WO2024016736A1 - 车辆信息交互方法、装置及电子设备、存储介质 - Google Patents

车辆信息交互方法、装置及电子设备、存储介质 Download PDF

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Publication number
WO2024016736A1
WO2024016736A1 PCT/CN2023/086297 CN2023086297W WO2024016736A1 WO 2024016736 A1 WO2024016736 A1 WO 2024016736A1 CN 2023086297 W CN2023086297 W CN 2023086297W WO 2024016736 A1 WO2024016736 A1 WO 2024016736A1
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WO
WIPO (PCT)
Prior art keywords
vehicle
overlapping coverage
coverage area
roadside rsu
roadside
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PCT/CN2023/086297
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English (en)
French (fr)
Inventor
冀英超
张树民
Original Assignee
智道网联科技(北京)有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
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Publication date
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Publication of WO2024016736A1 publication Critical patent/WO2024016736A1/zh

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Classifications

    • 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]
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W36/00—Hand-off or reselection arrangements
    • H04W36/08—Reselecting an access point
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W36/00—Hand-off or reselection arrangements
    • H04W36/24—Reselection being triggered by specific parameters
    • H04W36/32—Reselection being triggered by specific parameters by location or mobility data, e.g. speed data
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W48/00—Access restriction; Network selection; Access point selection
    • H04W48/20—Selecting an access point

Definitions

  • the present disclosure relates to the field of vehicle-road collaboration technology, and in particular, to a vehicle information interaction method, device, electronic device, and storage medium.
  • V2X Vehicle to Although multiple roadside RSU devices are installed to achieve full-area coverage, there will also be signal coverage overlapping areas. When vehicles drive in the overlapping areas, they will face the dilemma of which roadside RSU device to choose.
  • the vehicle sends data to all roadside RSU devices through V2X broadcasting.
  • the roadside RSU device processes the data after receiving it, and then returns the data to the vehicle.
  • the vehicle will receive data from multiple roadside RSU devices. .
  • additional data processing pressure is added to the roadside RSU equipment and vehicles. Especially when the road conditions are complex and there are many vehicles, the roadside and vehicle data processing pressure is doubled.
  • the present disclosure provides vehicle information interaction methods, devices, electronic equipment, and storage media to enable vehicles to automatically select roadside RSU equipment and effectively reduce the data processing pressure on the roadside and vehicles.
  • the present disclosure provides a vehicle information interaction method, which is applied to vehicles in a road scene containing multiple roadside RSU device coverage areas, and each of the roadside RSU devices has overlapping coverage areas or non-overlapping coverage areas.
  • Coverage area the method includes: receiving first type data broadcast by any roadside RSU device, a plurality of the first type data is used to determine the overlapping coverage area; when the vehicle is located in the overlapping coverage area, according to the The current driving intention of the vehicle is described, and a target roadside RSU device is selected for interaction.
  • the target roadside RSU device includes a roadside RSU device covering the subsequent driving area.
  • Select the target roadside RSU device for interaction including:
  • the target roadside RSU device When the vehicle is located in the second overlapping coverage area, according to the current driving intention of the vehicle, the target roadside RSU device is switched to interact or keeps interacting with the target roadside RSU device.
  • the second overlapping coverage area is
  • the first overlapping coverage area is the next area on the driving intention of the vehicle.
  • the target roadside RSU device is switched to interact or keeps interacting with the target roadside RSU device, and the second The overlapping coverage area is the next area of the first overlapping coverage area on the driving intention of the vehicle, including:
  • the vehicle According to the current position of the vehicle, it is determined that the vehicle has not driven out of the second overlapping coverage area, and then continues to interact with the target roadside RSU device;
  • the target roadside RSU device is switched for interaction.
  • the method also includes:
  • a target roadside RSU device is determined for interaction.
  • a target roadside RSU device is selected for interaction according to the current driving intention of the vehicle, and the target roadside RSU device includes a roadside device covering a subsequent driving area.
  • the side RSU device After the side RSU device, it also includes:
  • the driving strategy matching the current preset safety level is selected.
  • the first type data broadcast by any roadside RSU device is received, and a plurality of the first type data is used to determine the overlapping coverage area, including:
  • the method before receiving the first type of data broadcast by any roadside RSU device, the method further includes:
  • the coverage area information of the roadside RSU equipment is set, so that the roadside RSU equipment broadcasts its own preset supported service type and the coverage in real time through DSA technology Regional information.
