 1 or Figure 3, or the device 2100 may be a chip located in the computing platform 150 shown in Figure 1.

[0226] Figure 11 is a block diagram of a monitoring device according to one embodiment of the present application. The monitoring device 2200 shown in Figure 11 may include a processor 2210, a transceiver 2220, and a memory 2230. The processor 2210, the transceiver 2220, and the memory 2230 are connected using an internal connection path. The memory 2230 is configured to store instructions. The processor 2210 is configured to execute instructions stored in the memory 2230 to perform the monitoring method in the embodiment described above. Optionally, the memory 2230 may be coupled to the processor 2210 by using an interface, or may be integrated into the processor 2210.

[0227] Note that the transceiver 2220 may, but is not limited to, an input / output interface type transceiver device for communicating between device 2200 and another device or communication network.

[0228] Memory 2230 can be read-only memory (ROM), a static storage device, a dynamic storage device, or random access memory (RAM).

[0229] The transceiver 2220 uses, for example, but is not limited to, a transceiver-type transceiver device to implement communication between the device 2200 and another device or communication network, and to receive / transmit data / information used to implement the monitoring method in the embodiments described above.

[0230] In a particular implementation process, the device 2200 may be located on the computing platform 150 shown in Figure 1, or it may be located on the roadside device 200 shown in Figure 3.

[0231] One embodiment of this application further provides a vehicle, the vehicle including the aforementioned device 2100.

[0232] One embodiment of this application further provides a roadside device, which includes the aforementioned device 2000.

[0233] One embodiment of the present application further provides a monitoring system. The system includes the aforementioned vehicle and roadside devices, or includes the aforementioned device 2000 and device 2100, or includes the aforementioned device 2200.

[0234] One embodiment of this application further provides a computer program product, which includes computer program code. When the computer program code is executed on a computer, the computer becomes capable of performing the monitoring method of the embodiment of this application.

[0235] One embodiment of this application further provides a computer-readable storage medium. The computer-readable medium stores computer instructions. When the computer instructions are executed on a computer, the computer can implement the monitoring method according to the embodiment of this application.

[0236] One embodiment of the present application further provides a chip including a circuit configured to perform the monitoring method of the embodiment of the present application.

[0237] In the process of implementation, the steps of the method described above can be carried out by using hardware integrated logic circuits within a processor or by using instructions in the form of software. The methods disclosed with reference to embodiments of this application may be performed directly by a hardware processor or by a combination of hardware and software modules within a processor. The software modules may be located in mature storage media of the art, such as random access memory, flash memory, read-only memory, programmable read-only memory, electrically erasable programmable memory, or registers. The storage media reside in memory, and the processor reads information from memory and, in combination with the processor's hardware, completes the steps of the method described above. To avoid repetition, further details are not described here.

[0238] For the sake of brevity, it will be readily apparent to those skilled in the art that the detailed operating processes of the aforementioned systems, apparatus, and units can be described by referring to the corresponding processes in the method embodiments described above. Further details are not provided here.

[0239] In some embodiments provided in this application, it should be understood that the disclosed systems, apparatus, and methods may be implemented in other ways. For example, the described apparatus embodiments are merely examples. For example, the division into units is merely a logical functional division, and other divisions may be possible in actual implementations. For example, multiple units or components may be coupled or integrated into another system, or some features may be ignored or not performed. In addition, the mutual coupling, direct coupling, or communication connection shown or described may be implemented through some interfaces. Indirect coupling or communication connection between apparatus or units may be implemented electrically, mechanically, or in other forms.

[0240] Units described as separate parts may or may not be physically separate, and parts presented as units may or may not be physical units, may be located in one location, or may be distributed across multiple network units. Some or all of the units may be selected based on the actual requirements for achieving the objectives of the solution of the embodiment.

[0241] In addition, the functional units in the embodiments of this application may be integrated into a single processing unit, each unit may exist physically independently, or two or more units may be integrated into a single unit.

