Vehicle-road collaboration method, device, and computer-readable storage medium

Abstract

The present application provides a vehicle-road collaboration method, a device, and a computer-readable storage medium. The vehicle-road collaboration method comprises: a first roadside system interacting with a second roadside system, wherein the interaction is used to perform at least one of the following: acquiring information of a vehicle connected to the second roadside system, providing to the second roadside system information of a vehicle connected to the first roadside system, providing to the second roadside system control information for a vehicle connected to the second roadside system, and acquiring control information provided by the second roadside system for a vehicle connected to the first roadside system; and a vehicle communication interface supported by the first roadside system is different from a vehicle communication interface supported by the second roadside system.

Description

Vehicle-road collaboration method, device, and computer-readable storage medium

[0001] Cross-references

[0002] This application claims priority to the Chinese patent application filed with the China Patent Office on December 27, 2023, with application number 202311834823.X and invention name “Vehicle-Road Collaboration Method, Device and Computer-Readable Storage Medium”. The entire contents of the application are incorporated by reference into this application. Technical Field

[0003] This document relates to the field of vehicle networking technology, and more specifically to a vehicle-road collaboration method, device, and computer-readable storage medium. Background Art

[0004] In recent years, demonstrations of cellular vehicle-to-everything (C-V2X) technology have been underway across the country to enhance the validation of C-V2X applications and drive their maturity. In C-V2X, vehicle-road collaborative applications primarily communicate via the PC5 interface, requiring the deployment of a large number of roadside units (RSUs) along the roadside for coverage. This translates to significant investment in C-V2X networks. Furthermore, current PC5 on-board units (OBUs) face challenges such as low penetration, poor operational capabilities, and low cost-effectiveness, making a viable business model a non-starter.

[0005] Taking into account the popularity of cellular network infrastructure and terminals in my country, the vehicle-side telematics terminal (Telematics Box, t-box) has a high installation rate and the user side is easier to implement. The industry has further proposed a vehicle networking technology route based on the Uu interface.

[0006] This has led to the emergence of two roadside systems on the market, one based on the Uu interface and the other based on the PC5 interface, providing vehicle-road collaborative services for Uu vehicles and C-V2X vehicles respectively.

[0007] However, C-V2X vehicles and Uu vehicles can only collaborate within their respective roadside systems. Two vehicles connected to different roadside systems cannot communicate with each other, and full-area vehicle collaboration cannot be achieved. Summary of the Invention

[0008] Embodiments of the present application provide a vehicle-road collaboration method, device, and computer-readable storage medium.

[0009] In a first aspect, a vehicle-road collaboration method is provided, which is applied to a first roadside system, and the method includes: interacting with a second roadside system, the vehicle communication interface supported by the first roadside system is different from the vehicle communication interface supported by the second roadside system; wherein the interaction is used for at least one of the following: obtaining information about vehicles connected to the second roadside system; providing the second roadside system with information about vehicles connected to the first roadside system; providing the second roadside system with control information for vehicles connected to the second roadside system; and obtaining control information provided by the second roadside system for vehicles connected to the first roadside system.

[0010] In the second aspect, a vehicle-road collaboration method is provided, which is applied to a second roadside system. The method includes: providing second vehicle information to the first roadside system, wherein the second vehicle information is information of a vehicle connected to the second roadside system, and the second vehicle information is used by the first roadside system to determine global vehicle information, and the vehicle communication interface supported by the first roadside system is different from the vehicle communication interface supported by the second roadside system.

[0011] According to a third aspect, an electronic device is provided, comprising: a processor; and a memory for storing instructions executable by the processor; wherein the processor is configured to execute the instructions to implement the method described in the first aspect or the second aspect.

[0012] In a fourth aspect, a computer-readable storage medium is provided. When the instructions in the storage medium are executed by a processor of an electronic device, the electronic device is enabled to execute the method described in the first aspect or the second aspect. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are only some embodiments recorded in this application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative labor.

[0014] FIG1 is a flow chart of a vehicle-road collaboration method provided in an embodiment of the present application.

[0015] FIG2 is a schematic diagram of the architecture of a vehicle-road cooperative system provided in one embodiment of the present application.

[0016] FIG3 is a schematic diagram of an application scenario 1 of the vehicle-road collaboration method shown in FIG1 .

[0017] FIG4 is a detailed flowchart of step 101 shown in FIG1 in the following application scenario.

[0018] FIG5A is a schematic diagram of a second application scenario of the vehicle-road collaboration method shown in FIG1 .

[0019] FIG5B is a schematic diagram of a specific situation under the second application scenario.

[0020] FIG5C is a schematic diagram of another specific situation under the second application scenario.

[0021] FIG6 is a detailed flowchart of step 101 shown in FIG1 in application scenario 2.

[0022] FIG7A is a schematic diagram of case 1 of application scenario 3 of the vehicle-road collaboration method shown in FIG1 .

[0023] FIG7B is a specific schematic diagram 1 of application scenario three.

[0024] FIG7C is a second specific schematic diagram of application scenario three.

[0025] FIG8 is a detailed flowchart of step 101 shown in FIG1 in case 1 of application scenario three.

[0026] FIG9A is a schematic diagram of case 2 of application scenario three of the vehicle-road collaboration method shown in FIG1 .

[0027] FIG9B is a specific schematic diagram 1 of application scenario 4. FIG.

[0028] FIG9C is a second specific schematic diagram of application scenario four.

[0029] FIG10 is a detailed flowchart of step 101 shown in FIG1 in case 2 of application scenario three.

[0030] FIG11 is a flow chart of a vehicle-road collaboration method provided in another embodiment of the present application.

[0031] FIG12 is a flow chart of a vehicle-road collaboration method provided in another embodiment of the present application.

[0032] FIG13 is a flow chart of a vehicle-road collaboration method provided in another embodiment of the present application.

[0033] FIG14 is a flow chart of a vehicle-road collaboration method provided in another embodiment of the present application.

[0034] FIG15 is a schematic diagram of a collaborative process of a vehicle-road collaborative method provided in the present application in a collaborative vehicle merging application scenario.

[0035] FIG16 is another schematic diagram of a collaborative process of a vehicle-road collaborative method provided by the present application in a collaborative vehicle merging application scenario.

[0036] Figure 17 is a structural diagram of a vehicle-road cooperative device provided in one embodiment of the present application.

[0037] FIG18 is a detailed structural diagram of the interaction module 1701 shown in FIG17 in the following application scenario.

[0038] FIG19 is a detailed structural diagram of the interaction module 1701 shown in FIG17 in application scenario 2.

[0039] FIG20 is a detailed structural diagram of the interaction module 1701 shown in FIG17 under application scenario three.

[0040] FIG21 is a detailed structural diagram of the interaction module 1701 shown in FIG17 in application scenario 4.

[0041] Figure 22 is a structural schematic diagram of a vehicle-road cooperative device provided by another embodiment of the present application.

[0042] Figure 23 is a structural schematic diagram of a vehicle-road cooperative device provided by another embodiment of the present application.

[0043] Figure 24 is a structural diagram of a vehicle-road cooperative device provided by another embodiment of the present application.

[0044] Figure 25 is a structural schematic diagram of a vehicle-road cooperative device provided by another embodiment of the present application.

[0045] FIG26 is a schematic structural diagram of the vehicle-mounted terminal 2700 according to an embodiment of the present application.

[0046] FIG27 is a schematic structural diagram of a network device 2800 according to an embodiment of the present application. DETAILED DESCRIPTION

[0047] In order to enable those skilled in the art to better understand the technical solutions in this application, the technical solutions in the embodiments of this application will be clearly and completely described below in conjunction with the drawings in the embodiments of this application. Obviously, the described embodiments are only part of the embodiments of this application, not all of the embodiments. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without making creative efforts should fall within the scope of protection of this application.

[0048] It should be understood that the technical solutions of the embodiments of the present application can be applied to various communication systems, such as: Global System of Mobile communication (GSM) system, Code Division Multiple Access (CDMA) system, Wideband Code Division Multiple Access (WCDMA) system, General Packet Radio Service (GPRS), Long Term Evolution (LTE) system, LTE Frequency Division Duplex (FDD) system, LTE Time Division Duplex (TDD), Universal Mobile Telecommunication System (UMTS) or Worldwide Interoperability for Microwave Access (WiMAX) communication system, 5G system, or New Radio (NR) system.

[0049] A vehicle-mounted terminal (User Equipment, UE) is a type of terminal equipment, which is mainly used in vehicles. The vehicle-mounted terminal can communicate with at least one core network via a radio access network (eg, Radio Access Network, RAN).

[0050] In the embodiment of the present application, the vehicle refers to a vehicle equipped with an on-board terminal, which can access the roadside system through the on-board terminal to obtain services.

[0051] In the embodiments of this application, the Roadside System (RSS) refers to the vehicle-side system, which is the connected vehicle infrastructure deployed on the roadside. The RSS senses the road environment and transmits the perceived computational results to a communication-capable vehicle or intelligent vehicle via an interface, providing early warning or auxiliary information to the intelligent vehicle.

[0052] It should be noted that when describing specific embodiments, the size of the serial number of each process does not mean the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of this application.

[0053] It should also be noted that the terms "first," "second," etc., in this application and the claims are used to distinguish similar objects and are not used to describe a particular order or precedence. It should be understood that the terms used in this manner are interchangeable where appropriate so that the embodiments of the present application can be implemented in an order other than those illustrated or described herein. In addition, the term "and / or" in this application and the claims refers to at least one of the connected objects, and the character " / " generally indicates that the objects associated with each other are in an "or" relationship.

