CN115880797A

CN115880797A - Vehicle evidence obtaining method, device and system based on V2X

Info

Publication number: CN115880797A
Application number: CN202111141428.4A
Authority: CN
Inventors: 周浩; 吕东升; 张立杨; 范志海
Original assignee: Beijing Wanji Technology Co Ltd
Current assignee: Beijing Wanji Technology Co Ltd
Priority date: 2021-09-28
Filing date: 2021-09-28
Publication date: 2023-03-31

Abstract

The embodiment of the application provides a method, equipment and a system for vehicle evidence obtaining based on V2X, and belongs to the technical field of road traffic. The method comprises the following steps: when the vehicle enters the communication range of the roadside V2X equipment, the vehicle carries out transaction with a vehicle-mounted V2X terminal of the vehicle, and transaction information is stored in a preset storage space; the transaction information includes identity information of the vehicle; receiving an interactive message sent by a vehicle-mounted V2X terminal, wherein the interactive message comprises vehicle position and identity information; checking for many times according to the position of the vehicle, and determining that the vehicle enters the evidence obtaining area; the evidence obtaining area is located in the communication range of the roadside V2X equipment; controlling a camera on the portal frame to shoot a forensics area to obtain a forensics picture; acquiring target transaction information according to the identity information in the interactive message; and associating the evidence-obtaining photo with the target transaction information to obtain the transaction evidence of the vehicle. The method can solve the problem of low vehicle transaction evidence obtaining accuracy rate.

Description

V2X-based vehicle evidence obtaining method, equipment and system

Technical Field

The application belongs to the field of road traffic control, and particularly relates to a method, equipment and a system for vehicle forensics based on V2X.

Background

At present, the road toll collection mode mainly includes manual toll collection or Electronic Toll Collection (ETC) toll collection. Wherein, manual charging needs to consume manpower and need the vehicle to park, and is inefficient. The ETC charging mode has the defects of complex charging process, long transaction time and the like. With the development of vehicle-road cooperation technology, a charging system based on vehicle wireless communication technology (V2X) can overcome the defects of the charging mode, has the advantage of beyond-the-horizon remote communication, and also brings the problems that passing vehicles need to be accurately identified and the vehicle charging evidence obtaining accuracy rate is improved.

Disclosure of Invention

The application provides a method, equipment and system for vehicle evidence obtaining based on V2X, which are characterized in that a camera is controlled through position information of a vehicle to shoot passing vehicles for evidence obtaining, and evidence obtaining information is bound with charging information, so that the problem of low vehicle transaction evidence obtaining accuracy rate is solved.

In a first aspect, a method for V2X-based vehicle forensics is provided, wherein the method comprises: when a vehicle enters a communication range of roadside V2X equipment, trading with a vehicle-mounted V2X terminal of the vehicle, and storing trading information into a preset storage space; the transaction information includes identity information of the vehicle; receiving an interactive message sent by the vehicle-mounted V2X terminal, wherein the interactive message comprises the position and identity information of the vehicle; checking the vehicle for multiple times according to the position of the vehicle, and determining that the vehicle enters a forensics area; the forensics area is located within a communication range of the roadside V2X device; when the vehicle is located in a forensics target area, controlling a camera on a portal frame to shoot the forensics area to obtain a forensics picture; acquiring target transaction information from the transaction information in the preset storage space according to the identity information in the interactive message; and associating the evidence-obtaining photo with the target transaction information to obtain the transaction evidence of the vehicle.

The target transaction information refers to transaction information matched with the identity information in the interactive message, namely transaction information corresponding to the vehicle. For example, the identity information may be a license plate of the vehicle or other information that can uniquely determine the identity of the vehicle.

According to the method for obtaining the evidence of the vehicle based on the V2X, after the transaction is established with the vehicle through the roadside V2X equipment and the transaction information of the vehicle is obtained, the camera is controlled to shoot the evidence obtaining photo according to the position of the vehicle in the vehicle interaction message, the evidence obtaining photo is bound with the corresponding transaction information, and finally evidence obtaining evidence corresponding to the vehicle is obtained.

With reference to the first aspect, in certain implementations of the first aspect, the transaction information includes a license plate, and the method further includes: identifying the license plate in the evidence-taking photo; acquiring other target transaction information from the transaction information in the preset storage space according to the license plate; the other target transaction information is different from the vehicle corresponding to the target transaction information; and associating the evidence-obtaining photo with the other target transaction information to obtain the transaction evidence of the vehicle corresponding to the other target transaction information.

With reference to the first aspect, in certain implementations of the first aspect, the forensics area covers a plurality of lanes, each forensics area corresponds to a set of cameras, and the set of cameras includes at least one camera.

Alternatively, the multiple forensics regions may be divided, for example, one forensics region may correspond to one vehicle, and one forensics region may correspond to one group of cameras, and the group of cameras is used for forensics shooting of the forensics region.

With reference to the first aspect, in some implementation manners of the first aspect, forensics regions are provided on both sides of the portal, and a shooting range of a camera on the portal corresponds to the forensics regions on both sides of the portal; work as behind the vehicle is located the target area of collecting evidence, the camera on the control portal is right the area of collecting evidence is shot, obtains the photo of collecting evidence, includes: when a vehicle drives towards the portal and enters a forensics area in front of the portal, controlling a camera to shoot the forensics area in front of the portal to obtain a first forensics picture; when the vehicle drives away from the door frame and drives into a evidence obtaining area behind the door frame, controlling a camera to shoot the evidence obtaining area behind the door frame to obtain a second evidence obtaining photo; the associating the evidence-obtaining photo with the target transaction information to obtain the transaction evidence of the vehicle comprises: and associating the first evidence-obtaining photo and the second evidence-obtaining photo with the target transaction information to be used as the transaction evidence of the vehicle.

With reference to the first aspect, in certain implementations of the first aspect, the interactive message further includes a driving speed of the vehicle, and the method further includes: and determining that the vehicle drives to or away from the portal according to the position of the vehicle and the driving speed of the vehicle, wherein the position of the vehicle is included in the interactive message.

With reference to the first aspect, in some implementation manners of the first aspect, the obtaining, according to the identity information of the vehicle in the interactive message, target transaction information corresponding to the vehicle from the transaction information in the preset storage space specifically includes: comparing the identity information of the vehicle with the identity information in the transaction information in the preset storage space; and taking the identity information matched with the identity information of the vehicle in the transaction information as the target transaction information.