  • the present disclosure also provides a vehicle information interaction device, wherein the device includes: Applied to vehicles in a road scene in a coverage area containing multiple roadside RSU devices, each of the roadside RSU devices is used in pairs. There are overlapping coverage areas or non-overlapping coverage areas between devices, and the method includes: a receiving module, configured to receive the first type of data broadcast by any roadside RSU equipment, and a plurality of the first type of data is used to determine the overlapping coverage area; A screening module configured to select a target roadside RSU device for interaction based on the current driving intention of the vehicle when the vehicle is located in the overlapping coverage area.
  • the target roadside RSU device includes a roadside device covering the subsequent driving area. RSU device.
  • the present disclosure also provides an electronic device, including: a processor; and a memory arranged to store computer-executable instructions, which when executed cause the processor to perform the above method.
  • the present disclosure also provides a computer-readable storage medium that stores one or more programs that, when executed by an electronic device including a plurality of application programs, cause the electronic device to The device performs the above method.
  • Figure 1 is a schematic flowchart of a vehicle information interaction method in an embodiment of the present disclosure
  • Figure 2 is a schematic structural diagram of a vehicle information interaction device in an embodiment of the present disclosure
  • Figure 3 is a schematic diagram of the coverage areas of two roadside RSU devices in the vehicle information interaction method in the embodiment of the present disclosure
  • Figure 4 is a schematic diagram of actual usage scenarios in the vehicle information interaction method in the embodiment of the present disclosure.
  • FIG. 5 is a schematic structural diagram of an electronic device in an embodiment of the present disclosure.
  • the embodiment of the disclosure provides a vehicle information interaction method. As shown in Figure 1, a schematic flow chart of the vehicle information interaction method in the embodiment of the disclosure is provided. The method at least includes the following steps S110 to S120:
  • Step S110 Receive the first type of data broadcast by any roadside RSU device. A plurality of the first type of data is used to determine the overlapping coverage area.
  • the vehicle information interaction method is applied to vehicles in a road scene that includes multiple roadside RSU device coverage areas, and two of the roadside RSU devices have overlapping coverage areas or non-overlapping coverage areas.
  • the vehicle may be a vehicle with autonomous driving capabilities or a vehicle without autonomous driving capabilities, which is not specifically limited in the embodiments of the present disclosure.
  • the first type of data broadcast by any roadside RSU device can be received at the vehicle end. It can be understood that the first type of data is used to determine the overlapping coverage area. And since each roadside RSU device broadcasts, the first type of data includes multiple data.
  • the first type of data may indicate the current coverage area corresponding to the roadside RSU device. Similarly, multiple of the first type of data may determine at least one overlapping coverage area, or no overlapping coverage area. As shown in Figure 3.
  • Step S120 When the vehicle is located in the overlapping coverage area, select a target roadside RSU device for interaction according to the current driving intention of the vehicle.
  • the target roadside RSU device includes a roadside RSU device covering the subsequent driving area. .
  • the vehicle It is determined whether the vehicle is located in the overlapping coverage area. When the vehicle is located in the overlapping coverage area, the vehicle will select a target roadside RSU device for interaction based on the current driving intention of the vehicle.
  • whether the vehicle is located in the overlapping coverage area can be determined based on the vehicle's driving speed and vehicle location (the self-driving vehicle can be the combined positioning result of IMU+RTK/GPS).
  • the selected target roadside RSU equipment mainly refers to the roadside RSU equipment that covers the subsequent driving area of the vehicle. That is to say, it can be determined based on the vehicle's intention that when the vehicle is located in different overlapping coverage areas, the vehicle can select The roadside RSU equipment.
  • the vehicle may have the intention of traveling from the current overlapping coverage area to another overlapping coverage or non-overlapping coverage area.
  • the vehicle may have the intention of traveling from a non-overlapping coverage area to an overlapping coverage area or another non-overlapping coverage area.
  • selecting a target roadside RSU device for interaction based on the vehicle's current driving intention includes: when the vehicle is located in the first When the coverage area overlaps, the target roadside RSU device is selected for interaction according to the current driving intention of the vehicle; when the vehicle is located in the second overlapping coverage area, the target roadside RSU device is switched according to the current driving intention of the vehicle. Interacting or maintaining interaction with the target roadside RSU device, the second overlapping coverage area is the next area of the first overlapping coverage area on the driving intention of the vehicle.
  • a target roadside RSU device is selected for interaction according to the current driving intention of the vehicle. This is for the situation where the vehicle is located in the first overlapping coverage area.