[0054] In order to solve the problem in related technologies that two vehicles connected to different roadside systems cannot communicate with each other and cannot achieve global vehicle collaboration, the embodiments of the present application propose a vehicle-road collaboration method, device and computer-readable storage medium, which are introduced one by one below.

[0055] First, a vehicle-road collaboration method provided in an embodiment of the present application is described.

[0056] Figure 1 shows a flow chart of a vehicle-road collaboration method provided by an embodiment of the present application, which can be applied to a first roadside system. As shown in Figure 1 , the method can include the following steps.

[0057] Step 101: interact with a second roadside system, where the vehicle communication interface supported by the first roadside system is different from the vehicle communication interface supported by the second roadside system.

[0058] Wherein, the interaction is used for at least one of the following: 1) obtaining information of vehicles connected to the second roadside system; 2) providing information of vehicles connected to the first roadside system to the second roadside system; 3) providing control information for vehicles connected to the second roadside system to the second roadside system; 4) obtaining control information provided by the second roadside system for vehicles connected to the first roadside system.

[0059] Among them, the vehicle communication interface supported by the first roadside system is different from the vehicle communication interface supported by the second roadside system, which means that the first roadside system and the second roadside system are two independent roadside systems. As an example, the vehicle communication interface supported by the first roadside system is one of the Uu interface and the PC5 interface; the vehicle communication interface supported by the second roadside system is the other of the Uu interface and the PC5 interface. That is, the first roadside system can be a Uu roadside system, and the second roadside system can be a roadside system that supports the PC5 interface, such as a cellular vehicle-to-everything (C-V2X) roadside system; or, the first roadside system can be a roadside system that supports the PC5 interface, such as a C-V2X roadside system, and the second roadside system can be a Uu roadside system, such as an LTE / 5G / 6G roadside system.

[0060] For a vehicle, it can support one communication interface or multiple communication interfaces. In the case that a vehicle supports multiple communication interfaces, the vehicle can select one communication interface to access the corresponding roadside system. Specifically, a vehicle accessing the first roadside system can only support the vehicle communication interface supported by the first roadside system, or a vehicle accessing the first roadside system can simultaneously support the vehicle communication interface supported by the first roadside system and the vehicle communication interface supported by the second roadside system; a vehicle accessing the second roadside system can only support the vehicle communication interface supported by the second roadside system, or a vehicle accessing the first roadside system can simultaneously support the vehicle communication interface supported by the first roadside system and the vehicle communication interface supported by the second roadside system.

[0061] As an example, as shown in Figure 2, the first roadside system 21 can be a roadside system that supports the PC5 interface, and the second roadside system 22 can be a Uu roadside system. Accordingly, a vehicle 23 that supports the PC5 interface can access the first roadside system 21 through the PC5 interface, and a vehicle 24 that supports the Uu interface can access the second roadside system 22 through the Uu interface.

[0062] It can be understood that in the embodiment of the present application, since the first roadside system can interact with the second roadside system, it can obtain information about vehicles connected to the second roadside system, provide information about vehicles connected to the first roadside system to the second roadside system, provide control information for vehicles connected to the second roadside system to the second roadside system, and obtain at least one of the control information provided by the second roadside system for vehicles connected to the first roadside system. This allows vehicles connected to the first roadside system and vehicles connected to the second roadside system to collaborate across domains, thereby achieving the purpose of full-domain vehicle collaboration and thereby achieving the safety and efficiency of vehicle driving.

[0063] The embodiment of the present application provides a vehicle-road collaboration method that opens up the communication between roadside equipment and vehicles that support different communication interfaces, allowing vehicles to collaborate across domains. This cross-domain collaboration can fully utilize the respective advantages of LET / 5G / 6G networks and C-V2X direct communication, reduce construction costs and construction cycles, and expand the application scope of Internet of Vehicles services. Internet of Vehicles users can flexibly use various types of Internet of Vehicles terminals, rely on a variety of roadside infrastructure, use Internet of Vehicles services, promote the large-scale development of Internet of Vehicles services, and enable car owners to obtain a user experience in which vehicles in the entire domain remain interactive. The embodiment of the present application reduces the cost of Internet of Vehicles construction, quickly satisfies the driving experience of car owners, and can accelerate the commercialization of Internet of Vehicles.

[0064] For example, a vehicle-road collaboration method provided in an embodiment of the present application includes at least but is not limited to the following three application scenarios.

[0065] Application scenario 1: Vehicle information sharing

[0066] For example, information of vehicles connected to the second roadside system is obtained; and / or information of vehicles connected to the first roadside system is provided to the second roadside system.

[0067] As shown in Figure 3, a vehicle 23 that supports the PC5 interface can send its own vehicle information to the first roadside system 21 that supports the PC5 interface through the Basic Safety Message (BSM) / Vehicle Intention And Request (VIR); a vehicle 24 that supports the Uu interface can send its own vehicle information to the second roadside system 22 that supports the Uu interface through BSM / VIR; on this basis, the first roadside system 21 can share the first vehicle information with the second roadside system 22, and at the same time, the second roadside system 22 can also share the second vehicle information with the first roadside system 21, wherein the first vehicle information is the information of the vehicle connected to the first roadside system, and the second vehicle information is the information of the vehicle connected to the second roadside system.

[0068] Accordingly, in the above application scenario, as shown in FIG4 , the above step 101 may include the following steps.

[0069] Step 401: Receive second vehicle information provided by the second roadside system, wherein the second vehicle information is information of a vehicle connected to the second roadside system.

[0070] Step 402: Determine global vehicle information based on the first vehicle information and the second vehicle information, wherein the first vehicle information is information about vehicles connected to the first roadside system.

[0071] Among them, the global vehicle information includes the first vehicle information and the second vehicle information.

[0072] It can be understood that if the first roadside system has global vehicle information, it can provide collaborative guidance for global vehicles.

[0073] Application Scenario 2: Cross-Domain Collaboration

[0074] For example, control information for vehicles accessing the second roadside system is provided to the second roadside system.

[0075] As shown in FIG5A , the first roadside system 21 may specify vehicles that need to cooperate with the second roadside system 22 and send a cooperation instruction to the second roadside system 22 , and the second roadside system 22 sends the cooperation instruction to the corresponding vehicles that need to cooperate with the second roadside system.

[0076] Specifically, as shown in Figure 5B, when the first roadside system is a C-V2X roadside system and the second roadside system is a Uu roadside system, the C-V2X roadside system can specify the vehicle that supports the Uu interface that needs to cooperate and send a cooperation instruction to the Uu roadside system. The Uu roadside system sends the cooperation instruction to the corresponding vehicle that supports the Uu interface.

[0077] Or, specifically, as shown in Figure 5C, when the first roadside system is the Uu roadside system and the second roadside system is the C-V2X roadside system, the Uu roadside system can specify the vehicle that supports the PC5 interface that needs to cooperate, and send a cooperation instruction to the C-V2X roadside system. The C-V2X roadside system sends the cooperation instruction to the corresponding vehicle that supports the PC5 interface.

[0078] Among them, vehicle information may include but is not limited to at least one of the following: vehicle position; vehicle speed; vehicle acceleration; vehicle heading angle; status of lights on the vehicle; vehicle driving intention; and vehicle driving behavior.

[0079] Accordingly, in the above application scenario 2, as shown in FIG6 , the above step 101 may include the following steps.

[0080] Step 401: Receive second vehicle information provided by the second roadside system, wherein the second vehicle information is information of a vehicle connected to the second roadside system.

[0081] Step 402: Determine global vehicle information based on the first vehicle information and the second vehicle information, wherein the first vehicle information is information about vehicles connected to the first roadside system.

[0082] Step 403: Determine the first vehicle that needs to be coordinated and connected to the second roadside system based on the global vehicle information.

[0083] Step 404: Send first control information to the second roadside system, wherein the first control information is used to inform the second roadside system of the first vehicle that needs to cooperate, so that the second roadside system sends a cooperation instruction to the first vehicle.

[0084] It can be understood that through the above interaction, the first roadside system can send guidance cooperation instructions to the second roadside system, and the second roadside system forwards the cooperation instructions to relevant cooperative vehicles to achieve cross-domain cooperation.

[0085] Application scenario three: full-area collaboration

[0086] For example, control information for vehicles accessing the second roadside system is provided to the second roadside system, and / or control information for vehicles accessing the first roadside system provided by the second roadside system is obtained.

[0087] In application scenario three, the vehicle initiates a collaboration request to the first roadside system. The first roadside system or the second roadside system is determined as the decision maker through a preset method. The decision maker makes a decision strategy based on the global vehicle information to guide the driving behavior of the requesting vehicle and the collaborative vehicle, and ultimately realizes the driving intention of the requesting vehicle.

[0088] Among them, the preset method includes: the first roadside system and the second roadside system negotiate and determine, or pre-set, such as pre-setting the first roadside system or the second roadside system as the default decision maker, etc.

[0089] Depending on the decision-makers and the roadside systems to which the vehicles that need to collaborate are connected, the application scenarios can be divided into the following four situations.

[0090] Case 1: The second vehicle connected to the first roadside system initiates a collaboration request. The first roadside system is the decision maker. The vehicles that need to collaborate include the third vehicle connected to the first roadside system and the fourth vehicle connected to the second roadside system.

[0091] As shown in Figure 7A, after the second vehicle initiates a collaboration request to the first roadside system, the first roadside system negotiates with the second roadside system to determine that the first roadside system is the decision maker (or, the first roadside system is the decision maker by default), and the first roadside system determines the collaboration strategy based on the global vehicle information, and determines the vehicles connected to the first roadside system and the vehicles connected to the second roadside system that need to collaborate based on the collaboration strategy; sends a collaboration instruction to the vehicle connected to the first roadside system; sends a collaboration instruction to the second roadside system for the vehicle connected to the second roadside system, and then the second roadside system forwards the collaboration instruction to the vehicle connected to the second roadside system.

