WO2023024722A1 - 通信能力信息生成方法、使用方法及装置 - Google Patents

通信能力信息生成方法、使用方法及装置 Download PDF

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Publication number
WO2023024722A1
WO2023024722A1 PCT/CN2022/104408 CN2022104408W WO2023024722A1 WO 2023024722 A1 WO2023024722 A1 WO 2023024722A1 CN 2022104408 W CN2022104408 W CN 2022104408W WO 2023024722 A1 WO2023024722 A1 WO 2023024722A1
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WO
WIPO (PCT)
Prior art keywords
communication
roadside
communication capability
area
information
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Application number
PCT/CN2022/104408
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English (en)
French (fr)
Inventor
费雯凯
刘建琴
伍勇
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华为技术有限公司
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Publication of WO2023024722A1 publication Critical patent/WO2023024722A1/zh

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    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F16/00—Information retrieval; Database structures therefor; File system structures therefor
    • G06F16/20—Information retrieval; Database structures therefor; File system structures therefor of structured data, e.g. relational data
    • G06F16/29—Geographical information databases
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/09—Arrangements for giving variable traffic instructions
    • G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
    • G08G1/0967—Systems involving transmission of highway information, e.g. weather, speed limits
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/02—Services making use of location information
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/02—Services making use of location information
    • H04W4/021—Services related to particular areas, e.g. point of interest [POI] services, venue services or geofences
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/30—Services specially adapted for particular environments, situations or purposes
    • H04W4/40—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P]
    • H04W4/44—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P] for communication between vehicles and infrastructures, e.g. vehicle-to-cloud [V2C] or vehicle-to-home [V2H]

Definitions

  • the present application relates to the technical fields of intelligent transportation, intelligent driving, and maps, and in particular to a method for generating communication capability information, a method for using it, and a device.
  • Automated or assisted driving vehicles can use high-definition maps as basic driving reference information.
  • High-precision maps are different from traditional navigation maps.
  • high-precision maps there are some information layers that are more accurate than general navigation maps, thus reflecting more comprehensive road information.
  • Information layers in HD maps are divided into static layers and dynamic layers. Among them, the static layer is used to reflect static information such as specific lane models; the dynamic layer is used to reflect dynamic information such as traffic lights and road conditions.
  • the communication information provided by roadside equipment can be used as reference information for intelligent driving decision-making and control. Therefore, the communication capability of roadside equipment is an important factor affecting the safety of intelligent driving.
  • an embodiment of the present application provides a method for generating communication capability information, the method including: acquiring first communication status indication information, the first communication status indication information being used to indicate that multiple terminal devices operate in multiple The location point establishes a communication connection with the first roadside device; according to the first communication state indication information, determine a first distribution of the plurality of location points around the first roadside device; according to the first distribution In this case, generating first communication capability information of the first roadside device, where the first communication capability information is used to indicate the communication capability of the first roadside device.
  • the area that the communication capability of the first roadside device can reach is determined, so that it is convenient and accurate Obtain the communication range of the first roadside device accurately.
  • the method further includes: storing the first communication capability information as map data.
  • the map information can be enriched to provide assistance for intelligent driving decision-making and control.
  • the method further includes: acquiring second communication status indication information, the The second communication state indication information is used to instruct the first at least one terminal device to establish a communication connection with the second roadside device at the first at least one location point, and the first at least one location point is a distance from the first roadside device The distance is less than a preset threshold; according to the second communication state indication information, determine a second distribution of the first at least one location point around the first roadside device; according to the first distribution, Generating the first communication capability information of the first roadside device includes: generating the first communication capability information according to the first distribution situation and the second distribution situation.
  • the second distribution reflects the location points that actually exist around the first roadside device that can establish a communication connection with the first roadside device
  • the first distribution reflects the fact that the first roadside device has actually established a communication connection with the first roadside device.
  • the location point at which the first roadside device actually establishes the communication connection and the location point actually existing around the first roadside device that can be established with the first roadside device can be obtained.
  • the differences in the location points of the communication connections can determine in which areas the first roadside device can communicate or has a strong communication capability, and in which areas the first roadside device cannot communicate or has a poor communication capability.
  • the method further includes: acquiring third communication status indication information, the The third communication state indication information is used to instruct the second at least one terminal device to establish a communication connection with the server at the second at least one location point, and the second at least one terminal device has the ability to connect to the first roadside device, so The distance between the second at least one location point and the first roadside device is less than a preset threshold; according to the third communication status indication information, it is determined that the second at least one location point is around the first roadside device the third distribution situation; the generating the first communication capability information of the first roadside device according to the first distribution situation includes: according to the first distribution situation and the third distribution situation, generating the The first communication capability information.
  • the third distribution reflects the actual locations around the first roadside device that can establish a communication connection with the first roadside device, and the first distribution reflects the fact that the first roadside device has actually established a communication connection with the first roadside device.
  • the location point of the communication connection For the location point of the communication connection, according to the first distribution situation and the third distribution situation, it is possible to obtain the location point where the first roadside device actually establishes a communication connection and the location points that actually exist around the first roadside device that can be established with the first roadside device.
  • the differences in the location points of the communication connections can determine in which areas the first roadside device can communicate or has a strong communication capability, and in which areas the first roadside device cannot communicate or has a poor communication capability.
  • the first communication capability information is used to indicate the first area Communication capabilities with the first roadside device in the first area.
  • the accuracy of the communication capability can be improved by determining the communication capability of the first roadside device by region.
  • the The first communication capability information is used to indicate the first scenario, the first area, and the communication capabilities of the first roadside device in the first scenario and in the first area.
  • the accuracy of the communication capability can be improved by determining the communication capability of the first roadside device by region and scenario.
  • the first communication state indication information includes: the multiple The location information of a location point, the working status information of the multiple communication modules in the multiple terminal equipment, the connection status information between the multiple terminal equipment and the first roadside equipment, the information of the first roadside equipment Identification information and time information.
  • the location of the terminal device can be determined based on the location information, and whether the terminal device has the ability to establish a communication connection with the first roadside device can be determined based on the working status information of the communication module.
  • the connection status information of the side equipment can determine whether the terminal equipment has actually established a communication connection with the first roadside equipment, therefore, based on the first communication status information, it can be determined at which locations a plurality of terminal equipment have established with the first roadside equipment communication connection.
  • the method further includes: generating A plurality of communication capability information, the plurality of communication capability information is used to indicate the communication capabilities of a plurality of roadside devices, the plurality of roadside devices include the first roadside device, the plurality of communication capability information includes the The first communication capability information; generating communication blind area information according to the plurality of communication capability information, where the communication blind area information is used to indicate an area not covered by one or more roadside devices among the plurality of roadside devices.
  • the communication capability information of each roadside device is integrated to form an overall communication coverage capability, thereby further improving the accuracy of the communication capability.
  • one or more of the multiple roadside devices does not cover The area includes: an absolute blind area and/or a relative blind area, wherein, any roadside device in the plurality of roadside devices cannot reach the second threshold within the absolute blind area, and some roadside devices in the plurality of roadside devices cannot reach the second threshold. The device cannot reach the third threshold in the relative dead zone.
  • the accuracy of the blind area can be improved.
  • the method further includes: when the preset condition is met Next, update the first communication capability information; wherein, the preset condition includes: the current value of the communication capability index indicated by the first communication capability information is abnormal relative to the statistical value of the communication capability index; fault maintenance of side equipment; upgrade the first roadside equipment; or increase or decrease shelters around the first roadside equipment.
  • the accuracy of the first communication capability information can be improved.
  • the method further includes: according to the first communication capability
  • the information generates early warning prompt information, and the early warning prompt information is used to prompt the driver to take over the vehicle in the second area, perform fault detection on the first roadside equipment, update the software of the first roadside equipment, or adjust The deployment of the first roadside device, reducing the confidence of information from the first roadside device in the second area, or avoiding the second area when planning a route, wherein the first communication capability
  • the information indicates that the communication capability of the first roadside device in the second area is lower than a first threshold.
  • driving safety can be improved by generating early warning prompt information.
  • the first distribution condition is the density of the first location point.
  • the According to the distribution situation generating the first communication capability information includes: determining a stable connection rate according to the first distribution situation and the second distribution situation; and generating the first communication capability information according to the stable connection ratio.
  • the According to the distribution situation generating the first communication capability information includes: determining a stable connection rate according to the first distribution situation and the third distribution situation; and generating the first communication capability information according to the stable connection ratio.
  • the current value of the communication capability indicator indicated by the first communication capability information is relatively
  • the occurrence of an abnormality in communication capability index statistics includes: a difference between the first communication area corresponding to the target communication capability level and the second communication area is greater than a first difference threshold corresponding to the target communication capability level.
  • the target communication capability level is any one of the communication capability levels of the first roadside equipment
  • the first communication area represents the target communication capability indicated by the current value of the communication capability indicator A communication area corresponding to a level
  • the second communication area indicates a communication area corresponding to the target communication capability level indicated by the communication capability index statistical value.
  • the current value of the communication capability index indicated by the first communication capability information may represent the communication capability information obtained in the first time period before the current moment.
  • the statistical value of the communication capability index indicated by the first communication capability information represents the communication capability information obtained in the second time period before the current moment. Wherein, the duration of the first time period is shorter than the duration of the second time period, and the time corresponding to the first time period is after the time corresponding to the second time period.
  • the current value of the communication capability indicator indicated by the first communication capability information is relatively Abnormalities in the communication capability index statistics include: in the communication area corresponding to the target communication capability level in the communication capability index statistical value, the proportion of the data volume of the location points in the current data set B to the number of location points in the current data set A is less than the third Difference Threshold.
  • the current data set A is used to indicate the traffic participant data collected in the first time period before the current moment, which is within the preselected range of the first roadside device and whose working status information is normal working status.
  • the data set B represents the traffic participants whose equipment identification information includes the identification information of the first roadside equipment in the traffic participant data indicated by the current data set A.
  • an embodiment of the present application provides a method for using communication capability information, the method comprising: obtaining communication capability information, the communication capability information being used to indicate the communication capability of the area and the roadside equipment in the area ; Based on the communication capability information, generate early warning prompt information, adjust the confidence level of information communicated from the roadside equipment in the area, or plan a driving route that does not pass through the area. In this way, the safety of autonomous driving can be improved.
  • the communication capability information is also used to indicate a scene, and the roadside device is in the scene and in the area internal communication capabilities. In this way, different scenarios can be adapted to further improve the safety of autonomous driving.
  • the warning prompt information is used to prompt drivers in the area to take over the vehicle, pay attention to avoiding the vehicle in the area, perform fault detection on the roadside equipment, reduce the confidence of the information obtained by the roadside equipment communication in the area, or avoid the area when planning the route , wherein the communication capability information indicates that the communication capability of the roadside device in the area is lower than a first threshold. In this way, security can be improved.
  • the roadside device is For the plurality of roadside devices, the area includes an absolute blind area, and the absolute blind area is an area where the communication capabilities of the plurality of roadside devices cannot reach the second threshold.
  • the roadside device is For a plurality of roadside devices, the area includes a relative blind area, and the relative blind area is an area where the communication capabilities of some of the roadside devices in the plurality of roadside devices cannot reach the third threshold.
  • the method further includes: using the communication capability information as Map data is stored.
  • the map information can be enriched to provide assistance for intelligent driving decision-making and control.
  • an embodiment of the present application provides an apparatus for generating communication capability information, the apparatus including:
  • a first acquiring module configured to acquire first communication state indication information, where the first communication state indication information is used to instruct multiple terminal devices to establish communication connections with the first roadside device at multiple locations;
  • a first determining module configured to determine a first distribution of the plurality of location points around the first roadside device according to the first communication status indication information
  • a first generating module configured to generate first communication capability information of the first roadside device according to the first distribution situation, the first communication capability information being used to indicate the communication capability of the first roadside device .
  • the device further includes: a storage module configured to store the first communication capability information as map data.
  • the device further includes:
  • the second obtaining module is configured to obtain second communication state indication information, the second communication state indication information is used to instruct the first at least one terminal device to establish a communication connection with the second roadside device at the first at least one location point, so that The distance between the first at least one location point and the first roadside equipment is less than a preset threshold;
  • a second determining module configured to determine a second distribution of the first at least one location point around the first roadside device according to the second communication state indication information
  • the first generating module is also used for:
  • the device further includes:
  • a third acquiring module configured to acquire third communication state indication information, where the third communication state indication information is used to instruct a second at least one terminal device to establish a communication connection with a server at a second at least one location point, and the second at least A terminal device is capable of connecting to the first roadside device, and the distance between the second at least one location point and the first roadside device is less than a preset threshold;
  • a third determining module configured to determine a third distribution of the second at least one location point around the first roadside device according to the third communication state indication information
  • the first generating module is also used for:
  • the first communication capability information is used to indicate the first area Communication capabilities with the first roadside device in the first area.
  • the The first communication capability information is used to indicate the first scenario, the first area, and the communication capabilities of the first roadside device in the first scenario and in the first area.
  • the first communication state indication information includes: the multiple The location information of a location point, the working status information of the multiple communication modules in the multiple terminal equipment, the connection status information between the multiple terminal equipment and the first roadside equipment, the information of the first roadside equipment Identification information and time information.
  • the device further includes:
  • the second generating module is configured to generate a plurality of communication capability information of a plurality of roadside devices, the plurality of communication capability information is used to indicate the communication capabilities of a plurality of roadside devices, and the plurality of roadside devices include the first For a road-side device, the plurality of communication capability information includes the first communication capability information;
  • the third generating module is configured to generate communication blind area information according to the plurality of pieces of communication capability information, and the communication blind area information is used to indicate an area not covered by one or more roadside devices among the plurality of roadside devices.
  • one or more of the multiple roadside devices does not cover The area includes: an absolute blind area and/or a relative blind area, wherein, any roadside device in the plurality of roadside devices cannot reach the second threshold within the absolute blind area, and some roadside devices in the plurality of roadside devices cannot reach the second threshold. The device cannot reach the third threshold in the relative dead zone.
  • the device further includes:
  • An update module configured to update the first communication capability information when a preset condition is met
  • the preset conditions include:
  • the current value of the communication capability index indicated by the first communication capability information is abnormal relative to the statistical value of the communication capability index
  • the device further includes:
  • a fourth generation module configured to generate early warning prompt information according to the first communication capability information, and the early warning prompt information is used to prompt the driver to take over the vehicle in the second area and perform fault detection on the first roadside equipment , update the software of the first roadside device, or adjust the deployment of the first roadside device, reduce the confidence of the information from the first roadside device in the second area, or avoid Opening the second area, wherein the first communication capability information indicates that the communication capability of the first roadside device in the second area is lower than a first threshold.
  • an embodiment of the present application provides a device for using communication capability information, the device comprising:
  • An obtaining module configured to obtain communication capability information, the communication capability information being used to indicate the communication capabilities of the area and the roadside equipment in the area;
  • a generating module configured to generate warning prompt information based on the communication capability information, adjust the confidence level of information communicated from the roadside equipment in the area, or plan a driving route that does not pass through the area.
  • the communication capability information is also used to indicate a scene, and the roadside equipment is in the scene and in the area internal communication capabilities.
  • the warning prompt information is used to prompt drivers in the area to take over the vehicle, pay attention to avoiding the vehicle in the area, perform fault detection on the roadside equipment, reduce the confidence of the information obtained by the roadside equipment communication in the area, or avoid the area when planning the route , wherein the communication capability information indicates that the communication capability of the roadside device in the area is lower than a first threshold.
  • the roadside equipment is multiple roadside devices
  • the area includes an absolute blind area
  • the absolute blind area is an area where the communication capabilities of the plurality of roadside devices cannot reach the second threshold.
  • the roadside equipment is For a plurality of roadside devices, the area includes a relative blind area, and the relative blind area is an area where the communication capabilities of some of the roadside devices in the plurality of roadside devices cannot reach the third threshold.
  • the device further includes: a storage module, configured to store the The above communication capability information is stored as map data.
  • the embodiment of the present application provides a device for generating communication capability information, which can execute one or more methods for generating communication capability information in the above first aspect or in various possible implementations of the first aspect .
  • the device for generating communication capability information described in the fifth aspect may be a server, a component in the server, a hardware module or a chip, or a roadside device, a component in the roadside device, a hardware module or a chip, which is not limited here. .
  • the embodiment of the present application provides a device for using communication capability information, which can implement the method for using communication capability information in one or more of the above-mentioned second aspect or multiple possible implementations of the second aspect .
  • the device for using communication capability information described in the sixth aspect may be a server, a component in the server, a hardware module or a chip, or a roadside device, a component in the roadside device, a hardware module or a chip, or a vehicle,
  • the component, hardware module or chip in the vehicle may also be a portable terminal, a component in the portable terminal, a hardware module or a chip, which is not limited herein.
  • the embodiment of the present application provides a computer program product, including computer readable code, or a computer readable storage medium carrying computer readable code, when the computer readable code is run in a processor,
  • the processor executes one or more methods for generating communication capability information in the above first aspect or in multiple possible implementations of the first aspect, or executes the above second aspect or in multiple possible implementations of the second aspect One or several methods of using communication capability information.
  • the embodiment of the present application provides a map, including: communication capability information, where the communication capability information is used to indicate the communication capability of an area and a roadside device in the area.
  • the map is a map product, and its specific form may be map data, map database or map application, which is not specifically limited here.
  • the communication capability information is also used to indicate a scene, and the communication capability of the roadside device in the scene and in the area .
  • the roadside device is a plurality of roadside devices, and the area includes an absolute blind area,
  • the absolute dead zone is an area where the communication capabilities of the plurality of roadsides cannot reach the second threshold.
  • the roadside device is a plurality of roadside devices, and the area includes a relative blind area
  • the relative blind area is an area where the communication capabilities of some roadside devices among the plurality of roadside devices cannot reach the third threshold.
  • the map further includes early warning prompt information, and the early warning prompt information is used to remind In the area, the driver takes over the vehicle, pays attention to avoiding the vehicle in the area, performs fault detection on the roadside equipment, reduces the confidence of the information obtained by the roadside equipment communication in the area, or in the planned route avoid the area, wherein the communication capability information indicates that the communication capability of the roadside device in the area is lower than a first threshold.
  • the embodiment of the present application provides a computer-readable storage medium, on which is stored the map of the eighth aspect or one or more of the multiple possible implementation manners of the eighth aspect.
  • an embodiment of the present application provides a vehicle, including: an information capability using device in one or more of the above-mentioned third aspect or multiple possible implementation manners of the third aspect.
  • FIG. 1 shows a schematic diagram of an application scenario involved in an embodiment of the present application
  • FIG. 2 shows a flowchart of a method for generating communication capability information provided by an embodiment of the present application
  • FIG. 3 shows a schematic structural diagram of a communication system provided by an embodiment of the present application
  • Fig. 4 shows an exemplary schematic diagram of a first distribution situation
  • FIG. 5 shows a schematic structural diagram of a communication system provided by an embodiment of the present application
  • FIG. 6 shows a schematic diagram of the distribution of terminal equipment
  • FIG. 7 shows an exemplary schematic diagram of a grid in an embodiment of the present application.
  • Fig. 8 shows an exemplary schematic diagram of the merging result of grids in the embodiment of the present application.
  • FIG. 9 shows an exemplary schematic diagram of a grid in an embodiment of the present application.
  • Fig. 10 shows an exemplary schematic diagram of the grid merging result in the embodiment of the present application
  • FIG. 11 shows an exemplary schematic diagram of a blind area in an embodiment of the present application.
  • FIG. 12 shows a flowchart of a method for using communication capability information in an embodiment of the present application
  • FIG. 13 shows an interactive schematic diagram of a method for using communication capability information provided by an embodiment of the present application
  • FIG. 14 shows an interactive schematic diagram of a method for using communication capability information provided by an embodiment of the present application
  • FIG. 15 shows an interactive schematic diagram of a method for using communication capability information provided by an embodiment of the present application
  • FIG. 16 shows a schematic structural diagram of an apparatus for generating communication capability information provided by an embodiment of the present application
  • FIG. 17 shows a schematic structural diagram of an apparatus for using communication capability information provided by an embodiment of the present application.
  • Fig. 18 shows a schematic diagram of an electronic device provided by an embodiment of the present application.
  • FIG. 1 shows a schematic diagram of an application scenario involved in an embodiment of the present application.
  • Roadside equipment is installed on the side of the road or above the road.
  • the roadside equipment can perceive surrounding traffic participants (for example, vehicles, pedestrians or non-motor vehicles, etc.) through its sensor devices (for example, microwave radar, millimeter wave radar, or camera, etc.).
  • the roadside device After the roadside device establishes a communication connection with the surrounding terminal equipment, it can send the perceived information to the surrounding terminal equipment as communication information, so as to provide reference for intelligent driving decision-making and control of the terminal equipment.
  • the terminal devices involved in the embodiments of the present application include, but are not limited to, vehicle-end devices that can be installed in vehicles and portable mobile terminals.
  • the mobile terminal may be a smart phone, a tablet computer, a wearable electronic device (such as a smart bracelet, a smart watch, or smart glasses, etc.) and the like.
  • a positioning module is configured in the terminal device, for example, Global Positioning System (Global Positioning System, GPS) and Beidou Navigation System (BeiDou Navigation System, BDS), etc., and the positioning module can be used to collect the information of the terminal device Location information and corresponding time information.
  • the location information may be absolute coordinates (ie, longitude and latitude coordinates) or relative coordinates.
  • the time information may be a Universal Time Coordinated (UTC) timestamp.
  • UTC Universal Time Coordinated
  • the terminal device is further configured with a communication module for communicating with the roadside device.
  • the communication module may be an on-board communication unit (On Board Unit, OBU).
  • OBU On Board Unit
  • the communication module may be a wireless communication module in a mobile terminal.
  • the working status information of the communication module can be used to indicate the working status of the communication module.
  • the working state information of the communication module may be a normal working state, an abnormal working state or a non-starting state.
  • the normal working state indicates that the communication module has been started and can work normally (that is, a communication connection can be established with the roadside equipment), and the abnormal working state indicates that the communication module has been started but cannot work normally (that is, a communication connection cannot be established with the roadside equipment),
  • the Not Started state indicates that the communication module is not started. It can be understood that, when the communication module of the terminal equipment is in an abnormal working state or in an inactive state, even if the terminal equipment is within the communication range of a roadside equipment, the terminal equipment cannot establish communication with the roadside equipment connect.
  • the communication module of the terminal device is in a normal working state, if the terminal device is within the communication range of a roadside device, the terminal device can establish a communication connection with the roadside device.
  • the roadside equipment is equipped with a communication module for communicating with the terminal equipment.
  • the communication module in the roadside device may be a roadside communication unit (Road Side Unit, RSU).
  • a communication connection can be established between the vehicle end device and the roadside device through dedicated short range communication (dedicated Short Range Communication, DSRC) technology and other vehicle networking (Vehicle to X, V2X) technologies.
  • DSRC dedicated Short Range Communication
  • V2X vehicle to X
  • a V2X communication connection can be established between the vehicle-end device and the roadside device through the vehicle-mounted unit and the roadside unit.
  • the communication module in the roadside device may be a wireless communication module.
  • a communication connection can be established between the mobile terminal and the roadside device through wireless communication technologies such as Wireless Fidelity (Wi-Fi) technology.
  • Wi-Fi Wireless Fidelity
  • a wireless communication connection can be established between the mobile terminal and the roadside device through a wireless communication module.
  • the terminal device involved in this embodiment of the present application may also be other devices capable of collecting its own location information and communicating with roadside devices.
  • the communication range of roadside equipment is limited.
  • the roadside equipment may not be able to establish a communication connection with the terminal equipment, or the communication connection between the terminal equipment and the terminal equipment may not be established. Poor communication (for example, poor stability or low signal strength, etc.).
  • the roadside device and the terminal device can establish a communication connection with better communication effect.
