WO2023231562A1 - Method for performing vehicle supervision based on roadside unit (rsu), and rsu and vehicle - Google Patents

Abstract

The present disclosure relates to a method for performing vehicle supervision based on an RSU, and an RSU and a vehicle. The method comprises: receiving supervision information issued by a traffic supervision platform; broadcasting the supervision information to vehicles around an RSU on the basis of C-V2X communication; receiving vehicle sensing information reported by a vehicle in a road section where the RSU is located; according to the vehicle sensing information and roadside sensing information of the RSU, determining whether the vehicle in the road section where the RSU is located meets the requirement of the supervision information; and when the vehicle does not meet the requirement of the supervision information, sending illegal driving prompt information to the vehicle. Supervision compliance determination is performed by combining sensing data of a vehicle side with sensing data of an RSU, such that the data processing accuracy and processing time effectiveness in traffic enforcement can be improved on the whole. Broadcasting supervision information helps to guide individual vehicles to adjust their driving paths in real time according to the supervision information, thereby reducing violation phenomena and improving the traffic efficiency.

Description

Method for vehicle supervision based on roadside equipment, roadside equipment and vehicles

Cross-references to related applications

This disclosure requires the priority of the Chinese patent application with application number CN202210602188.1 and titled "Method for vehicle supervision based on roadside equipment, roadside equipment and vehicle" submitted to the China Patent Office on May 30, 2022, which The entire contents are incorporated by reference into this disclosure.

Technical field

The present disclosure relates to the technical field of vehicle and road network monitoring, and in particular to a method for vehicle monitoring based on roadside equipment, roadside equipment and vehicles.

Background technique

In some important places with dense flow of people, such as bus stations, train stations, airports, ports, docks and other transportation hub areas, vehicle congestion and large-area traffic often occur due to illegal parking to pick up and drop off passengers, long-term stagnation or slow-moving and other factors. The problem of paralysis has had a negative impact on road traffic efficiency.

In the process of realizing the concept of the present disclosure, the inventor found that there are at least the following technical problems in related technologies: currently, manual on-site supervision and law enforcement is used or the use of cameras to capture and then identify violations and delayed law enforcement, manual on-site supervision and law enforcement, resistance to law enforcement, Over-enforcement and other problems. Off-site enforcement using electronic capture methods has problems such as lag in law enforcement processing, difficulty in collecting illegal data, and difficulty in achieving comprehensive supervision in some blind spots, resulting in low efficiency of road traffic.

Contents of the invention

In order to solve the above technical problems or at least partially solve the above technical problems, the present disclosure provides a method for vehicle supervision based on roadside equipment, roadside equipment and vehicles.

The present disclosure provides a method for vehicle supervision based on roadside equipment. The above method includes: receiving supervision information issued by the traffic supervision platform; broadcasting the above supervision information to vehicles around the above-mentioned roadside equipment based on C-V2X (cellular vehicle networking technology) communication; receiving reports from vehicles in the road section where the above-mentioned roadside equipment is located vehicle sensing information; based on the vehicle sensing information and the roadside sensing information of the roadside equipment, determine whether the vehicles in the road section where the roadside equipment is located meet the requirements of the above regulatory information; when the above vehicles do not meet the requirements of the above regulatory information In this case, illegal driving prompt information will be sent to the above-mentioned vehicles.

Optionally, the above-mentioned supervision information includes: electronic fence area information and control action information of the road section where the above-mentioned roadside equipment is located; the above-mentioned vehicle sensing information includes its own driving state perceived by the vehicle; the above-mentioned roadside sensing information includes the vehicle sensed by the above-mentioned roadside equipment Driving status. According to the vehicle sensing information and the roadside sensing information of the roadside equipment, it is determined that the road Whether the vehicles in the road section where the side equipment is located meet the requirements of the above regulatory information, including: for each vehicle in the road section where the above-mentioned roadside equipment is located, determine the current driving status of the vehicle and the vehicle status of the current vehicle perceived by the above-mentioned roadside equipment. Whether the data difference rate between driving states is lower than the preset threshold; if the above-mentioned data difference rate is lower than the preset threshold, according to the preset priority of the sensing subject of the driving state, the above-mentioned own driving state and the above-mentioned vehicle driving state are The one with medium priority and high priority is determined to be the supervised driving status of the above-mentioned current vehicle; based on the supervised driving status of the above-mentioned vehicle, the above-mentioned electronic fence area information and the above-mentioned control action information, determine whether the driving position of the above-mentioned current vehicle is located in the above-mentioned electronic fence area, and determine Whether the driving action of the current vehicle in the electronic fence area meets the requirements of the control action information; when the driving position of the current vehicle is in the electronic fence area and the driving action of the current vehicle in the electronic fence area does not meet the above requirements In the case of regulatory action information requirements, it is determined that the above-mentioned current vehicle does not meet the above regulatory information requirements.

Optionally, the above-mentioned driving state includes at least one of the following: driving position, driving heading angle, driving speed, and driving acceleration; in the above-mentioned sensing subject preset priority, set the driving position, driving heading angle, driving speed, and The priority of driving acceleration corresponds to a higher priority than the driving position, driving heading angle, driving speed, and driving acceleration sensed by the roadside device.

Optionally, based on the vehicle sensing information and the roadside sensing information of the roadside device, determining whether the vehicles in the road section where the roadside device is located meet the requirements of the regulatory information, further including: when the data difference rate is greater than a preset threshold In the case of, based on the vehicle driving state of the current vehicle perceived by the trusted third party, the relative reliability of the self-driving state perceived by the current vehicle and the vehicle driving state of the current vehicle perceived by the roadside device is determined; the relative reliability The driving state perceived by the subject with a high degree is determined as the above-mentioned supervisory driving state of the current vehicle.

Optionally, based on the vehicle driving state of the current vehicle sensed by a trusted third party, determining the relative reliability of the own driving state sensed by the current vehicle and the vehicle driving state sensed by the roadside device for the current vehicle includes: The vehicle driving state of the current vehicle sensed by the trusted third party is used as the reference data to determine the proximity of the own driving state sensed by the current vehicle and the vehicle driving state sensed by the roadside device for the current vehicle relative to the reference data. ; The vehicle driving state perceived by subjects with a higher degree of proximity is regarded as more reliable.

Optionally, the above-mentioned trusted third party includes at least one of the following: other vehicles other than the above-mentioned vehicle in the road section where the above-mentioned roadside equipment is located, or other roadside equipment that is close to the above-mentioned roadside equipment.