[0242] The foregoing description is merely a specific implementation of the present application and is not intended to limit the scope of protection of this application. Any modifications or substitutions that are readily conceivable by a person skilled in the art within the scope of the art disclosed in this application shall fall within the scope of protection of this application. Accordingly, the scope of protection of this application shall be subject to the scope of protection of the claims. [Explanation of symbols]

[0243] 100 vehicles 120 sensing system 130 Communication Systems 150 Computing Platforms 151 processors 200 Roadside Devices 210 Road ODC Information Acquisition Module 220 Vehicle Information Acquisition Module 230 Vehicle ODC-related information determination module 240 ODC Monitoring Result Determination Module 300 servers 400 ways 500 ways 600 ways 700 methods 800 ways 2000 monitoring equipment 2000 equipment 2010 First Decision Unit 2020 Transceiver Unit 2030 Second Decision Unit 2100 equipment 2100 Monitoring equipment 2110 Receiving Unit 2120 Transmitter Unit 2200 Monitoring equipment 2200 equipment 2210 Processor 2220 Transceiver 2230 memory

Claims

1. A monitoring method, wherein the method is applied to roadside devices, A step of determining operational design conditions ODC information for a first area, wherein the ODC information indicates ODC objects and the state of the ODC objects, Steps include obtaining pre-configured ODC elements for the vehicle, A step of determining whether the vehicle's ODC exceeds the travel boundary based on the ODC information of the first area and the pre-set ODC elements, Methods that include...

2. Steps to acquire ODC information determined by the aforementioned vehicle. It further includes, The step of determining the ODC information for the first area is: A step of determining the ODC information of the first area based on the ODC information determined by the vehicle and the ODC information collected by the roadside device. including, The method according to claim 1.

3. The step of determining whether the ODC of the vehicle has crossed the travel boundary is: The method according to claim 2, wherein the ODC information collected by the roadside device includes information about a first ODC object, and the ODC information determined by the vehicle does not include information about the first ODC object, the method includes the step of determining whether the vehicle's ODC exceeds the travel boundary based on the information about the first ODC object and the pre-configured ODC elements.

4. The step of determining the ODC information for the first area is: The method according to claim 2 or 3, wherein if both the ODC information collected by the roadside device and the ODC information determined by the vehicle include information relating to a second ODC object, the method further includes the step of determining the ODC information for the first area based on the information relating to the second ODC object having higher data freshness and / or higher reliability.

5. A step of sending an ODC information reporting request to the vehicle, wherein the ODC information reporting request is used to request the ODC information determined by the vehicle. The method according to any one of claims 2 to 4, further comprising:

6. A step of generating an ODC information report request based on the ODC information collected by the roadside device, The ODC information reporting request includes an information identifier field and a reporting requirements field, wherein the information identifier field indicates an ODC object that needs to be reported by the vehicle, and the reporting requirements field indicates a condition that needs to be met by the ODC object reported by the vehicle, step The method according to claim 5, further comprising:

7. A step of acquiring autonomous driving information of the said vehicle, wherein the autonomous driving information indicates an autonomous driving function enabled by the said vehicle. It further includes, The step of determining whether the ODC of the vehicle has crossed the travel boundary is: The step of determining whether the ODC of the vehicle has crossed the driving boundary, when the automated driving function enabled by the vehicle is a first automated driving function. including, The method according to any one of claims 1 to 6.

8. The step of determining whether the ODC of the vehicle has crossed the travel boundary is: A step of determining a subset of ODC elements corresponding to the first autonomous driving function based on the first autonomous driving function and the pre-configured ODC elements, A step of determining whether the ODC of the vehicle exceeds the travel boundary based on the ODC information and the ODC element subset of the first area, The method according to claim 7, including the method described in claim 7.

9. If the ODC of the aforementioned vehicle exceeds the travel boundary, Steps to memorize instruction information, A step of transmitting the instruction information to the vehicle, The step of sending the aforementioned instruction information to the cloud server, The step further includes performing at least one of the following: The instruction information indicates at least one of the following: the vehicle's ODC has crossed the travel boundary, or an ODC object not collected by the vehicle and / or the state of an ODC object. The method according to any one of claims 1 to 8.