  • the roadside device When the roadside device can establish a communication connection with a better communication effect with a terminal device in an area, it indicates that the area belongs to the communication range of the roadside device. When the roadside device cannot establish a communication connection with a better communication effect with the terminal device in an area, it indicates that the area is beyond the communication range of the roadside device. Based on the communication range of the roadside equipment, it can be determined in which areas the information collected by the roadside equipment is relatively comprehensive and has high reliability, and in which areas the information collected has gaps and low reliability. The method for generating communication capability information provided in the embodiment of the present application can conveniently and accurately obtain the communication range of the roadside equipment.
  • FIG. 2 shows a flowchart of a method for generating communication capability information provided by an embodiment of the present application. As shown in Figure 2, the method may include:
  • Step S201 acquiring first communication status indication information.
  • Step S202 Determine a first distribution of the plurality of location points around the first roadside device according to the first communication state indication information.
  • Step S203 generating first communication capability information of the first roadside device according to the first distribution situation.
  • the first roadside device represents the roadside device that needs to determine the communication capability.
  • the first roadside device may be any roadside device.
  • the first communication capability information may represent communication capability information of the first roadside device.
  • the first communication capability information may be used to indicate the communication capability of the first roadside device, for example, an area where the first roadside device can communicate and an area where the first roadside device cannot communicate.
  • the first communication state indication information may be used to instruct multiple terminal devices to establish communication connections with the first roadside device at multiple locations.
  • a terminal device When a terminal device establishes a communication connection with the first roadside device at a location point, it indicates that the location point is within the communication range of the first roadside device, and the communication capability of the first roadside device can reach the location point . Therefore, based on the distribution of the multiple location points of the multiple terminal devices that establish communication connections with the first roadside device, the area that the communication capability of the first roadside device can reach can be determined, thereby obtaining the first roadside device conveniently and accurately. Communication range of roadside equipment.
  • the multiple location points of the multiple terminal devices indicated by the first communication state indication information may include: the location points of different terminal devices at the same time, the location points of the same terminal device at different times, and different The location of the terminal device at different times.
  • the multiple locations of multiple terminal devices may include: location point 1 of vehicle 1 at 1 am on Monday and location point 2 of vehicle 2 at 1 am on Monday, location point 1 and vehicle 1 of vehicle 1 at 1 am on Monday 1 at position 3 at 1pm on Monday, and vehicle 3 at position 4 at 1 am on Tuesday and vehicle 4 at position 5 at 1 pm on Tuesday. That is to say, the embodiment of the present application does not limit whether the multiple location points indicated by the first communication state indication information are the location points of the same terminal device and whether they are the location points collected at the same time.
  • the first communication status indication information may include: position information of multiple indicated location points, working status information of multiple communication modules in multiple terminal devices indicated, multiple indicated The connection status information between a terminal device and the first roadside device, the identification information of the first roadside device, and time information.
  • position information of multiple indicated location points may include: position information of multiple indicated location points, working status information of multiple communication modules in multiple terminal devices indicated, multiple indicated The connection status information between a terminal device and the first roadside device, the identification information of the first roadside device, and time information.
  • the location information of the location point, the working status information and the time information of the communication module are as described above, and will not be repeated here.
  • the connection state information between a terminal device and a roadside device may be in a connected state or an unconnected state.
  • the connected state indicates that the terminal device has established a communication connection with the roadside device
  • the unconnected state indicates that the terminal device has not established a communication connection with the roadside device. Since the first communication status indication information indicates that a plurality of terminal equipments establish communication connections with the first roadside equipment at multiple locations, therefore, the connection status information with the first roadside equipment in the first communication status indication information is Connection Status.
  • the identification information of the roadside equipment can be used to identify different roadside equipment.
  • the identification information of the roadside equipment may be the name, number, location information of the roadside equipment, the identification of the communication module configured on the roadside equipment, or other user-defined identifications.
  • the identification information of the first roadside device may be the name and serial number of the first roadside device, the RSU_ID of the RSU on the first roadside device, or other user-defined logos for the first roadside device.
  • FIG. 3 shows a schematic structural diagram of a communication system provided by an embodiment of the present application.
  • the communication system includes a first roadside device 11 and a first terminal device 12 .
  • the first roadside device 11 may represent any roadside device
  • the first terminal device 12 represents a terminal device establishing a communication connection with the first roadside device 11 .
  • the first terminal device 12 includes, but is not limited to, a vehicle end device, a mobile terminal and other devices.
  • the first roadside device 11 may be connected to one or more first terminal devices 12 .
  • the first roadside device 11 may establish a communication connection with the first terminal device 12 through a communication module in the first terminal device 12 . After the first terminal device 12 acquires its own traffic participant data, it may report the acquired traffic participant data to the first roadside device 11 .
  • the traffic participant data of a terminal device may include the location information of the location point of the terminal device when the traffic participant data is collected, and the time information of the traffic participant data collection.
  • the working status information of the communication module, and the identification information of the roadside equipment connected to the terminal equipment can be recorded as Position
  • the location information can be recorded as Position
  • the working status information can be recorded as Connection
  • the identification information of the roadside equipment can be recorded as RSU_ID
  • the time information can be recorded as Time
  • the traffic participant data of a terminal device can be recorded as (Position, Device, Connection, RSU_ID, Time).
  • the first terminal device 12 is a terminal device that establishes a communication connection with the first roadside device 11, in the traffic participant data of the first terminal device 12, the working state information of the communication module is "normal working state", and the roadside
  • the device identification information includes "identification information of the first roadside device 11".
  • the first roadside device 11 may generate first communication status indication information based on the received information.
  • the first terminal device 12 that establishes a communication connection with the first roadside device 11 can directly report the traffic participant data to the first roadside device 11, and the other terminals that have not communicated with the first roadside device 11 11
  • the device on the terminal that establishes a communication connection cannot directly report its traffic participant data to the first roadside device 11 (this does not consider the case of forwarding through other roadside devices, even if the first roadside device receives other roadside devices.
  • the traffic participant data that has established a communication connection with the first roadside device 11 can still be screened out based on the identification information of the roadside device therein). Therefore, the traffic participant data collected by the first roadside device 11 are all from the first terminal device 12 establishing a communication connection with the first roadside device 11 .
  • the first roadside device may execute step S202 to obtain the first distribution situation.
  • the first roadside device may determine the first distribution situation according to the location information of the first location point (that is, the location point of the first terminal device indicated by the first communication state indication information).
  • FIG. 4 shows an exemplary schematic diagram of a first distribution situation.
  • the first terminal device that is, the terminal device that has established a communication connection with the first roadside device
  • the location information of these locations is the first One distribution.
  • the first roadside device 11 may execute step S203 to obtain the first communication capability information.
  • FIG. 5 shows a schematic structural diagram of a communication system provided by an embodiment of the present application.
  • the communication system includes: a first roadside device 11 , a second terminal device 13 and a server 14 .
  • the first roadside device 11 may be any roadside device.
  • the second terminal 13 may represent a terminal that establishes a communication connection with the server 14 . Both the first roadside device 11 and the second terminal device 13 can establish a communication connection with the server 14 through the cellular network. After the second terminal device 13 acquires its own traffic participant data, it may report the acquired traffic participant data to the server 14 .
  • the second terminal device 13 may include the first terminal device 12 that establishes a communication connection with the first roadside device 11, that is, some second terminal devices 13 may not only establish a communication connection with the server 14, but also communicate with the first roadside device 11.
  • Device 11 establishes a communication connection. Therefore, after the server 14 receives the traffic participant data reported by each second terminal device 13, it can filter out the roadside device established with the first roadside device based on the working status information in each traffic participant data and the identification information of the roadside device. Traffic participant data for communication links. Specifically, the server 14 can filter out from the received traffic participant data that the working status information of the communication module is "normal working status", and the identification information of the roadside equipment includes "identification information of the first roadside equipment 11". Traffic participant data, and based on the filtered traffic participant data, generate first communication state indication information.
  • the server 14 may execute step S202 to obtain the first distribution situation, or send the first communication state indication information to the first roadside device 11, and the first The roadside equipment 11 executes step S202 to obtain the first distribution situation.
  • the server 14 may first find the first communication status in the collected traffic participant data in the process of screening the traffic participant data.
  • the traffic participant data within the pre-selected range of the roadside equipment, and then filter out the traffic participant data whose working status information is "normal working status" from the traffic participant data within the pre-selected range.
  • the data set composed of the traffic participant data screened out at this time is called data set A.
  • the server 14 can filter out the traffic participant data including the "identification information of the first roadside device 11" in the identification information of the roadside equipment from the data set A.
  • the data set composed of the former data is called data set B.
  • the data set composed of traffic participant data in data set A except the traffic participant data in data set B is called data set C.
  • the preselected range is the area around the first roadside device 11, and the preselected range can be determined according to the factory index of the communication range of the first roadside device 11 and the installation direction of the first roadside device, for example, it can be determined according to the location of the first roadside device 11.
  • reserve a certain margin in the installation direction for example, expand 3 meters, 5 meters, etc.
  • FIG. 6 shows a schematic diagram of distribution of terminal devices.
  • a plurality of location points of the terminal equipment are shown, at some location points, the terminal equipment can establish a communication connection with the first roadside device, and at some location points, the terminal equipment The device cannot establish a communication connection with the first roadside device.
  • the traffic participant data corresponding to the location points that can establish a communication connection with the first roadside device are in the data set B, and the traffic participant data corresponding to the location points that have not established a communication connection with the first roadside device are in the data set C middle.
  • the location information of the location points in the data set B shown in FIG. 6 is the first distribution situation.
  • the server 14 or the first roadside device 11 may obtain the first communication capability information in step S203.
  • step S203 can be executed by the first roadside device or by the server, and the following will be described by taking the execution of step S203 by the first roadside device as an example, and the process of executing step S203 by the server can be referred to by the server.
  • the road-side device executes the process of step S203, which will not be repeated in this embodiment of the present application.
  • step S203 may include: the first roadside device directly generates the first communication capability information according to the first distribution situation.
  • the first distribution condition may be the density of the first location point, where the first location point represents the location point of the first terminal device. In the area where the density of the first location point is high, the communication capability of the first roadside device is strong, and in the area where the density of the first location point is small, the communication capability of the first roadside device is weak.
  • the side device may generate the first communication capability information according to the density of the first location point.
  • the first roadside device may acquire the second communication state indication information, determine the second distribution according to the second state indication information, and then in step S203 according to the first distribution and the second distribution case, generate first communication capability information.
  • the second communication state indication information is used to indicate that the first at least one terminal device (for convenience of description, in the embodiment of this application, the first at least one terminal device is referred to as at least one third terminal device)
  • the location point (for ease of description, in the embodiment of the present application, the first at least one location point is referred to as at least one third location point) establishes a communication connection with the second roadside device, and at least one third location point is far from the first The distance of the roadside equipment is less than the preset threshold.
  • the acquisition process of the second communication state indication information can refer to the acquisition process of the first communication state indication information, the first roadside device in the first communication state indication information acquisition process is replaced by the second roadside device, and the traffic participant
  • the location information in the information may be limited to a distance from the first roadside device that is less than a preset threshold.
  • the preset threshold can be set according to needs. In terms of distance, the preset threshold can be 100 meters, 200 meters, 500 meters or 1000 meters.
  • the first roadside device may determine the second distribution situation according to the location information of the third location point (that is, the location point indicated by the second communication status indication information).
  • the second distribution may refer to the position information of the position points in the data set B in FIG. 6 plus the position information of the position points in the data set C.
  • a terminal device has established a communication connection with the second roadside device at a point where the distance from the first roadside device is less than the preset threshold, indicating that the working status information of the communication module of the terminal device is "normal working status" , and the terminal device is located around the first roadside device.
  • the terminal device is the above-mentioned third terminal device
  • the location point is the above-mentioned third location point.
  • a third terminal device may have established a communication connection with the first roadside device at a third location point (for example, the location point in the data set B shown in Figure 6), or may not have established a communication connection with the first roadside device communication connection (for example, the location points in dataset C shown in Fig. 6).
  • the second distribution situation can be used as the comparison object of the first distribution situation, and the second distribution situation can reflect the location points that actually exist around the first roadside device and can establish a communication connection with the first roadside device , using the first distribution to reflect the position point where the first roadside device actually establishes the communication connection.
  • the stable connection rate may be determined based on the first distribution situation and the second distribution situation. Wherein, the stable point connection rate may be a ratio of the number of first location points to the number of third location points.
  • the first roadside device can generate the first communication capability information according to the stable connection rate.
  • the first roadside device may obtain the third communication state indication information, and then determine the third distribution situation according to the third communication state indication information, and then in step S203, according to the first distribution situation and the second In the case of three distributions, the first communication capability information is generated.
  • the third communication state indication information is used to indicate that the second at least one terminal device (for the convenience of description, in the embodiment of this application, the second at least one terminal device is referred to as at least one second terminal device)
  • the location point (for the convenience of description, in the embodiment of the present application, the second at least one location point is referred to as at least one second location point) establishes a communication connection with the server, and at least one second terminal device is capable of connecting to the first roadside device. capability, the distance between at least one second location point and the first roadside device is less than a preset threshold.
  • the acquisition process of the third communication state indication information may be obtained by the server through screening from the received traffic participant information as shown in FIG. 5 .
  • the server may filter traffic participant data whose location information is less than a preset threshold from the first roadside device and whose working status information of the communication module is "normal working status" from the received traffic participant information, Then the third communication state indication information is obtained based on the filtered traffic participant data.
  • the first roadside device may determine the third distribution situation according to the location information of the second location point (that is, the location point indicated by the third communication status indication information).
  • the third distribution may refer to the position information of the position points in the data set B in FIG. 6 plus the position information of the position points in the data set C.
  • a terminal device has established a communication connection with the server at a point whose distance from the first roadside device is less than a preset threshold, and the working status information of the communication module of the terminal device is "normal working status", indicating that the terminal device It is near the first roadside device and has the ability to connect to the first roadside device.
  • the terminal device is the above-mentioned second terminal device, and the location point is the above-mentioned second location point.
  • the third distribution situation can be used as the comparison object of the first distribution situation, and the third distribution situation can reflect the actual existence around the first roadside device that can establish a communication connection with the first roadside device.
  • the position points reflect the position points at which the first roadside device actually establishes a communication connection with the first distribution situation.
  • the stable connection rate may be determined based on the first distribution situation and the third distribution situation.
  • the stable point connection rate may be a ratio of the number of first location points to the number of second location points. It can be understood that when the stable connection rate is large, the number of location points indicating that the first roadside device has actually established a communication connection is different from the number of location points that actually exist around the first roadside device that can establish a communication connection with the first roadside device. The number of location points is relatively close, and the communication capability of the first roadside device is relatively good.
  • the first roadside device can generate the first communication capability information according to the stable connection rate.
  • step S203 may include: determining a plurality of grids based on the preselected range of the first roadside device; merging the grids whose grid indicators satisfy the first condition among the plurality of grids, Obtain the merged grid, and continue to merge the grids whose grid index meets the first condition in the existing grids, until there is no grid that meets the first condition; for any grid, determine the grid as A communication area, and based on the index range to which the grid index belongs, determine the communication capability level of the grid; according to the location information and communication capability level of each grid, determine the first communication capability information.
  • determining the multiple grids based on the preselected range of the first roadside device may include: performing gridding processing on the preselected range of the first roadside device to obtain multiple grids.
  • determining a plurality of grids based on the preselected range of the first roadside device may include: taking the intersection of the preselected range of the first roadside device and the first road to obtain the area to be divided; Grid processing to obtain multiple grids.
  • the first road may represent the road where the first roadside device is located or the roads around the first roadside device, and the relationship between the first road and the first roadside device may be preset when the first roadside device is deployed.
  • the grid index is: the density or the stable connection rate of the first position point in the grid
  • the corresponding first condition is: the density difference is smaller than the first preset threshold or the stable connection rate difference is smaller than the second preset threshold.
  • the first preset threshold and the second preset threshold can be set as required, for example, the first preset threshold can be 0.2 pieces/m2, etc., and the second preset threshold can be 0.1, etc. The embodiment of the present application does not limit the first preset threshold and the second preset threshold.
  • Fig. 7 shows an exemplary schematic diagram of a grid in the embodiment of the present application.
  • the preselected range of the first roadside device is divided into multiple grids.
  • the area to be divided is evenly divided into multiple grids (as shown in FIG. 7 ), which is convenient for statistical management.
  • other ways can also be used to divide the area to be divided into multiple grids.
  • the area of the grid divided in the area closer to the first roadside equipment is smaller than the area of the grid divided in the area farther away from the first roadside equipment.
  • the area of the grid (not shown). In this way, the number of calculations and the number of merges can be reduced.
  • the density of the first position point of each grid can be determined as the grid index of each grid.
  • the grids whose grid indices meet the first condition among the multiple grids can be merged to obtain the merged grid.
  • FIG. 8 shows an exemplary schematic diagram of a grid merging result in the embodiment of the present application.
  • the grids shown in Figure 7 are finally merged to obtain Region 1 and Region 2.
  • the density of the first location point in area 1 is small, and the density of the first location point in area 2 is relatively large. It can be seen that the first roadside device has communication capability in area 1, but the communication ability is poor. Medium has communication ability, and communication ability is strong.
  • Fig. 9 shows an exemplary schematic diagram of a grid in an embodiment of the present application.
  • the preselected range of the first roadside device is divided into multiple grids.
  • the stable connection rate of each grid can be determined as the grid index of each grid.
  • the grids whose grid indices meet the first condition among the multiple grids can be merged to obtain the merged grid.
  • determine the grid index of each grid obtained after the last round of merging and continue to merge the existing grids whose grid index satisfies the first condition until there is no grid that satisfies the first condition .
  • FIG. 10 shows an exemplary schematic diagram of grid merging results in the embodiment of the present application. As shown in Figure 10, the grids shown in Figure 9 are finally merged to obtain Region 1 and Region 2. Among them, the stable connection rate in area 1 is small, and the stable connection rate in area 2 is relatively large. It can be seen that the first roadside device has communication capabilities in area 1, but the communication ability is poor, and it has communication capabilities in area 2, and the communication Strong ability.
  • the grid determines the grid as a communication area, and based on the grid of the communication area
  • the index range to which the index belongs determines the communication capability level of the communication area; according to the location information and communication capability level of each communication area, the communication capability information of the first roadside device can be determined.
  • each index range corresponds to a communication capability level
  • determining the communication capability level of the communication area based on the index range to which the grid index of the communication area belongs includes: the grid index in the communication area belongs to the first In the case of the index range, it is determined that the communication capability category of the communication area is the first communication capability level.
  • the first index range is any one of the index ranges
  • the first communication capability level is the communication capability level corresponding to the first index range.
  • Area 1 and Area 2 there are two communication areas: Area 1 and Area 2, where the grid index of Area 1 belongs to Index Range 1, and the grid index of Area 2 belongs to Index Range 2, then the first The communication capability level of roadside equipment in area 1 is level 1, and the communication capability level in area 2 is level 2.
  • the grid index of the communication area belonging to the first index range may include: the density is within the first range, and/or the stable connection rate is within the second range.
  • the first range and the second range can be set as required, and are not limited in this embodiment of the present application.
  • the communication capability level may include: blind zone, weak communication capability, general communication capability and strong communication capability.
  • the communication capability levels may include: low level, medium level and high level.
  • the communication capability level may include: first level, second level, third level, fourth level and so on. It can be understood that, the above is only an exemplary description of communication capability levels, and this embodiment of the present application does not limit the division manner and number of communication capability levels.
  • the first communication capability information may be used to indicate the communication capability of the first roadside device.
  • the first communication capability information may indicate areas where the first roadside device can communicate and areas where it cannot communicate.
  • the first roadside device can communicate with terminal devices in an area within 200 meters, but cannot communicate with terminal devices in an area beyond 200 meters.
  • the first communication capability information may be used to indicate the communication capabilities of the first area and the first roadside device in the first area.
  • the first area may represent any area.
  • the first area may be a first area on the first road.
  • the first area can be rectangular, fan-shaped, elliptical or other shapes.
  • the embodiment of the present application does not limit the shape and area of the first region.
  • the communication effect of the first roadside device is better in the area within 100 meters, that is, the communication capability is strong communication capability; the communication effect between 100 meters and 150 meters is average, that is, the communication capability is medium communication capability;
  • the communication effect in the area from 200 meters to 200 meters is poor, that is, the communication capability is weak communication capability; it cannot communicate with the area beyond 200 meters, that is, the communication capability is unable to communicate.
  • the first communication capability information may be used to indicate the communication capabilities of the first scenario, the first area, and the first roadside device in the first area in the first scenario.
  • the "scene" in the embodiment of the present application is used to identify the environment where the device with communication function is located (for example, the environment where the first roadside device is located), or to identify the environment where the communication object of the device with communication function is located ( For example, the environment of vehicles or pedestrians).
  • the first scene may represent any kind of scene.
  • the first scenario includes, but is not limited to, scenarios that affect communication capabilities such as daytime, nighttime, sunny days, cloudy days, sandstorms, rain and snow, and foggy days. It can be understood that the communication range of the first roadside device on sunny days is greater than that on cloudy, sandy, rainy and foggy days.
  • the communication range of the first roadside device is also different.
  • the communication range may be smaller during the day when the traffic flow is heavy, and the communication range may be larger at night when the traffic flow is light. Therefore, in the embodiment of the present application, the communication capability of the first roadside device may be described by scenario, so that the accuracy of the communication capability of the first roadside device is higher. For example, in a sunny scenario, the communication capability of the first roadside device in Area 1 shown in Figure 10 is medium communication, and the communication capability in Area 2 shown in Figure 10 is strong communication; , the communication capability of the first roadside device in area 1 shown in FIG. 10 is weak communication, and the communication capability of the first roadside device in area 2 shown in FIG. 10 is medium communication.
  • first communication capability information indicates the communication capabilities of the first scene, the first area, and the first roadside device in the first area in the first scene
  • scene tags can be added to the aforementioned traffic participant data , so that the first communication state indication information, the second communication state indication information and the third communication state indication information in the first scenario can be acquired. If no scene label is added to the above traffic participant data, before obtaining the traffic participant data in the first scene, the traffic participant in the first scene can be obtained by combining third-party information (for example, combining time information and historical weather information) data.
  • third-party information for example, combining time information and historical weather information
  • the first communication capability information of the first roadside device is obtained.
  • the manner of obtaining the communication capability information of other roadside devices refer to the manner of obtaining the first communication capability information of the first roadside device, which will not be repeated here.
  • the manner of obtaining the second communication capability information of the second roadside device may refer to the manner of obtaining the first communication capability information of the first roadside device.
  • the first communication capability information of the first roadside device may be associated with the identification of the road.
  • the communication capability information of each roadside device on a road or a section of road can be called out, so as to determine the roadside communication capabilities of each area on a road or a section of road , which is conducive to improving security.
  • the first communication capability information may be stored as map data.
  • the vehicle when the vehicle is driving intelligently, it can obtain the first communication capability information from the map, so as to determine whether the driver needs to take over the vehicle when the vehicle travels to a certain area, and whether it is necessary to reduce the traffic from the first roadside in a certain area. The confidence level of the device's information, or whether a certain area needs to be avoided when planning a route, thereby improving safety.
  • the first communication capability information may be associated with the first roadside device and stored as map data.
  • the communication capability information of other roadside devices (for example, the second communication capability information of the second roadside device) may also be stored as map data to improve safety.
  • the communication capability information of each roadside device can be integrated to form an overall communication coverage capability.
  • the method further includes: generating multiple pieces of communication capability information of multiple roadside devices; and generating communication blind zone information according to the multiple pieces of communication capability information.
  • the pieces of communication capability information are used to indicate the communication capabilities of multiple roadside devices.
  • the plurality of roadside devices include the first roadside device, and the plurality of communication capability information includes the first communication capability information.
  • the plurality of roadside devices may further include one or more second roadside devices, and then the plurality of pieces of communication capability information may include one or more pieces of second communication capability information.
  • the communication blind area information is used to indicate an area not covered by one or more roadside devices among the plurality of roadside devices.