Optionally, the vehicle sensing information also includes road condition information sensed by the vehicle, and the roadside sensing information also includes road condition information sensed by the roadside device. The above method also includes: determining whether the number of prompts sent to the above-mentioned vehicle for illegal driving prompt information exceeds a set number within a preset time period; if the number of above-mentioned prompts exceeds the set number, based on the road condition information perceived by the above-mentioned vehicle and its own driving status And the road condition information and vehicle driving status sensed by the above-mentioned roadside equipment, generate vehicle violation evidence information; initiate a violation processing request to the above-mentioned traffic supervision platform, the above-mentioned violation processing request carries the above-mentioned Vehicle violation evidence information; receiving the violation processing results for illegal vehicles fed back by the above-mentioned traffic supervision platform; and forwarding the above violation processing results to the corresponding illegal vehicles.

Optionally, before determining whether the vehicles in the road section where the roadside equipment is located meet the requirements of the regulatory information based on the vehicle sensing information and the roadside sensing information of the roadside equipment, the method further includes: obtaining the roadside sensing information; Obtaining roadside sensing information includes: collecting environmental information based on the camera device and lidar device of the above-mentioned roadside equipment, and the obtained fusion data is used as roadside sensing information.

The present disclosure provides a method for vehicle supervision applied to vehicles. The above method includes: regularly reporting vehicle sensing information to roadside equipment in the road section at set time intervals; receiving supervision information broadcast by roadside equipment based on C-V2X communication; and determining compliance with the above supervision based on the above supervision information. The planned driving route and planned driving behavior of the information; driving navigation is performed based on the above planned driving route and the above planned driving behavior.

Optionally, upon receiving illegal driving prompt information sent from the above-mentioned roadside equipment, based on the above-mentioned planned driving route and planned driving behavior, automatic control correction or assisting the driver to correct the actual driving route and actual driving behavior.

The present disclosure provides a roadside device. The above-mentioned roadside equipment includes: a regulatory information receiving module, a C-V2X communication module, a vehicle sensing information receiving module, a determination module and a prompt information sending module. The above-mentioned supervision information receiving module is used to receive supervision information issued by the traffic supervision platform. The above-mentioned C-V2X communication module is used to broadcast the above-mentioned supervision information to the vehicles surrounding the above-mentioned roadside equipment. The vehicle sensing information receiving module is configured to receive vehicle sensing information reported by vehicles in the road section where the roadside device is located. The above determination module is used to determine whether the vehicles in the road section where the above roadside equipment is located meet the requirements of the above supervision information based on the above vehicle sensing information and the roadside sensing information of the above roadside equipment. The above-mentioned prompt information sending module is used to send illegal driving prompt information to the above-mentioned vehicle when the above-mentioned vehicle does not meet the requirements of the above-mentioned regulatory information.

The present disclosure provides a vehicle. The above-mentioned vehicles include: C-V2X communication module, driving planning module and driving navigation module. The above-mentioned C-V2X communication module is used to regularly report vehicle sensing information to the roadside equipment in the road section at set time intervals. The above-mentioned C-V2X communication module is also used to receive regulatory information broadcast by roadside equipment. The above-mentioned driving planning module is used to determine the planned driving route and planned driving behavior that comply with the above-mentioned regulatory information based on the above-mentioned regulatory information. The above-mentioned driving navigation module is used for driving navigation based on the above-mentioned planned driving route and the above-mentioned planned driving behavior.

The present disclosure provides an electronic device. The above-mentioned electronic equipment is located on the roadside equipment or vehicle. The above-mentioned electronic equipment includes a processor, a communication interface, a memory and a communication bus. The processor, communication interface and memory complete communication with each other through the communication bus; the memory is used to store the computer. Program; processor, used to implement the above-mentioned method of vehicle supervision based on roadside equipment or the method of vehicle supervision applied to vehicles when executing the program stored in the memory.

The present disclosure provides a computer-readable storage medium. The above-mentioned computer-readable storage medium stores a computer program. When the above-mentioned computer program is executed by the processor, the above-mentioned method or application of vehicle supervision based on roadside equipment is implemented. Vehicle supervision methods for vehicles.

Some technical solutions provided by this disclosure have at least some or all of the following advantages:

A scheme for vehicle-road collaborative law enforcement is proposed. By using vehicles to actively report vehicle sensing information to roadside equipment, the high-precision and accurate vehicle sensing data collected by the vehicle itself and the vehicle sensing data collected by roadside equipment can be comprehensively utilized. Roadside sensing information is used to determine regulatory compliance. When facing supervision scenarios in places with heavy traffic pressure, regulatory compliance is determined by combining the sensing data from both the vehicle side and the roadside equipment. When the vehicle happens to be parked on the roadside In the case of a visual blind spot of the device or a vehicle blocking its own license plate, the information reported by the vehicle itself can be used as a supplement or substitute for the roadside sensing information to accurately identify whether the vehicle is compliant and ensure comprehensive supervision. When the vehicle does not meet the requirements of regulatory information, it can send illegal driving prompt information to the vehicle to effectively conduct real-time supervision and supervise vehicle compliance operations, which can help relieve traffic pressure and improve traffic efficiency, and can improve traffic overall. The accuracy and processing timeliness of data processing in law enforcement; in addition, after the roadside equipment receives the supervision information issued by the traffic supervision platform, it broadcasts the supervision information to surrounding vehicles based on C-V2X communication, which helps to guide each vehicle to act accordingly in real time. Supervisory information can be used to adjust one’s own driving path, reduce violations, and improve traffic efficiency.

Description of the drawings

The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the disclosure and together with the description, serve to explain the principles of the disclosure.

In order to more clearly explain the embodiments of the present disclosure or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or related technologies will be briefly introduced below. It is obvious to those of ordinary skill in the art that , other drawings can also be obtained based on these drawings without exerting creative labor.

Figure 1 schematically shows a system architecture suitable for a vehicle supervision method according to an embodiment of the present disclosure;

Figure 2 schematically shows a flow chart of a method for vehicle supervision based on roadside equipment according to an embodiment of the present disclosure;

Figure 3 schematically shows a detailed implementation flow chart of step S240 according to an embodiment of the present disclosure;

Figure 4 schematically shows a flow chart of a method for vehicle supervision based on roadside equipment according to another embodiment of the present disclosure;

Figure 5 schematically shows a flow chart of a method for vehicle supervision applied to a vehicle according to an embodiment of the present disclosure;

Figure 6 schematically shows a structural block diagram of a roadside device according to an embodiment of the present disclosure;

Figure 7 schematically shows a structural block diagram of a vehicle according to an embodiment of the present disclosure; and

FIG. 8 schematically shows a structural block diagram of an electronic device provided by an embodiment of the present disclosure.

Detailed ways

The current vehicle supervision methods mainly adopt the following two supervision methods. One is to use human control to conduct on-site law enforcement on vehicles, and the other is to use electronic camera capture to conduct off-site law enforcement.