10. The step further includes receiving identification information of the vehicle, The step of obtaining the vehicle's pre-configured ODC elements is: The step of obtaining the pre-configured ODC element from the cloud server based on the identification information. including, The method according to any one of claims 1 to 9.

11. The step of determining whether the ODC of the vehicle has crossed the travel boundary is: The steps include sending the ODC information of the first area to a cloud server, A step of receiving first information determined by the cloud server based on the ODC information of the first area and the pre-configured ODC elements, wherein the first information indicates whether the ODC of the vehicle has crossed the travel boundary. A step of determining whether the ODC of the vehicle has crossed the travel boundary based on the first information, The method according to any one of claims 1 to 10, including the method described in any one of claims 1 to 10.

12. A monitoring method applicable to vehicles, The steps include receiving an ODC information reporting request transmitted by a roadside device, A step of transmitting ODC information determined by the vehicle based on the ODC information reporting request, wherein the ODC information determined by the vehicle is used to determine the ODC information of a first area, and the ODC information of the first area is used to determine whether the vehicle's ODC exceeds a travel boundary. Methods that include...

13. A step of transmitting autonomous driving information to the roadside device, wherein the autonomous driving information indicates an autonomous driving function enabled by the vehicle, and the autonomous driving information is used to determine whether the vehicle's ODC has crossed the driving boundary. The method according to claim 12, further comprising:

14. A step of transmitting identification information to the roadside device, wherein the identification information is used to obtain the vehicle's pre-configured ODC element. The method according to claim 12 or 13, further comprising:

15. Steps include receiving instruction information, wherein the instruction information indicates that the vehicle's ODC has crossed the travel boundary, or that there are ODC objects not collected by the vehicle and / or the state of ODC objects. The method according to any one of claims 12 to 14, further comprising:

16. A monitoring device, wherein the device is located on a roadside device. A first decision unit configured to determine operational design conditions ODC information for a first area, wherein the ODC information indicates an ODC object and the state of the ODC object, A transceiver unit configured to acquire pre-configured ODC elements of a vehicle, A second determination unit configured to determine whether the vehicle's ODC exceeds a travel boundary based on the ODC information of the first area and the pre-set ODC elements, A device equipped with the following features.

17. The aforementioned transceiver unit is It is further configured to acquire ODC information determined by the aforementioned vehicle, The apparatus according to claim 16, wherein the first determination unit is configured to determine the ODC information of the first area based on the ODC information determined by the vehicle and the ODC information collected by the roadside device.

18. The aforementioned second decision unit is, The apparatus according to claim 17, wherein if the ODC information collected by the roadside device includes information about a first ODC object, and the ODC information determined by the vehicle does not include information about the first ODC object, the apparatus is configured to determine whether the vehicle's ODC has crossed the travel boundary based on the information about the first ODC object and the pre-configured ODC elements.

19. The first decision unit is, The apparatus according to claim 17 or 18, wherein if both the ODC information collected by the roadside device and the ODC information determined by the vehicle include information relating to a second ODC object, the apparatus is configured to determine the ODC information for the first area based on the information having higher data freshness and / or higher reliability relating to the second ODC object.

20. The aforementioned transceiver unit is The apparatus according to any one of claims 16 to 19, further configured to transmit an ODC information reporting request to the vehicle, the ODC information reporting request being used to request the ODC information determined by the vehicle.

21. The unit further comprises a generation unit, Based on the ODC information collected by the roadside device, an ODC information report request is generated. The ODC information reporting request includes an information identifier field and a reporting requirements field, wherein the information identifier field indicates an ODC object that needs to be reported by the vehicle, and the reporting requirements field indicates a condition that needs to be met by the ODC object reported by the vehicle. The apparatus according to claim 20, configured as follows.