[0092] Specifically, as shown in Figure 7B, when the first roadside system is a C-V2X roadside system and the second roadside system is a Uu roadside system, after the second vehicle supporting the PC5 interface initiates a collaboration request to the C-V2X roadside system, the C-V2X roadside system and the Uu roadside system negotiate to determine that the C-V2X roadside system is the decision maker (or, the C-V2X roadside system is the decision maker by default), and the C-V2X roadside system determines the collaboration strategy based on the global vehicle information, and determines the vehicles supporting the PC5 interface and the vehicles supporting the Uu interface that need to collaborate based on the collaboration strategy; sends collaboration instructions to the vehicles supporting the PC5 interface that need to collaborate; sends collaboration instructions to the Uu roadside system, and then the Uu roadside system forwards the collaboration instructions to the vehicles supporting the Uu interface that need to collaborate.

[0093] Or, specifically, as shown in Figure 7C, when the first roadside system is the Uu roadside system and the second roadside system is the C-V2X roadside system, after the second vehicle supporting the Uu interface initiates a collaboration request to the Uu roadside system, the Uu roadside system negotiates with the C-V2X roadside system to determine that the Uu roadside system is the decision maker (or, the Uu roadside system is the decision maker by default), and the Uu roadside system determines the collaboration strategy based on the global vehicle information, and determines the vehicles supporting the Uu interface and the vehicles supporting the PC5 interface that need to collaborate based on the collaboration strategy; sends collaboration instructions to the vehicles supporting the Uu interface that need to collaborate; sends collaboration instructions to the C-V2X roadside system, and then the C-V2X roadside system forwards the collaboration instructions to the vehicles supporting the PC5 interface that need to collaborate.

[0094] In the above-mentioned situation 1, as shown in FIG8 , the above-mentioned step 101 may include the following steps.

[0095] Step 401: Receive second vehicle information provided by the second roadside system, wherein the second vehicle information is information of a vehicle connected to the second roadside system.

[0096] Step 402: Determine global vehicle information based on the first vehicle information and the second vehicle information, wherein the first vehicle information is information about vehicles connected to the first roadside system.

[0097] Step 405, after receiving a collaboration request from a second vehicle, determining a collaboration strategy based on the global vehicle information when the first roadside system is determined to be the decision maker, wherein the second vehicle is a vehicle connected to the first roadside system.

[0098] Among them, the collaboration request includes but is not limited to at least one of the following: lane change collaboration request; merging ramp collaboration request; intersection passage collaboration request; priority passing collaboration request.

[0099] In the above-mentioned collaborative application scenario, the vehicle requests collaboration from the roadside system, and the roadside system gives the vehicle driving suggestions from a "God's perspective".

[0100] Step 406: Determine a third vehicle and a fourth vehicle that need to cooperate based on the cooperation strategy, wherein the third vehicle is a vehicle connected to the first roadside system, and the fourth vehicle is a vehicle connected to the second roadside system.

[0101] Step 407: Send a cooperation instruction to the third vehicle.

[0102] Assuming that the above-mentioned cooperation request is a merging ramp cooperation request, the cooperation instruction sent to the third vehicle may be to slow down and give way, etc.

[0103] Step 408: Send second control information to the second roadside system, wherein the second control information is used to inform the second roadside system of the fourth vehicle that needs to cooperate, so that the second roadside system sends a cooperation instruction to the fourth vehicle.

[0104] Similarly, assuming that the above-mentioned cooperation request is a merging ramp cooperation request, the cooperation instruction sent to the fourth vehicle may also be to slow down and give way, etc.

[0105] In this way, full-area coordination between vehicles connected to the first roadside system and vehicles connected to the second roadside system can be achieved.

[0106] Optionally, in the above-mentioned situation 1, the above-mentioned step 101 may also include: receiving a collaborative response from the third vehicle; receiving a collaborative response from the fourth vehicle provided by the second roadside system; determining a collaborative response result for the collaborative request based on the collaborative responses from the third vehicle and the fourth vehicle; and sending the collaborative response result to the second vehicle.

[0107] The collaboration response may include agreeing to collaborate or rejecting the collaboration. Assuming that the collaboration request is a merging ramp collaboration request, the collaboration response result may include: allowing the second vehicle to merge immediately or allowing the second vehicle to wait for merging.

[0108] Furthermore, in the above-mentioned situation 1, the above-mentioned step 101 may also include: determining a first collaborative guidance instruction for the third vehicle and a second collaborative guidance instruction for the fourth vehicle based on the collaborative response result; sending the first collaborative guidance instruction to the third vehicle; and sending a third control information containing the second collaborative guidance instruction to the second roadside system, so that the second roadside system sends the second collaborative guidance instruction to the fourth vehicle.

[0109] Similarly, assuming that the above-mentioned cooperation request is a cooperation request for merging into the ramp, the cooperation guidance instruction can be to cancel cooperation, complete cooperation, speed up and give way, etc.

[0110] It is not difficult to see that through the above interaction, the first roadside system can be determined as the decision maker, and the first roadside system guides the driving behavior of the vehicle requesting cooperation (the second vehicle) and the vehicles requiring cooperation (the third vehicle and the fourth vehicle), and ultimately realizes the driving intention of the vehicle requesting cooperation.

[0111] Case 2: The second vehicle connected to the first roadside system initiates a collaboration request. The first roadside system is the decision maker, and the vehicles that need to collaborate only include the fourth vehicle connected to the second roadside system.

[0112] In the above-mentioned situation 2, the above-mentioned step 101 may include: after receiving a collaboration request from a second vehicle, determining a collaboration strategy based on the global vehicle information when determining that the first roadside system is the decision maker, wherein the second vehicle is a vehicle connected to the first roadside system; determining a fourth vehicle that needs to collaborate based on the collaboration strategy, wherein the fourth vehicle is a vehicle connected to the second roadside system; and sending second control information to the second roadside system, wherein the second control information is used to inform the second roadside system of the fourth vehicle that needs to collaborate, so that the second roadside system sends a collaboration instruction to the fourth vehicle.

[0113] In this way, cross-domain collaboration between the second vehicle connected to the first roadside system and the fourth vehicle connected to the second roadside system can be achieved.

[0114] Optionally, in the above-mentioned situation 2, the above-mentioned step 101 may also include: receiving a collaborative response from the fourth vehicle provided by the second roadside system; determining a collaborative response result for the collaborative request based on the collaborative response from the fourth vehicle; and sending the collaborative response result to the second vehicle.

[0115] The collaboration response may include agreeing to collaborate or rejecting the collaboration. Assuming that the collaboration request is a merging ramp collaboration request, the collaboration response result may include: allowing the second vehicle to merge immediately or allowing the second vehicle to wait for merging.

[0116] Furthermore, in the above-mentioned situation 1, the above-mentioned step 101 may also include: determining a second collaborative guidance instruction for the fourth vehicle based on the collaborative response result; and sending a third control information containing the second collaborative guidance instruction to the second roadside system so that the second roadside system sends the second collaborative guidance instruction to the fourth vehicle.

[0117] It is not difficult to see that through the above interaction, the first roadside system can be determined as the decision maker, and the first roadside system guides the driving behavior of the vehicle requesting cooperation (the second vehicle) and the vehicle requiring cooperation (the fourth vehicle), and ultimately realizes the driving intention of the vehicle requesting cooperation.

[0118] Case 3: The second vehicle connected to the first roadside system initiates a collaboration request. The second roadside system is the decision maker. The vehicles that need to collaborate include the third vehicle connected to the first roadside system and the fourth vehicle connected to the second roadside system.

[0119] As shown in Figure 9A, after the second vehicle initiates a collaboration request to the first roadside system, the first roadside system negotiates with the second roadside system to determine that the second roadside system is the decision maker (or, the second roadside system is the decision maker by default), and the second roadside system determines the collaboration strategy based on the global vehicle information, and determines the vehicles connected to the first roadside system and the vehicles connected to the second roadside system that need to collaborate based on the collaboration strategy; sends a collaboration instruction to the vehicle connected to the second roadside system; sends a collaboration instruction to the first roadside system for the vehicle connected to the first roadside system, and then the first roadside system forwards the collaboration instruction to the vehicle connected to the first roadside system.

[0120] Specifically, as shown in Figure 9B, when the first roadside system is the C-V2X roadside system and the second roadside system is the Uu roadside system, after the second vehicle supporting the PC5 interface initiates a collaboration request to the C-V2X roadside system, the C-V2X roadside system and the Uu roadside system negotiate to determine that the Uu roadside system is the decision maker (or, the Uu roadside system is the decision maker by default), and the Uu roadside system determines the collaboration strategy based on the global vehicle information, and determines the vehicles supporting the PC5 interface and the vehicles supporting the Uu interface that need to collaborate based on the collaboration strategy; sends collaboration instructions to the vehicles supporting the Uu interface that need to collaborate; sends collaboration instructions to the C-V2X roadside system, and then the C-V2X roadside system forwards the collaboration instructions to the vehicles supporting the PC5 interface that need to collaborate.

[0121] Or, specifically, as shown in Figure 9C, when the first roadside system is the Uu roadside system and the second roadside system is the C-V2X roadside system, after the second vehicle supporting the Uu interface initiates a collaboration request to the Uu roadside system, the Uu roadside system negotiates with the C-V2X roadside system to determine that the C-V2X roadside system is the decision maker (or, the C-V2X roadside system is the decision maker by default), and the C-V2X roadside system determines the collaboration strategy based on the global vehicle information, and determines the vehicles supporting the Uu interface and the vehicles supporting the PC5 interface that need to collaborate based on the collaboration strategy; sends collaboration instructions to the vehicles supporting the PC5 interface that need to collaborate; sends collaboration instructions to the Uu roadside system, and then the Uu roadside system forwards the collaboration instructions to the vehicles supporting the Uu interface that need to collaborate.