The method of manually supervising on-site law enforcement has shortcomings such as inability to enforce laws around the clock, resistance to law enforcement, and excessive law enforcement. The traditional off-site law enforcement method of electronic capture has problems such as the lag in law enforcement processing time and the difficulty in collecting illegal data. During the research and development process, the inventor discovered that in some important places with dense human traffic, such as bus stations, train stations, airports, ports, docks and other transportation hub areas, some vehicles will park illegally in blind areas that cannot be seen by electronic cameras. It is impossible to obtain illegal information in this scenario using electronic capture methods, and it is also impossible to conduct effective traffic diversion or law enforcement in real time in response to this situation. In some scenarios, in order to avoid being photographed violating regulations, vehicles will take actions such as covering the license plate while slowing down to avoid being captured electronically. The current electronic capture method cannot effectively solve the supervision problems in such scenarios. At the same time, due to law enforcement There is a lag in itself, which makes it impossible to divert traffic in a timely manner. In some scenarios, weather factors are not conducive to electronic camera shooting. For example, in foggy weather, electronic capture faces difficulties in collecting illegal data.

In view of this, embodiments of the present disclosure provide a method for vehicle supervision based on roadside equipment, roadside equipment, and vehicles. By combining the sensing data of both the vehicle side and the roadside equipment for regulatory compliance determination, overall it can Improve data processing accuracy and processing timeliness in traffic law enforcement. Roadside equipment broadcasts regulatory information to help guide each vehicle to adjust its driving path in real time based on regulatory information, reduce violations, and improve traffic efficiency. This solution can be applied to violation supervision in places with heavy traffic pressure to improve traffic efficiency.

The method for vehicle supervision based on roadside equipment provided by the disclosed embodiment includes: receiving supervision information issued by a traffic supervision platform; broadcasting the supervision information to vehicles around the roadside equipment based on C-V2X communication; receiving the supervision information from the roadside equipment. The vehicle sensing information reported by the vehicles in the road section where the roadside equipment is located; based on the vehicle sensing information and the roadside sensing information of the roadside equipment, determine whether the vehicles in the road section where the roadside equipment is located meet the requirements of the regulatory information; when the vehicle If the regulatory information requirements are not met, an illegal driving reminder message will be sent to the vehicle.

The method provided by the embodiment of the present disclosure for vehicle supervision includes: regularly reporting vehicle sensing information to roadside equipment in the road section at set time intervals; based on C-V2X communication, receiving roadside equipment broadcasts regulatory information; determine the planned driving route and planned driving behavior that comply with the above regulatory information based on the above regulatory information; conduct driving navigation based on the above planned driving route and the above planned driving behavior.

In order to make the purpose, technical solutions and advantages of the embodiments of the present disclosure clearer, the technical solutions in the embodiments of the present disclosure will be clearly and completely described below in conjunction with the accompanying drawings in the embodiments of the present disclosure. Obviously, the described embodiments These are some embodiments of the present disclosure, but not all embodiments. Based on the embodiments in this disclosure, all other embodiments obtained by those of ordinary skill in the art without any creative efforts fall within the scope of protection of this disclosure.

FIG. 1 schematically illustrates a system architecture suitable for a vehicle supervision method according to an embodiment of the present disclosure.

Referring to FIG. 1 , a system architecture 100 suitable for a vehicle supervision method according to an embodiment of the present disclosure includes: a traffic supervision platform 110 , a roadside device 120 and a vehicle 130 . The traffic supervision platform 110 and the roadside device 120 are connected based on a wired network. Or a wireless network (such as 4G, 5G, etc.) to communicate, and the roadside device 120 and the vehicle 130 communicate through C-V2X (cellular vehicle networking technology). In Figure 1, two roadside devices RSU-1 and RSU-2 and three vehicles: vehicle A, vehicle B and vehicle C are taken as an example.

C-V2X is composed of 3GPP (a communication technology standard, 3rd Generation Partnership Project, mainly based on the GSM core network, UTRA (general name for wireless and network standards), FDD is W-CDMA technology, TDD is TD-SCDMA technology ) is a cellular communication-based V2X technology defined by the third-generation technical specification for wireless interfaces. It includes V2X systems based on LTE and future 5G, and is a powerful complement to DSRC (Dedicated Wireless Mobile Communications) technology. It uses existing LTE network facilities to realize V2V (vehicle-to-vehicle), V2N (vehicle-to-cloud), and V2I (vehicle-to-roadside infrastructure) information interaction. This technology is suitable for more complex security application scenarios and meets the needs of Low latency, high reliability and meeting bandwidth requirements.

The traffic supervision platform 110 may be a server used for processing road traffic supervision data, such as an application server or a cloud server. The traffic supervision platform 110 is provided with electronic fence area information and control action information for road sections in the road network. For example, within 1,000 meters near the train station is an electronic fence area. The control action information in this electronic fence area is: parking is prohibited at specific locations, and the driving speed in certain road areas is required to be no less than 45km/h; You are not allowed to stay in the area for more than 5 minutes, etc.

Roadside equipment (RSU) 120 is a device installed on at least one side of the road. The roadside equipment is installed at intervals in the road. For example, it can be at a preset distance, such as every 50 meters to 100 meters (exemplary interval value, It can also be other interval data, the intervals can be equal or unequal) to set a roadside device. Each roadside device 120 corresponds to a control area. The following relationships can be present between the control area of the roadside device and the sensing range of the roadside device itself: the control area is a subset or the entire set of the sensing range of the roadside device, Or there is an intersection between the control area and the sensing range of the roadside equipment. The method provided by the embodiment of the present disclosure can expand the control area of the roadside equipment; there can be an intersection between the respective control areas of two adjacent roadside devices. In some embodiments, roadside equipment is equipped with camera devices and lidar devices.

The embodiments of the present disclosure will be described in detail below with reference to the accompanying drawings.

A first exemplary embodiment of the present disclosure provides a method for vehicle supervision based on roadside equipment. This method may be performed by each roadside device 120 in the system architecture 100, for example, it may be performed by RSU-1 and RSU-2 in the example of FIG. 1 respectively.

FIG. 2 schematically shows a flow chart of a method for vehicle supervision based on roadside equipment according to an embodiment of the present disclosure.

Referring to FIG. 2 , a method for vehicle supervision based on roadside equipment provided by an embodiment of the present disclosure includes the following steps: Steps: S210, S220, S230, S240 and S250.

In step S210, supervision information issued by the traffic supervision platform is received.

According to an embodiment of the present disclosure, the above-mentioned supervision information includes: electronic fence area information and management and control action information of the road section where the above-mentioned roadside equipment is located. For example, referring to the scene shown in Figure 1, the area within 500 meters of the entrance to the train station belongs to the electronic fence area. This area is represented by grid lines in Figure 1. The control action information in the electronic fence area is: corresponding to the entrance Parking is prohibited in the left aisle, and the driving speed in the right aisle corresponding to the entrance is required to be no less than 45km/h.

In step S220, the supervision information is broadcast to vehicles around the roadside device based on C-V2X communication.

For example, the current vehicles 130 are vehicle A, vehicle B, and vehicle C. Vehicle B is within the broadcast communication range of the roadside device RSU-1. The roadside device RSU-1 broadcasts the above supervision information to vehicle B. Vehicle A and vehicle C are within the broadcast communication range of the roadside equipment RSU-2, and the roadside equipment RSU-2 broadcasts the above supervision information to vehicle A and vehicle C.