  • the area not covered by one or more roadside devices in the plurality of roadside devices includes: an absolute blind area and/or a relative blind area, wherein any roadside device in the plurality of roadside devices is within None of the roadside devices in the absolute blind zone can reach the second threshold, and some roadside devices in the plurality of roadside devices cannot reach the third threshold in the relative blind zone.
  • the second threshold and the third threshold may be set as required, and the embodiment of the present application does not limit the second threshold and the third threshold.
  • the second threshold and the third threshold may be used to indicate expected or acceptable communication effects. When a roadside device fails to reach the second threshold or the third threshold, it indicates that the communication effect of the roadside device does not meet expectations or is unacceptable. When a roadside device can reach the second threshold or the third threshold, it indicates that the communication effect of the roadside device can meet expectations or is acceptable.
  • the second threshold and the third threshold include, but are not limited to: conforming to a preset communication capability level (for example, the corresponding communication capability level is Level 1 or Level 2), or within a preset index range (for example, the density falls within within the preset index range, and the stable connection rate falls within the preset index range), etc.
  • a roadside device does not reach the second threshold in an area, it indicates that the communication effect of the roadside device in this area is poor, and the reliability and accuracy of the information obtained by communication of the roadside device in this area are low (the confidence level is low and not complete), therefore, this area is the blind area of the roadside equipment.
  • the second threshold and the third threshold may be the same or different, which is not limited.
  • Fig. 11 shows an exemplary schematic diagram of a dead zone according to an embodiment of the present application. Shown in Fig. 11 is the boundary line of the blind zone of roadside equipment 1 and the non-blind zone, and the boundary line of the blind zone and non-blind zone of roadside equipment 2.
  • the area within the dividing line is a non-blind area, and the area outside the dividing line is a blind area.
  • the intersection of the blind area of roadside equipment 1 and the non-blind area of roadside equipment 2, and the intersection of the non-blind area of roadside equipment 1 and the blind area of roadside equipment 2 are relative blind areas.
  • the intersection of the blind area of roadside equipment 1 and the blind area of roadside equipment 2 is an absolute blind area.
  • the best of roadside equipment 1 and roadside equipment 2 Communication ability shall prevail.
  • the area if neither the communication capability of the roadside device 1 nor the communication capability of the roadside device 2 reaches the second threshold, the area can be determined to be an absolute blind area. In this case, the relative dead zone may not be marked.
  • the communication capability of roadside equipment 1 when no communication connection is established between roadside equipment 1 and roadside equipment 2, the communication capability of roadside equipment 1 does not reach the second threshold but the communication capability of roadside equipment 2
  • the area that has reached the second threshold, and the communication capability of the roadside device 2 has not reached the second threshold but the communication capability of the roadside device 1 has reached the second threshold is determined as a relative blind area; the communication capabilities of the two have not reached the second threshold.
  • the area of the two thresholds is determined as the absolute blind area.
  • different identifiers may be added for the absolute dead zone and the relative dead zone. For example, a first identifier is added for an absolute blind zone, and a second identifier is added for a relative blind zone. In this way, it can be determined whether a dead zone is an absolute blind zone or a relative blind zone according to the identification.
  • the relative blind spot may also be associated with the identification of the roadside equipment, so as to specify which roadside device a relative blind spot belongs to.
  • the communication capability information of the roadside device may be associated with the roadside device with which the roadside device has established a communication connection. In this way, the user can determine which roadside devices have established communication connections with the roadside device by himself, so as to determine where is an absolute blind spot and which is a relative blind spot.
  • the method further includes: generating early warning prompt information according to the first communication capability information.
  • the early warning prompt information can be used to prompt the driver to take over the vehicle in the second area, perform fault detection on the first roadside equipment, update the software of the first roadside equipment, or adjust the first roadside equipment. Deployment of roadside equipment, reducing the confidence level of information from the first roadside equipment in the second area, or avoiding the second area when planning routes, wherein the first communication capability information indicates that the first roadside equipment The communication capability of the road-side device in the second area is lower than the first threshold.
  • the first communication capability information indicates that the communication capability of the first roadside device in the second area is lower than the first threshold.
  • the first threshold can be set as required. In an example, being lower than the first threshold may include but is not limited to: failing to reach a preset communication capability level (for example, not reaching a first-level communication capability level or not reaching a second-level communication capability level, etc.), the density of the first location point One or more of the preset density threshold and the stable connection rate not reaching the preset stability threshold are not reached.
  • the density threshold and the stability threshold can be set as required, and are not limited in this embodiment of the present application.
  • the first threshold can be greater than (higher than) or equal to the second threshold and the third threshold.
  • the communication capability of the first roadside device in the second area is lower than the first threshold, it means that the communication effect of the first roadside device in the second area is poor, and the first roadside device cannot communicate with the first roadside device accurately and comprehensively.
  • the terminal devices in the second area communicate, therefore, there is no guarantee that the first roadside device can transfer the information it obtains (including information sensed by itself and information collected from other devices) to every terminal device in the second area. a terminal device. Therefore, when the vehicle is driving automatically in the second area, there may not be enough data sources, and the risk is high, and the driver can take over the vehicle in the second area.
  • the failure of the first roadside equipment can check whether the communication effect of the first roadside equipment in the second area is poor due to the failure of the first roadside equipment, especially when the second area is far away from the first roadside equipment.
  • the equipment on the road side is close.
  • the communication effect of the first roadside device in the second area is poor, the information of the terminal devices in the second area collected by the first roadside device cannot better represent the actual situation in the second area, so , the confidence of the information obtained by the first roadside device needs to be reduced in the second area.
  • the second area can be avoided during path planning, which can reduce the possibility of accidents after the vehicle enters the second area, especially for automatic driving If the vehicle avoids driving in the second area, the driver does not need to take over the vehicle, which can effectively improve the user experience.
  • the communication capability information of each roadside device can also be sent to other devices for use by other devices, for example, it can be provided to vehicle-end devices, mobile terminals, or roadside device management devices.
  • FIG. 12 shows a flowchart of a method for using communication capability information according to an embodiment of the present application. As shown in Figure 12, the method for using communication capability information may include:
  • Step S301 obtaining communication capability information.
  • one or more pieces of communication capability information of one or more roadside devices may be acquired.
  • the first communication capability information of the first roadside device may be acquired.
  • first communication capability information of a first roadside device and one or more second communication capability information of one or more second roadside devices may be acquired.
  • the generation process of the second communication capability information reference may be made to the generation process of the first communication capability information, which will not be repeated here.
  • the communication capability information is used to indicate the communication capabilities of the area and the roadside equipment in the area.
  • the first communication capability information may be used to indicate the communication capabilities of the first area and the first roadside device in the first area.
  • the communication capability information may be used to indicate an area, a scene, and a communication capability of the roadside device in the area in the scene.
  • the first communication capability information may be used to indicate the communication capability of the first roadside device in the first area in the first scenario.
  • the communication capability information may be stored as map data.
  • Devices using communication capability information such as vehicle-end devices can download or update maps and obtain communication capability information from the maps.
  • Step S302 based on the communication capability information, generate early warning prompt information, adjust the confidence level of the information from the roadside equipment in the area, or plan a driving route that does not pass through the area.
  • the communication capabilities of each roadside device to each area can be determined according to the received communication capability information, so as to know which areas have stronger communication capabilities with terminal devices and which areas have better communication capabilities with terminal devices. Poor capabilities, generate early warning prompt information based on these communication capabilities, adjust the confidence level of information from the roadside equipment in the area, or plan a driving route that does not pass through the area.
  • the warning prompt information is used to prompt the driver to take over the vehicle in the area, pay attention to avoiding the vehicle in the area, perform fault detection on the roadside equipment,
  • the area reduces the confidence of the information obtained by the roadside device through communication or avoids the area when planning a route, wherein the communication capability information indicates that the communication capability of the roadside device in the area is lower than the first threshold .
  • Step S302 will be described below with reference to FIG. 13 to FIG. 15 .
  • FIG. 13 shows an interaction diagram of a method for using communication capability information provided by an embodiment of the present application.
  • the method for using communication capability information may include:
  • step S401 the communication capability information generating device sends the communication capability information to the vehicle end device.
  • the communication capability information may be generated by a server or a roadside device.
  • the communication capability information generating device may be a roadside device, may also be a server, or may be a roadside device and a server.
  • the server can directly send the communication capability information to the vehicle end device through the cellular network.
  • the server may also send the communication capability information to the roadside device through the cellular network, and then the roadside device forwards the communication capability information to the vehicle-end device through the V2X network.
  • the communication capability information is generated by the roadside device, the roadside device can directly send the communication capability information to the vehicle-end device through the V2X network.
  • the communication capability information may include not only the communication capability information generated by the roadside equipment, but also the communication capability information generated by the server.
  • step S402 the vehicle end device receives communication capability information.
  • the communication capability information received by the vehicle end device comes from the server and/or the roadside device.
  • Step S403 the vehicle-end device determines the area where the communication capability of the roadside device is lower than the first threshold according to the communication capability information, and generates early warning prompt information for reminding the driver to take over the vehicle in the area.
  • the vehicle end device can determine the areas where the communication capacity is lower than the first threshold according to the received communication capacity information. In these areas, the ability to establish a communication connection between the roadside device and the traffic participant is poor, and there may be some actual of traffic participants cannot establish a communication connection with the roadside equipment, or the communication effect of the established communication connection is poor, and the risk of autonomous driving in this area is relatively high. In order to improve safety, the vehicle end device can generate early warning prompt information to remind the driver to take over the vehicle in an area where the communication capability is lower than the first threshold.
  • step S404 the vehicle end device adjusts the confidence level of the information from the roadside device in each area according to the communication capability information.
  • the vehicle-end device can determine which roadside devices have better communication effects in which areas, and which roadside devices have poor communication effects in which areas. For example, the communication effect of roadside device 1 in area 1 is better, but the communication effect in area 2 is poor; the communication effect of roadside device 2 in area 2 is better, but the communication effect in area 1 is poor; The device may increase the confidence of the information from RSD1 in zone 1 and decrease the confidence of the information from RSD1 in zone 2; and, increase the confidence of the information from RSD2 in zone 2 , and reduce the confidence of the information from roadside equipment 2 in area 3. In this way, when the vehicle is driving automatically in area 2, it can increase its dependence on the information it perceives about area 2 and the information from roadside equipment 2, and reduce the dependence on information from roadside equipment 1. Dependency, thereby improving the safety of autonomous driving.
  • Step S405 the vehicle-end device determines the area where the communication capability of the roadside device is lower than the first threshold according to the communication capability information, and prevents the driving route from passing through the area when planning the driving route.
  • the vehicle-end device After the vehicle-end device determines the areas where the communication capacity is lower than the first threshold according to the received communication capacity information, it can avoid these areas when planning and executing the route, which is conducive to improving the safety of automatic driving.
  • vehicle end device may perform one or more of steps S403 to S405.
  • steps S403 to S405 there is no limitation on the execution sequence.
  • the car-end device after receiving the communication capability information, can store the communication capability information as map data, so that when the car-end device performs intelligent driving later, it can obtain the communication capability from the map information to determine whether the vehicle needs a driver to take over when driving into an area, where confidence in information from a roadside device needs to be reduced, or whether an area needs to be avoided when planning a route , thereby improving security.
  • FIG. 14 shows an interactive schematic diagram of a method for using communication capability information provided by an embodiment of the present application.
  • the method for using communication capability information may include:
  • step S501 the communication capability information generating device sends the communication capability information to the mobile terminal.
  • Step S502 the mobile terminal receives communication capability information.
  • step S501 and step S502 reference may be made to step S401 and step S402 respectively, which will not be repeated here.
  • Step S503 according to the communication capability information, the mobile terminal determines the area where the communication capability of the roadside equipment is lower than the first threshold, and generates warning prompt information for reminding the mobile terminal user to pay attention to avoid vehicles in the area.
  • the communication effect of the roadside equipment is poor, and it may not be possible to establish communication connections with some terminal equipment in these areas or the communication effect of the established communication connections is poor, and it is impossible to send information to the mobile terminal in time , so that it is impossible to assist the user of the mobile terminal in time to find that there are vehicles or pedestrians around him. Therefore, after the mobile terminal determines the area where the communication capability is lower than the first threshold according to the received communication capability information, it can generate early warning prompt information. To remind the user of the mobile terminal to pay attention to avoiding vehicles in the area, which is conducive to improving the travel safety of the user.
  • FIG. 15 shows an interactive schematic diagram of a method for using communication capability information provided by an embodiment of the present application.
  • the method for using communication capability information may include:
  • step S601 the communication capability information generating device sends the communication capability information to the management device of the roadside device.
  • Step S602 the management device receives communication capability information.
  • step S601 and step S602 reference may be made to step S401 and step S402, which will not be repeated here.
  • Step S603 the management device determines according to the communication capability information that there is an area where the communication capability of the roadside device is lower than the first threshold, and generates software for reminding the administrator to perform fault detection on the roadside device, update the roadside device, or adjust Early warning prompt information for the deployment of roadside equipment.
  • the roadside equipment When there is an area where the communication capability is lower than the first threshold, it indicates that the roadside equipment may have failed, or the communication capability of the roadside equipment needs to be further improved, or the deployment of the roadside equipment is unreasonable. Therefore, the roadside equipment The management device can remind the administrator to check the faults of the roadside equipment, update the software of the roadside equipment, or adjust the deployment of the roadside equipment, so that the roadside equipment can establish a communication connection with a larger range of terminal equipment, and the communication effect get promoted.
  • the roadside sensing device of the roadside equipment may also be blocked by foreign objects and damaged, and the roadside sensing device of the roadside equipment may be affected by climate or weather Reasons (for example, high temperature, severe smog, sand and dust) lead to abnormal recognition, the software of the roadside equipment has been updated, the communication module of the roadside equipment has been replaced, etc., which will cause the communication range of the roadside equipment to change. Variety. Therefore, the communication capability generation method provided in the embodiment of the present application can update the generated communication capability information. The following takes the updating process of the first communication capability information of the first roadside device as an example for description.
  • the method further includes: updating the first communication capability information when a preset condition is met.
  • the preset conditions include but are not limited to: performing fault maintenance on the first roadside device; replacing a sensor of the first roadside device; or upgrading the first roadside device;
  • the current value of the communication capability indicator indicated by the first communication capability information is abnormal relative to the statistical value of the communication capability indicator.
  • the following describes the abnormality of the current value of the communication capability index indicated by the first communication capability information relative to the statistics of the communication capability index.
  • the current value of the communication capability index indicated by the first communication capability information may represent the communication capability information obtained in the first time period before the current moment.
  • the statistical value of the communication capability index indicated by the first communication capability information represents the communication capability information obtained in the second time period before the current moment.
  • the duration of the first time period is shorter than the duration of the second time period, and the time corresponding to the first time period is after the time corresponding to the second time period.
  • the method for generating the current value of the communication capability index and the statistical value of the communication capability index may refer to the method for generating the first communication capability information.
  • the current value of the communication capability index can be obtained by limiting the time information of the traffic participant data used in the process of generating the first communication capability information within the first time period, and the time information of the traffic participant data used in the process of generating the first communication capability information
  • the statistical value of the communication capability index can be obtained by limiting the time information to the second time period.
  • the first communication capability information needs to be updated, so as to improve the accuracy.
  • the abnormality of the current value of the communication capability index indicated by the first communication capability information relative to the statistics of the communication capability index includes: the difference between the first communication area and the second communication area corresponding to the target communication capability level is greater than the specified The first difference threshold corresponding to the target communication capability level.
  • the target communication capability level is any one of the communication capability levels of the first roadside equipment
  • the first communication area represents the target communication capability indicated by the current value of the communication capability indicator A communication area corresponding to a level
  • the second communication area indicates a communication area corresponding to the target communication capability level indicated by the communication capability index statistical value.
  • the current value of the communication capability indicator indicates that the communication capability level of the area 3 is level 1 and the communication capability level of the area 4 is level 2 .
  • the statistical value of the communication capability index indicates that the communication capability level of area 5 is level 1 and the communication capability level of area 6 is level 2 .
  • the difference between area 3 and area 5 is greater than the first difference threshold, and/or, when the difference between area 4 and area 6 is greater than the first difference threshold, it indicates that the communication capability of the first roadside device has changed greatly. It can be determined that the current value of the communication capability index is abnormal relative to the statistical value of the communication capability index.
  • the first difference threshold may be used to indicate the difference in position.
  • the first difference threshold may represent the difference in area, and when the difference between the area of area 3 and the area of area 5 is greater than the first difference threshold, it may be determined that the current value of the communication capability index is relative to the statistical value of the communication capability index. abnormal. It should be noted that the above is only an exemplary description of the first difference threshold, and should not be used as a limitation.
  • the weighted calculation of the difference between the first communication area and the second communication area corresponding to each communication capability level can be performed, and when the calculation result is greater than the second difference threshold, determine the current value of the communication capability index relative to the statistical value of the communication capability index Abnormal.
  • the second difference threshold may refer to the first difference threshold, which will not be repeated here.
  • the abnormality of the current value of the communication capability index indicated by the first communication capability information relative to the statistics of the communication capability index includes: in the communication area corresponding to the target communication capability level in the communication capability index statistical value, the current data set The ratio of the amount of data of the location points in B to the number of location points in the current data set A is smaller than the third difference threshold.
  • the current data set A is used to indicate the traffic participant data collected in the first time period before the current moment, which is within the preselected range of the first roadside device and whose working status information is normal working status.
  • the data set B represents the traffic participants whose equipment identification information includes the identification information of the first roadside equipment in the traffic participant data indicated by the current data set A.
  • the ratio of the number of location points in the current data set B to the number of location points in the current data set A is less than the third difference threshold, indicating that a large number of communication failures occur in the communication area corresponding to the target communication capability level, that is, In other words, the communication effect between the first roadside device and the terminal device in the communication area corresponding to the target communication capability level is poor, so it can be determined that the current value of the communication capability index is abnormal relative to the statistical value of the communication capability index.
  • the third difference threshold can be set as required.
  • the third difference threshold corresponds to the target communication capability level, the stronger the communication capability corresponding to the target communication capability level, the smaller the value of the third difference threshold; the weaker the communication capability corresponding to the target communication capability level, the The greater the value of the three difference thresholds.
  • the communication area corresponding to the target communication capability level “Level 1" in the statistical value of the communication capability index is Area 5, and the third difference threshold corresponding to the target communication capability level “Level 1” is threshold 1.
  • the number of location points in the current dataset B is "quantity 1”
  • the number of location points in the current dataset A is “quantity 2”
  • the ratio of quantity 1 to quantity 2 is less than the third level corresponding to level 1 difference threshold, it can be determined that the current value of the communication capability index is abnormal relative to the statistical value of the communication capability index.
  • the abnormality can be found in time, and the update can be triggered immediately when the abnormality is detected.
  • FIG. 16 shows a schematic structural diagram of an apparatus for generating communication capability information provided by an embodiment of the present application.
  • the device can be applied to a server or a first roadside device.
  • the device 70 includes:
  • the first acquiring module 71 is configured to acquire first communication state indication information, where the first communication state indication information is used to instruct multiple terminal devices to establish communication connections with the first roadside device at multiple locations;
  • a first determination module 72 configured to determine a first distribution of the plurality of location points around the first roadside device according to the first communication status indication information
  • the first generating module 73 is configured to generate first communication capability information of the first roadside device according to the first distribution situation, and the first communication capability information is used to indicate the communication of the first roadside device ability.
  • the device further includes:
  • a storage module configured to store the first communication capability information as map data.
  • the device further includes:
  • the second obtaining module is configured to obtain second communication state indication information, the second communication state indication information is used to instruct the first at least one terminal device to establish a communication connection with the second roadside device at the first at least one location point, so that The distance between the first at least one location point and the first roadside equipment is less than a preset threshold;
  • a second determining module configured to determine a second distribution of the first at least one location point around the first roadside device according to the second communication state indication information
  • the first generating module is also used for:
  • the device further includes:
  • a third acquiring module configured to acquire third communication state indication information, where the third communication state indication information is used to instruct a second at least one terminal device to establish a communication connection with a server at a second at least one location point, and the second at least A terminal device is capable of connecting to the first roadside device, and the distance between the second at least one location point and the first roadside device is less than a preset threshold;
  • a third determining module configured to determine a third distribution of the second at least one location point around the first roadside device according to the third communication state indication information
  • the first generating module is also used for:
  • the first communication capability information is used to indicate the communication capabilities of the first area and the first roadside device in the first area.
  • the first communication capability information is used to indicate the first scene, the first area, and the communication of the first roadside device in the first scene and in the first area ability.
  • the first communication status indication information includes: location information of the multiple location points, working status information of multiple communication modules in the multiple terminal devices, Information about the connection state between the device and the first roadside device, identification information and time information of the first roadside device.
  • the device further includes:
  • the second generating module is configured to generate a plurality of communication capability information of a plurality of roadside devices, the plurality of communication capability information is used to indicate the communication capabilities of a plurality of roadside devices, and the plurality of roadside devices include the first For a road-side device, the plurality of communication capability information includes the first communication capability information;
  • the third generating module is configured to generate communication blind area information according to the plurality of pieces of communication capability information, and the communication blind area information is used to indicate an area not covered by one or more roadside devices among the plurality of roadside devices.
  • the area not covered by one or more roadside devices in the plurality of roadside devices includes: an absolute blind area and/or a relative blind area, wherein any of the plurality of roadside devices None of the roadside devices can reach the second threshold in the absolute blind zone, and some of the roadside devices in the plurality of roadside devices cannot reach the third threshold in the relative blind zone.
  • the device further includes:
  • An update module configured to update the first communication capability information when a preset condition is met
  • the preset conditions include:
  • the current value of the communication capability index indicated by the first communication capability information is abnormal relative to the statistical value of the communication capability index
  • the device further includes:
  • a fourth generation module configured to generate early warning prompt information according to the first communication capability information, and the early warning prompt information is used to prompt the driver to take over the vehicle in the second area and perform fault detection on the first roadside equipment , update the software of the first roadside device, or adjust the deployment of the first roadside device, reduce the confidence of the information from the first roadside device in the second area, or avoid Opening the second area, wherein the first communication capability information indicates that the communication capability of the first roadside device in the second area is lower than a first threshold.
  • the area that the communication capability of the first roadside device can reach is determined, so that it is convenient and accurate Obtain the communication range of the first roadside device accurately.
  • FIG. 17 shows a schematic structural diagram of an apparatus for using communication capability information provided by an embodiment of the present application.
  • the device can be applied to terminal equipment.
  • the device 80 includes:
  • An obtaining module 81 configured to obtain communication capability information, the communication capability information being used to indicate the communication capabilities of the area and the roadside equipment in the area;
  • the generation module 82 is configured to generate early warning prompt information based on the communication capability information, adjust the confidence level of information communicated from the roadside equipment in the area, or plan a driving route that does not pass through the area.
  • the communication capability information is further used to indicate a scenario, and the communication capability of the roadside device in the scenario and in the area.
  • the warning prompt information is used to prompt the driver to take over the vehicle in the area, pay attention to avoiding the vehicle in the area, perform fault detection on the roadside equipment,
  • the area reduces the confidence of the information obtained by the roadside device through communication or avoids the area when planning a route, wherein the communication capability information indicates that the communication capability of the roadside device in the area is lower than the first threshold .
  • the roadside device is a plurality of roadside devices, and the area includes an absolute blind zone, where the communication capabilities of the multiple roadside devices cannot reach the second threshold area.
  • the roadside device is a plurality of roadside devices, and the area includes a relative blind area, and the relative blind area is that the communication capabilities of some of the roadside devices in the plurality of roadside devices cannot reach The region of the third threshold.
  • the device further includes:
  • a storage module configured to store the communication capability information as map data.
  • Figure 18 shows a schematic diagram of an electronic device provided by an embodiment of the present application, the electronic device can execute the method shown in Figure 2 or Figure 17 above, and the electronic device can be a cloud device (such as a server), a roadside device (such as a road Side unit RSU) or terminal equipment (such as vehicle cooperation and writing terminal), can also be components, modules or chips inside these equipment.