[0122] In the above situation 3, as shown in FIG10 , the above step 101 may include the following steps.

[0123] Step 401: Receive second vehicle information provided by the second roadside system, wherein the second vehicle information is information of a vehicle connected to the second roadside system.

[0124] Step 402: Determine global vehicle information based on the first vehicle information and the second vehicle information, wherein the first vehicle information is information about vehicles connected to the first roadside system.

[0125] Step 409, after receiving a collaboration request from a second vehicle, and in the case where it is determined that the second roadside system is the decision maker, receives fourth control information from the second roadside system, wherein the second vehicle is a vehicle connected to the first roadside system, and the fourth control information includes collaboration instructions for a third vehicle, and the third vehicle is a vehicle connected to the first roadside system that the second roadside system determines needs to collaborate based on a collaboration strategy, and the collaboration strategy is determined based on the global vehicle information.

[0126] Step 410: Send a cooperation instruction to the third vehicle according to the fourth control information.

[0127] In this way, full-area coordination between vehicles connected to the first roadside system and vehicles connected to the second roadside system can be achieved.

[0128] Optionally, in the above-mentioned situation 2, the above-mentioned step 101 may also include: receiving a collaborative response from the third vehicle, and sending the collaborative response to the second roadside system, so that the second roadside system determines the collaborative response result for the collaborative request based on the collaborative responses from the third vehicle and the fourth vehicle, wherein the fourth vehicle is the vehicle that the second roadside system determines needs to collaborate to connect to the second roadside system according to the collaborative strategy; receiving the collaborative response result from the second roadside system; and sending the collaborative response result to the second vehicle.

[0129] Furthermore, in the above-mentioned situation 2, the above-mentioned step 101 may also include: receiving fifth control information from the second roadside system, wherein the fifth control information includes a first collaborative guidance instruction for the third vehicle, and the first collaborative guidance instruction is determined by the second roadside system based on the collaborative response result; and sending the first collaborative guidance instruction to the third vehicle.

[0130] It is not difficult to see that through the above interaction, the second roadside system can be determined as the decision maker, and the second roadside system guides the driving behavior of the vehicle requesting cooperation (the second vehicle) and the vehicles requiring cooperation (the third vehicle and the fourth vehicle), and ultimately realizes the driving intention of the vehicle requesting cooperation.

[0131] Case 4: The second vehicle connected to the first roadside system initiates a collaboration request. The second roadside system is the decision maker, and the vehicles that need to collaborate only include the fourth vehicle connected to the second roadside system.

[0132] In the above-mentioned situation 4, the above-mentioned step 101 may include: after receiving a collaboration request from the second vehicle, when determining that the second roadside system is the decision maker, receiving a collaboration response result from the second roadside system, wherein the collaboration response result is determined by the second roadside system based on the collaboration response from the fourth vehicle, and the fourth vehicle is a vehicle that the second roadside system determines needs to collaborate to connect to the second roadside system based on the collaboration strategy, and the collaboration strategy is determined based on the global vehicle information; sending the collaboration response result to the second vehicle.

[0133] It can be understood that through the above interaction, the second roadside system can be determined as the decision maker, and the second roadside system guides the driving behavior of the vehicle requesting cooperation (the second vehicle) and the vehicle requiring cooperation (the fourth vehicle), and ultimately realizes the driving intention of the vehicle requesting cooperation.

[0134] Of course, the vehicle-road collaboration method provided in this embodiment can also be applied to intra-domain vehicle collaboration, that is, the fourth scenario: a second vehicle connected to a first roadside system initiates a collaboration request, and the first roadside system determines that the vehicles requiring collaboration only include a third vehicle connected to the first roadside system. In this scenario, collaboration can be carried out according to the collaboration process described in the relevant art, and will not be further described.

[0135] The above describes a vehicle-road collaboration method applied to the first roadside system. The following describes a vehicle-road collaboration method applied to the second roadside system. It is understood that the two methods correspond to each other.

[0136] As shown in FIG11 , a vehicle-road collaboration method applied to the second roadside system may include the following steps.

[0137] Step 1101: Provide second vehicle information to the first roadside system, wherein the second vehicle information is information of a vehicle connected to the second roadside system, and the second vehicle information is used by the first roadside system to determine global vehicle information. The vehicle communication interface supported by the first roadside system is different from the vehicle communication interface supported by the second roadside system.

[0138] It can be understood that after the second roadside system provides the second vehicle information to the first roadside system, the first roadside system can determine the global vehicle information based on the first vehicle information it has and the second vehicle information from the second roadside system, and prepare for the global coordination of vehicles.

[0139] Optionally, as shown in FIG12 , a vehicle-road collaboration method applied to the second roadside system may further include the following steps.

[0140] Step 1102: Receive first control information from the first roadside system, wherein the first control information is determined by the first roadside system based on the global vehicle information, and the first control information is used to inform the second roadside system of the first vehicle that needs to cooperate.

[0141] Step 1103: Send a collaboration instruction to the first vehicle.

[0142] It can be understood that through a vehicle-road collaboration method shown in FIG12 , cross-domain collaboration of a first vehicle connected to a second roadside system with a first roadside system can be achieved.

[0143] Optionally, in case 1 of application scenario three described above, as shown in FIG13 , a vehicle-road collaboration method applied to the second roadside system may further include the following steps.

[0144] Step 1104, receiving second control information from the first roadside system, wherein the second control information includes a collaboration instruction for a fourth vehicle, the fourth vehicle is determined based on a collaboration strategy when the first roadside system is the decision maker, the collaboration strategy is determined based on the global vehicle information after the first roadside system receives a collaboration request from the second vehicle, the second vehicle is a vehicle connected to the first roadside system, and the fourth vehicle is a vehicle connected to the second roadside system.

[0145] Step 1105: Send a cooperation instruction to the fourth vehicle.

[0146] It can be understood that through a vehicle-road collaboration method shown in Figure 13, the mutual collaboration between vehicles connected to the first system and vehicles connected to the second roadside system, that is, full-area collaboration, can be further achieved.

[0147] Optionally, a vehicle-road collaboration method applied to the second roadside system may also include: receiving a collaboration response from the fourth vehicle and sending it to the first roadside system, so that the first roadside system determines a collaboration response result for the collaboration request based on the collaboration responses from the third vehicle and the fourth vehicle, wherein the third vehicle is a vehicle connected to the first roadside system that is determined by the first roadside system to need collaboration based on the collaboration strategy.

[0148] Optionally, a vehicle-road collaboration method applied to a second roadside system may also include: receiving third control information sent by the first roadside system, wherein the third control information includes a second collaborative guidance instruction for the fourth vehicle, and the second collaborative guidance instruction is determined by the first roadside system based on the collaborative response result; and sending the second collaborative guidance instruction to the fourth vehicle.

[0149] Optionally, in case 2 of application scenario three described above, a vehicle-road collaboration method applied to the second roadside system may also include: receiving second control information from the first roadside system, wherein the second control information includes collaboration instructions for a fourth vehicle, the fourth vehicle is determined according to a collaboration strategy when the first roadside system is the decision maker, the collaboration strategy is determined by the first roadside system based on the global vehicle information after receiving a collaboration request from the second vehicle, the second vehicle is a vehicle connected to the first roadside system, and the fourth vehicle is a vehicle connected to the second roadside system; sending collaboration instructions to the fourth vehicle.

[0150] It can be understood that through this optional embodiment, cross-domain collaboration between the second vehicle connected to the first roadside system and the fourth vehicle connected to the second roadside system can be achieved.

[0151] Optionally, a vehicle-road collaboration method applied to the second roadside system may also include: receiving a collaboration response from the fourth vehicle and sending it to the first roadside system, so that the first roadside system determines a collaboration response result for the collaboration request based on the collaboration response from the fourth vehicle.

[0152] Optionally, a vehicle-road collaboration method applied to a second roadside system may also include: receiving third control information sent by the first roadside system, wherein the third control information includes a second collaborative guidance instruction for the fourth vehicle, and the second collaborative guidance instruction is determined by the first roadside system based on the collaborative response result; and sending the second collaborative guidance instruction to the fourth vehicle.

[0153] Optionally, in case 3 of application scenario three described above, as shown in FIG14 , a vehicle-road collaboration method applied to the second roadside system may further include the following steps.

[0154] Step 1106: After the first roadside system receives a collaboration request from a second vehicle, and determines that the second roadside system is a decision maker, a collaboration strategy is determined based on the global vehicle information, wherein the second vehicle is a vehicle connected to the first roadside system.

[0155] Step 1107: Determine a third vehicle and a fourth vehicle that need to cooperate according to the cooperation strategy, wherein the third vehicle is a vehicle connected to the first roadside system, and the fourth vehicle is a vehicle connected to the second roadside system.

[0156] Step 1108: Send fourth control information to the first roadside system, wherein the fourth control information includes a cooperation instruction for the third vehicle.

[0157] Step 1109: Send a cooperation instruction to the fourth vehicle.

[0158] Furthermore, a vehicle-road collaboration method applied to the second roadside system may also include: receiving a collaboration response from the third vehicle provided by the first roadside system; receiving a collaboration response from the fourth vehicle; determining a collaboration response result for the collaboration request based on the collaboration responses from the third vehicle and the fourth vehicle; and sending the collaboration response result to the first roadside system so that the first roadside system sends the collaboration response result to the second vehicle.