After the roadside equipment receives the supervision information issued by the traffic supervision platform, it broadcasts the supervision information to surrounding vehicles based on C-V2X communication, which helps to guide each vehicle to adjust its driving path according to the supervision information in real time, reduce violations, and improve Traffic efficiency.

In step S230, vehicle sensing information reported by vehicles in the road section where the roadside device is located is received.

Roadside equipment will report vehicle perception information about itself at preset intervals. For example, roadside equipment reports vehicle sensing information every 100ms (milliseconds) (the specific value can change).

In some embodiments, the vehicle sensing information includes the vehicle's own driving state perceived. The above-mentioned roadside sensing information includes the vehicle driving status sensed by the above-mentioned roadside equipment.

In other embodiments, the vehicle sensing information includes the vehicle's own driving status and road condition information perceived by the vehicle; the roadside sensing information includes the vehicle driving status and road condition information sensed by the roadside device.

The execution order of the above steps S220 and S230 is not limited, and they can be executed one after another or in parallel. Before the vehicle enters the electronic fence area, the electronic fence area information broadcast to the vehicle by the roadside device may include the absolute position information of the electronic fence area, and may also include the relative position information of the electronic fence area relative to the current vehicle. For example, in an implementation In the method, for vehicle B, the roadside device RSU-1 broadcasts to vehicle B that the electronic fence area is within 500 meters of the entrance of the train station (an example of absolute position information). Or, in another embodiment, the vehicle sensing information reported by the vehicle has been received in advance. For vehicle B, the roadside device RSU-1 determines the location information by using the current location information reported by vehicle B and the location information of the electronic fence area. The relative position information of vehicle B relative to the electronic fence area is broadcast to vehicle B. For example, the content of the broadcast is: "The current vehicle is close to the electronic fence area, and the current distance is estimated to be 200 meters." The above prompts can help inform the vehicle in advance to prepare to adjust the driving status to meet the requirements of regulatory information.

In step S240, based on the vehicle sensing information and the roadside sensing information of the roadside equipment, it is determined whether the vehicles in the road section where the roadside equipment is located meet the requirements of the supervision information.

In the embodiment of the present disclosure, the vehicle sensing information carries the vehicle identity and security certificate, and the data certificate is used to represent that the data is authentic and trustworthy.

When faced with supervision scenarios in places with high traffic pressure, regulatory compliance is determined by combining the sensory data of both the vehicle side and the roadside equipment. When the vehicle happens to be parked in the visual blind spot of the roadside equipment or the vehicle is blocked In the case of missing its own license plate, the information reported by the vehicle itself can be used as supplementary or alternative information to the roadside sensing information to accurately identify whether the vehicle is compliant and ensure comprehensive supervision.

In step S250, if the vehicle does not meet the requirements of the supervision information, illegal driving prompt information is sent to the vehicle.

When the vehicle does not meet the requirements of regulatory information, illegal driving prompt information is sent to the vehicle. This prompt information can provide early warning of violation of the vehicle, effectively conduct real-time supervision and supervise vehicle compliance operations, help relieve traffic pressure and improve traffic safety. traffic efficiency.

Based on the above steps S210 to S250, a vehicle-road collaborative law enforcement solution is proposed. By using the vehicle to actively report vehicle perception information to roadside equipment, the vehicle itself can comprehensively utilize the high-precision vehicle perception with relatively accurate data content collected by the vehicle itself. Data and roadside sensing information collected by roadside equipment are used to make regulatory compliance determinations. When facing supervision scenarios in places with heavy traffic pressure, regulatory compliance determinations are made by combining the sensing data from both the vehicle side and roadside equipment. When the vehicle happens to be parked in the visual blind spot of the roadside equipment or the vehicle blocks its own license plate, the information reported by the vehicle itself can be used as a supplement or substitute for the roadside sensing information to accurately identify whether the vehicle is in compliance with the regulations. regulations to ensure the comprehensiveness of supervision. When vehicles do not meet the requirements of regulatory information, illegal driving reminder information is sent to vehicles to effectively conduct real-time supervision and supervise vehicle compliance operations, which helps relieve traffic pressure and improve traffic access. efficiency, which can overall improve the accuracy and processing timeliness of data processing in traffic law enforcement; in addition, after the roadside device receives the supervision information issued by the traffic supervision platform, it broadcasts the supervision information to surrounding vehicles based on C-V2X communication, which can Helps guide each vehicle to adjust its driving path in real time based on regulatory information, reduce violations, and improve traffic efficiency.

According to the embodiment of the present disclosure, when the vehicle meets the requirements of the supervision information, supervision will continue without issuing prompt information.

FIG. 3 schematically shows a detailed implementation flow chart of step S240 according to an embodiment of the present disclosure.

According to some embodiments of the present disclosure, the above-mentioned supervision information includes: the electronic fence area information and control action information of the road section where the above-mentioned roadside equipment is located; the above-mentioned vehicle sensing information includes its own driving status perceived by the vehicle; the above-mentioned roadside sensing information includes the above-mentioned roadside Vehicle driving status sensed by the device.

In the above step S240, based on the above vehicle sensing information and the roadside sensing information of the above roadside equipment, it is determined whether the vehicles in the road section where the above roadside equipment is located meet the requirements of the above regulatory information, including the following steps: S310, S320a, S330, S340b .

In step S310, for each vehicle in the road section where the roadside device is located, determine whether the data difference rate between the current vehicle's own driving state perceived by the current vehicle and the vehicle driving state sensed by the above-mentioned roadside device for the current vehicle is lower than a preset value. threshold.

The above-mentioned data difference rate is used to characterize the difference between the data perceived by different sensing objects for the same parameter.

According to the embodiment of the present disclosure, the above-mentioned driving state includes at least one of the following: driving position, driving heading angle, driving speed, and driving acceleration; in the above-mentioned sensing subject preset priority, the driving position, driving heading angle, and The priority of driving speed and driving acceleration corresponds to the priority higher than the driving position, driving heading angle, driving speed and driving acceleration sensed by the roadside device.

For example, taking the driving position in the driving state as an example, other parameters can be understood with reference. The data difference rate of the driving position is obtained by calculating the degree of difference between the current driving position data sensed by vehicle A and the driving position data sensed by the roadside device RSU-1 about vehicle A. For example, in some embodiments, it can be calculated The root mean square error value between the current driving position data sensed by vehicle A and the driving position data sensed by the roadside device RSU-1 is used as the data difference rate, or in other embodiments, two The ratio of the absolute value of the difference between the vehicle A's driving position data and the driving position data perceived by vehicle A is used as the data difference rate. There are many ways to calculate the data difference ratio.