In a second aspect, there is provided an apparatus comprising: the transaction module is used for performing transaction with a vehicle-mounted V2X terminal of the vehicle after the vehicle enters a communication range of roadside V2X equipment, and storing transaction information into a preset storage space; the transaction information includes identity information of the vehicle; the communication module is used for receiving an interactive message sent by the vehicle-mounted V2X terminal, wherein the interactive message comprises the position and the identity information of the vehicle; the processing module is used for verifying the vehicle for multiple times according to the position of the vehicle and determining that the vehicle enters the evidence obtaining area; the forensics area is located within a communication range of the roadside V2X device; when the vehicle is located in a forensics target area, controlling a camera on a portal frame to shoot the forensics area to obtain a forensics picture; acquiring target transaction information from the transaction information in the preset storage space according to the identity information in the interactive message; and associating the evidence-obtaining photo with the target transaction information to obtain the transaction evidence of the vehicle.

With reference to the second aspect, in some implementations of the second aspect, the transaction information includes a license plate, and the processing module is further configured to identify the license plate in the forensic photo; acquiring other target transaction information from the transaction information in the preset storage space according to the license plate; the other target transaction information is different from the vehicle corresponding to the target transaction information; and associating the evidence-obtaining photo with the other target transaction information to obtain the transaction evidence of the vehicle corresponding to the other target transaction information.

With reference to the second aspect, in certain implementations of the second aspect, the forensics area covers a plurality of lanes, and each forensics area corresponds to a set of cameras including at least one camera.

With reference to the second aspect, in certain implementation manners of the second aspect, evidence obtaining areas are arranged on both sides of the portal, and shooting ranges of the cameras on the portal correspond to the evidence obtaining areas on both sides of the portal;

the processing module is further used for controlling the camera to shoot the evidence obtaining area in front of the door frame when the vehicle drives to the door frame and enters the evidence obtaining area in front of the door frame to obtain a first evidence obtaining photo; when the vehicle drives away from the door frame and drives into a evidence obtaining area behind the door frame, controlling a camera to shoot the evidence obtaining area behind the door frame to obtain a second evidence obtaining photo; and associating the first forensics photo and the second forensics photo with the target transaction information to serve as the transaction evidence of the vehicle.

With reference to the second aspect, in certain implementations of the second aspect, the interactive message further includes a traveling speed of the vehicle, and the processing module is further configured to determine that the vehicle travels toward the portal and enters the forensics area in front of the portal according to the vehicle position and the traveling speed of the vehicle included in the interactive message; or determining that the vehicle drives away from the portal and drives into the evidence obtaining area behind the portal according to the vehicle position and the vehicle driving speed included in the interactive message.

With reference to the second aspect, in certain implementation manners of the second aspect, the processing module is further configured to compare the identity information of the vehicle with the identity information in the transaction information in the preset storage space; and taking the identity information matched with the identity information of the vehicle in the transaction information as the target transaction information.

In a third aspect, there is provided a roadside V2X device, comprising: one or more communication interfaces; one or more memories for storing computer-readable instructions; one or more processors configured to execute the computer-readable instructions, which when executed, cause the method as described in any of the implementations of the first aspect above to be implemented.

In a fourth aspect, a cloud server is provided, including: one or more communication interfaces; one or more memories for storing computer-readable instructions; one or more processors configured to execute the computer-readable instructions, and when the computer-readable instructions are executed, the functions of the method described in any one of the implementations of the first aspect are implemented on a cloud server.

In a fifth aspect, a system for V2X vehicle-based forensics is provided, comprising: the vehicle is provided with a vehicle-mounted V2X terminal, the vehicle is used for conducting transaction with the roadside V2X device through the vehicle-mounted V2X terminal and generating transaction information, and the cloud server is used for executing the function of the method on the cloud server in any one of the implementation manners of the first aspect.

In a sixth aspect, a computer-readable storage medium is provided, comprising computer instructions that, when executed, cause a method as in any of the implementations of the first aspect described above to be implemented.

In a seventh aspect, a computer product is provided, which comprises computer instructions that, when executed in a computer, enable the method described in any of the implementations of the first aspect to be implemented.

Drawings

Fig. 1 is a schematic diagram of a system architecture to which a method for V2X-based vehicle forensics provided in an embodiment of the present application is applicable.

Fig. 2 is a schematic structural diagram of a roadside V2X device 100 provided in an embodiment of the present application.

Fig. 3 is an application scenario diagram to which the method for vehicle forensics based on V2X provided in the embodiment of the present application is applicable.

Fig. 4 is a schematic flow chart of a method for V2X-based vehicle forensics according to an embodiment of the present application.

Fig. 5 is a schematic flow chart of another V2X-based vehicle forensics method provided in an embodiment of the application.

Fig. 6 is a schematic flowchart of another V2X-based vehicle forensics method provided in an embodiment of the present application.

Fig. 7 is a schematic application scenario diagram of another V2X-based vehicle forensics method provided in the embodiment of the present application.

Fig. 8 is a schematic hardware structure diagram of a roadside V2X device provided in an embodiment of the present application.

Fig. 9 is a schematic hardware structure diagram of a roadside V2X device provided in an embodiment of the present application.

Detailed Description

The embodiments of the present application will be described below with reference to the drawings.

It is noted that the terminology used in the description of the embodiments of the present application is for the purpose of describing particular embodiments of the present application only and is not intended to be limiting of the present application. In the description of the embodiments of the present application, "/" indicates an alternative meaning, for example, a/B may indicate a or B; "and/or" herein is merely an association describing an associated object, and means that there may be three relationships, e.g., a and/or B, which may mean: a exists alone, A and B exist simultaneously, and B exists alone. In addition, in the description of the embodiments of the present application, "a plurality" means two or more than two, "at least one", "one or more" means one, two or more than two, unless otherwise specified.

In the following, the terms "first", "second" are used for descriptive purposes only and are not to be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, the definition of "first" or "second" feature may explicitly or implicitly include one or more of such features.

Reference throughout this specification to "one embodiment" or "some embodiments," or the like, means that a particular feature, structure, or characteristic described in connection with the embodiment is included in one or more embodiments of the present application. Thus, appearances of the phrases "in one embodiment," "in some embodiments," "in other embodiments," or the like, in various places throughout this specification are not necessarily all referring to the same embodiment, but rather "one or more but not all embodiments" unless specifically stated otherwise. The terms "comprising," "including," "having," and variations thereof mean "including, but not limited to," unless expressly specified otherwise.