  • a cloud device such as a server
  • a roadside device such as a road Side unit RSU
  • terminal equipment such as vehicle cooperation and writing terminal
  • the electronic device may include at least one processor 901 , a memory 902 , an input and output device 903 and a bus 904 .
  • processor 901 the electronic device may include at least one processor 901 , a memory 902 , an input and output device 903 and a bus 904 .
  • memory 902 the electronic device may include at least one processor 901 , a memory 902 , an input and output device 903 and a bus 904 .
  • the processor 901 is the control center of the electronic device, and may be one processor, or may be a general term for multiple processing elements.
  • the processor 901 is a CPU (Central Processing Unit), and may also be a specific integrated circuit (Application Specific Integrated Circuit, ASIC), or one or more integrated circuits configured to implement the embodiments of the present disclosure, for example: a or multiple microprocessors (Digital Signal Processor, DSP), or, one or more Field Programmable Gate Arrays (Field Programmable Gate Array, FPGA).
  • DSP Digital Signal Processor
  • FPGA Field Programmable Gate Array
  • the processor 901 can execute various functions of the electronic device by running or executing software programs stored in the memory 902 and calling data stored in the memory 902 .
  • the processor 901 may include one or more CPUs, such as CPU 0 and CPU 1 shown in the figure.
  • the electronic device may include multiple processors, for example, the processor 901 and the processor 905 shown in FIG. 18 .
  • processors can be a single-core processor (single-CPU) or a multi-core processor (multi-CPU).
  • a processor herein may refer to one or more devices, circuits, and/or processing cores for processing data (eg, computer program instructions).
  • the memory 902 may be a read-only memory (Read-Only Memory, ROM) or other types of static storage devices that can store static information and instructions, and a random access memory (Random Access Memory, RAM) or other types that can store information and instructions It can also be an electrically erasable programmable read-only memory (Electrically Erasable Programmable Read-Only Memory, EEPROM), a read-only disc (Compact Disc Read-Only Memory, CD-ROM) or other optical disc storage, optical disc storage (including compact discs, laser discs, optical discs, digital versatile discs, Blu-ray discs, etc.), magnetic disk storage media or other magnetic storage devices, or can be used to carry or store desired program code in the form of instructions or data structures and can be programmed by a computer Any other medium accessed, but not limited to.
  • the memory 902 may exist independently, and is connected to the processor 901 through the bus 904 .
  • the memory 902 can also be integrated with the processor 901.
  • the input and output device 903 is used for communicating with other devices or a communication network. For example, it is used to communicate with communication networks such as V2X network, cellular network, Ethernet, radio access network (Radio access network, RAN), and wireless local area network (Wireless Local Area Networks, WLAN).
  • the input and output device 903 may include all or part of a baseband processor, and may also optionally include a radio frequency (Radio Frequency, RF) processor.
  • the RF processor is used to send and receive RF signals
  • the baseband processor is used to process the baseband signals converted from RF signals or the baseband signals to be converted into RF signals.
  • the input and output device 903 can be used to transmit the first communication state indication information, the first distribution situation, the first communication capability information, the second communication state indication information, the second distribution situation, and the third communication state indication information One or more of the information, the third distribution situation, a plurality of communication capability information, blind spot information and early warning prompt information.
  • the input and output device 903 may include a transmitter and a receiver.
  • the transmitter is used for sending signals to other devices or communication networks
  • the receiver is used for receiving signals sent by other devices or communication networks.
  • the transmitter and receiver can exist independently or be integrated together.
  • the bus 904 may be an Industry Standard Architecture (Industry Standard Architecture, ISA) bus, a Peripheral Component Interconnect (PCI) bus, or an Extended Industry Standard Architecture (Extended Industry Standard Architecture, EISA) bus, etc.
  • ISA Industry Standard Architecture
  • PCI Peripheral Component Interconnect
  • EISA Extended Industry Standard Architecture
  • the bus can be divided into address bus, data bus, control bus and so on. For ease of representation, only one thick line is used in FIG. 18 , but it does not mean that there is only one bus or one type of bus.
  • the device structure shown in FIG. 18 does not constitute a limitation to the electronic device, and may include more or less components than shown in the illustration, or combine some components, or arrange different components.
  • An embodiment of the present application provides a map, the map includes communication capability information, and the communication capability information is used to indicate an area and the communication capability of a roadside device in the area.
  • the communication capability information is further used to indicate a scenario, and the communication capability of the roadside device in the scenario and in the area.
  • the roadside device is a plurality of roadside devices, and the area includes an absolute blind area, and the absolute blind area is an area where the communication capabilities of the plurality of roadsides cannot reach the second threshold .
  • the roadside device is a plurality of roadside devices, and the area includes a relative blind area, and the relative blind area is that the communication capabilities of some of the roadside devices in the plurality of roadside devices cannot reach The region of the third threshold.
  • the map further includes early warning prompt information, and the early warning prompt information is used to prompt the driver to take over the vehicle in the area, pay attention to avoiding the vehicle in the area,
  • the side equipment performs fault detection, reduces the confidence of the information obtained by the roadside equipment through communication in the area, or avoids the area when planning a path, wherein the communication capability information indicates that the roadside equipment is in the area
  • the communication capability within is below the first threshold.
  • An embodiment of the present application provides a vehicle, which includes one or more communication capability information using devices described above, for example, the vehicle end device shown in FIG. 13 .
  • An embodiment of the present application provides a non-volatile computer-readable storage medium, on which computer program instructions are stored, and when the computer program instructions are executed by a processor, the above-mentioned method for generating communication capability information or using method for communication capability information is implemented .
  • An embodiment of the present application provides a computer program product, including computer-readable codes, or a non-volatile computer-readable storage medium bearing computer-readable codes, when the computer-readable codes are stored in a processor of an electronic device When running, the processor in the electronic device executes the above method for generating communication capability information or using method for communication capability information.
  • a computer readable storage medium may be a tangible device that can retain and store instructions for use by an instruction execution device.
  • a computer readable storage medium may be, for example, but is not limited to, an electrical storage device, a magnetic storage device, an optical storage device, an electromagnetic storage device, a semiconductor storage device, or any suitable combination of the foregoing.
  • Non-exhaustive list of computer-readable storage media include: portable computer disk, hard disk, random access memory (Random Access Memory, RAM), read only memory (Read Only Memory, ROM), erasable Electrically Programmable Read-Only-Memory (EPROM or flash memory), Static Random-Access Memory (Static Random-Access Memory, SRAM), Portable Compression Disk Read-Only Memory (Compact Disc Read-Only Memory, CD -ROM), Digital Video Disc (DVD), memory sticks, floppy disks, mechanically encoded devices such as punched cards or raised structures in grooves with instructions stored thereon, and any suitable combination of the foregoing .
  • RAM Random Access Memory
  • ROM read only memory
  • EPROM or flash memory erasable Electrically Programmable Read-Only-Memory
  • Static Random-Access Memory SRAM
  • Portable Compression Disk Read-Only Memory Compact Disc Read-Only Memory
  • CD -ROM Compact Disc Read-Only Memory
  • DVD Digital Video Disc
  • Computer readable program instructions or codes described herein may be downloaded from a computer readable storage medium to a respective computing/processing device, or downloaded to an external computer or external storage device over a network, such as the Internet, local area network, wide area network, and/or wireless network.
  • the network may include copper transmission cables, fiber optic transmission, wireless transmission, routers, firewalls, switches, gateway computers, and/or edge servers.
  • a network adapter card or a network interface in each computing/processing device receives computer-readable program instructions from the network and forwards the computer-readable program instructions for storage in a computer-readable storage medium in each computing/processing device .
  • Computer program instructions for performing the operations of the present application may be assembly instructions, instruction set architecture (Instruction Set Architecture, ISA) instructions, machine instructions, machine-related instructions, microcode, firmware instructions, state setting data, or in one or more source or object code written in any combination of programming languages, including object-oriented programming languages—such as Smalltalk, C++, etc., and conventional procedural programming languages—such as the “C” language or similar programming languages.
  • Computer readable program instructions may execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer, or entirely on the remote computer or server implement.
  • the remote computer can be connected to the user's computer through any kind of network, including a Local Area Network (LAN) or a Wide Area Network (WAN), or it can be connected to an external computer such as use an Internet service provider to connect via the Internet).
  • electronic circuits such as programmable logic circuits, field-programmable gate arrays (Field-Programmable Gate Array, FPGA) or programmable logic arrays (Programmable Logic Array, PLA), the electronic circuit can execute computer-readable program instructions, thereby realizing various aspects of the present application.