The above driving position data can be the position data obtained by the vehicle positioning unit through its own sensor, or the high-precision position data calculated in real time by its own sensor combined with the GNSS navigation system, for example, through RTK (real-time dynamic carrier phase measurement positioning technology) Get real-time driving location information. The preset thresholds are, for example, 10%, 5%, etc., which can be adjusted according to the actual situation.

In step S320a, when the data difference rate is lower than the preset threshold, according to the preset priority of the sensing subject of the driving state, the one with the higher priority among the own driving state and the vehicle driving state is determined as the current vehicle. Monitor driving status.

For each parameter in the driving state (such as driving position, driving heading angle, driving speed, driving acceleration, etc.), a corresponding sensory data preset priority is set, so that the corresponding parameter monitoring results can be determined for each parameter. , as a whole, the supervisory driving status of the current vehicle including multiple parameters is obtained.

In step S330, based on the supervised driving status of the current vehicle, the electronic fence area information and the control action information, it is determined whether the driving position of the current vehicle is located in the electronic fence area, and whether the current vehicle is in the electronic fence area is determined. Whether the driving action meets the requirements of the above control action information.

In step S340b, when the driving position of the current vehicle is located in the electronic fence area and the driving action of the current vehicle in the electronic fence area does not meet the requirements of the control action information, it is determined that the current vehicle does not meet the supervision requirements. Information Requests.

In another branch, referring to step S340a shown in the example in FIG. 3 , when the driving position of the current vehicle is located in the electronic fence area and the driving action of the current vehicle in the electronic fence area meets the requirements of the control action information, In this case, it is determined that the above-mentioned current vehicle meets the requirements of the above-mentioned regulatory information.

According to other embodiments of the present disclosure, as shown in FIG. 3 , in step S240 , it is determined whether the vehicles in the road section where the roadside equipment is located comply with the regulatory information based on the vehicle sensing information and the roadside sensing information of the roadside equipment. The requirements include, in addition to the above-mentioned steps S310, S320a, S330, and S340b, the following steps are also included: S321b and S322b.

In the case where the above-mentioned data difference rate is greater than the preset threshold, steps S321b and S322b are executed.

In step S321b, based on the vehicle driving state of the current vehicle sensed by the trusted third party, the relative reliability of the current vehicle's own driving state sensed by the current vehicle and the vehicle driving state sensed by the roadside device for the current vehicle is determined.

According to an embodiment of the present disclosure, based on the vehicle driving state of the current vehicle sensed by a trusted third party, the relative reliability of the own driving state sensed by the current vehicle and the vehicle driving state sensed by the roadside device for the current vehicle is determined, Including: using the vehicle driving state of the current vehicle perceived by the trusted third party as reference data, determining the own driving state sensed by the current vehicle and the vehicle driving state of the current vehicle sensed by the roadside device relative to the reference data. The degree of proximity; the vehicle driving state perceived by subjects with a higher degree of proximity is regarded as more reliable.

According to an embodiment of the present disclosure, the above-mentioned trusted third party includes at least one of the following: other vehicles other than the above-mentioned vehicle in the road section where the above-mentioned roadside equipment is located, or other roadside equipment that is close to the above-mentioned roadside equipment.

In step S321b, the driving state perceived by the subject with a relatively high degree of reliability is determined as the supervised driving state of the current vehicle.

The above-mentioned steps S321b and S322b serve as parallel execution branches of step S320a, and the current monitored driving status of the vehicle obtained by the two branches are used to execute the subsequent step S330.

In addition to the vehicle's own driving status perceived by the vehicle, the above-mentioned vehicle sensing information also includes road condition information perceived by the vehicle. In addition to the vehicle driving status perceived by the roadside device, the above-mentioned roadside sensing information also includes the road condition sensed by the above-mentioned roadside device. information.

In some special scenarios, for example, a component failure of vehicle A causes a large deviation in one or more parameter data in the vehicle driving status reported by vehicle A, resulting in the following situation: Roadside equipment RSU-2 sensing The data difference rate between the vehicle driving state of vehicle A and the own driving state perceived by vehicle A is greater than the preset threshold. Roadside equipment RSU-2 can determine that the data reported by vehicle C is authentic and accurate based on the security certificate carried in the data reported by vehicle C (other than vehicle A) in the road section where it is located, so it can Vehicle C serves as the trusted Three parties. The vehicle driving status of vehicle A carried in the road condition information from the perspective of vehicle C is obtained based on the road condition information in the vehicle sensing information of vehicle C (trusted third party) (for example, the driving status of vehicle A perceived from the perspective of vehicle C) position, driving speed and other information) as the benchmark data. Among the data of the roadside equipment RSU-2 and the vehicle A regarding the vehicle driving status perceived by the vehicle A, whichever is closer to the benchmark data indicates that the reliability of the one is relatively higher. The driving state perceived by the subject with a higher degree of reliability is used as the supervisory driving state of vehicle A.

FIG. 4 schematically shows a flow chart of a method for vehicle supervision based on roadside equipment according to another embodiment of the present disclosure.

The vehicle sensing information includes the vehicle's own driving status and road condition information perceived by the vehicle, and the roadside sensing information includes the vehicle driving status and road condition information sensed by the roadside device.

According to another embodiment of the present disclosure, in addition to the above steps S210, S220, S230, S240 and S250, the above method also includes the following steps: S410, S420, S430, S440 and S450. To simplify the illustration, only in Figure 4 Steps S410 to S450 are shown in . It can be understood that steps S410 to S450 and steps S210 to S250 are executed independently, and after step S250 occurs, the number of prompts for the vehicle begins to accumulate.

In step S410, it is determined whether the number of prompts sent to the above-mentioned vehicle regarding illegal driving within a preset time period exceeds a set number.

In step S420, if the number of prompts exceeds the set number, vehicle violation evidence information is generated based on the road condition information and driving state sensed by the vehicle and the road condition information and vehicle driving state sensed by the roadside device.

For example, if the number of prompts exceeds 3 times within 10 minutes, the vehicle will be deemed to have failed to correct the irregular behavior after being prompted and will be deemed to have violated the regulations.

In an embodiment of the present disclosure, vehicle violation evidence information is generated based on vehicle sensing information and roadside sensing information. For example, in one embodiment, vehicle sensing information and roadside sensing information are fused to generate vehicle violation evidence. The fusion method may be: when the data of the vehicle and the roadside device are both accurate, the driving status of the vehicle is Type data, according to the preset priority of the sensing subject, the driving status data with high priority is determined as evidence and the vehicle driving status is used; for the type of data of road condition information, the road condition data sensed by the vehicle and the roadside device are weighted by overlapping area data. Fusion and non-overlapping area data are spliced and combined.