The technical solution of the embodiment of the present application can be applied to various communication systems, for example, fifth generation (5) ^th generation, 5G) mobile communication system, such as New Radio (NR), sixth generation (6) ^th generation, 6G) mobile communication systems and future communication systems.

The technical scheme of the embodiment of the application can be applied to the technical fields of unmanned driving (unmanned driving), assisted Driving (ADAS), intelligent driving (intelligent driving), internet driving (connected driving), intelligent internet driving (intelligent network driving), automobile sharing (car sharing), intelligent automobiles (smart/interactive car), digital automobiles (digital car), unmanned automobiles (unmanned car), internet of vehicles (IoV), automatic automobiles (self-driving car), road coordination (cooperative information infrastructure, CVIS), intelligent transportation (intelligent traffic system, ITS), vehicle-mounted communication (vehicle communication), and the like.

In order to facilitate understanding of the solutions described in the embodiments of the present application, some terms that may be referred to in the embodiments of the present application are explained below:

1、V2X

the V2X technology is a key technology of an intelligent transportation system. The vehicle-to-vehicle communication system enables communication between vehicles, between vehicles and base stations and between base stations, so that a series of traffic information such as real-time road conditions, road information and pedestrian information is obtained, driving safety is improved, congestion is reduced, traffic efficiency is improved, vehicle-mounted entertainment information is provided, and the like.

2. Roadside V2X equipment

The roadside V2X device in the embodiment of the present application may include a roadside unit (RSU) and a roadside intelligent facility, where the roadside intelligent device includes a camera, and other visual sensors; optionally, the roadside intelligent device may further include radar sensors such as millimeter-wave radar and laser radar, intelligent traffic lights, intelligent sign identifiers, and the like.

The roadside V2X device processing apparatus may be connected to a camera or a camera in an area where the roadside V2X device processing apparatus is located by wire or wirelessly, and acquire images of roads and vehicles in the area. In addition, the roadside V2X device may also interact with vehicles within a communication range thereof, for example, the vehicle may report driving information of the vehicle to the roadside V2X device, and the roadside V2X device may also issue road traffic information (for example, information such as traffic condition prompts or road early warning) in an area where the vehicle is located to the vehicle.

3. Cloud server

The cloud server may also be described as a cloud management platform or cloud device. The cloud server in the embodiment of the application refers to the cloud server corresponding to the roadside V2X device, can communicate and interact with the roadside V2X device, can store vehicle information, transaction information and the like, and analyzes and processes the information. Optionally, the cloud server may also communicate directly with the vehicle.

4. Vehicle travel information

And the information related to the running process of the vehicle comprises the position of the vehicle and the running speed of the vehicle. Alternatively, the running information of the vehicle in the embodiment of the present application may further include acceleration of vehicle running and the like. Alternatively, the driving information of the vehicle may be acquired by an On Board Unit (OBU) of the vehicle itself.

At present, when a vehicle passes through a toll station on a road, vehicle information is generally proved. However, the existing evidence obtaining method is easy to cause the problems of failure in obtaining evidence or missed obtaining of evidence due to factors such as shielding of obstacles (such as other vehicles).

In order to solve the above problem, an embodiment of the present application provides a method for obtaining a vehicle evidence based on V2X, where position information of a vehicle is obtained through a roadside V2X device based on a V2X technology, and when it is detected that the vehicle is in an evidence obtaining target area based on a position of the vehicle, an instruction camera (or a camera) collects an image including the vehicle, and identifies vehicle identifiers such as a license plate number and the like based on the image, and binds a corresponding vehicle order, so that vehicle evidence obtaining information is obtained more accurately, and the problem of missing obtaining is avoided.

For example, as shown in fig. 1, a schematic system architecture applicable to the method for obtaining evidence of a V2X-based vehicle provided in the embodiment of the present application is shown. The system architecture includes a roadside V2X device 100, at least one vehicle 200, and a cloud server 300.

In some embodiments, the roadside V2X devices 100 (or roadside convergence sensing systems, roadside base stations, or smart base stations) are important infrastructure of an intelligent transportation vehicle road system, which may have toll transaction capability, communication capability, and information storage capability. The roadside V2X device 100 may include, but is not limited to, a roadside unit RSU101, at least one vision sensor (exemplified by a camera 102). The RSU101 can be arranged on one side or two sides of the gantry; at least one camera set 102 may be disposed above the gantry. For example, the RSU101 may correspond to a certain communication area, and when the vehicle enters the communication area, the RSU can perform information interaction with the roadside V2X device. The front side and/or the rear side of the portal frame may be provided with a forensics area, the forensics area may be located within a range of the communication area, and when the roadside V2X device 100 determines that the vehicle is located in the communication area, the camera 102 on the portal frame may be controlled to photograph the forensics area, so as to acquire photograph information including the vehicle.

The roadside V2X device 100 may establish communication connection with at least one camera 101 and at least one vehicle 200 through information performed by a wireless communication technology, so as to implement interconnection and intercommunication. The wireless communication technology may be any wireless network based on communication technology standards, such as Long Term Evolution (LTE) wireless network, vehicle networking (V2X), fifth generation mobile communication technology (the 5) ^th generation, 5G), and the like.

The roadside V2X device 100 may perform a toll transaction with a vehicle by using the toll transaction capability, establish transaction information corresponding to the vehicle in a transaction process, and store the transaction information to a preset storage space. During the forensics process, the roadside V2X device 100 may receive the forensics photograph sent by the camera 102. Optionally, the roadside V2X device 100 may further identify the vehicle 200 in the forensic photo, and bind the photo with the transaction information of the vehicle included in the photo according to the identification result, thereby obtaining more accurate forensic information.

In some embodiments, the vehicle 200 may include an on-board unit (ORU) (or on-board V2X terminal) capable of communicative connection with the roadside V2X device 100 through the on-board V2X terminal. For example, the vehicle 200 may send the vehicle driving information and the identity information of the vehicle to the roadside V2X device 100 through a broadcast message, so that the roadside V2X device 100 determines the location of the vehicle. The vehicle 200 in the embodiment of the present application may be a general-purpose vehicle, or may also be an autonomous vehicle (or an unmanned vehicle, a computer-driven vehicle, or a wheeled mobile robot), and the present application does not limit the specific type of the vehicle.

In some embodiments, the system architecture in the embodiments of the present application may further include a cloud server 300 having communication capabilities and information analysis and processing capabilities. In one implementation, after acquiring the transaction information and the photo information of the vehicle 200, the roadside V2X device 100 may send these information to the cloud server 300, and perform data analysis and processing by the cloud server 300 to acquire the forensic information of the vehicle.