  • These computer-readable program instructions may be provided to a processor of a general purpose computer, special purpose computer, or other programmable data processing apparatus to produce a machine such that when executed by the processor of the computer or other programmable data processing apparatus , producing an apparatus for realizing the functions/actions specified in one or more blocks in the flowchart and/or block diagram.
  • These computer-readable program instructions can also be stored in a computer-readable storage medium, and these instructions cause computers, programmable data processing devices and/or other devices to work in a specific way, so that the computer-readable medium storing instructions includes An article of manufacture comprising instructions for implementing various aspects of the functions/acts specified in one or more blocks in flowcharts and/or block diagrams.
  • each block in a flowchart or block diagram may represent a module, a portion of a program segment, or an instruction that includes one or more Executable instructions.
  • the functions noted in the block may occur out of the order noted in the figures. For example, two blocks in succession may, in fact, be executed substantially concurrently, or they may sometimes be executed in the reverse order, depending upon the functionality involved.
  • each block in the block diagrams and/or flowcharts, and combinations of blocks in the block diagrams and/or flowcharts can be implemented with hardware (such as circuits or ASIC (Application Specific Integrated Circuit, application-specific integrated circuit)), or can be implemented with a combination of hardware and software, such as firmware.
  • hardware such as circuits or ASIC (Application Specific Integrated Circuit, application-specific integrated circuit)
  • firmware such as firmware

Abstract

本申请涉及一种通信能力信息生成方法、使用方法及装置，所述通信能力信息生成方法包括：获取用于指示多个终端设备在多个位置点与第一路侧设备建立通信连接的第一通信状态指示信息，根据第一通信状态指示信息，确定第一通信状态指示信息指示的多个位置点在第一路侧设备周围的第一分布情况，根据第一分布情况，生成第一路侧设备的第一通信能力信息。本申请实施例提供的通信能力信息生成方法能够便捷、准确地得到路侧设备的通信范围。

Description

通信能力信息生成方法、使用方法及装置
本申请要求于2021年08月23日提交中国专利局、申请号为202110970028.8、申请名称为“通信能力信息生成方法、使用方法及装置”的中国专利申请的优先权，其全部内容通过引用结合在本申请中。
技术领域
本申请涉及智能交通、智能驾驶和地图技术领域，尤其涉及一种通信能力信息生成方法、使用方法及装置。
背景技术
在自动驾驶或者辅助驾驶的过程中，道路环境的感知是首要任务。自动驾驶或者辅助驾驶的车辆可以将高精地图作为基础的驾驶参考信息。高精地图不同于传统的导航地图，在高精地图中有些比一般导航地图更精准的信息图层，从而体现更为全面的道路信息。高精地图中信息图层分为静态图层和动态图层。其中，静态图层用于体现具体的车道模型等静态信息；动态图层用于体现红绿灯情况、路况等动态信息。
路侧设备提供的通信信息可以作为智能驾驶决策与控制的参考信息，因此，路侧设备的通信能力是影响智能驾驶安全性的一个重要因素。
出厂时，设备厂家一般会对路侧设备的通信范围进行标示。由于路侧设备的通信范围与道路结构、建筑物遮挡等因素相关，导致路侧设备的实际通信范围与出厂设计的通行范围之间存在偏差。由于路侧设备数量的部署量较大，安装场景复杂，对每个安装点位进行单独的通信范围测试需要耗费大量人力物力，并不现实。如何便捷、准确地确定路侧设备的实际通信范围成为当前亟待解决的问题。
发明内容
有鉴于此，提出了一种通信能力信息生成方法、使用方法及装置，能够便捷、准确地得到路侧设备的通信范围。
第一方面，本申请的实施例提供了一种通信能力信息生成方法，所述方法包括：获取第一通信状态指示信息，所述第一通信状态指示信息用于指示多个终端设备在多个位置点与第一路侧设备建立通信连接；根据所述第一通信状态指示信息，确定所述多个位置点在所述第一路侧设备周围的第一分布情况；根据所述第一分布情况，生成所述第一路侧设备的第一通信能力信息，所述第一通信能力信息用于指示所述第一路侧设备的通信能力。
在本申请实施例中，基于与第一路侧设备建立通信连接的多个终端设备的多个位置点的分布情况，确定出第一路侧设备的通信能力能够达到的区域，从而便捷、准确地获得第一路侧设备的通信范围。
根据第一方面，在所述通信能力生成方法的第一种可能的实现方式中，所述方法还包括：将所述第一通信能力信息作为地图数据进行存储。这样，可以丰富地图的信息，为智能驾驶决策与控制提供帮助。
根据第一方面或者第一方面的第一种可能的实现方式，在所述通信能力信息生成方法的第二种可能的实现方式中，所述方法还包括：获取第二通信状态指示信息，所述第二通信状态指示信息用于指示第一至少一个终端设备在第一至少一个位置点与第二路侧设备建立通信连接，所述第一至少一个位置点距离所述第一路侧设备的距离小于预设阈值；根据所述第二通信状态指示信息，确定所述第一至少一个位置点在所述第一路侧设备周围的第二分布情况；所述根据所述第一分布情况，生成所述第一路侧设备的第一通信能力信息，包括：根据所述第一分布情况和所述第二分布情况，生成所述第一通信能力信息。
在本申请实施例中，以第二分布情况反应第一路侧设备周围实际存在的能够与第一路侧设备建立通信连接的位置点，以第一分布情况反应第一路侧设备实际建立了通信连接的位置点，根据第一分布情况和第二分布情况，可以获取第一路侧设备实际建立了通信连接的位置点与第一路侧设备周围实际存在的能够与第一路侧设备建立通信连接的位置点的差异，从而可以确定出第一路侧设备在哪些区域可通信或者通信能力较强，在哪些区域无法通信或者通信能力较差。
根据第一方面或者第一方面的第一种可能的实现方式，在所述通信能力信息生成方法的第三种可能的实现方式中，所述方法还包括：获取第三通信状态指示信息，所述第三通信状态指示信息用于指示第二至少一个终端设备在第二至少一个位置点与服务器建立通信连接，所述第二至少一个终端设备具备连接所述第一路侧设备的能力，所述第二至少一个位置点距离所述第一路侧设备的距离小于预设阈值；根据所述第三通信状态指示信息，确定所述第二至少一个位置点在所述第一路侧设备周围的第三分布情况；所述根据所述第一分布情况，生成所述第一路侧设备的第一通信能力信息，包括：根据所述第一分布情况和所述第三分布情况，生成所述第一通信能力信息。
在本申请实施例中，以第三分布情况反应第一路侧设备周围实际存在的能够与第一路侧设备建立通信连接的位置点，以第一分布情况反应第一路侧设备实际建立了通信连接的位置点，根据第一分布情况和第三分布情况，可以获取第一路侧设备实际建立了通信连接的位置点与第一路侧设备周围实际存在的能够与第一路侧设备建立通信连接的位置点的差异，从而可以确定出第一路侧设备在哪些区域可通信或者通信能力较强，在哪些区域无法通信或者通信能力较差。
根据第一方面，或者以上第一方面的任意一种可能的实现方式，在所述通信能力信息生成方法的第四种可能的实现方式中，所述第一通信能力信息用于指示第一区域和所述第一路侧设备在所述第一区域内的通信能力。
这样，通过分区域确定第一路侧设备的通信能力，可以提高通信能力的准确性。
根据第一方面，或者第一方面的第一种可能的实现方式至第三种可能的实现方式中的任意一种，在所述通信能力信息生成方法的第五种可能的实现方式中，所述第一通信能力信息用于指示第一场景、第一区域和所述第一路侧设备在所述第一场景下以及所述第一区域内的通信能力。
这样，通过分区域、分场景确定第一路侧设备的通信能力，可以提高通信能力的准确性。
根据第一方面，或者以上第一方面的任意一种可能的实现方式，在所述通信能力信息生成方法的第六种可能的实现方式中，所述第一通信状态指示信息包括：所述多个位置点的位置信息、所述多个终端设备中多个通信模块的工作状态信息、所述多个终端设备与所述第一 路侧设备的连接状态信息、所述第一路侧设备的标识信息和时间信息。
在本申请实施例中，基于位置信息可以确定终端设备所在位置点，基于通信模块的工作状态信息可以确定终端设备是否具有与第一路侧设备建立通信连接的能力，基于终端设备与第一路侧设备的连接状态信息可以确定实际上终端设备是否与第一路侧设备建立了通信连接，因此，基于第一通信状态信息可以确定出多个终端设备在哪些位置点与第一路侧设备建立通信连接。
根据第一方面，或者以上第一方面的任意一种可能的实现方式，在所述通信能力信息生成方法的第七种可能的实现方式中，所述方法还包括：生成多个路侧设备的多个通信能力信息，所述多个通信能力信息用于指示多个路侧设备的通信能力，所述多个路侧设备包括所述第一路侧设备，所述多个通信能力信息包括所述第一通信能力信息；根据所述多个通信能力信息，生成通信盲区信息，所述通信盲区信息用于指示所述多个路侧设备中的一个或多个路侧设备未覆盖的区域。
在本申请实施例中，综合各个路侧设备的通信能力信息形成整体的通信覆盖能力，从而进一步提高通信能力的准确性。
根据第一方面的第七种可能的实现方式，在所述通信能力信息生成方法的第八种可能的实现方式中，所述多个路侧设备中的一个或多个路侧设备未覆盖的区域包括：绝对盲区和/或相对盲区，其中，所述多个路侧设备中任一路侧设备在所述绝对盲区内均不能达到第二阈值，所述多个路侧设备中的部分路侧设备在所述相对盲区中不能达到第三阈值。
在本申请实施例中，通过区分绝对盲区和相对盲区，可以提高盲区的准确性。
根据第一方面，或者以上第一方面的任意一种可能的实现方式，在所述通信能力信息生成方法的第九种可能的实现方式中，所述方法还包括：在满足预设条件的情况下，更新所述第一通信能力信息；其中，所述预设条件包括：所述第一通信能力信息指示的通信能力指标当前值相对于通信能力指标统计值出现异常；对所述第一路侧设备进行故障维修；对所述第一路侧设备进行升级；或者所述第一路侧设备周围增加或者减少遮挡物。
在本申请实施例中，通过更新第一通信能力信息，可以提高第一通信能力信息的准确性。
根据第一方面，或者以上第一方面的任意一种可能的实现方式，在所述通信能力信息生成方法的第十种可能的实现方式中，所述方法还包括：根据所述第一通信能力信息生成预警提示信息，所述预警提示信息用于提示在第二区域内由驾驶员接管车辆、对所述第一路侧设备进行故障检测、更新所述第一路侧设备的软件，或者调整所述第一路侧设备的部署、在所述第二区域降低来自所述第一路侧设备的信息的置信度或者在规划路径时避开所述第二区域，其中所述第一通信能力信息指示所述第一路侧设备在所述第二区域内的通信能力低于第一阈值。
在本申请实施例中，通过生成预警提示信息，可以提高驾驶安全性。
根据第一方面，在所述通信能力信息生成方法的第十一种可能的实现方式中，第一分布情况为第一位置点的密度。
根据第一方面的第二种可能的实现方式或者第三种可能的实现方式，在所述通信能力信息生成方法的第十二种可能的实现方式中，所述根据第一分布情况和第二分布情况，生成所述第一通信能力信息包括：根据所述第一分布情况和所述第二分布情况，确定稳定连接率；根据所述稳定连接率生成所述第一通信能力信息。
根据第一方面的第二种可能的实现方式或者第三种可能的实现方式，在所述通信能力信息生成方法的第十三种可能的实现方式中，所述根据第一分布情况和第三分布情况，生成所述第一通信能力信息包括：根据所述第一分布情况和所述第三分布情况，确定稳定连接率；根据所述稳定连接率生成所述第一通信能力信息。
根据第一方面或者以上第一方面的任意一种可能的实现方式，在所述通信能力信息生成方法的第十四种可能的实现方式中，第一通信能力信息指示的通信能力指标当前值相对于通信能力指标统计出现异常包括：目标通信能力级别对应的第一通信区域和第二通信区域的差距大于所述目标通信能力级别对应的第一差异阈值。其中，所述目标通信能力级别为所述第一路侧设备具备的通信能力级别中的任意一个通信能力级别，所述第一通信区域表示所述通信能力指标当前值指示的所述目标通信能力级别对应的通信区域，所述第二通信区域表示所述通信能力指标统计值指示的所述目标通信能力级别对应的通信区域。第一通信能力信息指示的通信能力指标当前值可以表示当前时刻之前的第一时间段内得到的通信能力信息。第一通信能力信息指示的通信能力指标统计值表示当前时刻之前的第二时间段内得到的通信能力信息。其中，第一时间段的时长小于第二时间段的时长，且第一时间段对应时刻在第二时间段对应时刻之后。
根据第一方面或者以上第一方面的任意一种可能的实现方式，在所述通信能力信息生成方法的第十五种可能的实现方式中，第一通信能力信息指示的通信能力指标当前值相对于通信能力指标统计出现异常包括：通信能力指标统计值中目标通信能力级别对应的通信区域中，当前数据集B中位置点的数据量占当前数据集A中位置点的数量的比例小于第三差异阈值。其中，当前数据集A用于指示当前时刻之前的第一时间段内收集的交通参与者数据中在第一路侧设备的预选范围内且工作状态信息为正常工作状态的交通参与者数据，当前数据集B表示当前数据集A指示的交通参与者数据中设备的标识信息中包括第一路侧设备的标识信息的交通参与者。
第二方面，本申请的实施例提供了一种通信能力信息使用方法，所述方法包括：获得通信能力信息，所述通信能力信息用于指示区域和路侧设备在所述区域内的通信能力；基于所述通信能力信息，生成预警提示信息、在所述区域调整来自所述路侧设备通信的信息的置信度，或者规划不经过所述区域的行驶路径。这样，可以提高自动驾驶的安全性。
根据第二方面，在所述通信能力信息使用方法的第一种可能的实现方式中，所述通信能力信息还用于指示场景，和所述路侧设备在所述场景下且在所述区域内的通信能力。这样，可以适应不同的场景，进一步提高自动驾驶的安全性。
根据第二方面或者第二方面的第一种可能的实现方式，在所述通信能力信息使用方法的第二种可能的实现方式中，所述预警提示信息用于提示在所述区域内由驾驶员接管车辆、在所述区域内注意避让车辆、对所述路侧设备进行故障检测、在所述区域降低所述路侧设备通信获得的信息的置信度或者在规划路径时避开所述区域，其中所述通信能力信息指示所述路侧设备在所述区域内的通信能力低于第一阈值。这样，可以提升安全性。
根据第二方面，或者第二方面的第一种可能的实现方式或者第二种可能的实现方式，在所述通信能力信息使用方法的第三种可能的实现方式中，所述路侧设备为多个路侧设备，所述区域包括绝对盲区，所述绝对盲区为所述多个路侧设备的通信能力都不能达到第二阈值的区域。
根据第二方面，或者第二方面的第一种可能的实现方式或者第二种可能的实现方式，在所述通信能力信息使用方法的第四种可能的实现方式中，所述路侧设备为多个路侧设备，所述区域包括相对盲区，所述相对盲区为所述多个路侧设备中部分路侧设备的通信能力不能达到第三阈值的区域。
根据第二方面，或者以上第二方面的任意一种可能的实现方式，在所述通信能力信息使用方法的第五种可能的实现方式中，所述方法还包括：将所述通信能力信息作为地图数据进行存储。这样，可以丰富地图的信息，为智能驾驶决策与控制提供帮助。
第三方面，本申请的实施例提供了一种通信能力信息生成装置，所述装置包括：
第一获取模块，用于获取第一通信状态指示信息，所述第一通信状态指示信息用于指示多个终端设备在多个位置点与第一路侧设备建立通信连接；
第一确定模块，用于根据所述第一通信状态指示信息，确定所述多个位置点在所述第一路侧设备周围的第一分布情况；
第一生成模块，用于根据所述第一分布情况，生成所述第一路侧设备的第一通信能力信息，所述第一通信能力信息用于指示所述第一路侧设备的通信能力。
根据第三方面，在所述通信能力生成装置的第一种可能的实现方式中，所述装置还包括：存储模块，用于将所述第一通信能力信息作为地图数据进行存储。
根据第三方面或者第三方面的第一种可能的实现方式中，在所述通信能力信息生成装置的第二种可能的实现方式中，所述装置还包括：
第二获取模块，用于获取第二通信状态指示信息，所述第二通信状态指示信息用于指示第一至少一个终端设备在第一至少一个位置点与第二路侧设备建立通信连接，所述第一至少一个位置点距离所述第一路侧设备的距离小于预设阈值；
第二确定模块，用于根据所述第二通信状态指示信息，确定所述第一至少一个位置点在所述第一路侧设备周围的第二分布情况；
所述第一生成模块还用于：
根据所述第一分布情况和所述第二分布情况，生成所述第一通信能力信息。
根据第三方面或者第三方面的第一种可能的实现方式，在所述通信能力信息生成装置的第三种可能的实现方式中，所述装置还包括：
第三获取模块，用于获取第三通信状态指示信息，所述第三通信状态指示信息用于指示第二至少一个终端设备在第二至少一个位置点与服务器建立通信连接，所述第二至少一个终端设备具备连接所述第一路侧设备的能力，所述第二至少一个位置点距离所述第一路侧设备的距离小于预设阈值；
第三确定模块，用于根据所述第三通信状态指示信息，确定所述第二至少一个位置点在所述第一路侧设备周围的第三分布情况；
所述第一生成模块还用于：
根据所述第一分布情况和所述第三分布情况，生成所述第一通信能力信息。
根据第三方面，或者以上第三方面的任意一种可能的实现方式，在所述通信能力信息生成装置的第四种可能的实现方式中，所述第一通信能力信息用于指示第一区域和所述第一路侧设备在所述第一区域内的通信能力。
根据第三方面，或者第三方面的第一种可能的实现方式至第三种可能的实现方式中的任 意一种，在所述通信能力信息生成装置的第五种可能的实现方式中，所述第一通信能力信息用于指示第一场景、第一区域和所述第一路侧设备在所述第一场景下以及所述第一区域内的通信能力。
根据第三方面，或者以上第三方面的任意一种可能的实现方式，在所述通信能力信息生成装置的第六种可能的实现方式中，所述第一通信状态指示信息包括：所述多个位置点的位置信息、所述多个终端设备中多个通信模块的工作状态信息、所述多个终端设备与所述第一路侧设备的连接状态信息、所述第一路侧设备的标识信息和时间信息。
根据第三方面，或者以上第三方面的任意一种可能的实现方式，在所述通信能力信息生成装置的第七种可能的实现方式中，所述装置还包括：
第二生成模块，用于生成多个路侧设备的多个通信能力信息，所述多个通信能力信息用于指示多个路侧设备的通信能力，所述多个路侧设备包括所述第一路侧设备，所述多个通信能力信息包括所述第一通信能力信息；
第三生成模块，用于根据所述多个通信能力信息，生成通信盲区信息，所述通信盲区信息用于指示所述多个路侧设备中的一个或多个路侧设备未覆盖的区域。
根据第三方面的第七种可能的实现方式，在所述通信能力信息生成装置的第八种可能的实现方式中，所述多个路侧设备中的一个或多个路侧设备未覆盖的区域包括：绝对盲区和/或相对盲区，其中，所述多个路侧设备中任一路侧设备在所述绝对盲区内均不能达到第二阈值，所述多个路侧设备中的部分路侧设备在所述相对盲区中不能达到第三阈值。
根据第三方面，或者以上第三方面的任意一种可能的实现方式，在所述通信能力信息生成装置的第九种可能的实现方式中，所述装置还包括：
更新模块，用于在满足预设条件的情况下，更新所述第一通信能力信息；
其中，所述预设条件包括：
所述第一通信能力信息指示的通信能力指标当前值相对于通信能力指标统计值出现异常；
对所述第一路侧设备进行故障维修；
对所述第一路侧设备进行升级；或者
所述第一路侧设备周围增加或者减少遮挡物。
根据第三方面，或者以上第三方面的任意一种可能的实现方式，在所述通信能力信息生成装置的第十种可能的实现方式中，所述装置还包括：
第四生成模块，用于根据所述第一通信能力信息生成预警提示信息，所述预警提示信息用于提示在第二区域内由驾驶员接管车辆、对所述第一路侧设备进行故障检测、更新所述第一路侧设备的软件，或者调整所述第一路侧设备的部署、在所述第二区域降低来自所述第一路侧设备的信息的置信度或者在规划路径时避开所述第二区域，其中所述第一通信能力信息指示所述第一路侧设备在所述第二区域内的通信能力低于第一阈值。
第四方面，本申请的实施例提供了一种通信能力信息使用装置，所述装置包括：
获取模块，用于获得通信能力信息，所述通信能力信息用于指示区域和路侧设备在所述区域内的通信能力；
生成模块，用于基于所述通信能力信息，生成预警提示信息、在所述区域调整来自所述路侧设备通信的信息的置信度，或者规划不经过所述区域的行驶路径。
根据第四方面，在所述通信能力信息使用装置的第一种可能的实现方式中，所述通信能 力信息还用于指示场景，和所述路侧设备在所述场景下且在所述区域内的通信能力。
根据第四方面或者第四方面的第一种可能的实现方式，在所述通信能力信息使用装置的第二种可能的实现方式中，所述预警提示信息用于提示在所述区域内由驾驶员接管车辆、在所述区域内注意避让车辆、对所述路侧设备进行故障检测、在所述区域降低所述路侧设备通信获得的信息的置信度或者在规划路径时避开所述区域，其中所述通信能力信息指示所述路侧设备在所述区域内的通信能力低于第一阈值。
根据第四方面，或者第四方面的第一种可能的实现方式或者第二种可能的实现方式，在所述通信能力信息使用装置的第三种可能的实现方式中所述路侧设备为多个路侧设备，所述区域包括绝对盲区，所述绝对盲区为所述多个路侧设备的通信能力都不能达到第二阈值的区域。
根据第四方面，或者第四方面的第一种可能的实现方式或者第二种可能的实现方式，在所述通信能力信息使用装置的第四种可能的实现方式中，所述路侧设备为多个路侧设备，所述区域包括相对盲区，所述相对盲区为所述多个路侧设备中部分路侧设备的通信能力不能达到第三阈值的区域。
根据第四方面，或者以上第四方面的任意一种可能的实现方式，在所述通信能力信息使用装置的第五种可能的实现方式中，所述装置还包括：存储模块，用于将所述通信能力信息作为地图数据进行存储。
第五方面，本申请实施例提供了一种通信能力信息生成装置，该装置可以执行上述第一方面或者第一方面的多种可能的实现方式中的一种或几种的通信能力信息生成方法。
该第五方面所述的通信能力信息生成装置可以为服务器、服务器中的部件、硬件模块或者芯片，还可以为路侧设备、路侧设备中的部件、硬件模块或者芯片，在此不做限定。
第六方面，本申请实施例提供了一种通信能力信息使用装置，该装置可以执行上述第二方面或者第二方面的多种可能的实现方式中的一种或几种的通信能力信息使用方法。
该第六方面所述的通信能力信息使用装置可以为服务器、服务器中的部件、硬件模块或者芯片，还可以为路侧设备、路侧设备中的部件、硬件模块或者芯片，还可以为车辆、车辆中的部件、硬件模块或者芯片，还可以为便携终端、便携终端中的部件、硬件模块或者芯片，在此不做限定。
第七方面，本申请实施例提供了一种计算机程序产品，包括计算机可读代码，或者承载有计算机可读代码的计算机可读存储介质，当所述计算机可读代码在处理器中运行时，处理器执行上述第一方面或者第一方面的多种可能的实现方式中的一种或几种的通信能力信息生成方法，或者执行上述第二方面或者第二方面的多种可能的实现方式中的一种或几种的通信能力信息使用方法。
第八方面，本申请实施例提供了一种地图，包括：通信能力信息，所述通信能力信息用于指示区域和路侧设备在所述区域内的通信能力。
所述地图为地图产品，其具体形式可以为地图数据、地图数据库或者地图应用，在此不做具体限定。
根据第八方面，在所述地图的第一种可能的实现方式中，所述通信能力信息还用于指示场景，和所述路侧设备在所述场景下且在所述区域内的通信能力。
根据第八方面或者第八方面的第一种可能的实现方式，在所述地图的第二种可能的实现 方式中，所述路侧设备为多个路侧设备，所述区域包括绝对盲区，所述绝对盲区为所述多个路侧的通信能力都不能达到第二阈值的区域。
根据第八方面或者第八方面的第一种可能的实现方式，在所述地图的第三种可能的实现方式中，所述路侧设备为多个路侧设备，所述区域包括相对盲区，所述相对盲区为所述多个路侧设备中部分路侧设备的通信能力不能达到第三阈值的区域。
根据第八方面或者以上第八方面的任意一种可能的实现方式，在所述地图的第四种可能的实现方式中，所述地图还包括预警提示信息，所述预警提示信息用于提示在所述区域内由驾驶员接管车辆、在所述区域内注意避让车辆、对所述路侧设备进行故障检测、在所述区域降低所述路侧设备通信获得的信息的置信度或者在规划路径时避开所述区域，其中所述通信能力信息指示所述路侧设备在所述区域内的通信能力低于第一阈值。
第九方面，本申请实施例提供一种计算机可读存储介质，其上存储有第八方面或者第八方面的多种可能的实现方式中的一种或几种的地图。
第十方面，本申请实施例提供一种车辆，包括：上述第三方面或者第三方面的多种可能的实现方式中的一种或多种的信息能力使用装置。
本申请的这些和其他方面在以下(多个)实施例的描述中会更加简明易懂。
附图说明
包含在说明书中并且构成说明书的一部分的附图与说明书一起示出了本申请的示例性实施例、特征和方面，并且用于解释本申请的原理。
图1示出本申请实施例涉及的一种应用场景的示意图；
图2示出本申请实施例提供的通信能力信息生成方法的流程图；
图3示出本申请实施例提供的通信系统的结构示意图；
图4示出了第一分布情况的示例性示意图；
图5示出本申请实施例提供的通信系统的结构示意图；
图6示出终端设备的分布情况示意图；
图7示出本申请实施例中网格的示例性示意图；
图8示出本申请实施例中网格的合并结果的示例性示意图；