For example, for this type of data, when the difference between the traffic data for the same area sensed by the vehicle and the roadside device is lower than the preset value, the traffic information sensed by the vehicle and the roadside device will be Weighted fusion is performed on the data parts of the same area, and the data parts other than the same area in the road condition information sensed by the vehicle and the roadside device are directly spliced and combined to obtain the road condition information for evidence; the vehicle driving status for evidence is Use road condition information to perform image fusion with evidence to obtain vehicle violation evidence information. For example, the above violation evidence information is in the form of pictures, dynamic pictures, videos, etc.

In other embodiments, under special circumstances, due to a component failure of the vehicle or a component failure of a roadside device, the difference between the traffic data for the same area sensed by the vehicle and the roadside device may be greater than In the case of preset values, in this case, the relative reliability of the vehicle and roadside equipment is determined based on the road condition information or vehicle driving status perceived by a trusted third party, and the road condition information perceived by a subject with a higher relative reliability is used as The road condition information is used as evidence, or the road condition information perceived by a relatively more reliable subject and the road condition information perceived by a trusted third party are fused as evidence.

The above-mentioned trusted third party includes at least one of the following: other vehicles other than the above-mentioned vehicles in the road section where the above-mentioned roadside equipment is located, or other roadside equipment that is close to the above-mentioned roadside equipment. The meaning of "neighbor" here is that the sensing range of the roadside device covers the target vehicle. The target vehicle is a vehicle whose data correctness is controversial. The difference between the sensing data of the target vehicle and the sensing data of the roadside device exceeds the set threshold.

In step S430, a violation processing request is initiated to the traffic supervision platform, and the violation processing request carries the vehicle violation evidence information.

In step S440, the violation processing results for the illegal vehicles fed back by the traffic supervision platform are received.

In step S450, the above violation processing result is forwarded to the corresponding violation vehicle.

Based on the above steps S410 to S450, evidence collection and violation processing can be carried out in real time even if multiple prompts have no effect, so that vehicles can perceive supervision measures and supervision results in real time, thus helping each vehicle to receive notification of illegal driving. Make improvement measures as soon as possible after the information is prompted to avoid subsequent penalties for violations.

Based on the above embodiments, in some embodiments, the above method further includes the following steps: obtaining roadside sensing information. This step is used to obtain roadside sensing information so as to utilize the roadside sensing information in steps S240 and S420.

The above-mentioned acquisition of roadside sensing information includes: collecting environmental information based on the camera device and lidar device of the above-mentioned roadside equipment, and the obtained fusion data is used as roadside sensing information.

In this embodiment, environmental information is collected through a camera device and a lidar device based on roadside equipment. The roadside perception information obtained is the fusion data of the information collected by the camera device and the lidar device respectively, and can be adapted to various weather conditions. (such as heavy fog) and ensure the accuracy and accuracy of data collection.

In a specific implementation scenario, information interaction between road-side equipment and vehicle-side equipment is realized based on C-V2X communication technology, and electronic fence area information and control action information are delivered to the RSU equipment in the corresponding road section through the traffic supervision platform. Vehicles that are about to enter or have entered the electronic fence area will receive early warning information and control action information for entering the electronic fence area prompted by the vehicle system, and are prepared to perform corresponding vehicle operations based on the control action information. The roadside equipment monitors the vehicles in the electronic fence area. If the vehicle operates illegally, it will send the illegal driving prompt information to the vehicle system, so that the vehicle system can visually notify the driver of the vehicle in the form of sound, optical, vibration, etc. way of signaling Communicate autonomous driving systems. When the warning is invalid, the roadside equipment will collect evidence and report it to the traffic supervision platform for corresponding violation processing. For example, points deductions, fines and other measures can be adopted. The roadside equipment will simultaneously forward the violation processing results to the corresponding violating vehicles. Alternatively, the traffic supervision platform sends the violation processing results to the electronic device under the car owner's account bound to the vehicle information through network communication.

A second exemplary embodiment of the present disclosure provides a method applied to vehicle supervision of a vehicle.

FIG. 5 schematically shows a flowchart of a method for vehicle supervision applied to a vehicle according to an embodiment of the present disclosure.

Referring to FIG. 5 , a method for vehicle supervision provided by an embodiment of the present disclosure includes the following steps: S510, S520, S530, and S540.

In step S510, the vehicle sensing information is regularly reported to the roadside equipment in the road section at set time intervals.

Vehicle perception information includes: the current driving status and road condition information perceived by the vehicle.

In step S520, based on C-V2X communication, the supervision information broadcast by the roadside device is received.

Supervision information includes: electronic fence area information and control action information on the road section where the roadside equipment is located. The electronic fence area information broadcast by the roadside device to the vehicle may include the absolute position information of the electronic fence area, and may also include the relative position information of the electronic fence area relative to the current vehicle. For specific examples, please refer to the detailed introduction of the first embodiment, here No longer.

In step S530, the planned driving route and planned driving behavior that comply with the above supervision information are determined based on the above supervision information.

For example, the regulatory information is: there is an electronic fence area within 500 meters of the train station entrance, and parking is prohibited in the left passage corresponding to the train station entrance. In response to this regulatory information, the vehicle will determine a planned driving route and planned driving behavior that meet the regulatory information requirements. For example, the planned driving route determined by the vehicle is: driving in the left aisle of the train station entrance, and the determined planned driving behavior is: driving on the left Drive normally in the side channel without stopping.

In step S540, driving navigation is performed based on the above planned driving route and the above planned driving behavior.

According to an embodiment of the present disclosure, the above-mentioned vehicle supervision method for vehicles further includes the following steps: upon receiving illegal driving prompt information sent from the above-mentioned roadside equipment, according to the above-mentioned planned driving route and planned driving behavior, Automatic control corrects the actual driving route and actual driving behavior, such as adopting this execution logic in automatic driving mode; or assists the driver to correct the actual driving route and actual driving behavior based on the above planned driving route and planned driving behavior, such as in manual driving mode This execution logic is adopted below.

Based on the above steps S510 to S540, a vehicle-road collaborative law enforcement solution is proposed. By using the vehicle to actively report vehicle perception information to roadside equipment, it can comprehensively utilize the vehicle perception collected by the vehicle itself with high precision and relatively accurate data content. Data and roadside sensing information collected by roadside equipment are used to determine regulatory compliance, and the information reported by the vehicle itself is used as supplementary or alternative information to the roadside sensing information to accurately identify whether the vehicle is compliant, thereby ensuring the comprehensiveness of supervision. When a vehicle does not meet the requirements of regulatory information, the vehicle will receive prompt information about illegal driving in a timely manner, which will help the vehicle immediately rectify the violation, adjust its own driving path based on the regulatory information in real time, reduce violations, and help alleviate the problem. Traffic pressure and improve traffic efficiency, overall can improve the accuracy and processing time of data processing in traffic law enforcement.

A third exemplary embodiment of the present disclosure provides a roadside device.

FIG. 6 schematically shows a structural block diagram of a roadside device according to an embodiment of the present disclosure.

Referring to FIG. 6 , the roadside device 600 provided by the embodiment of the present disclosure includes: a regulatory information receiving module 601 , a C-V2X communication module 602 , a vehicle sensing information receiving module 603 , a determination module 604 and a prompt information sending module 605 .