[0159] Furthermore, a vehicle-road collaboration method applied to the second roadside system may also include: determining a first collaborative guidance instruction for the third vehicle and a second collaborative guidance instruction for the fourth vehicle based on the collaborative response result; sending fifth control information to the first roadside system, wherein the fifth control information includes the first collaborative guidance instruction for the third vehicle; and sending the second collaborative guidance instruction to the fourth vehicle.

[0160] Optionally, in case 4 of application scenario three described above, a vehicle-road collaboration method applied to the second roadside system may also include: after the first roadside system receives a collaboration request from the second vehicle, and when determining that the second roadside system is the decision maker, determining a collaboration strategy based on the global vehicle information, wherein the second vehicle is a vehicle connected to the first roadside system; determining a fourth vehicle that needs to collaborate based on the collaboration strategy, wherein the fourth vehicle is a vehicle connected to the second roadside system; and sending a collaboration instruction to the fourth vehicle.

[0161] It can be understood that through this optional embodiment, cross-domain collaboration between the second vehicle connected to the first roadside system and the fourth vehicle connected to the second roadside system can also be achieved.

[0162] Optionally, in case 4 of application scenario three described above, a vehicle-road collaboration method applied to the second roadside system may also include: receiving a collaboration response from the fourth vehicle; determining a collaboration response result for the collaboration request based on the collaboration response from the fourth vehicle; and sending the collaboration response result to the first roadside system so that the first roadside system sends the collaboration response result to the second vehicle.

[0163] Optionally, in case 4 of application scenario three described above, a vehicle-road collaboration method applied to the second roadside system may also include: determining a second collaborative guidance instruction for the fourth vehicle based on the collaborative response result; and sending the second collaborative guidance instruction to the fourth vehicle.

[0164] Through the above embodiments, the second roadside system can provide the first roadside system with information about vehicles connected to the second roadside system, provide the first roadside system with control information for vehicles connected to the first roadside system, and obtain at least one of the control information provided by the first roadside system for vehicles connected to the second roadside system. This allows vehicles connected to the first roadside system and vehicles connected to the second roadside system to collaborate across domains, ultimately achieving the goal of full-domain vehicle collaboration.

[0165] Of course, the vehicle-road collaboration method provided in this embodiment can also be applied to intra-domain vehicle collaboration, that is, the fifth scenario: a vehicle connected to the second roadside system initiates a collaboration request, and the second roadside system determines that the vehicles requiring collaboration only include vehicles connected to the second roadside system. In this scenario, collaboration can be carried out according to the collaboration process described in the relevant art, and will not be further described.

[0166] The following uses a specific example to illustrate the collaborative process of a vehicle-road collaboration method provided by this application in a collaborative vehicle merging application scenario. The collaborative vehicle merging application scenario refers to a situation where a vehicle is driving on a ramp and is about to merge into the main road, and the vehicle sends a merging collaboration request to the roadside system. Taking into account the communication interface supported by the vehicle (PC5 interface or Uu interface), the collaboration process is divided into two cases, see the description of Figures 15 and 16 below for details.

[0167] As shown in FIG15 , assuming that the vehicle requesting collaboration, the second vehicle, only supports the PC5 interface, the collaboration process may include the following steps ①-⑥.

[0168] ① The second vehicle sends an incoming collaboration request to the C-V2X roadside system through the PC5 interface.

[0169] ②After negotiation, the C-V2X roadside system and the Uu roadside system determine that the C-V2X roadside system is the decision maker. The C-V2X roadside system determines the decision-making strategy based on the global vehicle information, and informs the Uu roadside system that certain vehicles supporting the Uu interface need to cooperate and the corresponding cooperation instructions based on the decision-making strategy. For example, the Uu roadside system is informed of the following control information: Vehicles that need to cooperate include: cooperative vehicle 2-1, cooperative vehicle 2-2, and cooperative vehicle 2-3; the cooperation instruction is: slow down and give way.

[0170] ③ The C-V2X roadside system sends collaboration instructions to relevant PC5-supported cooperating vehicles via the PC5 interface, guiding their driving. Simultaneously, the Uu roadside system sends collaboration instructions to Uu-supported cooperating vehicles via the Uu interface, guiding their driving. Furthermore, PC5-supported cooperating vehicles return collaboration responses to the C-V2X roadside system; Uu-supported cooperating vehicles return collaboration responses to the Uu roadside system. The collaboration responses may include consent or rejection of collaboration, and some cooperating vehicles may fail to respond after a timeout.

[0171] ④The C-V2X roadside system and the Uu roadside system negotiate again based on the collaborative response returned by the collaborative vehicle to obtain the collaborative response result (such as letting the second vehicle merge immediately, or letting the second vehicle wait to merge) and collaborative guidance instructions for the collaborative vehicle (such as canceling collaboration, completing collaboration, speeding up and giving way, etc.).

[0172] ⑤The C-V2X roadside system sends the collaborative response result to the second vehicle through the PC5 interface.

[0173] ⑥The C-V2X roadside system and the Uu roadside system respectively send cooperative guidance instructions to the cooperative vehicles.

[0174] As shown in FIG16 , assuming that the vehicle requesting collaboration, the second vehicle, only supports the Uu interface, the collaboration process may include the following steps ①-⑥.

[0175] ① The second vehicle sends an incoming collaboration request to the Uu roadside system through the Uu interface.

[0176] ② After negotiation, the Uu roadside system and the C-V2X roadside system determine that the Uu roadside system is the decision maker. The Uu roadside system determines the decision-making strategy based on the global vehicle information, and informs the C-V2X roadside system based on the decision-making strategy that certain vehicles that support the PC5 interface need to cooperate and the corresponding cooperation instructions. For example, the C-V2X roadside system is informed of the following control information: Vehicles that need to cooperate include: cooperative vehicle 1-1, cooperative vehicle 1-2, and cooperative vehicle 1-3; the cooperation instruction is: slow down and give way.

[0177] ③ The Uu roadside system sends collaborative instructions to relevant cooperating vehicles via the Uu interface, guiding their driving. Simultaneously, the C-V2X roadside system sends collaborative instructions to PC5-enabled cooperating vehicles via the PC5 interface, guiding their driving. Furthermore, Uu-enabled cooperating vehicles each return collaborative responses to the Uu roadside system; PC5-enabled cooperating vehicles return collaborative responses to the C-V2X roadside system. These responses may include consent or rejection of collaboration, and some cooperating vehicles may fail to respond after a timeout.

[0178] ④The Uu roadside system and the C-V2X roadside system negotiate again based on the collaborative response returned by the collaborative vehicle to obtain the collaborative response result (such as letting the second vehicle merge immediately, or letting the second vehicle wait to merge) and collaborative guidance instructions for the collaborative vehicle (such as canceling collaboration, completing collaboration, speeding up and giving way, etc.).

[0179] ⑤The Uu roadside system sends the collaborative response result to the second vehicle through the Uu interface.

[0180] ⑥The Uu roadside system and the C-V2X roadside system respectively send cooperative guidance instructions to the cooperative vehicles.

[0181] It should be noted that for vehicles that support both the Uu interface and the PC5 interface, one of the interfaces can be selected to access the corresponding roadside system, and then collaborate with the other roadside system to complete the vehicle merging collaboration. The specific process is similar to Figure 15 or Figure 16 and will not be repeated here.

[0182] In summary, the vehicle-road collaboration method provided in the embodiment of the present application can realize indirect communication between vehicles connected to different roadside systems through the interaction of two roadside systems, thereby realizing global vehicle collaboration.

[0183] The above introduces a vehicle-road collaboration method provided in an embodiment of the present application. The following describes a vehicle-road collaboration device provided in an embodiment of the present application.

[0184] FIG17 shows a schematic diagram of the structure of a vehicle-road cooperative device provided in an embodiment of the present application, which can be applied to a first roadside system. As shown in FIG17 , the device includes an interaction module 1701 .

[0185] The interaction module 1701 is used to interact with a second roadside system, where the vehicle communication interface supported by the first roadside system is different from the vehicle communication interface supported by the second roadside system.

[0186] Wherein, the interaction is used for at least one of the following: 1) obtaining information of vehicles connected to the second roadside system; 2) providing information of vehicles connected to the first roadside system to the second roadside system; 3) providing control information for vehicles connected to the second roadside system to the second roadside system; 4) obtaining control information provided by the second roadside system for vehicles connected to the first roadside system.

[0187] The vehicle communication interface supported by the first roadside system is different from the vehicle communication interface supported by the second roadside system, which means that the first roadside system and the second roadside system are two independent roadside systems. As an example, the vehicle communication interface supported by the first roadside system is one of the Uu interface and the PC5 interface; and the vehicle communication interface supported by the second roadside system is the other of the Uu interface and the PC5 interface.

[0188] For a vehicle, it can support one communication interface or multiple communication interfaces. In the case that a vehicle supports multiple communication interfaces, the vehicle can select one communication interface to access the corresponding roadside system. Specifically, a vehicle accessing the first roadside system can only support the vehicle communication interface supported by the first roadside system, or a vehicle accessing the first roadside system can simultaneously support the vehicle communication interface supported by the first roadside system and the vehicle communication interface supported by the second roadside system; a vehicle accessing the second roadside system can only support the vehicle communication interface supported by the second roadside system, or a vehicle accessing the first roadside system can simultaneously support the vehicle communication interface supported by the first roadside system and the vehicle communication interface supported by the second roadside system.

[0189] Optionally, in case 1 of application scenario three described above, as shown in FIG18 , the interaction module 1701 may include: a first receiving submodule 17011 and a first determining submodule 17012 .