Exemplarily, as shown in fig. 2, a schematic structural diagram of a roadside V2X device 100 provided in an embodiment of the present application is shown. The roadside V2X device 100 may correspond to the roadside V2X device 100 in fig. 1. Illustratively, the roadside V2X device 100 may include at least a communication system 1001, a computing system 1002, and a trading system 1003.

In some embodiments, the communications system 1001 may include at least one antenna, a wireless communications module, a modem processor, and the like. Wherein the antenna may be used for transmitting and/or receiving electromagnetic wave signals. Each antenna in the roadside V2X device 100 may be used to cover a single or multiple communication bands. The wireless communication module can receive the electromagnetic wave signal by the antenna, filter and amplify the received electromagnetic wave signal, and transmit the electromagnetic wave signal to the modem processor for demodulation. The wireless communication module can also amplify the signal modulated by the modulation and demodulation processor and convert the signal into electromagnetic wave to radiate the electromagnetic wave through the antenna. In one possible implementation, the communication system 1001 of the roadside V2X device 100 may be used to receive an interactive message sent by an onboard V2X terminal (e.g., OBU) in the vehicle 300. The communication system 1001 of the roadside V2X device 100 may also be configured to send an instruction message to road devices such as at least one camera group 200, and control the camera group to perform a photographing operation; a forensic photograph sent by at least one camera assembly 200 may also be received.

In addition, in other embodiments, if the operation of processing the analysis data to obtain the transaction evidence is performed by the cloud server 300, the roadside V2X device 100 may also perform communication interaction with the cloud server 300 through the communication system 1001, such as sending transaction information of the vehicle, a evidence-taking photo, and the like to the cloud server 300. The communication process between the communication system 1001 and other communication devices may be performed based on an existing communication protocol, which is not limited in this embodiment of the present application.

In some embodiments, if the operation of processing the analysis data to obtain the evidence of the transaction is performed by the roadside V2X device 100, the computing system 1002 may be responsible for performing analysis processing on the transaction information, the forensic photograph, and the like to obtain the corresponding evidence of the vehicle. For example, after receiving the forensic photo collected by at least one group of cameras 200, the communication system 1001 may transmit a data stream of the forensic photo to the computing system 1002, and after obtaining the forensic photo, the computing system 1002 may obtain, according to the obtained vehicle identity information, transaction information matching the identity information of the vehicle from the storage space, and associate the transaction information with the forensic photo to obtain a transaction evidence corresponding to the vehicle.

In addition, the computing system 1002 may be further configured to control the camera set 200 to take a forensic photograph after determining that the vehicle enters the forensic region.

In some embodiments, the transaction system 1003 may be used to perform transactions with the vehicle V2X terminal and create transaction information. For example, when a vehicle enters the communication range of the roadside V2X device 100, the transaction system 1003 may create transaction information (e.g., a road toll order) corresponding to the vehicle, where the transaction information may include identity information of the vehicle (e.g., a license plate number of the vehicle), a timestamp of the transaction creation, a toll site name, and the like.

It should be noted that the system included in the roadside V2X device 100 shown in fig. 2 is only an example, and in practical applications, the roadside V2X device 100 may include more or less systems than those shown in the drawings. The above-listed systems may be implemented in hardware, software, or a combination of software and hardware.

According to the method for obtaining the evidence of the vehicle based on the V2X, after the transaction is established with the vehicle through the roadside V2X equipment and the transaction information of the vehicle is obtained, the camera is controlled to shoot the evidence obtaining photo according to the position of the vehicle in the interactive message of the vehicle, the evidence obtaining photo is bound with the corresponding transaction information, and finally evidence obtaining corresponding to the vehicle is obtained.

The method for obtaining the vehicle evidence based on the V2X can be suitable for application scenes that the vehicle needs to obtain the evidence after passing through a road toll gate to perform toll transaction and the like. For convenience of understanding, the method for V2X-based vehicle forensics provided by the embodiment of the present application is described below with reference to an application scenario diagram shown in fig. 3.

As shown in fig. 3, in one possible scenario, a plurality of sets of cameras are disposed above a gantry disposed in a road, wherein each set of cameras may include at least one camera; roadside V2X equipment RSU is arranged on two sides of the portal. The front side of the portal (vehicle-in direction) and the back side of the portal (vehicle-out direction) may include a communication region of the RSU, including a forensics region within the communication region. The portal communication area refers to an area in a road where vehicles can perform wireless communication with the RSU through the vehicle-mounted V2X terminal. The forensics region refers to a region for taking pictures of the vehicle to obtain forensics, the region can be an image acquisition region of a camera or a region covered by an image acquisition range of the camera, the forensics region can cover a plurality of lanes, and each group of cameras can correspond to one forensics region.

In one possible scenario, during the driving process of the vehicle, a message (e.g., a Basic Safety Message (BSM)) may be periodically broadcast, where the message is used to indicate the driving information of the vehicle, such as the vehicle location, the driving speed of the vehicle, and the identity information of the vehicle. When the vehicle enters the communication range of the RSU, the vehicle establishes transaction with the RSU through the vehicle-mounted V2X terminal; the RSU generates transaction information (including vehicle identification information (such as a license plate number) corresponding to the vehicle), and stores the transaction information in a preset storage space. Meanwhile, the RSU also receives a broadcast message sent by the vehicle through the V2X terminal, and the RSU can acquire the position of the vehicle and the identity information of the vehicle based on the broadcast message. After the RSU determines that the vehicle enters the evidence obtaining area according to the position of the vehicle and the range of the evidence obtaining area, the RSU can control a camera corresponding to the evidence obtaining area to obtain evidence obtaining shooting and obtain evidence obtaining photos. And then, acquiring the transaction information of the vehicle matched with the identity information from the storage space according to the identity information of the vehicle, and binding the evidence obtaining photo and the transaction information to obtain the transaction evidence of the vehicle.

According to the method for obtaining the evidence of the vehicle based on the V2X, after the transaction is established with the vehicle through the roadside V2X equipment and the transaction information of the vehicle is obtained, the camera is controlled to shoot the evidence obtaining photo according to the position of the vehicle in the information interactive with the vehicle, the evidence obtaining photo is bound with the corresponding transaction information, and finally evidence obtaining corresponding to the vehicle is obtained.