  • the vehicle can autonomously select the target roadside RSU device for interaction. That is to say, if the vehicle is in an overlapping area, the RSU devices covered by the subsequent driving area will be screened based on the vehicle's driving intention.
  • the roadside RSU A equipment and roadside RSU B equipment will be filtered out.
  • service interactions are sent to the roadside RSU A device and the roadside RSU B device.
  • the roadside RSU A device and the roadside RSU B device are both target roadside RSU devices.
  • the second overlapping coverage area refers to the next area of the first overlapping coverage area on the driving intention of the vehicle.
  • the first overlapping coverage area is provided by the overlapping of roadside RSU A equipment and RSU B
  • the second overlapping coverage area is provided by the overlapping of roadside RSU B equipment and RSUC.
  • the vehicle when switching the target roadside RSU device for interaction, the vehicle is traveling out of the previous roadside RSU device coverage area, entering a new roadside RSU device coverage area, or reducing the interaction with the roadside RSU device in the roadside RSU device coverage area. number.
  • the target roadside RSU device when the vehicle is located in the second overlapping coverage area, according to the vehicle's current driving intention, the target roadside RSU device is switched to interact or remains interacted with the target roadside RSU device.
  • the second overlapping coverage area is the next area of the first overlapping coverage area on the driving intention of the vehicle, including: judging whether the vehicle drives out of the second overlapping coverage area based on the current position of the vehicle and is about to enter the third overlapping coverage area; if it has driven out of the second overlapping coverage area and is about to enter the third overlapping coverage area, switch the target roadside RSU device to interact or keep interacting with the target roadside RSU device; According to the current position of the vehicle, it is judged that the vehicle has not driven out of the second overlapping coverage area, and the interaction with the target roadside RSU device is continued; according to the current position of the vehicle, it is judged that the vehicle has driven out of the second overlapping coverage area. If the two overlapping coverage areas are about to enter a non-overlapping coverage area,
  • the vehicle According to the current position of the vehicle, it is determined whether the vehicle has driven out of the second overlapping coverage area and is about to enter the third overlapping coverage area. Since it is traveling from one overlapping coverage area to the next, it needs to be determined based on the current vehicle position. Whether the vehicle exits.
  • the target roadside RSU device can be switched when it is about to enter the third overlapping coverage area (previous roadside RSU device information is not required, such as previously relying on the roadside RSU device information corresponding to the second overlapping coverage area), It may also be that when the third overlapping coverage area is about to be entered (the previous roadside RSU device information is still required), the interaction with the target roadside RSU device is maintained.
  • the roadside RSU equipment covered by the subsequent driving area will be screened based on the vehicle's driving intention. For example, driving from the roadside RSU A equipment into the roadside RSU C equipment coverage area does not drive into In the area covered by the roadside RSU B equipment, the roadside RSU A equipment and the roadside RSU C equipment will be screened out for corresponding business interaction. For another example, if you drive from the roadside RSU A device into the coverage area of the roadside RSU C device, the roadside RSU A device and the roadside RSU C device will be screened out, but they will still interact with the roadside RSU B device.
  • the method further includes: receiving second type data broadcast by any roadside RSU device, each of the second type data being used to determine a supported preset service type; based on the non- The overlapping coverage area and the current location of the vehicle determine the target roadside RSU device for interaction.
  • the second type of data refers to the service type supported by the roadside RSU equipment. Receive the second type of data broadcast by any roadside RSU device, and then determine the target roadside RSU device for interaction based on the non-overlapping coverage area and the current location of the vehicle. That is to say, according to the location of the vehicle, if it is in the coverage area of RSU A, it will only interact with RSU A, using unicast mode, or using broadcast mode, adding RSU ID to the data for identification, and other RSU root Determine whether it belongs to you based on the ID. If it does, process it, otherwise no interaction will occur.
  • a target roadside RSU device when the vehicle is located in the overlapping coverage area, a target roadside RSU device is selected for interaction according to the current driving intention of the vehicle, and the target roadside RSU device includes a coverage area After the roadside RSU equipment in the subsequent driving area, it also includes: judging whether the target roadside RSU equipment supports the preset service type according to the second type data in the target roadside RSU equipment; if so, with The target device completes the interaction; if the interaction with the target device includes multiple driving strategies provided by multiple target roadside RSU devices, select the driving strategy that matches the current preset safety level.