[0190] The first receiving submodule 17011 is configured to receive second vehicle information provided by the second roadside system, wherein the second vehicle information is information of a vehicle connected to the second roadside system.

[0191] The first determination submodule 17012 is used to determine global vehicle information based on the first vehicle information and the second vehicle information, wherein the first vehicle information is information of vehicles connected to the first roadside system.

[0192] Among them, the global vehicle information includes the first vehicle information and the second vehicle information.

[0193] Optionally, in case 1 of application scenario three described above, as shown in FIG19 , the interaction module 1701 may include, in addition to the first receiving submodule 17011 and the first determining submodule 17012 , a second determining submodule 17013 and a first sending submodule 17014 .

[0194] The second determining submodule 17013 is configured to determine, based on the global vehicle information, a first vehicle that needs to be coordinated and connected to the second roadside system.

[0195] The first sending submodule 17014 is used to send first control information to the second roadside system, wherein the first control information is used to inform the second roadside system of the first vehicle that needs to cooperate, so that the second roadside system sends a cooperation instruction to the first vehicle.

[0196] Optionally, in case 1 of application scenario three described above, as shown in Figure 20, the interaction module 1701, in addition to including the first receiving sub-module 17011 and the first determination sub-module 17012, may also include: a third determination sub-module 17015, a fourth determination sub-module 17016, a second sending sub-module 17017 and a third sending sub-module 17018.

[0197] The third determination submodule 17015 is used to determine a collaboration strategy based on the global vehicle information after receiving a collaboration request from a second vehicle and determining that the first roadside system is the decision maker, wherein the second vehicle is a vehicle connected to the first roadside system.

[0198] Among them, the collaboration request includes but is not limited to at least one of the following: lane change collaboration request; merging ramp collaboration request; intersection passage collaboration request; priority passing collaboration request.

[0199] The fourth determination submodule 17016 is used to determine a third vehicle and a fourth vehicle that need to cooperate according to the cooperation strategy, wherein the third vehicle is a vehicle connected to the first roadside system, and the fourth vehicle is a vehicle connected to the second roadside system.

[0200] The second sending submodule 17017 is configured to send a cooperation instruction to the third vehicle.

[0201] Assuming that the above-mentioned cooperation request is a merging ramp cooperation request, the cooperation instruction sent to the third vehicle may be to slow down and give way, etc.

[0202] The third sending submodule 17018 is used to send second control information to the second roadside system, wherein the second control information is used to inform the second roadside system of the fourth vehicle that needs to cooperate, so that the second roadside system sends a cooperation instruction to the fourth vehicle.

[0203] Similarly, assuming that the above-mentioned cooperation request is a merging ramp cooperation request, the cooperation instruction sent to the fourth vehicle may also be to slow down and give way, etc.

[0204] Optionally, in case 1 of application scenario three described above, the interaction module 1701 may also include: a first response receiving submodule, used to receive a collaborative response from the third vehicle; a second response receiving submodule, used to receive a collaborative response from the fourth vehicle provided by the second roadside system; a response result determining submodule, used to determine a collaborative response result for the collaborative request based on the collaborative responses from the third vehicle and the fourth vehicle; and a response result sending submodule, used to send the collaborative response result to the second vehicle.

[0205] Optionally, in case 1 of application scenario three described above, the interaction module 1701 may also include: a guidance instruction determination submodule, used to determine the first collaborative guidance instruction for the third vehicle and the second collaborative guidance instruction for the fourth vehicle based on the collaborative response result; a first instruction sending submodule, used to send the first collaborative guidance instruction to the third vehicle; and a second instruction sending submodule, used to send third control information containing the second collaborative guidance instruction to the second roadside system, so that the second roadside system sends the second collaborative guidance instruction to the fourth vehicle.

[0206] Optionally, in case 2 of application scenario three described above, the interaction module 1701 can be used to: after receiving a collaboration request from a second vehicle, and when determining that the first roadside system is the decision maker, determine a collaboration strategy based on the global vehicle information, wherein the second vehicle is a vehicle connected to the first roadside system; determine a fourth vehicle that needs to collaborate based on the collaboration strategy, wherein the fourth vehicle is a vehicle connected to the second roadside system; and send second control information to the second roadside system, wherein the second control information is used to inform the second roadside system of the fourth vehicle that needs to collaborate, so that the second roadside system sends a collaboration instruction to the fourth vehicle.

[0207] In this way, cross-domain collaboration between the second vehicle connected to the first roadside system and the fourth vehicle connected to the second roadside system can be achieved.

[0208] Optionally, in case 2 of application scenario three described above, the interaction module 1701 can also be used to: receive a collaborative response from the fourth vehicle provided by the second roadside system; determine a collaborative response result for the collaborative request based on the collaborative response from the fourth vehicle; and send the collaborative response result to the second vehicle.

[0209] Optionally, in case 2 of application scenario three described above, the interaction module 1701 can also be used to: determine a second collaborative guidance instruction for the fourth vehicle based on the collaborative response result; and send a third control information containing the second collaborative guidance instruction to the second roadside system so that the second roadside system sends the second collaborative guidance instruction to the fourth vehicle.

[0210] It is not difficult to see that through the above interaction, the first roadside system can be determined as the decision maker, and the first roadside system guides the driving behavior of the vehicle requesting cooperation (the second vehicle) and the vehicle requiring cooperation (the fourth vehicle), and ultimately realizes the driving intention of the vehicle requesting cooperation.

[0211] Optionally, in case 3 of application scenario three described above, the interaction module 1701, in addition to including the first receiving submodule 17011 and the first determining submodule 17012, as shown in Figure 21, may also include: a second receiving submodule 17019 and a fourth sending submodule 17020.

[0212] The second receiving submodule 17019 is used to receive fourth control information from the second roadside system after receiving a collaboration request from the second vehicle and determining that the second roadside system is the decision maker, wherein the second vehicle is a vehicle connected to the first roadside system, and the fourth control information includes collaboration instructions for a third vehicle, and the third vehicle is a vehicle connected to the first roadside system that needs to collaborate as determined by the second roadside system according to a collaboration strategy, and the collaboration strategy is determined based on the global vehicle information.

[0213] The fourth sending submodule 17020 is configured to send a cooperation instruction to the third vehicle according to the fourth control information.

[0214] Optionally, in case 3 of application scenario three described above, the interaction module 1701 may also include: a collaborative response receiving submodule, used to receive a collaborative response from the third vehicle and send the collaborative response to the second roadside system, so that the second roadside system determines the collaborative response result for the collaborative request based on the collaborative responses from the third vehicle and the fourth vehicle, wherein the fourth vehicle is the vehicle that the second roadside system determines needs to collaborate to connect to the second roadside system based on the collaborative strategy; a response result receiving submodule, used to receive a collaborative response result from the second roadside system; and a response result sending submodule, used to send the collaborative response result to the second vehicle.

[0215] Optionally, in case 3 of application scenario three described above, the interaction module 1701 may also include: an information receiving submodule, used to receive fifth control information from the second roadside system, wherein the fifth control information includes a first collaborative guidance instruction for the third vehicle, and the first collaborative guidance instruction is determined by the second roadside system based on the collaborative response result; an instruction sending submodule, used to send the first collaborative guidance instruction to the third vehicle.

[0216] Optionally, in case 4 of application scenario three described above, the interaction module 1701 can be used to: after receiving a collaboration request from the second vehicle, and when determining that the second roadside system is the decision maker, receive a collaboration response result from the second roadside system, wherein the collaboration response result is determined by the second roadside system based on the collaboration response from the fourth vehicle, and the fourth vehicle is a vehicle that the second roadside system determines needs to collaborate to connect to the second roadside system based on a collaboration strategy, and the collaboration strategy is determined based on the global vehicle information; and send the collaboration response result to the second vehicle.

[0217] It can be understood that through the above interaction, the second roadside system can be determined as the decision maker, and the second roadside system guides the driving behavior of the vehicle requesting cooperation (the second vehicle) and the vehicle requiring cooperation (the fourth vehicle), and ultimately realizes the driving intention of the vehicle requesting cooperation.

[0218] A vehicle-road cooperative device 1700 provided in an embodiment of the present application can be used to implement the various embodiments of the vehicle-road cooperative method shown in Figure 1 above and achieve the same technical effects. For relevant matters, please refer to the above method embodiments and no further details will be given.

[0219] As shown in FIG. 22 , an embodiment of the present application provides a vehicle-road system device 2200 , which can be applied to a second roadside system. The device 2200 may include: a first information providing module 2201 .

[0220] The first information providing module 2201 is used to provide second vehicle information to the first roadside system, wherein the second vehicle information is information of a vehicle connected to the second roadside system, the second vehicle information is used by the first roadside system to determine global vehicle information, and the vehicle communication interface supported by the first roadside system is different from the vehicle communication interface supported by the second roadside system.

[0221] It can be understood that after the second roadside system provides the second vehicle information to the first roadside system, the first roadside system can determine the global vehicle information based on the first vehicle information it has and the second vehicle information from the second roadside system, and prepare for the global coordination of vehicles.

[0222] Optionally, as shown in FIG23 , the apparatus 2200 may further include: a first receiving module 2202 and a first sending module 2203 .

[0223] The first receiving module 2202 is used to receive first control information from the first roadside system, wherein the first control information is determined by the first roadside system based on the global vehicle information, and the first control information is used to inform the second roadside system of the first vehicle that needs to cooperate.

[0224] The first sending module 2203 is configured to send a cooperation instruction to the first vehicle.