图9示出本申请实施例中网格的示例性示意图；
图10示出本申请实施例中网格的合并结果的示例性示意图；
图11示出本申请实施例的盲区的示例性示意图；
图12示出本申请实施例挺的通信能力信息使用方法的流程图；
图13示出本申请实施例提供的通信能力信息使用方法的交互示意图；
图14示出本申请实施例提供的通信能力信息使用方法的交互示意图；
图15示出本申请实施例提供的通信能力信息使用方法的交互示意图；
图16示出本申请实施例提供的通信能力信息生成装置的结构示意图；
图17示出本申请实施例提供的通信能力信息使用装置的结构示意图；
图18示出本申请实施例提供的电子设备的示意图。
具体实施方式
以下将参考附图详细说明本申请的各种示例性实施例、特征和方面。附图中相同的附图标记表示功能相同或相似的元件。尽管在附图中示出了实施例的各种方面，但是除非特别指出，不必按比例绘制附图。
在这里专用的词“示例性”意为“用作例子、实施例或说明性”。这里作为“示例性”所说明的任何实施例不必解释为优于或好于其它实施例。
另外，为了更好的说明本申请，在下文的具体实施方式中给出了众多的具体细节。本领域技术人员应当理解，没有某些具体细节，本申请同样可以实施。在一些实例中，对于本领域技术人员熟知的方法、手段、元件和电路未作详细描述，以便于凸显本申请的主旨。
图1示出本申请实施例涉及的一种应用场景的示意图。如图1所示，道路中有行驶的车辆，路边有行走的行人。路边或者道路上方设置有路侧设备。路侧设备可以通过其传感器装置(例如，微波雷达、毫米波雷达或者摄像头等)感知周围的交通参与者(例如，车辆、行人或者非机动车等)。路侧设备与周围的终端设备建立通信连接之后，可以将感知到的信息作为通信信息发送至周围的终端设备，从而为终端设备的智能驾驶决策与控制提供参考。本申请实施例中涉及的终端设备包括但不限于可安装在车辆中的车端设备和便于携带的移动终端。其中，移动终端可以是智能手机、平板电脑、可穿戴电子设备(如智能手环、智能手表或者智能眼镜等)等。
在本申请实施例中，终端设备中配置有定位模块，例如，全球定位系统(Global Positioning System，GPS)和北斗卫星导航系统(BeiDou Navigation System，BDS)等，定位模块可以用于采集终端设备的位置信息以及对应的时间信息。在一个示例中，位置信息可以为绝对坐标(即经纬度坐标)或者相对坐标。时间信息可以为协调世界时(Universal Time Coordinated，UTC)时间戳。
在本申请实施例中，终端设备中还配置有用于与路侧设备进行通信的通信模块。在一个示例中，通信模块可以为车载通信单元(On Board Unit，OBU)。在又一示例中，通信模块可以为移动终端中的无线通信模块。通信模块的工作状态信息可以用于指示通信模块的工作状态。在一个示例中，通信模块的工作状态信息可以为正常工作状态、异常工作状态或者未启动状态。其中，正常工作状态表明通信模块已启动且可以正常工作(即可以与路侧设备建立通信连接)，异常工作状态表明通信模块已启动但无法正常工作(即无法与路侧设备建立通信连接)，未启动状态表明通信模块未启动。可以理解的是，在终端设备的通信模块处于异常工作状态或者处于未启动状态的情况下，即使该终端设备处于一个路侧设备的通信范围内，该终端设备也无法与该路侧设备建立通信连接。在终端设备的通信模块处于正常工作状态的情况下，若该终端设备处于一个路侧设备的通信范围内，则该终端设备可以与该路侧设备建立通信连接。
在本申请实施例中，路侧设备配置有用于与终端设备进行通信的通信模块。在一个示例中，路侧设备中的通信模块可以为路侧通信单元(Road Side Unit，RSU)。车端设备与路侧设备之间可以通过专用短距离通信(dedicated Short Range Communication，DSRC)技术等车联网(Vehicle to X，V2X)技术建立通信连接。具体的，车端设备与路侧设备之间可以通过车载单元以及路侧单元建立V2X通信连接。在又一示例中，路侧设备中的通信模块可以为无线通信模块。移动终端与路侧设备之间可以通过无线保真(Wireless Fidelity，Wi-Fi) 技术等无线通信技术建立通信连接。具体的，移动终端与路侧设备之间可以通过无线通信模块建立无线通信连接。
需要说明的是，以上仅为本申请实施例中涉及的终端设备、定位模块和通信模块的示例性说明，不构成具体限定。本申请实施例涉及的终端设备还可以为其他能够采集自身位置信息且能够与路侧设备进行通信的设备。
如图1所示，路侧设备的通信范围是有限的。当终端设备与路侧设备之间的距离较远或者终端设备与路侧设备之间存在遮挡(例如隔着建筑物)时，路侧设备可能无法与终端设备建立通信连接，或者与终端设备的通信效果较差(例如，稳定性较差或者信号强度较低等)。当终端设备与路侧设备之间的距离较近且终端设备与路侧设备之间无遮挡时，路侧设备与终端设备能够建立通信效果较好的通信连接。当路侧设备能够与一个区域内的终端设备建立通信效果较好的通信连接，表明该区域属于该路侧设备的通信范围。当路侧设备无法与一个区域内的终端设备建立通信效果较好的通信连接，表明该区域超出了该路侧设备的通信范围。基于路侧设备的通信范围可以确定路侧设备在哪些区域收集到的信息比较全面、可靠性较高，在哪些区域收集到信息存在缺漏、可靠性较低。本申请实施例提供的通信能力信息生成方法，可以便捷、准确地获得路侧设备的通信范围。
图2示出本申请实施例提供的通信能力信息生成方法的流程图。如图2所示，所述方法可以包括：
步骤S201，获取第一通信状态指示信息。
步骤S202，根据所述第一通信状态指示信息，确定所述多个位置点在所述第一路侧设备周围的第一分布情况。
步骤S203，根据所述第一分布情况，生成所述第一路侧设备的第一通信能力信息。
其中，第一路侧设备表示需要确定通信能力的路侧设备。第一路侧设备可以为任意一个路侧设备。第一通信能力信息可以表示第一路侧设备的通信能力信息。第一通信能力信息可以用于指示第一路侧设备的通信能力，例如第一路侧设备能够通信的区域和第一路侧设备不能通信的区域。
第一通信状态指示信息可以用于指示多个终端设备在多个位置点与第一路侧设备建立通信连接。在一个终端设备在一个位置点与第一路侧设备建立了通信连接的情况下，表明该位置点位于第一路侧设备的通信范围内，第一路侧设备的通信能力能够达到该位置点。因此，基于与第一路侧设备建立通信连接的多个终端设备的多个位置点的分布情况，可以确定出第一路侧设备的通信能力能够达到的区域，从而便捷、准确地获得第一路侧设备的通信范围。
可以理解的是，第一通信状态指示信息指示的多个终端设备在多个位置点可以包括：不同的终端设备在同一时刻的位置点、同一个终端设备在不同时刻的位置点，以及不同的终端设备在不同时刻的位置点。例如，多个终端设备在多个位置点可以包括：车辆1在周一上午1点的位置点1和车辆2在周一上午1的位置点2，车辆1在周一上午1点的位置点1和车辆1在周一下午1点的位置点3，以及车辆3在周二上午1点的位置点4和车辆4在周二下午1点的位置点5。也就是说，本申请实施例对第一通信状态指示信息指示的多个位置点是否是同一个终端设备的位置点以及是否为同一时刻采集到的位置点不做限制。
在一种可能的实现方式中，第一通信状态指示信息可以包括：所指示的多个位置点的位置信息，所指示的多个终端设备中多个通信模块的工作状态信息、所指示的多个终端设备与 第一路侧设备的连接状态信息、第一路侧设备的标识信息，以及时间信息。其中，位置点的位置信息和通信模块的工作状态信息以及时间信息如上文所述，这里不再赘述。
一个终端设备与一个路侧设备的连接状态信息可以为已连接状态或者未连接状态。已连接状态表明该终端设备已经与该路侧设备建立了通信连接，未连接状态表明该终端设备未与该路侧设备建立通信连接。由于第一通信状态指示信息指示的是多个终端设备在多个位置点与第一路侧设备建立通信连接，因此，第一通信状态指示信息中与第一路侧设备的连接状态信息为已连接状态。
路侧设备的标识信息可以用于识别不同的路侧设备。举例来说，路侧设备的标识信息可以为路侧设备的名称、编号、位置信息、其上配置的通信模块的标识，或者其他用户自定义的标识等。因此，第一路侧额设备的标识信息可以为第一路侧设备的名称、编号、第一路侧设备上的RSU的标识RSU_I D或者其他用户为第一路侧设备自定义的标识等。
下面对获取第一通信状态指示信息的过程进行说明。
图3示出本申请实施例提供的通信系统的结构示意图。如图3所示，该通信系统包括第一路侧设备11和第一终端设备12。其中，第一路侧设备11可以表示任意一个路侧设备，第一终端设备12表示与第一路侧设备11建立通信连接的终端设备。第一终端设备12包括且不限于车端设备和移动终端等设备。第一路侧设备11可以连接一个或多个第一终端设备12。具体的，第一路侧设备11可以通过第一终端设备12中的通信模块与第一终端设备12建立通信连接。第一终端设备12获取自身的交通参与者数据后，可以将获取的交通参与者数据上报至第一路侧设备11。
在一种可能的实现方式中，一个终端设备的交通参与者数据可以包括采集该交通参与者数据时该终端设备所在位置点的位置信息，采集该交通参与者数据的时间信息，该终端设备中通信模块的工作状态信息，以及该终端设备连接的路侧设备的标识信息。在一个示例中，位置信息可以记为Position，工作状态信息可以记为Connection，路侧设备的标识信息可以记为RSU_ID，时间信息可以记为Time，则一个终端设备的交通参与者数据可以记为(Position，Device，Connection，RSU_ID,Time)。由于第一终端设备12为与第一路侧设备11建立通信连接的终端设备，因此，第一终端设备12的交通参与者数据中，通信模块的工作状态信息为“正常工作状态”，路侧设备的标识信息中包括“第一路侧设备11的标识信息”。第一路侧设备11接收到各第一终端设备12上报的交通参与者数据后，可以基于接收到的信息，生成第一通信状态指示信息。
需要说明的是，参照图3可知，与第一路侧设备11建立通信连接的第一终端设备12可以直接将交通参与者数据上报至第一路侧设备11，其他未与第一路侧设备11建立通信连接的终端上设备是无法直接将其交通参与者数据上报至第一路侧设备11的(这里不考虑通过其他路侧设备转发的情况，即使第一路侧设备接收到了其他路侧设备转发的交通参与者数据，基于其中的路侧设备的标识信息还是可以筛选出与第一路侧设备11建立了通信连接的交通参与者数据的)。因此，第一路侧设备11收集的交通参与者数据都是来自与第一路侧设备11建立通信连接的第一终端设备12的。
在获取到第一通信状态指示信息之后，第一路侧设备可以执行步骤S202得到第一分布情况。在一个示例中，第一路侧设备可以根据第一位置点(即第一通信状态指示信息指示的第一终端设备的位置点)的位置信息，确定第一分布情况。
图4示出了第一分布情况的示例性示意图。如图4所示，第一终端设备(即与第一路侧设备建立通信连接的终端设备)在多个位置点与第一路侧设备建立了通信连接，这些位置点的位置信息即为第一分布情况。参见图4可知，在靠近第一路侧设备的区域，能够与第一路侧设备建立通信连接的位置点较多，在远离第一路侧设备的区域，能够与第一路侧设备建立通信连接的位置点较少。
之后，第一路侧设备11可以执行步骤S203，得到第一通信能力信息。
图5示出本申请实施例提供的通信系统的结构示意图。如图5所示，该通信系统包括：第一路侧设备11、第二终端设备13和服务器14。其中，第一路侧设备11可以为任意一个路侧设备。第二终端设备13可以表示与服务器14建立通信连接的终端设备。第一路侧设备11和第二终端设备13均可以通过蜂窝网与服务器14建立通信连接。第二终端设备13获取自身的交通参与者数据之后，可以将获取的交通参与者数据上报至服务器14。考虑到第二终端设备13中可能包括与第一路侧设备11建立通信连接的第一终端设备12，即部分第二终端设备13可能既与服务器14建立了通信连接，又与第一路侧设备11建立了通信连接。因此，服务器14接收到各第二终端设备13上报的交通参与者数据之后，可以基于各交通参与者数据中的工作状态信息和路侧设备的标识信息，筛选出与第一路侧设备建立了通信连接的交通参与者数据。具体的，服务器14可以从接收到的交通参与者数据中筛选出通信模块的工作状态信息为“正常工作状态”，路侧设备的标识信息中包括“第一路侧设备11的标识信息”的交通参与者数据，并基于筛选出的交通参与者数据，生成第一通信状态指示信息。
在一种可能的实现方式中，服务器14生成第一通信状态指示信息之后，可以执行步骤S202得到第一分布情况，或者将第一通信状态指示信息发送至第一路侧设备11，由第一路侧设备11执行步骤S202得到第一分布情况。
在一种可能的实现方式中，在服务器14生成第一通信状态指示信息的过程中，服务器14在筛选交通参与者数据的过程中，可以先在收集到的交通参与者数据中找到在第一路侧设备的预选范围内的交通参与者数据，然后从预选范围内的交通参与者数据中筛选出工作状态信息为“正常工作状态”的交通参与者数据，为了便于描述，在本申请实施例中，将此时筛选出的交通参与者数据组成的数据集称为数据集A。之后，服务器14可以从数据集A中筛选出路侧设备的标识信息中包括“第一路侧设备11的标识信息”的交通参与者数据，在本申请实施例中，此时筛选出的交通参与者数据组成的数据集称为数据集B。数据集A中除数据集B中的交通参与者数据以外的交通参与者数据组成的数据集称为数据集C。其中，预选范围为第一路侧设备11周围的区域，预选范围可以根据第一路侧设备11的通信范围出厂指标以及第一路侧设备的安装方向确定，例如可以根据第一路侧设备的通信范围出厂指标的基础上，在安装方向上预留一定裕度(例如，扩大3米、5米等)，得到预选范围。
图6示出终端设备的分布情况示意图。如图6所示，在预选范围内，示出了多个终端设备的位置点，在某些位置点上，终端设备能够与第一路侧设备建立通信连接，在某些位置点上，终端设备无法与第一路侧设备建立通信连接。这些能够与第一路侧设备建立通信连接的位置点对应的交通参与者数据在数据集B中，这些未与第一路侧设备建立通信连接的位置点对应的交通参与者数据在数据集C中。图6所示的数据集B中的位置点的位置信息即为第一分布情况。参照图6可知，在靠近第一路侧设备的区域，能够与第一路侧设备建立通信连接的位置点较多，在远离第一路侧设备的区域，能够与第一路侧设备建立通信连接的位置点较 少。
之后，服务器14或者第一路侧设备11可以步骤S203，得到第一通信能力信息。
下面对步骤S203中根据第一分布情况，生成第一通信能力信息的过程进行说明。参照图3和图5可知，步骤S203可以由第一路侧设备执行也可以由服务器执行，下面以第一路侧设备执行步骤S203为例进行说明，由服务器执行步骤S203的过程可以参照由第一路侧设备执行步骤S203的过程，本申请实施例中不再赘述。
在一种可能的实现方式中，步骤S203可以包括：第一路侧设备根据第一分布情况，直接生成第一通信能力信息。其中，第一分布情况可以为第一位置点的密度，第一位置点表示第一终端设备的位置点。在第一位置点的密度较大的区域，第一路侧设备的通信能力较强，第一位置点的密度较小的区域，第一路侧设备的通信能力较弱，因此，第一路侧设备可以根据第一位置点的密度生成第一通信能力信息。
在一种可能的实现方式中，第一路侧设备可以获取第二通信状态指示信息，根据第二状态指示信息，确定第二分布情况，然后在步骤S203中根据第一分布情况和第二分布情况，生成第一通信能力信息。
其中，第二通信状态指示信息用于指示第一至少一个终端设备(为了便于描述，在本申请实施例中，将第一至少一个终端设备称为至少一个第三终端设备)在第一至少一个位置点(为了便于描述，在本申请实施例中，将第一至少一个位置点称为至少一个第三位置点)与第二路侧设备建立通信连接，且至少一个第三位置点距离第一路侧设备的距离小于预设阈值。第二通信状态指示信息的获取过程可以参照第一通信状态指示信息的获取过程，将第一通信状态指示信息获取过程中的第一路侧设备替换为第二路侧设备，并将交通参与者信息中的位置信息限制在距离第一路侧设备的距离小于预设阈值的范围内即可。其中，预设阈值可以根据需要进行设置，距离来说，预设阈值可以为100米、200米、500米或者1000米等。在一个示例中，第一路侧设备可以根据第三位置点(即第二通信状态指示信息指示的位置点)的位置信息，确定第二分布情况。第二分布情况可以参照图6中数据集B的位置点的位置信息加上数据集C中的位置点的位置信息。
一个终端设备在距离第一路侧设备的距离小于预设阈值的一个位置点上，与第二路侧设备建立了通信连接，表明该终端设备的通信模块的工作状态信息为“正常工作状态”，且该终端设备处于第一路侧设备周围。此时，该终端设备即为上述第三终端设备，该位置点即为上述第三位置点。一个第三终端设备在一个第三位置点上可能与第一路侧设备建立了通信连接(例如，图6所示的数据集B中的位置点)，也可能未与第一路侧设备建立了通信连接(例如，图6所示的数据集C中的位置点)。在本申请实施例中，可以将第二分布情况作为第一分布情况的比较对象，以第二分布情况反应第一路侧设备周围实际存在的能够与第一路侧设备建立通信连接的位置点，以第一分布情况反应第一路侧设备实际建立了通信连接的位置点。在本申请实施例中，可以基于第一分布情况和第二分布情况可以确定稳定连接率。其中，稳点连接率可以为第一位置点的数量与第三位置点的数量的比值。可以理解的是，在稳定连接率较大时，表明第一路侧设备实际建立了通信连接的位置点的数量与第一路侧设备周围实际存在的能够与第一路侧设备建立通信连接的位置点的数量较为接近，第一路侧设备的通信能力较好。在稳定连接率较小时，表明第一路侧设备实际建立了通信连接的位置点的数量与第一路侧设备周围实际存在的能够与第一路侧设备建立通信连接的位置点的数量差距较大，第一路 侧设备的通信能力较差。因此，第一路侧设备可以根据稳定连接率生成第一通信能力信息。
在一种可能的实现方式中，第一路侧设备可以获取第三通信状态指示信息，然后根据第三通信状态指示信息，确定第三分布情况，然后在步骤S203中根据第一分布情况和第三分布情况，生成第一通信能力信息。
其中，第三通信状态指示信息用于指示第二至少一个终端设备(为了便于描述，在本申请实施例中，将第二至少一个终端设备称为至少一个第二终端设备)在第二至少一个位置点(为了便于描述，在本申请实施例中，将第二至少一个位置点称为至少一个第二位置点)与服务器建立通信连接，且至少一个第二终端设备具备连接第一路侧设备的能力，至少一个第二位置点距离第一路侧设备的距离小于预设阈值。第三通信状态指示信息的获取过程可以图5，由服务器从接收到的交通参与者信息中进行筛选获得。具体的，服务器可从接收到的交通参与者信息中筛选出位置信息在距离第一路侧设备的距离小于预设阈值且通信模块的工作状态信息为“正常工作状态”的交通参与者数据，然后基于筛选出的交通参与者数据获得第三通信状态指示信息。在一个示例中，第一路侧设备可以根据第二位置点(即第三通信状态指示信息指示的位置点)的位置信息，确定第三分布情况。第三分布情况可以参照图6中数据集B的位置点的位置信息加上数据集C中的位置点的位置信息。
一个终端设备在距离第一路侧设备的距离小于预设阈值的一个位置点上与服务器建立了通信连接，且该终端设备的通信模块的工作状态信息为“正常工作状态”，表明该终端设备在第一路侧设备附近且具有连接第一路侧设备的能力。此时，该终端设备即为上述第二终端设备，该位置点即为上述第二位置点。若第一路侧设备未与第三终端设备建立通信连接，则表明第一路侧设备在对应第二位置点的通信能力较差；若第一路侧设备与第三终端设备建立了通信连接，则表明第一路侧设备在对应第三位置点的通信能力较强。因此，在本申请实施例中，可以将第三分布情况作为第一分布情况的比较对象，以第三分布情况反应第一路侧设备周围实际存在的能够与第一路侧设备建立通信连接的位置点，以第一分布情况反应第一路侧设备实际建立了通信连接的位置点。在本申请实施例中，可以基于第一分布情况和第三分布情况可以确定稳定连接率。其中，稳点连接率可以为第一位置点的数量与第二位置点的数量的比值。可以理解的是，在稳定连接率较大时，表明第一路侧设备实际建立了通信连接的位置点的数量与第一路侧设备周围实际存在的能够与第一路侧设备建立通信连接的位置点的数量较为接近，第一路侧设备的通信能力较好。在稳定连接率较小时，表明第一路侧设备实际建立了通信连接的位置点的数量与第一路侧设备周围实际存在的能够与第一路侧设备建立通信连接的位置点的数量差距较大，第一路侧设备的通信能力较差。因此，第一路侧设备可以根据稳定连接率生成第一通信能力信息。
在一种可能的实现方式中，步骤S203可以包括：基于第一路侧设备的预选范围，确定出多个网格；合并所述多个网格中网格指标满足第一条件的网格，得到合并后的网格，并继续合并存在的网格中网格指标满足第一条件的网格，直至不存在满足第一条件的网格；针对任意一个网格，将所述网格确定为一个通信区域，并基于所述网格的网格指标所属的指标范围，确定所述网格的通信能力级别；根据各网格的位置信息和通信能力级别，确定第一通信能力信息。
在一个示例中，基于第一路侧设备的预选范围，确定出多个网格可以包括：对第一路侧设备的预选范围进行网格化处理得到多个网格。在又一示例中，基于第一路侧设备的预选范 围，确定出多个网格可以包括：取第一路侧设备的预选范围与第一道路的交集，得到待划分区域；对待划分区域进行网格化处理，得到多个网格。其中，第一道路可以表示第一路侧设备所在道路或者第一路侧设备周围的道路，第一道路与第一路侧设备的关联关系可以在部署第一路侧设备时预先设置。
其中，网格指标为：网格中第一位置点的密度或者稳定连接率，相应的第一条件为：密度差值小于第一预设阈值或者稳定连接率差值小于第二预设阈值。其中，第一预设阈值和第二预设阈值可以根据需要进行设置，例如，第一预设阈值可以为0.2个/㎡等，第二预设阈值可以为0.1等。本申请实施例对第一预设阈值和第二预设阈值不做限制。
图7示出本申请实施例中网格的示例性示意图。如图7所示，基于图4所示的第一分布情况，第一路侧设备的预选范围划分为多个网格。在一个示例中，待划分区域均匀的划分成多个网格(如图7所示)，这样，便于统计管理。当然，还可以采用其他方式将待划分区域划分成多个网格，例如，在距离第一路侧设备较近的区域划分出的网格面积小于距离第一路侧设备较远的区域划分出的网格的面积(未示出)。这样，可以减少计算次数和合并次数。
在划分完网格之后，可以将每个网格的第一位置点的密度确定为各个网格的网格指标。在确定各个网格的网格指标之后，可以将多个网格中网格指标满足第一条件的网格合并，得到合并后的网格。
之后，确定经过上一轮合并之后得到的各个网格的网格指标，并继续合并存在的网格中网格指标满足所述第一条件的网格，直至不存在满足第一条件的网格。图8示出本申请实施例中网格的合并结果的示例性示意图。如图8所示，图7所示的网格最终合并得到了区域1和区域2。其中，区域1中第一位置点的密度较小，区域2中第一位置点的密度较大，可见，第一路侧设备在区域1中具有通信能力，但通信能力较差，在区域2中具有通信能力，且通信能力较强。
图9示出本申请实施例中网格的示例性示意图。如图9所示，基于图6所示的终端设备的分布情况，在第一路侧设备的预选范围划分为多个网格。在划分完网格之后，可以将每个网格的稳定连接率确定为各个网格的网格指标。在确定各个网格的网格指标之后，可以将多个网格中网格指标满足第一条件的网格合并，得到合并后的网格。之后，确定经过上一轮合并之后得到的各个网格的网格指标，并继续合并存在的网格中网格指标满足所述第一条件的网格，直至不存在满足第一条件的网格。图10示出本申请实施例中网格的合并结果的示例性示意图。如图10所示，图9所示的网格最终合并得到了区域1和区域2。其中，区域1的稳定连接率较小，区域2的稳定连接率较大，可见第一路侧设备在区域1中具有通信能力，但通信能力较差，在区域2中具有通信能力，且通信能力较强。
在不存在满足第一条件的网格的情况下，即网格无法继续合并的情况下，针对任意一个网格，将所述网格确定为一个通信区域，并基于所述通信区域的网格指标所属的指标范围，确定所述通信区域的通信能力级别；根据各通信区域的位置信息和通信能力级别，可以确定第一路侧设备的通信能力信息。
在本申请实施例中，每个指标范围对应一个通信能力级别，基于通信区域的网格指标所属的指标范围，确定通信区域的通信能力级别包括：在所述通信区域的网格指标属于第一指标范围的情况下，确定所述通信区域的通信能力界别为第一通信能力级别。其中，第一指标范围为各指标范围中的任意一个，第一通信能力级别为第一指标范围对应的通信能力级别。 以图8和图10为例，有两个通信区域：区域1和区域2，其中，区域1的网格指标属于指标范围1，区域2的网格指标属于指标范围2，则可以确定第一路侧设备在区域1的通信能力级别为级别1，在区域2的通信能力级别为级别2。
在一个示例中，通信区域的网格指标属于第一指标范围可以包括：密度在第一范围内，和/或，稳定连接率在第二范围内。其中，第一范围、第二范围可以根据需要进行设置，本申请实施例不做限制。
在一个示例中，通信能力级别可以包括：盲区、通信能力较弱、通信能力一般和通信能力较强。在又一示例中，通信能力级别可以包括：低级、中级和高级。在另一示例中，通信能力级别可以包括：第一级、第二级、第三级和第四级等。可以理解的是，以上仅为通信能力级别的示例性说明，本申请实施例对通信能力级别的划分方式和划分数量不做限制。
在一种可能的实现方式中，第一通信能力信息可以用于指示第一路侧设备的通信能力。举例来说，第一通信能力信息可以指示第一路侧设备能够通信的区域和不能通信的区域。例如，第一路侧设备可以与处于200米以内的区域的终端设备通信，无法与处于200米以外的区域的终端设备通信。
在一种可能的实现方式中，第一通信能力信息可以用于指示第一区域和第一路侧设备在第一区域内的通信能力。
其中，第一区域可以表示任意一个区域。在一个示例中，第一区域可以为第一道路上的第一区域。第一区域可以为矩形、扇形、椭圆形或者其他形状。本申请实施例对第一区域的形状和面积不做限制。举例来说，第一路侧设备在100米以内的区域通信效果较好，即通信能力为强通信能力；在100米到150米的通信效果一般，即通信能力为中等通信通能力；在150米到200区域的通信效果较差，即通信能力为弱通信能力；与200米以外的区域无法通信，即通信能力为无法通信。
在一种可能的实现方式中，第一通信能力信息可以用于指示第一场景、第一区域和第一路侧设备在第一场景下第一区域内的通信能力。
本申请实施例中的“场景”用于标识具有通信功能的设备所处的环境(例如，第一路侧设备所处的环境)，或者标识具有通信功能的设备的通信对象所处的环境(例如，车辆或者行人所处的环境)。其中，第一场景可以表示任意一种场景。举例来说，第一场景包括但不限于白天、夜间、晴天、阴天、风沙、雨雪、雾天等影响通信能力的场景。可以理解的是，第一路侧设备在晴天的通信范围要大于阴天、风沙、雨雪和雾天的通信范围。风沙大小不同、雨雪强度不同或者雾的级别不同，第一路侧设备的通信范围也不同。白天车流量大通信范围可能较小，晚上车流量小通信范围可能较大。因此，在本申请实施例中，可以分场景描述第一路侧设备的通信能力，从而使得第一路侧设备的通信能力的准确性更高。举例来说，在晴天的场景下，第一路侧设备在图10所示的区域1的通信能力为中等通信，在图10所示的区域2的通信能力为强通信；在雾天场景下，第一路侧设备在图10所示的区域1的通信能力为弱通信，在图10所示的区域2的通信能力为中等通信。