  • RSU A's guidance opinion is that the vehicle can change lanes
  • RSU B's opinion is that the vehicle should delay the lane change
  • the current preset safety level can be determined based on the current driving road or the vehicle. For example, the level of some special vehicles will be higher than that of ordinary vehicles.
  • receiving the first type of data broadcast by any roadside RSU device, and a plurality of the first type data is used to determine an overlapping coverage area includes: receiving a DSA broadcast by any roadside RSU device. Service announcement, and determine whether the vehicle is currently located in the overlapping coverage area based on the real-time location of the vehicle. DSA (DSRC Service Advertisement) dedicated short-range communication service announcement.
  • DSA DSRC Service Advertisement
  • the DSA service announcement broadcast by any roadside RSU device is received.
  • the vehicle After filtering out the RSU device, the vehicle will further determine whether to support the upcoming service request based on the DSA service announcement broadcast by the RSU and determine the real-time location of the vehicle. Whether it is currently located in the overlapping coverage area, if it is not supported, no interaction will be performed, and if it is supported, interaction will be performed to complete the application scenario of vehicle-road collaboration.
  • the method before receiving the first type of data broadcast by any roadside RSU device, the method further includes: setting the electronic fence of the roadside RSU device according to the corresponding electronic fence pre-calibrated and obtained by the roadside RSU device. Coverage area information, so that the roadside RSU equipment broadcasts its own preset supported service type and the coverage area information in real time through DSA technology.
  • the roadside RSU equipment adopts a calibration method and uses electronic fence technology to set a coverage area.
  • the roadside RSU equipment uses DSA technology to broadcast the service types it supports (as the second type of data) and coverage area information (as the first type of data) in real time.
  • the vehicle After the vehicle receives the DSA service announcement, it selects matching roadside RSU devices based on the vehicle's real-time location for information exchange to realize vehicle-road collaborative applications.
  • the vehicle obtains the coverage area and supported service types of the roadside RSU equipment based on the DSA announcement content of the roadside RSU equipment.
  • the embodiment of the disclosure also provides a vehicle information interaction device 200.
  • a schematic structural diagram of the vehicle information interaction device in the embodiment of the disclosure is provided.
  • the vehicle information interaction device 200 at least includes: a receiving module 210 and a filtering module. 220, of which:
  • the receiving module 210 is specifically configured to: receive the first type of data broadcast by any roadside RSU device, and a plurality of the first type of data is used to determine the overlapping coverage area.
  • the vehicle information interaction method is applied to vehicles in road scenarios that include multiple roadside RSU device coverage areas, and each of the roadside RSU devices has an overlapping coverage area or a non-overlapping coverage area.
  • the vehicle may be a vehicle with autonomous driving capabilities or a vehicle without autonomous driving capabilities, which is not specifically limited in the embodiments of the present disclosure.
  • the first type of data broadcast by any roadside RSU device can be received at the vehicle end. It can be understood that the first type of data is used to determine the overlapping coverage area. And since each roadside RSU device broadcasts, the first type of data includes multiple data.
  • the first type of data may indicate the current coverage area corresponding to the roadside RSU device. Similarly, multiple of the first type of data may determine at least one overlapping coverage area, or no overlapping coverage area.
  • the screening module 220 is specifically configured to: when the vehicle is located in the overlapping coverage area, select a target roadside RSU device for interaction according to the current driving intention of the vehicle, the The target roadside RSU equipment includes roadside RSU equipment covering the subsequent driving area.
  • the vehicle It is determined whether the vehicle is located in the overlapping coverage area. When the vehicle is located in the overlapping coverage area, the vehicle will select a target roadside RSU device for interaction based on the current driving intention of the vehicle.
  • whether the vehicle is located in the overlapping coverage area can be determined based on the vehicle's driving speed and vehicle location (the self-driving vehicle can be the combined positioning result of IMU+RTK/GPS).
  • the selected target roadside RSU equipment mainly refers to the roadside RSU equipment that covers the subsequent driving area of the vehicle. In other words, it can be determined based on the vehicle's intention that when the vehicle is located in different overlapping coverage areas, the vehicle can select the Roadside RSU equipment.
  • the vehicle may have the intention of traveling from the current overlapping coverage area to another overlapping coverage area.
  • the vehicle may have the intention of traveling from a non-overlapping coverage area to an overlapping coverage area or another non-overlapping coverage area.
  • vehicle information interaction device can implement each step of the vehicle information interaction method provided in the aforementioned embodiments.