[0225] Optionally, in case 1 of application scenario three described above, as shown in Figure 24, the device 2200 may further include: a second receiving module 2204, for receiving second control information from the first roadside system, wherein the second control information includes a collaboration instruction for a fourth vehicle, and the fourth vehicle is determined according to the collaboration strategy when the first roadside system is the decision maker, and the collaboration strategy is determined by the first roadside system based on the global vehicle information after receiving the collaboration request from the second vehicle, the second vehicle is a vehicle connected to the first roadside system, and the fourth vehicle is a vehicle connected to the second roadside system; a second sending module 2205, for sending a collaboration instruction to the fourth vehicle.

[0226] Optionally, in case 1 of application scenario three described above, the device 2200 may further include: a collaborative response processing module, for receiving a collaborative response from the fourth vehicle and sending it to the first roadside system, so that the first roadside system determines a collaborative response result for the collaborative request based on the collaborative responses from the third vehicle and the fourth vehicle, wherein the third vehicle is a vehicle connected to the first roadside system that is determined by the first roadside system to need collaboration based on the collaborative strategy.

[0227] Optionally, in case 1 of application scenario three described above, the device 2200 may further include: a control information receiving module, used to receive third control information sent by the first roadside system, wherein the third control information includes a second collaborative guidance instruction for the fourth vehicle, and the second collaborative guidance instruction is determined by the first roadside system based on the collaborative response result; an instruction sending module, used to send the second collaborative guidance instruction to the fourth vehicle.

[0228] Optionally, in case 2 of application scenario three described above, the device 2200 may further include: a fifth receiving module, used to receive second control information from the first roadside system, wherein the second control information includes a collaboration instruction for a fourth vehicle, and the fourth vehicle is determined according to a collaboration strategy when the first roadside system is the decision maker, and the collaboration strategy is determined by the first roadside system based on the global vehicle information after receiving a collaboration request from the second vehicle, the second vehicle is a vehicle connected to the first roadside system, and the fourth vehicle is a vehicle connected to the second roadside system; a fifth sending module, used to send a collaboration instruction to the fourth vehicle.

[0229] Optionally, in case 2 of application scenario three described above, the device 2200 may further include: a sixth receiving module, configured to receive a collaborative response from the fourth vehicle and send it to the first roadside system, so that the first roadside system determines a collaborative response result for the collaborative request based on the collaborative response from the fourth vehicle.

[0230] Optionally, in case 2 of application scenario three described above, the device 2200 may further include: a seventh receiving module, used to receive third control information sent by the first roadside system, wherein the third control information includes a second collaborative guidance instruction for the fourth vehicle, and the second collaborative guidance instruction is determined by the first roadside system based on the collaborative response result; a seventh sending module, used to send the second collaborative guidance instruction to the fourth vehicle.

[0231] Optionally, in case 3 of application scenario three described above, as shown in FIG25 , the apparatus 2200 may further include: a first determining module 2206 , a second determining module 2207 , a third sending module 2208 and a fourth sending module 2209 .

[0232] The first determination module 2206 is used to determine a collaboration strategy based on the global vehicle information after the first roadside system receives a collaboration request from the second vehicle and determines that the second roadside system is a decision maker, wherein the second vehicle is a vehicle connected to the first roadside system.

[0233] The second determination module 2207 is used to determine a third vehicle and a fourth vehicle that need to cooperate according to the cooperation strategy, wherein the third vehicle is a vehicle connected to the first roadside system, and the fourth vehicle is a vehicle connected to the second roadside system.

[0234] The third sending module 2208 is used to send fourth control information to the first roadside system, wherein the fourth control information includes a cooperation instruction for the third vehicle.

[0235] The fourth sending module 2209 is configured to send a cooperation instruction to the fourth vehicle.

[0236] Furthermore, the device 2200 may also include: a first collaborative response receiving module, used to receive a collaborative response from the third vehicle provided by the first roadside system; a second collaborative response receiving module, used to receive a collaborative response from the fourth vehicle; a response result determination module, used to determine a collaborative response result for the collaborative request based on the collaborative responses from the third vehicle and the fourth vehicle; and a response result sending module, used to send the collaborative response result to the first roadside system, so that the first roadside system sends the collaborative response result to the second vehicle.

[0237] Furthermore, the device 2200 may also include: a collaborative guidance instruction determination module, used to determine the first collaborative guidance instruction for the third vehicle and the second collaborative guidance instruction for the fourth vehicle based on the collaborative response result; a control information sending module, used to send fifth control information to the first roadside system, wherein the fifth control information includes the first collaborative guidance instruction for the third vehicle; and a collaborative instruction sending module, used to send the second collaborative guidance instruction to the fourth vehicle.

[0238] Optionally, in case 4 of application scenario three described above, the device 2200 may further include: a third determination module, for determining a collaboration strategy based on the global vehicle information after the first roadside system receives a collaboration request from the second vehicle and determining that the second roadside system is the decision maker, wherein the second vehicle is a vehicle connected to the first roadside system; a fourth determination module, for determining a fourth vehicle that needs to collaborate based on the collaboration strategy, wherein the fourth vehicle is a vehicle connected to the second roadside system; and an eighth sending module, for sending a collaboration instruction to the fourth vehicle.

[0239] It can be understood that through this optional embodiment, cross-domain collaboration between the second vehicle connected to the first roadside system and the fourth vehicle connected to the second roadside system can also be achieved.

[0240] Optionally, in case 4 of application scenario three described above, the device 2200 may further include: an eighth receiving module for receiving a collaborative response from the fourth vehicle; a fifth determining module for determining a collaborative response result for the collaborative request based on the collaborative response from the fourth vehicle; and an eighth sending module for sending the collaborative response result to the first roadside system so that the first roadside system sends the collaborative response result to the second vehicle.

[0241] Optionally, in case 4 of application scenario three described above, the device 2200 may also include: a sixth determination module, used to determine the second collaborative guidance instruction for the fourth vehicle based on the collaborative response result; and a ninth sending module, used to send the second collaborative guidance instruction to the fourth vehicle.

[0242] A vehicle-road cooperative device 2200 provided in an embodiment of the present application can be used to implement various embodiments of the vehicle-road cooperative method provided in any of the above-mentioned embodiments such as Figures 11, 12, 13 and 14, and achieve the same technical effects. For relevant matters, please refer to the above-mentioned method embodiments and no further details will be given.

[0243] Figure 26 is a schematic diagram of the structure of an in-vehicle terminal according to another embodiment of the present application. The in-vehicle terminal 2600 shown in Figure 26 includes: at least one processor 2601, a memory 2602, at least one network interface 2604, and a user interface 2603. The various components in the in-vehicle terminal 2600 are coupled together via a bus system 2605. It will be understood that the bus system 2605 is used to achieve connection and communication between these components. In addition to the data bus, the bus system 2605 also includes a power bus, a control bus, and a status signal bus. However, for the sake of clarity, in Figure 26, all various buses are labeled as bus system 2605.

[0244] The user interface 2603 may include a display, a keyboard, or a pointing device (eg, a mouse, a trackball, a touchpad, or a touch screen).

[0245] It is understood that the memory 2602 in the embodiment of the present application can be a volatile memory or a non-volatile memory, or can include both volatile and non-volatile memories. Among them, the non-volatile memory can be a read-only memory (ROM), a programmable read-only memory (PROM), an erasable programmable read-only memory (EPROM), an electrically erasable programmable read-only memory (EEPROM), or a flash memory. The volatile memory can be a random access memory (RAM), which is used as an external cache. By way of example and not limitation, many forms of RAM are available, such as static random access memory (SRAM), dynamic random access memory (DRAM), synchronous dynamic random access memory (SDRAM), double data rate synchronous dynamic random access memory (DDRSDRAM), enhanced synchronous dynamic random access memory (ESDRAM), synchronous link dynamic random access memory (SLDRAM), and direct RAM bus random access memory (DRRAM). The memory 2602 of the systems and methods described in the embodiments of the present application is intended to include, but is not limited to, these and any other suitable types of memory.

[0246] In some embodiments, the memory 2602 stores the following elements, executable modules or data structures, or a subset thereof, or an extended set thereof: an operating system 26021 and application programs 26022 .

[0247] Among them, operating system 26021 includes various system programs, such as the framework layer, core library layer, and driver layer, which are used to implement various basic services and handle hardware-based tasks. Application 26022 includes various application programs, such as media players and browsers, which are used to implement various application services. Programs that implement the methods of the embodiments of the present application can be included in application 26022.

[0248] Processor 2601 may be an integrated circuit chip with signal processing capabilities. During implementation, each step of the above method can be completed by hardware integrated logic circuits in processor 2601 or software instructions. The above-mentioned processor 2601 can be a general-purpose processor, a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field programmable gate array (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, or discrete hardware components.

[0249] Please refer to Figure 27, which is a structural diagram of a network device used in an embodiment of the present application, which can implement the details of the above-mentioned vehicle-road collaboration method and achieve the same effect. As shown in Figure 27, the network device 2700 includes: a processor 2701, a transceiver 2702, a memory 2703, a user interface 2704, and a bus interface, wherein: In the embodiment of the present application, the network device 2700 also includes: a computer program stored in the memory 2703 and executable on the processor 2701. When the computer program is executed by the processor 2701, it implements the various processes of the above-mentioned vehicle-road collaboration method and can achieve the same technical effect. To avoid repetition, it will not be repeated here.

[0250] In Figure 27, the bus architecture may include any number of interconnected buses and bridges, specifically linking together various circuits of at least one processor represented by processor 2701 and memory represented by memory 2703. The bus architecture may also link together various other circuits such as peripherals, voltage regulators, and power management circuits, which are well known in the art and therefore will not be further described herein. The bus interface provides an interface. The transceiver 2702 may be a plurality of components, i.e., a transmitter and a receiver, providing a unit for communicating with various other devices on a transmission medium. For different vehicle-mounted terminals, the user interface 2704 may also be an interface capable of connecting external or internal devices as required, and the connected devices include but are not limited to a keypad, a display, a speaker, a microphone, a joystick, etc.