需要说明的是，在第一通信能力信息指示第一场景、第一区域和第一路侧设备在第一场景下第一区域内的通信能力时，可以在前述交通参与者数据中添加场景标签，这样可以获取到第一场景下的第一通信状态指示信息、第二通信状态指示信息和第三通信状态指示信息。若上述交通参与者数据中未添加场景标签，则在获取第一场景下的交通参与者数据之前，可 以结合第三方信息(例如结合时间信息和历史天气信息)得到第一场景下的交通参与者数据。
至此，获得了第一路侧设备的第一通信能力信息。在本申请中，针对其他路侧设备获取通信能力信息的方式可以参照获取第一路侧设备的第一通信能力信息的方式，这里不再赘述。例如，获取第二路侧设备的第二通信能力信息的方式可以参照获取第一路侧设备的第一通信能力信息的方式。
在一种可能的实现方式中，第一路侧设备的第一通信能力信息可以与道路的标识进行关联。这样，在规划路线或者交通参与者计划计入一条路或者一段路之前，可以调出一条路或者一段路上各个路侧设备的通信能力信息，从而确定一条路或者一段路上各个区域的路侧通信能力，有利于提高安全性。
在一种可能的实现方式中，第一通信能力信息可以作为地图数据进行存储。这样，车辆在进行智能驾驶时，可以从地图中获取到第一通信能力信息，从而确定车辆在行驶到某个区域时是否需要驾驶员接管车辆，在某个区域是否需要降低来自第一路侧设备的信息的置信度，或者在规划路径时是否需要避开某个区域，从而提高安全性。可以理解的是，第一通信能力信息可以与第一路侧设备相关联后作为地图数据进行存储。其他路侧设备的通信能力信息(例如第二路侧设备的第二通信能力信息)也可以作为地图数据进行存储，以提高安全性。
下面对通信能力信息的应用进行说明。
考虑到道路上瘾遮挡等原因可能导致多个路侧设备下仍存在通信盲区，本申请实施例中可以综合各个路侧设备的通信能力信息形成整体的通信覆盖能力。在一种可能的实现方式中，所述方法还包括：生成多个路侧设备的多个通信能力信息；根据所述多个通信能力信息，生成通信盲区信息。
其中，所述多个通信能力信息用于指示多个路侧设备的通信能力。具体的，多个路侧设备包括所述第一路侧设备，所述多个通信能力信息包括所述第一通信能力信息。另外，多个路侧设备还可以包括一个或多个第二路侧设备，则多个通信能力信息可以包括一个或多个第二通信能力信息。
通信盲区信息用于指示所述多个路侧设备中的一个或多个路侧设备未覆盖的区域。在一个示例中，所述多个路侧设备中的一个或多个路侧设备未覆盖的区域包括：绝对盲区和/或相对盲区，其中，所述多个路侧设备中任一路侧设备在所述绝对盲区内均不能达到第二阈值，所述多个路侧设备中的部分路侧设备在所述相对盲区中不能达到第三阈值。
其中，第二阈值和第三阈值可以根据需要进行设置，本申请实施例对第二阈值和第三阈值不做限制。第二阈值和第三阈值可以用于指示期望或者可接受的通信效果。在一个路侧设备不能达到第二阈值或者第三阈值时，表明路侧设备的通信效果未达到预期或者是不能被接受。在一个路侧设备能够达到第二阈值或者第三阈值时，表明路侧设备的通信效果可以达到预期或者可以接受。在一个示例中，第二阈值和第三阈值包括但不限于：符合预置通信能力级别(例如，对应通信能力级别为一级或者二级)，或者处于预置指标范围(例如，密度落在预置指标范围内，稳定连接率落在预置指标范围内)等。在一个路侧设备在一个区域内未达到第二阈值的情况下，表明该路侧设备在该区域的通信效果较差，在该区域该路侧设备通信获得的信息可靠性、准确性较低(置信度较低、不够完整)，因此，该区域为该路侧设备的盲区。在本申请实施例中，第二阈值和第三阈值可以相同也可以不同，对此不做限制。
图11示出本申请实施例的盲区的示例性示意图。图11中示出了路侧设备1的盲区和非 盲区的分界线，以及路侧设备2的盲区和非盲区的分界线。在分界线以内的区域为非盲区，分界线以外的区域为盲区。路侧设备1的盲区与路侧设备2的非盲区的交集，以及路侧设备1的非盲区和路侧设备2的盲区的交集，为相对盲区。路侧设备1的盲区和路侧设备2的盲区的交集为绝对盲区。
以图11所示的路侧设备1和路侧设备2为例，假设第二阈值和第三阈值相同，对确定相对盲区和绝对盲区的过程进行说明。
在一种可能的实现方式中，在路侧设备1和路侧设备2之间建立了通信连接的情况下，对一个区域的通信能力，以路侧设备1和路侧设备2中最好的通信能力为准。对于一个区域，若路侧设备1的通信能力与路侧设备2的通信能力均未达到第二阈值，则可以确定该区域为绝对盲区。这种情况下，可以不标记相对盲区。
在一种可能的实现方式中，在路侧设备1和路侧设备2之间未建立通信连接的情况下，将路侧设备1的通信能力未达到第二阈值但路侧设备2的通信能力达到了第二阈值的区域，以及路侧设备2的通信能力未达到第二阈值但路侧设备1的通信能力达到了第二阈值，确定为相对盲区；将两者的通信能力均未达到第二阈值的区域确定为绝对盲区。
在一个示例中，可以为绝对盲区和相对盲区添加不同的标识。例如，为绝对盲区添加第一标识，为相对盲区添加第二标识。这样，根据标识即可确定一个盲区时绝对盲区还是相对盲区。可选的，在标识相对盲区时，还可以将相对盲区与路侧设备的标识关联，以明确一个相对盲区是哪个路侧设备的盲区。
在又一示例中，可以将路侧设备的通信能力信息与该路侧设备建立了通信连接的路侧设备进行关联。这样，用户可以自行判断出路侧设备与哪些路侧设备建立了通信连接，从而确定出哪里是绝对盲区哪里是相对盲区。
在一种可能的实现方式中，所述方法还包括：根据所述第一通信能力信息生成预警提示信息。其中，预警提示信息可以用于提示在第二区域内由驾驶员接管车辆、对所述第一路侧设备进行故障检测、更新所述第一路侧设备的软件，或者调整所述第一路侧设备的部署、在所述第二区域降低来自所述第一路侧设备的信息的置信度或者在规划路径时避开所述第二区域，其中所述第一通信能力信息指示所述第一路侧设备在所述第二区域内的通信能力低于第一阈值。
其中，第一通信能力信息指示第一路侧设备在第二区域内的通信能力低于第一阈值。第一阈值可以根据需要进行设置。在一个示例中，低于第一阈值可以包括但不限于：未达到预置通信能力级别(例如，未达到一级通信能力级别或者未达到二级通信能力级别等)、第一位置点的密度未达到预置的密度阈值、稳定连接率未达到预置的稳定性阈值中的一者或多者。这里的密度阈值和稳定性阈值可以根据需要进行设置，本申请实施例不做限制。考虑到第二阈值和第三阈值用于判定盲区，第一阈值用于进行预警，在非盲区但是通信效果较差的区域是需要进行预警的，因此，在一个示例中，第一阈值可以大于(高于)或者等于第二阈值以及第三阈值。
由于在第二区域内第一路侧设备的通信能力低于第一阈值，代表第一路侧设备在第二区域内的通信效果较差，第一路侧设备无法较准确且全面的与第二区域内的终端设备进行通信，因此，也就无法保证第一路侧设备可以将其获得的信息(包括自身感知到的信息以及从其他设备收集到的信息)传递给第二区域内的每个终端设备。因此，在第二区域内车辆进行自动 驾驶时数据来源可能不够多，风险较高，驾驶员可以在第二区域内接管车辆。同时，可以对第一路侧设备进行故障检查，查看是否因为第一路侧设备发生了故障而造成了第一路侧设备在第二区内通信效果较差，特别是在第二区域距离第一路侧设备较近的情况下。还可以更新第一路侧设备的软件或者调整第一路侧设备的部署，使得第一路侧设备的通信能力范围更加合理。另外，由于第一路侧设备在第二区域内的通信效果较差，第一路侧设备收集的第二区域内的终端设备的信息并不能较好的代表第二区域内的实际情况，因此，在第二区域内需要降低第一路侧设备获得的信息的置信度。由于第一路侧设备在第二区域内的通信效果较差，因此在路径规划时可以避开第二区域，这样可以降低车辆进入第二区域后发生事故的可能性，特别是对于自动驾驶的车辆，避开第二区域行驶，就不需要驾驶员接管车辆，可以有效提升用户体验。
在本申请实施例中，还可以将各路侧设备的通信能力信息发送给其他设备，供其他设备使用，例如，可以提供给车端设备、移动终端或者路侧设备的管理设备等。图12示出本申请实施例挺的通信能力信息使用方法的流程图。如图12所示，所述通信能力信息使用方法可以包括：
步骤S301，获得通信能力信息。
在本步骤中，可以获取一个或多个路侧设备的一个或多个通信能力信息。例如，可以获取第一路侧设备的第一通信能力信息。又如，可以获取第一路侧设备的第一通信能力信息，以及一个或多个第二路侧设备的一个或多个第二通信能力信息。第二通信能力信息的生成过程可以参照第一通信能力信息的生成过程，这里不再赘述。
针对获取的任一个通信能力信息，所述通信能力信息用于指示区域和路侧设备在所述区域内的通信能力。例如，第一通信能力信息可以用于指示第一区域和第一路侧设备在第一区域内的通信能力。在一种可能的实现方式中，针对接收到的任意通信能力信息，所述通信能力信息可以用于指示区域、场景和路侧设备在所述场景下所述区域内的通信能力。例如，第一通信能力信息可以用于指示第一路侧设备在第一场景下第一区域内通信能力。
在一种可能的实现方式中，通信能力信息可以作为地图数据进行存储。车端设备等通信能力信息使用设备可以下载或者更新地图后，从地图中获取通信能力信息。
步骤S302，基于所述通信能力信息，生成预警提示信息、在所述区域调整来自所述路侧设备的信息的置信度，或者规划不经过所述区域的行驶路径。
在本步骤中，可以根据接收到的通信能力信息，确定各路侧设备对各个区域的通信能力，从而获知与哪些区域中的终端设备的通信能力较强，与哪些区域中的终端设备的通信能力较差，根据这些通信能力生成预警提示信息、在所述区域调整来自所述路侧设备的信息的置信度，或者规划不经过所述区域的行驶路径。
在一种可能的实现方式中，所述预警提示信息用于提示在所述区域内由驾驶员接管车辆、在所述区域内注意避让车辆、对所述路侧设备进行故障检测、在所述区域降低所述路侧设备通信获得的信息的置信度或者在规划路径时避开所述区域，其中所述通信能力信息指示所述路侧设备在所述区域内的通信能力低于第一阈值。
可以理解的是，对于不同的设备，其基于通信能力信息，执行的动作不同，对于同一设备，其基于通信能力信息，可以执行不同的动作。下面结合图13至图15对步骤S302进行说明。
图13示出本申请实施例提供的通信能力信息使用方法的交互示意图。如图13所示，所述通信能力信息使用方法可以包括：
步骤S401，通信能力信息生成设备向车端设备发送通信能力信息。
在本申请实施例中，通信能力信息可以由服务器或者路侧设备生成。通信能力信息生成设备可以为路侧设备，也可以为服务器，还可以为路侧设备以及服务器。在通信能力信息由服务器生成时，服务器可以通过蜂窝网直接将通信能力信息发送至车端设备。可选的，在通信能力信息由服务器生成时，服务器还可以通过蜂窝网将通信能力信息发送至路侧设备，再由路侧设备通过V2X网络将通信能力信息转发至车端设备。在通信能力信息由路侧设备生成时，路侧设备可以通过V2X网络直接将通信能力信息发送至车端设备。当然，通信能力信息可以既包括路侧设备生成的通信能力信息，又包括服务器生成的通信能力信息。
步骤S402，车端设备接收通信能力信息。
在本步骤中，车端设备接收的通信能力信息来自服务器和/或路侧设备。
步骤S403，车端设备根据通信能力信息，确定路侧设备的通信能力低于第一阈值的区域，并生成用于提醒驾驶员在所述区域内接管车辆的预警提示信息。
车端设备可以根据接收到的通信能力信息，确定出通信能力低于第一阈值的区域，在这些区域中，路侧设备与交通参与者之间建立通信连接的能力较差，可能有些实际存在的交通参与者无法与路侧设备建立通信连接，或者建立的通信连接的通信效果较差，在该区域中进行自动驾驶的风险较高。为了提高安全性，车端设备可以生成预警提示信息，以提醒驾驶员在通信能力低于第一阈值的区域内接管车辆。
步骤S404，车端设备根据通信能力信息，在各区域调整来自路侧设备的信息的置信度。
车端设备根据通信能力信息可以确定出哪些路侧设备在哪些区域的通信效果较好，哪些路侧设备在哪些区域的通信效果较差。例如，路侧设备1在区域1的通信效果较好，在区域2的通信效果较差；路侧设备2在区域2的通信效果较好，在区域1在的通信效果较差；则车端设备可以在区域1调高来自路侧设备1的信息的置信度，并在区域2降低来自路侧设备1的信息的置信度；以及，在区域2调高来自路侧设备2的信息的置信度，并在区域3降低来自路侧设备2的信息的置信度。这样，车辆在区域2中进行自动驾驶时，可以提升对自身感知到的关于区域2的信息的依赖程度以及提升来自路侧设备2的信息的依赖程度，并降低来自路侧设备1的信息的依赖程度，从而提高自动驾驶的安全性。
步骤S405，车端设备根据通信能力信息，确定路侧设备的通信能力低于第一阈值的区域，并在规划行驶路径时使行驶路径不经过所述区域。
车端设备根据接收到的通信能力信息，确定出通信能力低于第一阈值的区域之后，可以在规划实行路径时避开这些区域，这样有利于提升自动驾驶的安全性。
可以理解的是，车端设备可以执行步骤S403至步骤S405中的一者或多者。在执行步骤S403至步骤S405中的多者时，对执行顺序不做限制。
在一种可能的实现方式中，车端设备在接收到通信能力信息之后，可以将通信能力信息作为地图数据进行存储，这样，之后车端设备进行智能驾驶时，可以从地图中获取到通信能力信息，从而确定车辆在行驶到某个区域时是否需要驾驶员接管车辆，在某个区域是否需要降低来自某个路侧设备的信息的置信度，或者在规划路径时是否需要避开某个区域，从而提高安全性。
图14示出本申请实施例提供的通信能力信息使用方法的交互示意图。如图14所示，所述通信能力信息使用方法可以包括：
步骤S501，通信能力信息生成设备向移动终端发送通信能力信息。
步骤S502，移动终端接收通信能力信息。
步骤S501和步骤S502可以分别参照步骤S401和步骤S402，这里不再赘述。
步骤S503，移动终端根据通信能力信息，确定路侧设备的通信能力低于第一阈值的区域，并生成用于提醒移动终端使用者在所述区域注意避让车辆的预警提示信息。
对于通信能力低于第一阈值的区域，路侧设备的通信效果较差，可能无法与这些区域中的一些终端设备建立通信连接或者建立的通信连接通信效果较差，无法及时向移动终端发送信息，从而无法及时协助移动终端的使用者发现其周围有车辆或者行人出现，因此，移动终端根据接收到的通信能力信息，确定出通信能力低于第一阈值的区域之后，可以生成预警提示信息，以提醒移动终端使用者在所述区域注意避让车辆，有利于提高使用者的出行安全性。
图15示出本申请实施例提供的通信能力信息使用方法的交互示意图。如图15所示，所述通信能力信息使用方法可以包括：
步骤S601，通信能力信息生成设备向路侧设备的管理设备发送通信能力信息。
步骤S602，管理设备接收通信能力信息。
步骤S601和步骤S602可以参照步骤S401和步骤S402，这里不再赘述。
步骤S603，管理设备根据通信能力信息确定路侧设备存在通信能力低于第一阈值的区域，并生成用于提醒管理员对所述路侧设备进行故障检测、更新路侧设备的软件，或者调整路侧设备的部署的预警提示信息。
在存在通信能力低于第一阈值的区域时，表明路侧设备可能发生了故障，或者路侧设备的通信能力有待进一步提升，或者路侧设备的部署存在不合理的地方，因此，路侧设备的管理设备可以提醒管理员对路侧设备进行故障检查、更新路侧设备的软件，或者调整路侧设备的部署，以使得路侧设备能够与更大的范围终端设备建立通信连接，且通信效果得到提升。
考虑到路侧设备周围可能新增绿植、建筑物等遮挡，路侧设备的路侧传感装置上也可能被异物遮挡、发生损坏，路侧设备的路侧传感装置可能因气候或天气原因(例如，温度过高、严重的雾霾、沙尘)导致识别异常，路侧设备的软件进行了更新，路侧设备的通信模块进行了更换等原因，会造成路侧设备的通信范围发生变化。因此，本申请实施例中提供的通信能力生成方法可以对生成的通信能力信息进行更新。下面以第一路侧设备的第一通信能力信息的更新过程为例进行说明。
在一种可能的实现方式中，所述方法还包括：在满足预设条件的情况下，更新所述第一通信能力信息。
在一个示例中，所述预设条件包括但不限于：对所述第一路侧设备进行故障维修；更换所述第一路侧设备的传感器；或者对所述第一路侧设备进行升级；所述第一通信能力信息指示的通信能力指标当前值相对于通信能力指标统计值出现异常。
可以理解的是，第一路侧设备进行故障维修、更换了传感器或者进行了升级后，路侧设备的通信能力有较大的可能发生了变化，因此需要对第一通信能力信息进行更新，从而提高准确性。
下面对第一通信能力信息指示的通信能力指标当前值相对于通信能力指标统计出现异常 进行说明。第一通信能力信息指示的通信能力指标当前值可以表示当前时刻之前的第一时间段内得到的通信能力信息。第一通信能力信息指示的通信能力指标统计值表示当前时刻之前的第二时间段内得到的通信能力信息。其中，第一时间段的时长小于第二时间段的时长，且第一时间段对应时刻在第二时间段对应时刻之后。
通信能力指标当前值与通信能力指标统计值的生成方法可以参照第一通信能力信息的生成方法。将生成第一通信能力信息过程中采用的交通参与者数据的时间信息限制在第一时间段内即可得到通信能力指标当前值，将生成第一通信能力信息过程中采用的交通参与者数据的时间信息限制在第二时间段即可得到通信能力指标统计值。
在通信能力指标当前值与通信能力指标统计值满足异常条件的情况下，可以确定通信能力指标当前值相对于通信能力指标统计值出现异常，此时第一路侧设备的当前通信能力相对于之前发生了较大的变化，因此，需要对第一通信能力信息进行更新，从而提高准确性。
在一种可能的实现方式中，第一通信能力信息指示的通信能力指标当前值相对于通信能力指标统计出现异常包括：目标通信能力级别对应的第一通信区域和第二通信区域的差距大于所述目标通信能力级别对应的第一差异阈值。其中，所述目标通信能力级别为所述第一路侧设备具备的通信能力级别中的任意一个通信能力级别，所述第一通信区域表示所述通信能力指标当前值指示的所述目标通信能力级别对应的通信区域，所述第二通信区域表示所述通信能力指标统计值指示的所述目标通信能力级别对应的通信区域。
举例来说，通信能力指标当前值指示区域3的通信能力级别为级别1以及区域4的通信能力级别为级别2。通信能力指标统计值指示区域5的通信能力级别为级别1以及区域6的通信能力级别为级别2。在区域3与区域5的差距大于第一差异阈值时，和/或，区域4与区域6的差距大于第一差异阈值时，表明第一路侧设备的通信能力发生了较大的变化，此时可以确定通信能力指标当前值相对于通信能力指标统计值出现异常。在一个示例中，第一差异阈值可以用于表示位置上的差距，区域3的位置与区域5的位置上的距离大于第一差异阈值时，可以确定通信能力指标当前值相对于通信能力指标统计值出现异常。在又一示例中，第一差异阈值可以表示面积上的差距，区域3的面积与区域5的面积差值大于第一差异阈值时，可以确定通信能力指标当前值相对于通信能力指标统计值出现异常。需要说明的是，以上仅为第一差异阈值的示例性说明，不能作为限定。
可选的，可以将各个通信能力级别对应的第一通信区域和第二通信区域的差距的加权运算，在运算结果大于第二差异阈值时，确定通信能力指标当前值相对于通信能力指标统计值出现异常。第二差异阈值可以参照第一差异阈值，这里不再赘述。
在本申请实施例中，通过对比同一通信能力级别的通信区域的方式确定是否出现异常，比较便捷，可读性强，易于用户理解。
在一种可能的实现方式中，第一通信能力信息指示的通信能力指标当前值相对于通信能力指标统计出现异常包括：通信能力指标统计值中目标通信能力级别对应的通信区域中，当前数据集B中位置点的数据量占当前数据集A中位置点的数量的比例小于第三差异阈值。
其中，当前数据集A用于指示当前时刻之前的第一时间段内收集的交通参与者数据中在第一路侧设备的预选范围内且工作状态信息为正常工作状态的交通参与者数据，当前数据集B表示当前数据集A指示的交通参与者数据中设备的标识信息中包括第一路侧设备的标识信息的交通参与者。
在当前数据集B中位置点的数量占当前数据集A中位置点的数量的比例小于第三差异阈值，表明目标通信能力级别对应的通信区域中出现了大量的通信无法连接的情况，也就是说，当前第一路侧设备与目标通信能力级别对应的通信区域中的终端设备的通信效果较差，因此可以确定通信能力指标当前值相对于通信能力指标统计值出现异常。第三差异阈值可以根据需要进行设置。在一个示例中，第三差异阈值与目标通信能力级别相对应，目标通信能力级别对应的通信能力越强，第三差异阈值的取值越小；目标通信能力级别对应的通信能力越弱，第三差异阈值的取值越大。
举例来说，通信能力指标统计值中目标通信能力级别“级别1”对应的通信区域为区域5，目标通信能力级别“级别1”对应的第三差异阈值为阈值1。在区域5中，当前数据集B中的位置点的数量为“数量1”，当前数据集A中位置点的数量为“数量2”，数量1与数量2的比值小于级别1对应的第三差异阈值，则可以确定通信能力指标当前值相对于通信能力指标统计值出现异常。
在本申请实施例中，通过在生成通信能力指标当前值过程中对位置点数量进行对比确定是否出现异常，可以及时发现异常，检出异常即可立即触发更新。
图16示出本申请实施例提供的通信能力信息生成装置的结构示意图。该装置可以应用于服务器或者第一路侧设备。如图16所示，所述装置70包括：
第一获取模块71，用于获取第一通信状态指示信息，所述第一通信状态指示信息用于指示多个终端设备在多个位置点与第一路侧设备建立通信连接；
第一确定模块72，用于根据所述第一通信状态指示信息，确定所述多个位置点在所述第一路侧设备周围的第一分布情况；
第一生成模块73，用于根据所述第一分布情况，生成所述第一路侧设备的第一通信能力信息，所述第一通信能力信息用于指示所述第一路侧设备的通信能力。
在一种可能的实现方式中，所述装置还包括：
存储模块，用于将所述第一通信能力信息作为地图数据进行存储。
在一种可能的实现方式中，所述装置还包括：
第二获取模块，用于获取第二通信状态指示信息，所述第二通信状态指示信息用于指示第一至少一个终端设备在第一至少一个位置点与第二路侧设备建立通信连接，所述第一至少一个位置点距离所述第一路侧设备的距离小于预设阈值；
第二确定模块，用于根据所述第二通信状态指示信息，确定所述第一至少一个位置点在所述第一路侧设备周围的第二分布情况；
所述第一生成模块还用于：
根据所述第一分布情况和所述第二分布情况，生成所述第一通信能力信息。
在一种可能的实现方式中，所述装置还包括：
第三获取模块，用于获取第三通信状态指示信息，所述第三通信状态指示信息用于指示第二至少一个终端设备在第二至少一个位置点与服务器建立通信连接，所述第二至少一个终端设备具备连接所述第一路侧设备的能力，所述第二至少一个位置点距离所述第一路侧设备的距离小于预设阈值；
第三确定模块，用于根据所述第三通信状态指示信息，确定所述第二至少一个位置点在所述第一路侧设备周围的第三分布情况；
所述第一生成模块还用于：
根据所述第一分布情况和所述第三分布情况，生成所述第一通信能力信息。
在一种可能的实现方式中，所述第一通信能力信息用于指示第一区域和所述第一路侧设备在所述第一区域内的通信能力。
在一种可能的实现方式中，所述第一通信能力信息用于指示第一场景、第一区域和所述第一路侧设备在所述第一场景下以及所述第一区域内的通信能力。
在一种可能的实现方式中，所述第一通信状态指示信息包括：所述多个位置点的位置信息、所述多个终端设备中多个通信模块的工作状态信息、所述多个终端设备与所述第一路侧设备的连接状态信息、所述第一路侧设备的标识信息和时间信息。
在一种可能的实现方式中，所述装置还包括：
第二生成模块，用于生成多个路侧设备的多个通信能力信息，所述多个通信能力信息用于指示多个路侧设备的通信能力，所述多个路侧设备包括所述第一路侧设备，所述多个通信能力信息包括所述第一通信能力信息；
第三生成模块，用于根据所述多个通信能力信息，生成通信盲区信息，所述通信盲区信息用于指示所述多个路侧设备中的一个或多个路侧设备未覆盖的区域。
在一种可能的实现方式中，所述多个路侧设备中的一个或多个路侧设备未覆盖的区域包括：绝对盲区和/或相对盲区，其中，所述多个路侧设备中任一路侧设备在所述绝对盲区内均不能达到第二阈值，所述多个路侧设备中的部分路侧设备在所述相对盲区中不能达到第三阈值。
在一种可能的实现方式中，所述装置还包括：
更新模块，用于在满足预设条件的情况下，更新所述第一通信能力信息；
其中，所述预设条件包括：
所述第一通信能力信息指示的通信能力指标当前值相对于通信能力指标统计值出现异常；
对所述第一路侧设备进行故障维修；
对所述第一路侧设备进行升级；或者
所述第一路侧设备周围增加或者减少遮挡物。
在一种可能的实现方式中，所述装置还包括：
第四生成模块，用于根据所述第一通信能力信息生成预警提示信息，所述预警提示信息用于提示在第二区域内由驾驶员接管车辆、对所述第一路侧设备进行故障检测、更新所述第一路侧设备的软件，或者调整所述第一路侧设备的部署、在所述第二区域降低来自所述第一路侧设备的信息的置信度或者在规划路径时避开所述第二区域，其中所述第一通信能力信息指示所述第一路侧设备在所述第二区域内的通信能力低于第一阈值。
在本申请实施例中，基于与第一路侧设备建立通信连接的多个终端设备的多个位置点的分布情况，确定出第一路侧设备的通信能力能够达到的区域，从而便捷、准确地获得第一路侧设备的通信范围。
图17示出本申请实施例提供的通信能力信息使用装置的结构示意图。该装置可以应用于终端设备。如图17所示，所述装置80包括：
获取模块81，用于获得通信能力信息，所述通信能力信息用于指示区域和路侧设备在所述区域内的通信能力；
生成模块82，用于基于所述通信能力信息，生成预警提示信息、在所述区域调整来自所述路侧设备通信的信息的置信度，或者规划不经过所述区域的行驶路径。
在一种可能的实现方式中，所述通信能力信息还用于指示场景，和所述路侧设备在所述场景下且在所述区域内的通信能力。
在一种可能的实现方式中，所述预警提示信息用于提示在所述区域内由驾驶员接管车辆、在所述区域内注意避让车辆、对所述路侧设备进行故障检测、在所述区域降低所述路侧设备通信获得的信息的置信度或者在规划路径时避开所述区域，其中所述通信能力信息指示所述路侧设备在所述区域内的通信能力低于第一阈值。
在一种可能的实现方式中，所述路侧设备为多个路侧设备，所述区域包括绝对盲区，所述绝对盲区为所述多个路侧设备的通信能力都不能达到第二阈值的区域。
在一种可能的实现方式中，所述路侧设备为多个路侧设备，所述区域包括相对盲区，所述相对盲区为所述多个路侧设备中部分路侧设备的通信能力不能达到第三阈值的区域。
在一种可能的实现方式中，所述装置还包括：
存储模块，用于将所述通信能力信息作为地图数据进行存储。
这样，可以提高自动驾驶的安全性。
图18示出本申请实施例提供的电子设备的示意图，该电子设备可以执行上述图2或者图17所示的方法，且该电子设备可以为云端设备(如服务器)、路侧设备(如路侧单元RSU)或者终端设备(如车辆合作和编写终端)，也可以为这些设备内部的部件、模块或芯片。
如图18所示，电子设备可以包括至少一个处理器901，存储器902、输入输出设备903以及总线904。下面结合图18对电子设备的各个构成部件进行具体的介绍：
处理器901是电子设备的控制中心，可以是一个处理器，也可以是多个处理元件的统称。例如，处理器901是一个CPU(Central Processing Unit)，也可以是特定集成电路(Application Specific Integrated Circuit，ASIC)，或者是被配置成实施本公开实施例的一个或多个集成电路，例如：一个或多个微处理器(Digital Signal Processor，DSP)，或，一个或者多个现场可编程门阵列(Field Programmable Gate Array，FPGA)。