Illustratively, as shown in fig. 4, a schematic flowchart of a method for V2X-based vehicle forensics provided by an embodiment of the present application is shown. The method may specifically comprise the steps of:

s401, when the vehicle enters the communication range of the roadside V2X device, the vehicle carries out transaction with a vehicle-mounted V2X terminal of the vehicle, transaction information is stored in a preset storage space, and the transaction information comprises identity information of the vehicle.

Wherein, the vehicle can be installed on-vehicle V2X terminal, and this on-vehicle V2X terminal can be the on-vehicle unit OBU. The roadside V2X devices may be disposed on a portal of the road, which may be disposed, for example, at a road toll station, such as an entrance of an expressway, an exit of an expressway, or the like.

In some embodiments, after the vehicle enters the communication range of the roadside V2X device, the roadside V2X device may establish a wireless connection with the vehicle, and perform a transaction with an on-board V2X terminal of the vehicle through the wireless connection. The transaction may include, for example, a transaction created when the vehicle enters the highway, or the transaction may include a transaction when the vehicle exits the highway.

In some embodiments, when the roadside V2X device first transacts with a vehicle, the roadside V2X device may create transaction information corresponding to the vehicle. The transaction information may include, for example, identity information of the vehicle (e.g., license plate number, etc.), a timestamp created by the transaction, location information of the transaction (e.g., name of toll station, road name, geographic coordinates, etc.), owner information corresponding to the vehicle, and so on. For example, one possible transaction message may be as shown in table 1:

TABLE 1

License plate number	Transaction creation time	Location information	Owner information
				Jing AXXXX	2021-09-14 11:00:00	XXX toll station	XXX

It should be understood that the transaction information shown in table 1 is only an example, and in practical applications, the transaction information may include more or less information than the above list, and the embodiment of the present application is not limited thereto.

In some embodiments, the roadside V2X device may store the created transaction information to a preset storage space, where the storage space may be, for example, a local memory space of the roadside V2X device, or the storage space may also be, for example, a storage space on a cloud server side corresponding to the roadside V2X device.

S402, receiving an interactive message sent by the vehicle-mounted V2X terminal, wherein the interactive message comprises the position and the identity information of the vehicle.

The interactive message may be, for example, a broadcast message periodically sent by the vehicle-mounted V2X terminal, or may also be a message unicast-sent by the vehicle-mounted V2X terminal to the roadside V2X device based on the communication protocol. Illustratively, the interaction message may be a BSM message. The interactive message includes identity information of the vehicle, and driving information of the vehicle, wherein the driving information of the vehicle may be a position of the vehicle, a driving speed, an acceleration, and the like of the vehicle.

In some embodiments, the roadside V2X device may receive the interactive message sent by the vehicle-mounted V2X terminal, and obtain the real-time position and the driving speed of the vehicle according to the interactive message,

and S403, checking the vehicle for multiple times according to the position of the vehicle, and determining that the vehicle enters a forensics area, wherein the forensics area is located in the communication range of the roadside V2X equipment.

It should be noted that, in the embodiment of the present application, the execution subject of steps S403 to S406 may be a roadside V2X device or a cloud server corresponding to the roadside V2X device. When the execution subject of step S403 is the cloud server, step S403 may further include: and the roadside V2X equipment sends an interactive message to the cloud server so that the cloud server determines the position of the user according to the interactive message.

In some embodiments, when this step is performed by the roadside V2X device, the roadside V2X device may determine a real-time location of the vehicle according to the location of the vehicle indicated by the interactive message, and determine whether the vehicle enters the forensics area according to a range of the forensics area, wherein when the real-time location of the vehicle is within the range of the forensics area, the roadside V2X device may determine that the vehicle enters the forensics area.

In other embodiments, when the step is performed by the cloud server, the cloud server may determine the real-time location of the vehicle according to the vehicle location indicated by the interactive message, and determine whether the vehicle enters the forensics area according to a range of the forensics area, where the cloud server may determine that the vehicle enters the forensics area when the real-time location of the vehicle is within the range of the forensics area.

For example, the vehicle position may refer to geographic coordinates (X, y) of the vehicle, and after the roadside V2X device or the cloud server acquires the interactive message, it may be determined whether the vehicle position (X, y) included in the interactive message belongs to a coordinate range of a pre-acquired forensics area, and if the vehicle position belongs to the coordinate range of the forensics area, it may be determined that the vehicle enters the forensics area.

In some embodiments, to more accurately determine that a vehicle enters the forensics zone, the roadside V2X device may perform multiple verifications based on the location of the vehicle to determine that the vehicle enters the forensics zone. For example, when the vehicle positions in the multiple interactive messages continuously acquired by the roadside V2X device are all within the forensics area, the roadside V2X device may determine that the vehicle enters the forensics area. It should be understood that, in the embodiment of the present application, the roadside V2X device may also perform one-time verification on the vehicle, and the number of times of verification is not limited in the present application.

Alternatively, the range of the forensics area may be divided in various ways, for example, the range may be divided based on shooting parameters (such as shooting angle, shooting distance, etc.) of the camera, or may also be divided autonomously by a manager according to actual needs. For example, as shown in fig. 3, the forensics area may be disposed on two sides of the portal, that is, the forensics area in front of the portal may refer to the forensics area through which the vehicle passes when driving to the portal, and the forensics area behind the portal may refer to the forensics area through which the vehicle passes when driving away from the portal; alternatively, the forensics region may also be disposed on one side of the portal, that is, only the forensics region in front of the portal or only the forensics region behind the portal.

In some embodiments, the forensics area may cover multiple lanes. When multiple camera sets are provided on the gantry (as shown in fig. 3), each forensics area may correspond to a set of cameras, where a set of cameras may include at least one camera. The roadside V2X device or the cloud server may acquire, in advance, camera information corresponding to different forensics regions, and the camera information may include identification and communication information of the camera group. For example, camera information corresponding to one possible different forensics region may be as shown in table 2:

TABLE 2

Evidence obtaining area identification	Camera identification	Communicating information
			A1	C1	XXXXXX
A2	C2	XXXXXXX

In some embodiments, the manner in which the roadside V2X device or the cloud server obtains the forensics area range and the camera information may include: input by a manager, or obtained by other devices, etc., which are not limited in this application.

And S404, after the vehicle is positioned in the evidence obtaining target area, controlling a camera on the door frame to shoot the evidence obtaining area to obtain an evidence obtaining photo.

In some embodiments, after the roadside V2X device or the cloud server determines that the vehicle enters the forensics area through the step S403, the camera on the portal may be controlled to shoot the forensics area.