The above-mentioned supervision information receiving module 601 is used to receive supervision information issued by the traffic supervision platform.

The above-mentioned C-V2X communication module 602 is used to broadcast the above-mentioned supervision information to the vehicles surrounding the above-mentioned roadside equipment.

The vehicle perception information receiving module 603 is configured to receive vehicle perception information reported by vehicles in the road section where the roadside device is located.

The above-mentioned determination module 604 is used to determine whether the vehicles in the road section where the above-mentioned roadside equipment is located meet the requirements of the above-mentioned regulatory information based on the above-mentioned vehicle sensing information and the above-mentioned roadside sensing information of the roadside equipment.

The above-mentioned prompt information sending module 605 is used to send illegal driving prompt information to the above-mentioned vehicle when the above-mentioned vehicle does not meet the requirements of the above-mentioned regulatory information.

According to the embodiment of the present disclosure, in addition to the regulatory information receiving module 601, the C-V2X communication module 602, the vehicle sensing information receiving module 603, the determining module 604 and the prompt information sending module 605, the roadside device 600 also includes: a counting module , violation evidence generation module, request initiation module, result receiving module and forwarding module.

The above-mentioned counting module is used to determine whether the number of reminders sent to the above-mentioned vehicle for illegal driving within a preset time period exceeds a set number.

The above-mentioned violation evidence generation module is used to generate vehicle violation evidence information based on the road condition information and its own driving state sensed by the above-mentioned vehicle and the road condition information and vehicle driving state sensed by the above-mentioned roadside equipment when the number of the above-mentioned prompts exceeds the set number.

The above-mentioned request initiation module is used to initiate a violation processing request to the above-mentioned traffic supervision platform, and the above-mentioned violation processing request carries the above-mentioned vehicle violation evidence information.

The above result receiving module is used to receive the violation processing results for illegal vehicles fed back by the above traffic supervision platform.

The above-mentioned forwarding module is used to forward the above-mentioned violation processing results to the corresponding violation vehicle.

A fourth exemplary embodiment of the present disclosure provides a vehicle. The vehicle can be an ordinary vehicle or an autonomous vehicle. An autonomous vehicle refers to a vehicle that supports autonomous driving functions and supports switching between autonomous driving state and manual driving state.

FIG. 7 schematically shows a structural block diagram of a vehicle according to an embodiment of the present disclosure.

Referring to FIG. 7 , a vehicle 700 provided by an embodiment of the present disclosure includes: a C-V2X communication module 701 , a driving planning module 702 and a driving navigation module 703 .

The above-mentioned C-V2X communication module 701 is used to regularly report vehicle sensing information to the roadside equipment in the road section at set time intervals. The above-mentioned C-V2X communication module 701 is also used to receive supervision information broadcast by roadside equipment.

The above-mentioned driving planning module 702 is used to determine the planned driving route and planned driving behavior that comply with the above-mentioned regulatory information based on the above-mentioned regulatory information.

The above-mentioned driving navigation module 703 is used to conduct driving navigation according to the above-mentioned planned driving route and the above-mentioned planned driving behavior.

According to the embodiment of the present disclosure, in addition to the C-V2X communication module 701, the driving planning module 702 and the driving navigation module 703, the above-mentioned vehicle 700 also includes: a correction module.

The above-mentioned correction module is used to automatically control and correct or assist the driver to correct the actual driving route and actual driving behavior according to the above-mentioned planned driving route and planned driving behavior when receiving illegal driving prompt information sent from the above-mentioned roadside equipment.

Any number of the various modules included in the roadside equipment 600 or the vehicle 700 can be combined and implemented in one module, or any one of the modules can be split into multiple modules. Alternatively, at least part of the functionality of one or more of these modules may be combined with at least part of the functionality of other modules and implemented in one module. At least one of the various modules included in the roadside device 600 or the vehicle 700 may be at least partially implemented as a hardware circuit, such as a field programmable gate array (FPGA), a programmable logic array (PLA), a system on a chip, a substrate System, system-on-package, application-specific integrated circuit (ASIC), or may be implemented in hardware or firmware by any other reasonable means of integrating or packaging circuits, or in any of three implementations: software, hardware, or firmware or an appropriate combination of any of them. Alternatively, at least one of the various modules included in the roadside device 600 or the vehicle 700 may be at least partially implemented as a computer program module, and when the computer program module is executed, a corresponding function may be performed.

A fifth exemplary embodiment of the present disclosure provides an electronic device.

FIG. 8 schematically shows a structural block diagram of an electronic device provided by an embodiment of the present disclosure.

Referring to Figure 8, an electronic device 800 provided by an embodiment of the present disclosure is located on a roadside device or vehicle. The electronic device 800 includes a processor 801, a communication interface 802, a memory 803 and a communication bus 804. The processor 801, communication The interface 802 and the memory 803 complete communication with each other through the communication bus 804; the memory 803 is used to store computer programs; the processor 801 is used to implement the vehicle control based on the roadside equipment as described above when executing the program stored in the memory. A method of supervision or a method of vehicle supervision applied to a vehicle.

A sixth exemplary embodiment of the present disclosure also provides a computer-readable storage medium. The above computer readable storage A computer program is stored on the storage medium. When the computer program is executed by the processor, the above-mentioned method of vehicle supervision based on roadside equipment or the method of vehicle supervision applied to the vehicle is implemented.

The computer-readable storage medium may be included in the equipment/device described in the above embodiments; it may also exist independently without being assembled into the equipment/device. The above-mentioned computer-readable storage medium carries one or more programs. When the above-mentioned one or more programs are executed, the method according to the embodiment of the present disclosure is implemented.

According to embodiments of the present disclosure, the computer-readable storage medium may be a non-volatile computer-readable storage medium, which may include, but is not limited to, portable computer disks, hard disks, random access memory (RAM), and read-only memory (ROM). , erasable programmable read-only memory (EPROM or flash memory), portable compact disk read-only memory (CD-ROM), optical storage device, magnetic storage device, or any suitable combination of the above. In this disclosure, a computer-readable storage medium may be any tangible medium that contains or stores a program for use by or in connection with an instruction execution system, apparatus, or device.

It should be noted that in this article, relational terms such as “first” and “second” are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply these There is no such actual relationship or sequence between entities or operations. Furthermore, the terms "comprises," "comprises," or any other variations thereof are intended to cover a non-exclusive inclusion such that a process, method, article, or apparatus that includes a list of elements includes not only those elements, but also those not expressly listed other elements, or elements inherent to the process, method, article or equipment. Without further limitation, an element defined by the statement "comprises a..." does not exclude the presence of additional identical elements in a process, method, article, or apparatus that includes the stated element. On the premise that there are no technical obstacles, the various embodiments and features of each embodiment described in this disclosure can be combined and merged into new embodiments.