其中，处理器901可以通过运行或执行存储在存储器902内的软件程序，以及调用存储在存储器902内的数据，执行电子设备的各种功能。
在具体的实现中，作为一种实施例，处理器901可以包括一个或多个CPU，例如图中所示的CPU 0和CPU 1。
在具体实现中，作为一种实施例，电子设备可以包括多个处理器，例如图18中所示的处理器901和处理器905。这些处理器中的每一个可以是一个单核处理器(single-CPU)，也可以是一个多核处理器(multi-CPU)。这里的处理器可以指一个或多个设备、电路、和/或用于处理数据(例如计算机程序指令)的处理核。
存储器902可以是只读存储器(Read-Only Memory，ROM)或可存储静态信息和指令的其他类型的静态存储设备，随机存取存储器(Random Access Memory，RAM)或者可存储信息和指令的其他类型的动态存储设备，也可以是电可擦可编程只读存储器(Electrically Erasable Programmable Read-Only Memory，EEPROM)、只读光盘(Compact Disc Read-Only Memory，CD-ROM)或其他光盘存储、光碟存储(包括压缩光碟、激光碟、光碟、数字通用光碟、蓝光光碟等)、磁盘存储介质或者其他磁存储设备、或者能够用于携带或存储具有指令或 数据结构形式的期望的程序代码并能够由计算机存取的任何其他介质，但不限于此。存储器902可以是独立存在，通过总线904与处理器901相连接。存储器902也可以和处理器901集成在一起。
输入输出设备903，用于与其他设备或通信网络通信。如用于与V2X网络、蜂窝网、以太网，无线接入网(Radio access network，RAN)，无线局域网(Wireless Local Area Networks，WLAN)等通信网络通信。输入输出设备903可以包括基带处理器的全部或部分，以及还可选择性地包括无线射频(Radio Frequency，RF)处理器。RF处理器用于收发RF信号，基带处理器则用于实现由RF信号转换的基带信号或即将转换为RF信号的基带信号的处理。在本申请实施例中，输入输出设备903可以用于传输第一通信状态指示信息、第一分布情况、第一通信能力信息、第二通信状态指示信息、第二分布情况、第三通信状态指示信息、第三分布情况、多个通信能力信息、盲区信息和预警提示信息中的一者或多者。
在具体实现中，作为一种实施例，输入输出设备903可以包括发射器和接收器。其中，发射器用于向其他设备或通信网络发送信号，接收器用于接收其他设备或通信网络发送的信号。发射器和接收器可以独立存在，也可以集成在一起。
总线904，可以是工业标准体系结构(Industry Standard Architecture，ISA)总线、外部设备互连(Peripheral Component Interconnect，PCI)总线或扩展工业标准体系结构(Extended Industry Standard Architecture，EISA)总线等。该总线可以分为地址总线、数据总线、控制总线等。为便于表示，图18中仅用一条粗线表示，但并不表示仅有一根总线或一种类型的总线。
图18中示出的设备结构并不构成对电子设备的限定，可以包括比图示更多或更少的部件，或者组合某些部件，或者不同的部件布置。
本申请实施例提供了一种地图，该地图中包括通信能力信息，所述通信能力信息用于指示区域和路侧设备在所述区域内的通信能力。
在一种可能的实现方式中，所述通信能力信息还用于指示场景，和所述路侧设备在所述场景下且在所述区域内的通信能力。
在一种可能的实现方式中，所述路侧设备为多个路侧设备，所述区域包括绝对盲区，所述绝对盲区为所述多个路侧的通信能力都不能达到第二阈值的区域。
在一种可能的实现方式中，所述路侧设备为多个路侧设备，所述区域包括相对盲区，所述相对盲区为所述多个路侧设备中部分路侧设备的通信能力不能达到第三阈值的区域。
在一种可能的实现方式中，所述地图还包括预警提示信息，所述预警提示信息用于提示在所述区域内由驾驶员接管车辆、在所述区域内注意避让车辆、对所述路侧设备进行故障检测、在所述区域降低所述路侧设备通信获得的信息的置信度或者在规划路径时避开所述区域，其中所述通信能力信息指示所述路侧设备在所述区域内的通信能力低于第一阈值。
本申请实施例提供了一种车辆，该车辆中包括上述一种或多种的通信能力信息使用装置，例如图13所示的车端设备等。
本申请的实施例提供了一种非易失性计算机可读存储介质，其上存储有计算机程序指令，所述计算机程序指令被处理器执行时实现上述通信能力信息生成方法或者通信能力信息使用方法。
本申请的实施例提供了一种计算机程序产品，包括计算机可读代码，或者承载有计算机 可读代码的非易失性计算机可读存储介质，当所述计算机可读代码在电子设备的处理器中运行时，所述电子设备中的处理器执行上述通信能力信息生成方法或者通信能力信息使用方法。
计算机可读存储介质可以是可以保持和存储由指令执行设备使用的指令的有形设备。计算机可读存储介质例如可以是但不限于电存储设备、磁存储设备、光存储设备、电磁存储设备、半导体存储设备或者上述的任意合适的组合。计算机可读存储介质的更具体的例子(非穷举的列表)包括：便携式计算机盘、硬盘、随机存取存储器(Random Access Memory，RAM)、只读存储器(Read Only Memory，ROM)、可擦式可编程只读存储器(Electrically Programmable Read-Only-Memory，EPROM或闪存)、静态随机存取存储器(Static Random-Access Memory，SRAM)、便携式压缩盘只读存储器(Compact Disc Read-Only Memory，CD-ROM)、数字多功能盘(Digital Video Disc，DVD)、记忆棒、软盘、机械编码设备、例如其上存储有指令的打孔卡或凹槽内凸起结构、以及上述的任意合适的组合。
这里所描述的计算机可读程序指令或代码可以从计算机可读存储介质下载到各个计算/处理设备，或者通过网络、例如因特网、局域网、广域网和/或无线网下载到外部计算机或外部存储设备。网络可以包括铜传输电缆、光纤传输、无线传输、路由器、防火墙、交换机、网关计算机和/或边缘服务器。每个计算/处理设备中的网络适配卡或者网络接口从网络接收计算机可读程序指令，并转发该计算机可读程序指令，以供存储在各个计算/处理设备中的计算机可读存储介质中。
用于执行本申请操作的计算机程序指令可以是汇编指令、指令集架构(Instruction Set Architecture，ISA)指令、机器指令、机器相关指令、微代码、固件指令、状态设置数据、或者以一种或多种编程语言的任意组合编写的源代码或目标代码，所述编程语言包括面向对象的编程语言—诸如Smalltalk、C++等，以及常规的过程式编程语言—诸如“C”语言或类似的编程语言。计算机可读程序指令可以完全地在用户计算机上执行、部分地在用户计算机上执行、作为一个独立的软件包执行、部分在用户计算机上部分在远程计算机上执行、或者完全在远程计算机或服务器上执行。在涉及远程计算机的情形中，远程计算机可以通过任意种类的网络—包括局域网(Local Area Network，LAN)或广域网(Wide Area Network，WAN)—连接到用户计算机，或者，可以连接到外部计算机(例如利用因特网服务提供商来通过因特网连接)。在一些实施例中，通过利用计算机可读程序指令的状态信息来个性化定制电子电路，例如可编程逻辑电路、现场可编程门阵列(Field-Programmable Gate Array，FPGA)或可编程逻辑阵列(Programmable Logic Array，PLA)，该电子电路可以执行计算机可读程序指令，从而实现本申请的各个方面。
这些计算机可读程序指令可以提供给通用计算机、专用计算机或其它可编程数据处理装置的处理器，从而生产出一种机器，使得这些指令在通过计算机或其它可编程数据处理装置的处理器执行时，产生了实现流程图和/或框图中的一个或多个方框中规定的功能/动作的装置。也可以把这些计算机可读程序指令存储在计算机可读存储介质中，这些指令使得计算机、可编程数据处理装置和/或其他设备以特定方式工作，从而，存储有指令的计算机可读介质则包括一个制造品，其包括实现流程图和/或框图中的一个或多个方框中规定的功能/动作的各个方面的指令。
也可以把计算机可读程序指令加载到计算机、其它可编程数据处理装置、或其它设备上，使得在计算机、其它可编程数据处理装置或其它设备上执行一系列操作步骤，以产生计算机 实现的过程，从而使得在计算机、其它可编程数据处理装置、或其它设备上执行的指令实现流程图和/或框图中的一个或多个方框中规定的功能/动作。
附图中的流程图和框图显示了根据本申请的多个实施例的装置、系统、方法和计算机程序产品的可能实现的体系架构、功能和操作。在这点上，流程图或框图中的每个方框可以代表一个模块、程序段或指令的一部分，所述模块、程序段或指令的一部分包含一个或多个用于实现规定的逻辑功能的可执行指令。在有些作为替换的实现中，方框中所标注的功能也可以以不同于附图中所标注的顺序发生。例如，两个连续的方框实际上可以基本并行地执行，它们有时也可以按相反的顺序执行，这依所涉及的功能而定。
也要注意的是，框图和/或流程图中的每个方框、以及框图和/或流程图中的方框的组合，可以用执行相应的功能或动作的硬件(例如电路或ASIC(Application Specific Integrated Circuit，专用集成电路))来实现，或者可以用硬件和软件的组合，如固件等来实现。
尽管在此结合各实施例对本发明进行了描述，然而，在实施所要求保护的本发明过程中，本领域技术人员通过查看所述附图、公开内容、以及所附权利要求书，可理解并实现所述公开实施例的其它变化。在权利要求中，“包括”(comprising)一词不排除其他组成部分或步骤，“一”或“一个”不排除多个的情况。单个处理器或其它单元可以实现权利要求中列举的若干项功能。相互不同的从属权利要求中记载了某些措施，但这并不表示这些措施不能组合起来产生良好的效果。
以上已经描述了本申请的各实施例，上述说明是示例性的，并非穷尽性的，并且也不限于所披露的各实施例。在不偏离所说明的各实施例的范围的情况下，对于本技术领域的普通技术人员来说许多修改和变更都是显而易见的。本文中所用术语的选择，旨在最好地解释各实施例的原理、实际应用或对市场中的技术的改进，或者使本技术领域的其它普通技术人员能理解本文披露的各实施例。

Claims (50)

  1. 一种通信能力信息生成方法，其特征在于，所述方法包括：
    获取第一通信状态指示信息，所述第一通信状态指示信息用于指示多个终端设备在多个位置点与第一路侧设备建立通信连接；
    根据所述第一通信状态指示信息，确定所述多个位置点在所述第一路侧设备周围的第一分布情况；
    根据所述第一分布情况，生成所述第一路侧设备的第一通信能力信息，所述第一通信能力信息用于指示所述第一路侧设备的通信能力。
  2. 根据权利要求1所述的方法，其特征在于，所述方法还包括：
    将所述第一通信能力信息作为地图数据进行存储。
  3. 根据权利要求1或2所述的方法，其特征在于，所述方法还包括：
    获取第二通信状态指示信息，所述第二通信状态指示信息用于指示第一至少一个终端设备在第一至少一个位置点与第二路侧设备建立通信连接，所述第一至少一个位置点距离所述第一路侧设备的距离小于预设阈值；
    根据所述第二通信状态指示信息，确定所述第一至少一个位置点在所述第一路侧设备周围的第二分布情况；
    所述根据所述第一分布情况，生成所述第一路侧设备的第一通信能力信息，包括：
    根据所述第一分布情况和所述第二分布情况，生成所述第一通信能力信息。
  4. 根据权利要求1或2所述的方法，其特征在于，所述方法还包括：
    获取第三通信状态指示信息，所述第三通信状态指示信息用于指示第二至少一个终端设备在第二至少一个位置点与服务器建立通信连接，所述第二至少一个终端设备具备连接所述第一路侧设备的能力，所述第二至少一个位置点距离所述第一路侧设备的距离小于预设阈值；
    根据所述第三通信状态指示信息，确定所述第二至少一个位置点在所述第一路侧设备周围的第三分布情况；
    所述根据所述第一分布情况，生成所述第一路侧设备的第一通信能力信息，包括：
    根据所述第一分布情况和所述第三分布情况，生成所述第一通信能力信息。
  5. 根据权利要求1至4中任意一项所述的方法，其特征在于，所述第一通信能力信息用于指示第一区域和所述第一路侧设备在所述第一区域内的通信能力。
  6. 根据权利要求1至4中任意一项所述的方法，其特征在于，所述第一通信能力信息用于指示第一场景、第一区域和所述第一路侧设备在所述第一场景下以及所述第一区域内的通信能力。
  7. 根据权利要求1至6中任意一项所述的方法，其特征在于，所述第一通信状态指示信息包括：所述多个位置点的位置信息、所述多个终端设备中多个通信模块的工作状态信息、所述多个终端设备与所述第一路侧设备的连接状态信息、所述第一路侧设备的标识信息和时间信息。
  8. 根据权利要求1至7中任意一项所述的方法，其特征在于，所述方法还包括：
    生成多个路侧设备的多个通信能力信息，所述多个通信能力信息用于指示多个路侧设备的通信能力，所述多个路侧设备包括所述第一路侧设备，所述多个通信能力信息包括所述第一通信能力信息；
    根据所述多个通信能力信息，生成通信盲区信息，所述通信盲区信息用于指示所述多个路侧设备中的一个或多个路侧设备未覆盖的区域。
  9. 根据权利要求8所述的方法，其特征在于，所述多个路侧设备中的一个或多个路侧设备未覆盖的区域包括：绝对盲区和/或相对盲区，其中，所述多个路侧设备中任一路侧设备在所述绝对盲区内均不能达到第二阈值，所述多个路侧设备中的部分路侧设备在所述相对盲区中不能达到第三阈值。
  10. 根据权利要求1至9中任意一项所述的方法，其特征在于，所述方法还包括：
    在满足预设条件的情况下，更新所述第一通信能力信息；
    其中，所述预设条件包括：
    所述第一通信能力信息指示的通信能力指标当前值相对于通信能力指标统计值出现异常；
    对所述第一路侧设备进行故障维修；
    对所述第一路侧设备进行升级；或者
    所述第一路侧设备周围增加或者减少遮挡物。
  11. 根据权利要求1至10中任意一项所述的方法，其特征在于，所述方法还包括：
    根据所述第一通信能力信息生成预警提示信息，所述预警提示信息用于提示在第二区域内由驾驶员接管车辆、对所述第一路侧设备进行故障检测、更新所述第一路侧设备的软件，或者调整所述第一路侧设备的部署、在所述第二区域降低来自所述第一路侧设备的信息的置信度或者在规划路径时避开所述第二区域，其中所述第一通信能力信息指示所述第一路侧设备在所述第二区域内的通信能力低于第一阈值。
  12. 根据权利要求1所述的方法，其特征在于，所述第一分布情况为第一位置点的密度。
  13. 根据权利要求3所述的方法，其特征在于，所述根据第一分布情况和第二分布情况，生成所述第一通信能力信息包括：根据所述第一分布情况和所述第二分布情况，确定稳定连接率；根据所述稳定连接率生成所述第一通信能力信息。
  14. 根据权利要求4所述的方法，其特征在于，所述根据第一分布情况和第三分布情况，生成所述第一通信能力信息包括：根据所述第一分布情况和所述第三分布情况，确定稳定连接率；根据所述稳定连接率生成所述第一通信能力信息。
  15. 根据权利要求10所述的方法，其特征在于，所述第一通信能力信息指示的通信能力指标当前值表示当前时刻之前的第一时间段内得到的通信能力信息，所述第一通信能力信息指示的通信能力指标统计值表示当前时刻之前的第二时间段内得到的通信能力信息，其中，第一时间段的时长小于第二时间段的时长，且第一时间段对应时刻在第二时间段对应时刻之后，所述第一通信能力信息指示的通信能力指标当前值相对于通信能力指标统计出现异常包括：目标通信能力级别对应的第一通信区域和第二通信区域的差距大于所述目标通信能力级别对应的第一差异阈值；
    其中，所述目标通信能力级别为所述第一路侧设备具备的通信能力级别中的任意一个通信能力级别，所述第一通信区域表示所述通信能力指标当前值指示的所述目标通信能力级别对应的通信区域，所述第二通信区域表示所述通信能力指标统计值指示的所述目标通信能力级别对应的通信区域。
  16. 根据权利要求10所述的方法，其特征在于，所述第一通信能力信息指示的通信能力指标当前值相对于通信能力指标统计出现异常包括：通信能力指标统计值中目标通信能力级别对应的通信区域中，当前数据集B中位置点的数据量占当前数据集A中位置点的数量的比例小于第三差异阈值；
    其中，当前数据集A用于指示当前时刻之前的第一时间段内收集的交通参与者数据中在第一路侧设备的预选范围内且工作状态信息为正常工作状态的交通参与者数据，当前数据集B表示当前数据集A指示的交通参与者数据中设备的标识信息中包括第一路侧设备的标识信息的交通参与者。
  17. 一种通信能力信息使用方法，其特征在于，所述方法包括：
    获得通信能力信息，所述通信能力信息用于指示区域和路侧设备在所述区域内的通信能力；
    基于所述通信能力信息，生成预警提示信息、在所述区域调整来自所述路侧设备通信的信息的置信度，或者规划不经过所述区域的行驶路径。
  18. 根据权利要求17所述的方法，其特征在于，所述通信能力信息还用于指示场景，和所述路侧设备在所述场景下且在所述区域内的通信能力。
  19. 根据权利要求17或18所述的方法，其特征在于，所述预警提示信息用于提示在所述区域内由驾驶员接管车辆、在所述区域内注意避让车辆、对所述路侧设备进行故障检测、在所述区域降低所述路侧设备通信获得的信息的置信度或者在规划路径时避开所述区域，其中所述通信能力信息指示所述路侧设备在所述区域内的通信能力低于第一阈值。
  20. 根据权利要求17至19中任意一项所述的方法，其特征在于，所述路侧设备为多个路侧设备，所述区域包括绝对盲区，所述绝对盲区为所述多个路侧设备的通信能力都不能达到第二阈值的区域。
  21. 根据权利要求15至19中任意一项所述的方法，其特征在于，所述路侧设备为多个路侧设备，所述区域包括相对盲区，所述相对盲区为所述多个路侧设备中部分路侧设备的通信能力不能达到第三阈值区域。
  22. 根据权利要求17至21中任意一项所述的方法，其特征在于，所述方法还包括：将所述通信能力信息作为地图数据进行存储。
  23. 一种通信能力信息生成装置，其特征在于，所述装置包括：
    第一获取模块，用于获取第一通信状态指示信息，所述第一通信状态指示信息用于指示多个终端设备在多个位置点与第一路侧设备建立通信连接；
    第一确定模块，用于根据所述第一通信状态指示信息，确定所述多个位置点在所述第一路侧设备周围的第一分布情况；
    第一生成模块，用于根据所述第一分布情况，生成所述第一路侧设备的第一通信能力信息，所述第一通信能力信息用于指示所述第一路侧设备的通信能力。
  24. 根据权利要求23所述的装置，其特征在于，所述装置还包括：
    存储模块，用于将所述第一通信能力信息作为地图数据进行存储。
  25. 根据权利要求23或24所述的装置，其特征在于，所述装置还包括：
    第二获取模块，用于获取第二通信状态指示信息，所述第二通信状态指示信息用于指示第一至少一个终端设备在第一至少一个位置点与第二路侧设备建立通信连接，所述第一至少一个位置点距离所述第一路侧设备的距离小于预设阈值；
    第二确定模块，用于根据所述第二通信状态指示信息，确定所述第一至少一个位置点在所述第一路侧设备周围的第二分布情况；
    所述第一生成模块还用于：
    根据所述第一分布情况和所述第二分布情况，生成所述第一通信能力信息。
  26. 根据权利要求23或24所述的装置，其特征在于，所述装置还包括：
    第三获取模块，用于获取第三通信状态指示信息，所述第三通信状态指示信息用于指示第二至少一个终端设备在第二至少一个位置点与服务器建立通信连接，所述第二至少一个终端设备具备连接所述第一路侧设备的能力，所述第二至少一个位置点距离所述第一路侧设备的距离小于预设阈值；
    第三确定模块，用于根据所述第三通信状态指示信息，确定所述第二至少一个位置点在所述第一路侧设备周围的第三分布情况；
    所述第一生成模块还用于：
    根据所述第一分布情况和所述第三分布情况，生成所述第一通信能力信息。
  27. 根据权利要求23至26中任意一项所述的装置，其特征在于，所述第一通信能力信息用于指示第一区域和所述第一路侧设备在所述第一区域内的通信能力。
  28. 根据权利要求23至26中任意一项所述的装置，其特征在于，所述第一通信能力信息用于指示第一场景、第一区域和所述第一路侧设备在所述第一场景下以及所述第一区域内的通信能力。
  29. 根据权利要求23至28中任意一项所述的装置，其特征在于，所述第一通信状态指示信息包括：所述多个位置点的位置信息、所述多个终端设备中多个通信模块的工作状态信息、所述多个终端设备与所述第一路侧设备的连接状态信息、所述第一路侧设备的标识信息和时间信息。
  30. 根据权利要求23至29中任意一项所述的装置，其特征在于，所述装置还包括：
    第二生成模块，用于生成多个路侧设备的多个通信能力信息，所述多个通信能力信息用于指示多个路侧设备的通信能力，所述多个路侧设备包括所述第一路侧设备，所述多个通信能力信息包括所述第一通信能力信息；
    第三生成模块，用于根据所述多个通信能力信息，生成通信盲区信息，所述通信盲区信息用于指示所述多个路侧设备中的一个或多个路侧设备未覆盖的区域。
  31. 根据权利要求30所述的装置，其特征在于，所述多个路侧设备中的一个或多个路侧设备未覆盖的区域包括：绝对盲区和/或相对盲区，其中，所述多个路侧设备中任一路侧设备在所述绝对盲区内均不能达到第二阈值，所述多个路侧设备中的部分路侧设备在所述相对盲区中不能达到第三阈值。
  32. 根据权利要求23至31中任意一项所述的装置，其特征在于，所述装置还包括：
    更新模块，用于在满足预设条件的情况下，更新所述第一通信能力信息；
    其中，所述预设条件包括：
    所述第一通信能力信息指示的通信能力指标当前值相对于通信能力指标统计值出现异常；
    对所述第一路侧设备进行故障维修；
    对所述第一路侧设备进行升级；或者
    所述第一路侧设备周围增加或者减少遮挡物。
  33. 根据权利要求23至32中任意一项所述的装置，其特征在于，所述装置还包括：
    第四生成模块，用于根据所述第一通信能力信息生成预警提示信息，所述预警提示信息用于提示在第二区域内由驾驶员接管车辆、对所述第一路侧设备进行故障检测、更新所述第一路侧设备的软件，或者调整所述第一路侧设备的部署、在所述第二区域降低来自所述第一路侧设备的信息的置信度或者在规划路径时避开所述第二区域，其中所述第一通信能力信息指示所述第一路侧设备在所述第二区域内的通信能力低于第一阈值。
  34. 一种通信能力信息使用装置，其特征在于，所述装置包括：
    获取模块，用于获得通信能力信息，所述通信能力信息用于指示区域和路侧设备在所述区域内的通信能力；
    生成模块，用于基于所述通信能力信息，生成预警提示信息、在所述区域调整来自所述路侧设备通信的信息的置信度，或者规划不经过所述区域的行驶路径。
  35. 根据权利要求34所述的装置，其特征在于，所述通信能力信息还用于指示场景，和所述路侧设备在所述场景下且在所述区域内的通信能力。
  36. 根据权利要求34或35所述的装置，其特征在于，所述预警提示信息用于提示在所述区域内由驾驶员接管车辆、在所述区域内注意避让车辆、对所述路侧设备进行故障检测、在所述区域降低所述路侧设备通信获得的信息的置信度或者在规划路径时避开所述区域，其中所述通信能力信息指示所述路侧设备在所述区域内的通信能力低于第一阈值。
  37. 根据权利要求34至36中任意一项所述的装置，其特征在于，所述路侧设备为多个路侧设备，所述区域包括绝对盲区，所述绝对盲区为所述多个路侧设备的通信能力都不能达到第二阈值的区域。
  38. 根据权利要求34至36中任意一项所述的装置，其特征在于，所述路侧设备为多个路侧设备，所述区域包括相对盲区，所述相对盲区为所述多个路侧设备中部分路侧设备的通信能力不能达到第三阈值的区域。
  39. 根据权利要求34至38中任意一项所述的装置，其特征在于，所述装置还包括：
    存储模块，用于将所述通信能力信息作为地图数据进行存储。
  40. 一种通信能力信息生成装置，其特征在于，包括：
    处理器；
    用于存储指令的存储器；
    其中，所述处理器被配置为执行所述指令以实现权利要求1至16中任意一项所述的方法。
  41. 一种通信能力信息使用装置，其特征在于，包括：
    处理器；
    用于存储指令的存储器；
    其中，所述处理器被配置为执行所述指令时实现权利要求17至22中任意一项所述的方法。
  42. 一种计算机可读存储介质，其上存储有计算机程序指令，其特征在于，所述计算机程序指令被处理器执行时，实现权利要求1至16中任意一项所述的方法，或者实现权利要求17至22中任意一项所述的方法。
  43. 一种计算机程序产品，包括计算机可读代码，当所述计算机可读代码在处理器中运行时，实现如权利要求1至16中任意一项所述的方法，或者实现如权利要求17至22中任意一项所述的方法。
  44. 一种地图，其特征在于，包括：通信能力信息，所述通信能力信息用于指示区域和路侧设备在所述区域内的通信能力。
  45. 根据权利要求44所述的地图，其特征在于，所述通信能力信息还用于指示场景，和所述路侧设备在所述场景下且在所述区域内的通信能力。
  46. 根据权利要求44或45所述的地图，其特征在于，所述路侧设备为多个路侧设备，所述区域包括绝对盲区，所述绝对盲区为所述多个路侧的通信能力都不能达到第二阈值的区域。
  47. 根据权利要求44或45所述的地图，其特征在于，所述路侧设备为多个路侧设备，所述区域包括相对盲区，所述相对盲区为所述多个路侧设备中部分路侧设备的通信能力不能达到第三阈值的区域。
  48. 根据权利要求44至47中任意一项所述的地图，其特征在于，所述地图还包括预警提示信息，所述预警提示信息用于提示在所述区域内由驾驶员接管车辆、在所述区域内注意避让车辆、对所述路侧设备进行故障检测、在所述区域降低所述路侧设备通信获得的信息的置信度或者在规划路径时避开所述区域，其中所述通信能力信息指示所述路侧设备在所述区域 内的通信能力低于第一阈值。
  49. 一种计算机可读存储介质，其特征在于，所述计算机可读存储介质中存储有如权利要求44至48中任意一项所述的地图。
  50. 一种车辆，其特征在于，包括：如权利要求34至39中任意一项所述的通信能力信息使用装置，或者如权利要求41所述的通信能力信息使用装置。
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