For example, when the camera is controlled by the roadside V2X device to take a photograph, the process may include: after the roadside V2X device determines that the vehicle enters the forensics area, the roadside V2X device may send an indication message to a corresponding camera according to camera information corresponding to the forensics area where the vehicle is located, so as to indicate the camera to shoot the forensics area.

Alternatively, when the camera is controlled by the cloud server to perform shooting, the process may include: after the cloud server determines that the vehicle enters the evidence obtaining area, the cloud server can send an indication message to a corresponding camera through roadside V2X equipment according to camera information corresponding to the evidence obtaining area where the vehicle is located so as to indicate the camera to shoot the evidence obtaining area.

In some embodiments, the camera may send the captured forensic photograph to a roadside V2X device. Optionally, the roadside V2X device may further send the forensic photo to a cloud server.

S405, acquiring target transaction information from the transaction information in the preset storage space according to the identity information in the interactive message.

The target transaction information refers to the transaction information corresponding to the vehicle matched with the identity information in the interactive message.

In some embodiments, the roadside V2X device or the cloud server may obtain identity information of the vehicle according to the interaction information, and then may retrieve transaction information matching the identity information in a preset storage space to obtain target transaction information. Illustratively, the process may include: the roadside V2X equipment or the cloud server acquires the identity information of the vehicle according to the interaction information; then comparing the identity information of the vehicle with the identity information in the transaction information in the preset storage space; and taking the transaction information matched with the identity information of the vehicle in the interactive information as target transaction information.

S406, the evidence obtaining photo is associated with the target transaction information to obtain the transaction evidence of the vehicle.

In some embodiments, the specific manner of associating the forensic photograph with the target transaction information may include: and storing the evidence-obtaining photo into a file where the target transaction information is located, and integrating the evidence-obtaining photo with the target transaction information to obtain transaction evidence comprising the transaction information, the area and the evidence-obtaining photo.

It should be noted that, the above embodiment is described by taking a forensic photo with a camera as an example, in other embodiments, a camera may also be disposed on the gantry, and the forensic photo may also be a forensic video, which is not limited in this application embodiment.

In order to better understand the method for obtaining evidence of a V2X-based vehicle provided in the embodiments of the present application, a more specific description will be given below of a process for taking a forensic photo.

Illustratively, as shown in fig. 5, a schematic flow chart of another V2X-based vehicle forensics method provided in the embodiments of the present application is shown. The execution subject of the process may be a roadside V2X device or may also be a cloud server, and specifically may include the following steps:

s501, when a vehicle drives to the portal and enters a forensics area in front of the portal, the camera is controlled to shoot the forensics area in front of the portal, and a first forensics picture is obtained.

And S502, when the vehicle drives away from the door frame and drives into the evidence obtaining area behind the door frame, controlling the camera to shoot the evidence obtaining area behind the door frame to obtain a second evidence obtaining photo.

And S503, associating the first evidence obtaining photo and the second evidence obtaining photo with the target transaction information to be used as the transaction evidence of the vehicle.

In some embodiments, the roadside V2X device or the cloud server may determine that the vehicle is driving toward the portal and into the forensics area in front of the portal according to the driving speed of the vehicle included in the interactive message; or, the roadside V2X device or the cloud server may determine that the vehicle is driven off the portal and into the forensics area behind the portal according to the vehicle position and the driving speed of the vehicle included in the interactive message. For example, when the driving direction is determined to be toward the portal according to the driving speed of the vehicle and the forensics area of the vehicle in front of the portal is determined according to the position information of the vehicle, it may be determined that the vehicle is driven toward the portal and enters the forensics area in front of the portal. For another example, when the driving direction is determined to be away from the portal according to the driving speed of the vehicle, and the forensics area behind the portal is determined according to the position information of the vehicle, it may be determined that the vehicle is driven toward the portal and enters the forensics area behind the portal.

It should be understood that in some possible situations, when a camera takes a forensic area, the forensic area may include multiple vehicles, and the forensic picture may include other vehicles. For this situation, taking the example that the transaction information includes a license plate, the method for obtaining a vehicle evidence based on V2X provided in this embodiment may further include the process shown in fig. 6.

S601, identifying the license plate in the evidence-taking photo.

S602, acquiring other target transaction information from the transaction information in the preset storage space according to the license plate; the other target transaction information is different from the vehicle corresponding to the target transaction information.

And S603, associating the evidence-obtaining photo with other target transaction information to obtain the transaction evidence of the vehicle corresponding to the other target transaction information.

In some embodiments, after the roadside V2X device or the cloud server obtains the forensic photo, the license plate of the vehicle therein may be identified according to the forensic photo. When the photo further includes images of other vehicles, the roadside V2X device or the cloud server may further recognize license plates of the other vehicles, where the other vehicles may include vehicles that do not send the interaction message to the roadside V2X device. And then, the matched transaction information can be inquired from the preset storage space according to the license plates of other vehicles, and the transaction information is also the transaction information respectively corresponding to the other vehicles. Then, the evidence-obtaining photo can be respectively associated with the transaction information corresponding to other vehicles, so as to obtain the transaction evidence corresponding to other vehicles.

For example, taking the scenario shown in fig. 7 as an example, after the current vehicle 1 enters the communication range of the roadside V2X device (such as the RSU shown in fig. 7), the transaction is performed with the RSU, and the RSU acquires transaction information corresponding to the vehicle 1. And then, the RSU receives the interactive message sent by the vehicle 1, and checks for multiple times according to the vehicle position and the vehicle running speed in the interactive message to determine that the vehicle enters the evidence obtaining area of the camera. Then, the RSU may control the camera 1 above the door frame to shoot the forensics area where the vehicle 1 is located, and obtain the forensics picture, which includes the images of the vehicle 2 and the vehicle 3 because the forensics area where the vehicle 1 is located also includes the vehicle 2 and the vehicle 3. Then, the RSU (or the cloud server) may identify the license plate in the forensic photo to obtain the license plates of the vehicle 1, the vehicle 2, and the vehicle 3, and then query whether there is matching transaction information (i.e., transaction information corresponding to the vehicle 1 and the vehicle 2) from a preset storage space according to the license plate 2 and the license plate 3, and if there is matching transaction information, associate the forensic photo with the transaction information corresponding to the vehicle 1 and the vehicle 2, respectively, and obtain transaction evidence of the vehicle 1 and the vehicle 2.