[0251] The processor 2701 is responsible for managing the bus architecture and general processing, and the memory 2703 can store data used by the processor 2701 when performing operations.

[0252] It is understood that the embodiments described in the embodiments of the present application can be implemented using hardware, software, firmware, middleware, microcode, or a combination thereof. For hardware implementation, the processing unit can be implemented in at least one application-specific integrated circuit (ASIC), digital signal processor (DSP), digital signal processing device (DSPD), programmable logic device (PLD), field-programmable gate array (FPGA), general-purpose processor, controller, microcontroller, microprocessor, other electronic unit for performing the functions described in the present application, or a combination thereof.

[0253] For software implementation, the techniques described in the embodiments of the present application can be implemented by modules (e.g., procedures, functions, etc.) that perform the functions described in the embodiments of the present application. The software code can be stored in a memory and executed by a processor. The memory can be implemented in the processor or external to the processor.

[0254] The present application also provides a computer-readable storage medium having a computer program stored thereon. When executed by a processor, the computer program implements the various processes of the aforementioned vehicle-road collaboration method embodiment and achieves the same technical effects. To avoid repetition, the details are omitted here. The computer-readable storage medium may be, for example, a read-only memory (ROM), a random access memory (RAM), a magnetic disk, or an optical disk.

[0255] The present application also provides a computer program product including instructions. When a computer executes the instructions of the computer program product, the computer executes the above-mentioned vehicle-road collaboration method. Specifically, the computer program product can be run on the above-mentioned network device.

[0256] Those skilled in the art will appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of this application.

[0257] Those skilled in the art will clearly understand that, for the convenience and brevity of description, the specific working processes of the systems, devices and units described above can refer to the corresponding processes in the aforementioned method embodiments and will not be repeated here.

[0258] In the several embodiments provided in this application, it should be understood that the disclosed systems, devices and methods can be implemented in other ways. For example, the device embodiments described above are merely schematic. For example, the division of the units is merely a logical function division. In actual implementation, there may be other division methods, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0259] The units described as separate components may or may not be physically separate, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed across multiple network units. Some or all of these units may be selected to achieve the purpose of this embodiment according to actual needs.

[0260] In addition, each functional unit in each embodiment of the present application may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit.

[0261] If the functions are implemented in the form of software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application, or the part that contributes to the prior art, or the part of the technical solution, can be embodied in the form of a software product. The computer software product is stored in a storage medium and includes several instructions for enabling a computer device (which can be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the method described in each embodiment of the present application. The aforementioned storage medium includes various media that can store program codes, such as a USB flash drive, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk, or an optical disk.

[0262] The above description is merely a specific embodiment of the present application, but the scope of protection of the present application is not limited thereto. Any changes or substitutions that can be easily conceived by a person skilled in the art within the technical scope disclosed in the present application should be included in the scope of protection of the present application. Therefore, the scope of protection of the present application should be based on the scope of protection of the claims.

Claims

1. A vehicle-road cooperation method, applied to a first roadside system, the method comprising: Interacting with a second roadside system, where the vehicle communication interface supported by the first roadside system is different from the vehicle communication interface supported by the second roadside system; Wherein, the interaction is used for at least one of the following: Obtaining information of vehicles accessing the second roadside system; Providing information of vehicles accessing the first roadside system to the second roadside system; Providing control information for vehicles accessing the second roadside system to the second roadside system; Obtaining control information provided by the second roadside system for vehicles accessing the first roadside system.

2. The method according to claim 1, wherein, The vehicle communication interface supported by the first roadside system is one of the Uu interface and the PC5 interface; The vehicle communication interface supported by the second roadside system is the other of the Uu interface and the PC5 interface.

3. The method according to claim 1, wherein, Vehicles accessing the first roadside system only support the vehicle communication interface supported by the first roadside system, or vehicles accessing the first roadside system support both the vehicle communication interface supported by the first roadside system and the vehicle communication interface supported by the second roadside system; Vehicles accessing the second roadside system only support the vehicle communication interface supported by the second roadside system, or vehicles accessing the first roadside system support both the vehicle communication interface supported by the first roadside system and the vehicle communication interface supported by the second roadside system.

4. The method according to claim 1, wherein, The interacting with the second roadside system includes: Receiving second vehicle information provided by the second roadside system, where the second vehicle information is information of vehicles accessing the second roadside system; Determining global vehicle information according to the first vehicle information and the second vehicle information, where the first vehicle information is information of vehicles accessing the first roadside system.

5. The method according to claim 4, wherein The interacting with the second roadside system further includes: Determining a first vehicle accessing the second roadside system that needs to cooperate according to the global vehicle information; Sending first control information to the second roadside system, where the first control information is used to inform the second roadside system of the first vehicle that needs to cooperate, so that the second roadside system sends a cooperation instruction to the first vehicle.

6. The method according to claim 4, wherein The interacting with the second roadside system further includes: After receiving a cooperation request from a second vehicle, when determining that the first roadside system is the decision maker, determining a cooperation strategy according to the global vehicle information, where the second vehicle is a vehicle accessing the first roadside system; Determining a fourth vehicle that needs to cooperate according to the cooperation strategy, where the fourth vehicle is a vehicle accessing the second roadside system; Sending second control information to the second roadside system, where the second control information is used to inform the second roadside system of the fourth vehicle that needs to cooperate, so that the second roadside system sends a cooperation instruction to the fourth vehicle.

7. The method according to claim 6, wherein, The interacting with the second roadside system further includes: Receiving a cooperation response from the fourth vehicle provided by the second roadside system; Determine a collaborative response result for the collaborative request based on the collaborative response from the fourth vehicle; Send the collaborative response result to the second vehicle.

8. The method according to claim 7, wherein The interaction with the second roadside system further includes: Determine a second collaborative guidance instruction for the fourth vehicle according to the collaborative response result; Send third control information including the second collaborative guidance instruction to the second roadside system, so that the second roadside system sends the second collaborative guidance instruction to the fourth vehicle.

9. The method according to claim 4, wherein The interaction with the second roadside system further includes: After receiving a collaborative request from the second vehicle, when determining that the second roadside system is the decision maker, receive a collaborative response result from the second roadside system, where the collaborative response result is determined by the second roadside system based on the collaborative response from the fourth vehicle, and the fourth vehicle is a vehicle that needs to collaborate and access the second roadside system determined by the second roadside system according to a collaboration strategy, and the collaboration strategy is determined according to the global vehicle information; Send the collaborative response result to the second vehicle.

10. A vehicle-road collaboration method, applied to a second roadside system, the method includes: Provide second vehicle information to the first roadside system, where the second vehicle information is information of a vehicle accessing the second roadside system, and the second vehicle information is used for the first roadside system to determine global vehicle information, and the vehicle communication interfaces supported by the first roadside system and the second roadside system are different.

11. The method according to claim 10, wherein, It further includes: Receive first control information from the first roadside system, where the first control information is determined by the first roadside system according to the global vehicle information, and the first control information is used to inform the second roadside system of the first vehicle that needs to collaborate; Send a collaboration instruction to the first vehicle.

12. The method according to claim 11, wherein It further includes: Receive second control information from the first roadside system, where the second control information includes a collaboration instruction for the fourth vehicle, and the fourth vehicle is determined according to a collaboration strategy when the first roadside system is the decision maker, and the collaboration strategy is determined by the first roadside system according to the global vehicle information after receiving a collaboration request from the second vehicle, the second vehicle is a vehicle accessing the first roadside system, and the fourth vehicle is a vehicle accessing the second roadside system; Send a collaboration instruction to the fourth vehicle.

13. The method according to claim 12, wherein, It further includes: Receive a collaborative response from the fourth vehicle and send it to the first roadside system, so that the first roadside system determines a collaborative response result for the collaborative request according to the collaborative response from the fourth vehicle.

14. The method according to claim 13, wherein, It further includes: Receive third control information sent by the first roadside system, where the third control information includes a second collaborative guidance instruction for the fourth vehicle, and the second collaborative guidance instruction is determined by the first roadside system according to the collaborative response result; Send the second collaborative guidance instruction to the fourth vehicle.

15. The method according to claim 10, wherein, It further includes: After the first roadside system receives a cooperation request from a second vehicle, when it is determined that the second roadside system is the decision maker, a cooperation strategy is determined according to the global vehicle information, where the second vehicle is a vehicle accessing the first roadside system; Determine a fourth vehicle that needs to cooperate according to the cooperation strategy, where the fourth vehicle is a vehicle accessing the second roadside system; Send a cooperation instruction to the fourth vehicle.

16. The method according to claim 15, wherein, It further includes: Receive a cooperation response from the fourth vehicle; Determine a cooperation response result for the cooperation request according to the cooperation response from the fourth vehicle; Send the cooperation response result to the first roadside system so that the first roadside system can send the cooperation response result to the second vehicle.

17. The method according to claim 16, wherein It further includes: Determine a second cooperation guidance instruction for the fourth vehicle according to the cooperation response result; Send the second cooperation guidance instruction to the fourth vehicle.

18. An electronic device, comprising: A processor; A memory for storing instructions executable by the processor; Wherein, the processor is configured to execute the instructions to implement the method according to any one of claims 1 to 9, or to implement the method according to any one of claims 10 to 17.

19. A computer-readable storage medium, when the instructions in the storage medium are executed by a processor of an electronic device, enabling the electronic device to execute the method according to any one of claims 1 to 9, or enabling the electronic device to execute the method according to any one of claims 10 to 17.

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