The above descriptions are only specific embodiments of the present disclosure, enabling those skilled in the art to understand or implement the present disclosure. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be practiced in other embodiments without departing from the spirit or scope of the disclosure. Therefore, the present disclosure is not to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features claimed herein.

Claims (13)

1. A method for vehicle supervision based on roadside equipment, including:

   Receive supervision information issued by the traffic supervision platform;

   Based on C-V2X communication, broadcast the supervision information to vehicles around the roadside device;

   Receive vehicle sensing information reported by vehicles in the road section where the roadside equipment is located;

   Determine whether the vehicles in the road section where the roadside equipment is located meet the requirements of the regulatory information based on the vehicle sensing information and the roadside sensing information of the roadside equipment;

   If the vehicle does not meet the requirements of the regulatory information, illegal driving prompt information is sent to the vehicle.
2. The method according to claim 1, wherein the supervision information includes: electronic fence area information and management and control action information of the road section where the roadside equipment is located; the vehicle sensing information includes its own driving status perceived by the vehicle; the road The side sensing information includes the vehicle driving status sensed by the roadside device;

   Determining whether the vehicles in the road section where the roadside equipment is located meet the requirements of the regulatory information based on the vehicle sensing information and the roadside sensing information of the roadside equipment, including:

   For each vehicle in the road section where the roadside device is located, determine whether the data difference rate between its own driving state perceived by the current vehicle and the vehicle driving state sensed by the roadside device for the current vehicle is lower than a preset threshold;

   When the data difference rate is lower than the preset threshold, according to the preset priority of the sensing subject of the driving state, the one with higher priority among the own driving state and the vehicle driving state is determined as the current vehicle's Monitor driving status;

   Determine whether the current vehicle's driving position is located in the electronic fence area according to the supervised driving status of the current vehicle, the electronic fence area information and the management control action information, and determine whether the current vehicle is in the electronic fence area Whether the driving actions in the area meet the requirements of the control action information;

   When the driving position of the current vehicle is located in the electronic fence area and the driving action of the current vehicle in the electronic fence area does not meet the requirements of the control action information, it is determined that the current vehicle does not meet the requirements of the control action information. Regulatory Information Requirements.
3. The method according to claim 2, wherein, based on the vehicle sensing information and the roadside sensing information of the roadside device, it is determined whether the vehicles in the road section where the roadside device is located meet the requirements of the regulatory information, and further include:

   When the data difference rate is greater than a preset threshold, based on the vehicle driving state of the current vehicle perceived by a trusted third party, the self-driving state perceived by the current vehicle and the current vehicle's driving state perceived by the roadside device are determined. The relative reliability of the vehicle's driving conditions;

   The driving state perceived by the subject with a relatively high degree of reliability is determined as the supervised driving state of the current vehicle.
4. The method according to claim 3, wherein, based on the vehicle driving state of the current vehicle perceived by a trusted third party, the self-driving state perceived by the current vehicle and the vehicle's vehicle status for the current vehicle perceived by the roadside device are determined. OK The relative reliability of driving conditions, including:

   Using the vehicle driving state of the current vehicle perceived by the trusted third party as reference data, it is determined that the current vehicle's own driving state perceived by the current vehicle and the vehicle driving state of the current vehicle perceived by the roadside device are relative to each other. The closeness of the above-mentioned benchmark data;

   The driving state of the vehicle perceived by a subject with a higher degree of proximity is considered to be more reliable.
5. The method according to claim 3 or 4, wherein the trusted third party includes at least one of the following: other vehicles other than the vehicle in the road section where the roadside device is located, or a vehicle with the roadside device. Other roadside equipment in the immediate vicinity of the equipment.
6. The method according to claim 2, wherein the vehicle sensing information further includes road condition information sensed by the vehicle, and the roadside sensing information further includes road condition information sensed by the roadside device;

   The method also includes:

   Determine whether the number of reminders sent to the vehicle regarding illegal driving within the preset time period exceeds the set number;

   When the number of prompts exceeds the set number, generate vehicle violation evidence information based on the road condition information and its own driving state perceived by the vehicle and the road condition information and vehicle driving state perceived by the roadside device;

   Initiate a violation processing request to the traffic supervision platform, and the violation processing request carries the vehicle violation evidence information;

   Receive the violation processing results for illegal vehicles as fed back by the traffic supervision platform; and

   The violation processing result is forwarded to the corresponding violating vehicle.
7. The method according to claim 1, wherein before determining whether the vehicles in the road section where the roadside device is located meet the requirements of the regulatory information based on the vehicle sensing information and the roadside sensing information of the roadside device. , also includes: obtaining roadside sensing information;

   The obtaining of roadside sensing information includes:

   Environmental information is collected based on the camera device and laser radar device of the roadside equipment, and the obtained fusion data is used as roadside perception information.
8. A method of vehicle supervision applied to vehicles, including:

   At set time intervals, vehicle sensing information is regularly reported to the roadside equipment in the road section;

   Based on C-V2X communication, receive regulatory information broadcast by roadside equipment;

   Determine a planned driving route and planned driving behavior that comply with the regulatory information based on the regulatory information;

   Driving navigation is performed according to the planned driving route and the planned driving behavior.
9. The method of claim 8, wherein

   When receiving illegal driving prompt information sent from the roadside equipment, based on the planned driving route and planned driving behavior, automatic control and correction or assisting the driver in correcting the actual driving route and actual driving behavior are performed.
10. A roadside device including:

    The supervision information receiving module is used to receive supervision information issued by the traffic supervision platform;

    C-V2X communication module, used to broadcast the supervision information to vehicles around the roadside device;

    A vehicle sensing information receiving module, configured to receive vehicle sensing information reported by vehicles in the road section where the roadside device is located;

    A determination module configured to determine, based on the vehicle sensing information and the roadside sensing information of the roadside equipment, whether the vehicles in the road section where the roadside equipment is located meet the requirements of the regulatory information;

    A prompt information sending module, configured to send illegal driving prompt information to the vehicle when the vehicle does not meet the requirements of the regulatory information.
11. A vehicle including:

    The C-V2X communication module is used to regularly report vehicle sensing information to the roadside equipment in the road section at set time intervals;

    The C-V2X communication module is also used to receive supervision information broadcast by roadside equipment;

    A driving planning module, configured to determine a planned driving route and planned driving behavior that conform to the regulatory information based on the regulatory information;

    A driving navigation module is used for driving navigation according to the planned driving route and the planned driving behavior.
12. An electronic device, located on a roadside device or vehicle, the electronic device includes a processor, a communication interface, a memory and a communication bus, wherein the processor, the communication interface and the memory complete communication with each other through the communication bus;

    memory configured to store a computer program;

    The processor, when configured to execute a program stored on the memory, implements the method described in any one of claims 1-9.
13. A computer-readable storage medium on which a computer program is stored, which implements the method of any one of claims 1-9 when executed by a processor.