It should be noted that the process of acquiring the corresponding transaction evidence of the vehicle 1 can be referred to the description in the above embodiment 4. Alternatively, the corresponding transaction evidence of the vehicle 1 may also be obtained through the process in the embodiment of fig. 6.

It should be noted that, in the present application, only a license plate is taken as an example of an identifier of a vehicle, and in practical applications, any information that can uniquely determine an identity of the vehicle may be used to query transaction information corresponding to the vehicle after being identified by an RSU (or a cloud server), which is not limited in this embodiment of the present application.

According to the method for vehicle forensics based on V2X provided by the embodiment of the application, when the forensics photo comprises the images of other vehicles, the license plates of the other vehicles are identified, the transaction information corresponding to the other vehicles is obtained according to the identification result, then the forensics photo is respectively associated with the transaction information, the transaction evidence corresponding to the other vehicles is obtained, the forensics evidence of a plurality of vehicles can be perfected by fully utilizing the information of the forensics photo, and therefore the vehicle forensics efficiency is improved.

Exemplarily, as shown in fig. 8, a schematic diagram of a hardware structure of a roadside V2X device provided in the embodiment of the present application is shown. The roadside V2X device 800 may include a communication interface 801, a processor 802, a memory 803, a camera 804, and a bus 805.

The communication interface 801 is used for communicating with other communication devices; a camera 804 for taking a forensic photograph according to the instructions; a memory 803 for storing computer readable instructions; a processor 802 for executing the computer-readable instructions.

In some embodiments, the computer readable instructions, when executed, cause the roadside V2X device to perform the steps of: when a vehicle enters a communication range of roadside V2X equipment, trading with a vehicle-mounted V2X terminal of the vehicle, and storing trading information into a preset storage space; the transaction information includes identity information of the vehicle; receiving an interactive message sent by the vehicle-mounted V2X terminal, wherein the interactive message comprises the position and identity information of the vehicle; checking the vehicle for multiple times according to the position of the vehicle, and determining that the vehicle enters a forensics area; the forensics region is located within a communication range of the roadside V2X device; when the vehicle is located in a forensics target area, controlling a camera on a portal frame to shoot the forensics area to obtain a forensics picture; acquiring target transaction information from the transaction information in the preset storage space according to the identity information in the interactive message; and associating the evidence-obtaining photo with the target transaction information to obtain the transaction evidence of the vehicle.

In some embodiments, the computer readable instructions, when executed, cause the roadside V2X device to perform the steps of: identifying a license plate in the forensic photo; acquiring other target transaction information from the transaction information in the preset storage space according to the license plate; the other target transaction information is different from the vehicle corresponding to the target transaction information; and associating the evidence-obtaining photo with the other target transaction information to obtain the transaction evidence of the vehicle corresponding to the other target transaction information.

In some embodiments, the forensics area covers a plurality of lanes, each forensics area corresponding to a set of cameras including at least one camera.

In some embodiments, evidence obtaining areas are arranged on both sides of the portal, and the shooting range of the camera on the portal corresponds to the evidence obtaining areas on both sides of the portal; the computer readable instructions, when executed, cause the roadside V2X device to perform the steps of: when a vehicle drives towards the portal and enters a forensics area in front of the portal, controlling a camera to shoot the forensics area in front of the portal to obtain a first forensics picture; when the vehicle drives away from the door frame and drives into a evidence obtaining area behind the door frame, controlling a camera to shoot the evidence obtaining area behind the door frame to obtain a second evidence obtaining photo; and associating the first evidence-obtaining photo and the second evidence-obtaining photo with the target transaction information to be used as the transaction evidence of the vehicle.

In some embodiments, the computer readable instructions, when executed, cause the roadside V2X device to perform the steps of: determining that the vehicle drives to the portal frame and enters a forensics area in front of the portal frame according to the position of the vehicle and the driving speed of the vehicle, wherein the position of the vehicle is included in the interactive message; or determining that the vehicle drives away from the portal and drives into the evidence obtaining area behind the portal according to the vehicle position and the vehicle driving speed included in the interactive message.

In some embodiments, the computer readable instructions, when executed, cause the roadside V2X device to perform the steps of: comparing the identity information of the vehicle with the identity information in the transaction information in the preset storage space; and taking the identity information matched with the identity information of the vehicle in the transaction information as the target transaction information.

Exemplarily, as shown in fig. 9, a hardware structure diagram of a cloud server provided in the embodiment of the present application is shown. The cloud server 900 may include a processor 901, memory 902, a communication interface 903, and a bus 904.

The communication interface 903 is used for communicating with other communication devices; a memory 902 for storing computer readable instructions; a processor 901 for executing the computer readable instructions.

In some embodiments, the computer readable instructions, when executed, cause the cloud server to perform the steps of: checking the vehicle for multiple times according to the position of the vehicle, and determining that the vehicle enters a forensics area; the forensics area is located within a communication range of the roadside V2X device; when the vehicle is located in a forensics target area, controlling a camera on a portal frame to shoot the forensics area to obtain a forensics picture; acquiring target transaction information from the transaction information in the preset storage space according to the identity information in the interactive message; and associating the evidence-obtaining photo with the target transaction information to obtain the transaction evidence of the vehicle.

In some embodiments, the computer readable instructions, when executed, cause the cloud server to perform the steps of: identifying a license plate in the forensic photo; acquiring other target transaction information from the transaction information in the preset storage space according to the license plate; the other target transaction information is different from the vehicle corresponding to the target transaction information; and associating the evidence-obtaining photo with the other target transaction information to obtain the transaction evidence of the vehicle corresponding to the other target transaction information.

In some embodiments, the forensics zone covers multiple lanes, each forensics zone corresponding to a set of cameras including at least one camera.

In some embodiments, the computer readable instructions, when executed, cause the cloud server to perform the steps of: determining that the vehicle drives to the portal frame and enters a forensics area in front of the portal frame according to the position of the vehicle and the driving speed of the vehicle, wherein the position of the vehicle is included in the interactive message; or determining that the vehicle drives away from the portal and drives into the evidence obtaining area behind the portal according to the vehicle position and the vehicle driving speed included in the interactive message.

In some embodiments, the computer readable instructions, when executed, cause the cloud server to perform the steps of: comparing the identity information of the vehicle with the identity information in the transaction information in the preset storage space; and taking the identity information matched with the identity information of the vehicle in the transaction information as the target transaction information.