22. The aforementioned transceiver unit is The system is further configured to acquire autonomous driving information of the vehicle, and to indicate the autonomous driving functions enabled by the vehicle. The apparatus according to any one of claims 16 to 21, wherein the second determination unit is configured to determine whether the ODC of the vehicle has crossed the driving boundary when the automated driving function enabled by the vehicle is a first automated driving function.

23. The aforementioned second decision unit is, Based on the first autonomous driving function and the pre-configured ODC elements, a subset of ODC elements corresponding to the first autonomous driving function is determined. Based on the ODC information and the ODC element subset of the first area, it is determined whether the ODC of the vehicle exceeds the travel boundary. The apparatus according to claim 22, configured as follows.

24. The apparatus further comprises a processing unit configured to store instruction information when the vehicle's ODC crosses the travel boundary, wherein the instruction information indicates at least one of the following: the vehicle's ODC crosses the travel boundary, or an ODC object not collected by the vehicle and / or the state of an ODC object. The aforementioned transceiver unit is The instruction information is transmitted to the vehicle, and / or The aforementioned instruction information is sent to the cloud server. It is further configured in the following way: The apparatus according to any one of claims 16 to 23.

25. The aforementioned transceiver unit is Upon receiving the identification information of the aforementioned vehicle, Based on the aforementioned identification information, the pre-configured ODC elements are retrieved from the cloud server. The apparatus according to any one of claims 16 to 24, further configured as follows.

26. The aforementioned transceiver unit is The ODC information for the first area is transmitted to the cloud server. The system is further configured to receive first information determined by the cloud server based on the ODC information of the first area and the pre-configured ODC elements, the first information indicating whether the vehicle's ODC has crossed the travel boundary. The apparatus according to any one of claims 16 to 25, wherein the second determination unit is configured to determine, based on the first information, whether the ODC of the vehicle has crossed the travel boundary.

27. A monitoring device installed in a vehicle, A receiving unit configured to receive ODC information reporting requests transmitted by roadside devices, A transmitting unit configured to transmit ODC information determined by the vehicle based on the ODC information reporting request, wherein the ODC information determined by the vehicle is used to determine the ODC information of a first area, and the ODC information of the first area is used to determine whether the vehicle's ODC crosses a travel boundary, and the transmitting unit A device equipped with the following features.

28. The aforementioned transmission unit is The apparatus according to claim 27, wherein it transmits autonomous driving information to the roadside device, the autonomous driving information is further configured to indicate an autonomous driving function enabled by the vehicle, and the autonomous driving information is used to determine whether the vehicle's ODC has crossed the driving boundary.

29. The aforementioned transmission unit is The apparatus according to claim 27 or 28, further configured to transmit identification information to the roadside device, wherein the identification information is used to obtain a pre-configured ODC element of the vehicle.

30. The aforementioned receiving unit is The apparatus according to any one of claims 27 to 29, further configured to receive instruction information, the instruction information indicating at least one of the following: the ODC of the vehicle has crossed the travel boundary, or an ODC object not collected by the vehicle and / or the state of an ODC object.

31. It is a monitoring device, Memory configured to store computer programs, A processor configured to execute the computer program stored in the memory, in order to enable the apparatus to perform the method according to any one of claims 1 to 11 or the method according to any one of claims 12 to 15, A monitoring device equipped with the following features.

32. A roadside device comprising the apparatus described in any one of claims 16 to 26.

33. A vehicle comprising the device described in any one of claims 27 to 30.

34. A monitoring system comprising the device according to any one of claims 16 to 26 and the device according to any one of claims 27 to 30, or the roadside device according to claim 32 and the vehicle according to claim 33.

35. A computer-readable storage medium wherein the computer-readable storage medium stores instructions, and when the instructions are executed by a processor, the processor is enabled to carry out the method according to any one of claims 1 to 15.

36. A chip comprising a circuit, wherein the circuit is configured to perform the method according to any one of claims 1 to 15.

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