The embodiment of the application further provides a system based on V2X vehicle evidence obtaining, including cloud server, roadside V2X equipment and vehicle, on-vehicle V2X terminal is installed to the vehicle, the vehicle be used for through on-vehicle V2X terminal with roadside V2X equipment carries out the transaction, and generate transaction information, the cloud server be used for the function of the method based on V2X vehicle evidence obtaining on the cloud server.

Embodiments of the present application also provide a computer-readable storage medium, which includes computer instructions, when executed in a computer, enable the method for V2X-based vehicle forensics described above to be implemented.

Embodiments of the present application further provide a computer product, which includes computer instructions that, when executed in a computer, enable the method for obtaining evidence of a V2X-based vehicle as described above to be implemented.

In the above embodiments, the implementation may be wholly or partially realized by software, hardware, firmware, or any combination thereof. When implemented in software, may be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer commands. The procedures or functions described in accordance with the embodiments of the present application are generated in whole or in part when the computer program commands are loaded and executed on a computer. The computer may be a general purpose computer, a special purpose computer, a network of computers, or other programmable device. The computer commands may be stored in or transmitted through a computer-readable storage medium. The computer commands may be transmitted from one website site, computer, server, or data center to another website site, computer, server, or data center via wired (e.g., coaxial cable, fiber optic, digital subscriber line) or wireless (e.g., infrared, wireless, microwave, etc.). The computer-readable storage medium can be any available medium that can be accessed by a computer or a data storage device, such as a server, a data center, etc., that includes one or more of the available media. The usable medium may be a magnetic medium (e.g., floppy disk, hard disk, magnetic tape), an optical medium (e.g., DVD), or a semiconductor medium (e.g., solid State Disk (SSD)), among others.

One of ordinary skill in the art will appreciate that all or part of the processes in the methods of the above embodiments may be implemented by a computer program that can be executed by associated hardware, the computer program can be stored in a computer-readable storage medium, and the processes when executed can include the processes of the above method embodiments. And the aforementioned storage medium includes: various media capable of storing program codes, such as ROM or RAM, magnetic or optical disks, etc.

The above description is only a specific implementation of the embodiments of the present application, but the scope of the embodiments of the present application is not limited thereto, and any changes or substitutions within the technical scope disclosed in the embodiments of the present application should be covered by the scope of the embodiments of the present application. Therefore, the protection scope of the embodiments of the present application shall be subject to the protection scope of the claims.

Claims

1. A method of V2X based vehicle forensics, the method comprising:

when a vehicle enters a communication range of roadside V2X equipment, trading with a vehicle-mounted V2X terminal of the vehicle, and storing trading information into a preset storage space; the transaction information includes identity information of the vehicle;

receiving an interactive message sent by the vehicle-mounted V2X terminal, wherein the interactive message comprises the position and identity information of the vehicle;

checking the vehicle for multiple times according to the position of the vehicle, and determining that the vehicle enters a forensics area; the forensics region is located within a communication range of the roadside V2X device;

when the vehicle is located in a forensics target area, controlling a camera on a portal frame to shoot the forensics area to obtain a forensics picture;

acquiring target transaction information from the transaction information in the preset storage space according to the identity information in the interactive message;

and associating the evidence-obtaining photo with the target transaction information to obtain the transaction evidence of the vehicle.

2. The method of claim 1, wherein the transaction information includes a license plate, the method further comprising:

identifying the license plate in the evidence-taking photo;

acquiring other target transaction information from the transaction information in the preset storage space according to the license plate; the other target transaction information is different from the vehicle corresponding to the target transaction information;

and associating the evidence-obtaining photo with the other target transaction information to obtain the transaction evidence of the vehicle corresponding to the other target transaction information.

3. The method of claim 2, wherein the forensics regions cover a plurality of lanes, each forensics region corresponding to a set of cameras, the set of cameras including at least one camera.

4. The method according to claim 1, wherein evidence obtaining areas are arranged on two sides of the portal, and shooting ranges of the cameras on the portal correspond to the evidence obtaining areas on the two sides of the portal;

work as behind the vehicle is located the target area of collecting evidence, the camera on the control portal is right the area of collecting evidence is shot, obtains the photo of collecting evidence, includes:

when a vehicle drives to the door frame and enters a forensics area in front of the door frame, controlling a camera to shoot the forensics area in front of the door frame to obtain a first forensics picture;

when the vehicle drives away from the door frame and drives into a evidence obtaining area behind the door frame, controlling a camera to shoot the evidence obtaining area behind the door frame to obtain a second evidence obtaining photo;

the associating the evidence-obtaining photo with the target transaction information to obtain the transaction evidence of the vehicle comprises:

and associating the first forensics photo and the second forensics photo with the target transaction information to serve as the transaction evidence of the vehicle.

5. The method of any of claims 1-4, wherein the interactive message further comprises a travel speed of the vehicle, the method further comprising:

determining that the vehicle drives to the portal frame and enters a forensics area in front of the portal frame according to the position of the vehicle and the driving speed of the vehicle, wherein the position of the vehicle is included in the interactive message; or,

and determining that the vehicle drives away from the portal and drives into a forensics area behind the portal according to the vehicle position and the driving speed of the vehicle, wherein the vehicle position and the driving speed are included in the interactive message.

6. The method according to any one of claims 1 to 5, wherein the obtaining target transaction information corresponding to the vehicle from the transaction information in the preset storage space according to the identity information of the vehicle in the interaction message specifically includes:

comparing the identity information of the vehicle with the identity information in the transaction information in the preset storage space;

and taking the identity information matched with the identity information of the vehicle in the transaction information as the target transaction information.

7. A roadside V2X device, comprising:

one or more communication interfaces;

one or more memories for storing computer-readable instructions;

one or more processors for executing the computer-readable instructions, which when executed, cause the functionality of the method of any of claims 1 to 6 to be implemented on the roadside V2X device.

8. A cloud server, comprising:

one or more communication interfaces;

one or more memories for storing computer-readable instructions;

one or more processors configured to execute the computer-readable instructions, which when executed, cause the functionality of the method of any of claims 1-6 on the cloud server to be implemented.

9. A system based on V2X vehicle forensics, which is characterized by comprising a cloud server, a V2X roadside V2X device and a vehicle, wherein the vehicle is provided with an on-board V2X terminal, the vehicle is used for conducting transaction with the roadside V2X device through the on-board V2X terminal and generating transaction information, and the cloud server is used for realizing the functions of the method according to any one of claims 1 to 6 on the cloud server.

10. A computer-readable storage medium comprising computer instructions that, when executed, cause the method of any one of claims 1 to 6 to be performed.