  • the relevant explanations about the vehicle information interaction method are applicable to the vehicle information interaction device and will not be described again here.
  • FIG. 5 is a schematic structural diagram of an electronic device according to an embodiment of the present disclosure.
  • the electronic device includes a processor and optionally an internal bus, a network interface, and a memory.
  • the memory may include memory, such as high-speed random access memory (Random-Access Memory, RAM), or may also include non-volatile memory (non-volatile memory), such as at least one disk memory.
  • RAM random access memory
  • non-volatile memory such as at least one disk memory.
  • the electronic equipment may also include other hardware required by the business.
  • the processor, network interface and memory can be connected to each other through an internal bus, which can be an ISA (Industry Standard Architecture) bus, a PCI (Peripheral Component Interconnect, a peripheral component interconnect standard) bus or an EISA (Extended Industry Standard Architecture, extended industrial standard architecture) bus, etc.
  • the bus can be divided into address bus, data bus, control bus, etc. For ease of presentation, only one bidirectional arrow is used in Figure 5, but it does not mean that there is only one bus or one type of bus.
  • Memory used to store programs.
  • a program may include program code including computer operating instructions.
  • Memory may include internal memory and non-volatile memory and provides instructions and data to the processor.
  • the processor reads the corresponding computer program from the non-volatile memory into the memory and then runs it, forming a vehicle information interaction device at the logical level.
  • the processor executes the program stored in the memory and is specifically used to perform the following operations:
  • a target roadside RSU device When the vehicle is located in the overlapping coverage area, a target roadside RSU device is selected for interaction according to the vehicle's current driving intention.
  • the target roadside RSU device includes a roadside RSU device covering the subsequent driving area.
  • the method executed by the vehicle information interaction device disclosed in the embodiment shown in FIG. 1 of the present disclosure can be applied in a processor or implemented by the processor.
  • the processor may be an integrated circuit chip that has signal processing capabilities.
  • each step of the above method can be completed by instructions in the form of hardware integrated logic circuits or software in the processor.
  • the above-mentioned processor can be a general-purpose processor, including a central processing unit (CPU), a network processor (Network Processor, NP), etc.; it can also be a digital signal processor (Digital Signal Processor, DSP), dedicated integrated processor Circuit (Application Specific Integrated Circuit, ASIC), Field-Programmable Gate Array (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components.
  • a general-purpose processor may be a microprocessor or the processor may be any conventional processor, etc.
  • the steps of the method disclosed in conjunction with the embodiments of the present disclosure can be directly implemented by a hardware decoding processor, or executed by a combination of hardware and software modules in the decoding processor.
  • the software module can be located in random access memory, flash memory, read-only memory, programmable read-only memory or electrically erasable programmable memory, registers and other mature storage media in this field.
  • the storage medium is located in the memory.
  • the processor reads the information in the memory and completes the steps of the above method in combination with its hardware. steps.
  • the electronic device can also perform the method performed by the vehicle information interaction device in Figure 1, and realize the functions of the vehicle information interaction device in the embodiment shown in Figure 1.
  • the embodiments of the present disclosure will not be described in detail here.
  • Embodiments of the present disclosure also provide a computer-readable storage medium that stores one or more programs.
  • the one or more programs include instructions that when executed by an electronic device including multiple application programs When, the electronic device can be made to execute the method executed by the vehicle information interaction device in the embodiment shown in Figure 1, and is specifically used to execute:
  • a target roadside RSU device When the vehicle is located in the overlapping coverage area, a target roadside RSU device is selected for interaction according to the vehicle's current driving intention.
  • the target roadside RSU device includes a roadside RSU device covering the subsequent driving area.
  • embodiments of the present disclosure may be provided as methods, systems, or computer program products. Accordingly, the disclosure may take the form of an entirely hardware implementation, an entirely software implementation, or an implementation combining software and hardware aspects. Furthermore, the present disclosure may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, etc.) having computer-usable program code embodied therein.
  • computer-usable storage media including, but not limited to, disk storage, CD-ROM, optical storage, etc.
  • These computer program instructions may also be stored in a computer-readable memory that causes a computer or other programmable data processing apparatus to operate in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including the instruction means, the instructions
  • the device implements the functions specified in a process or processes of the flowchart and/or a block or blocks of the block diagram.
  • These computer program instructions may also be loaded onto a computer or other programmable data processing device, causing a series of operating steps to be performed on the computer or other programmable device to produce computer-implemented processing, thereby executing on the computer or other programmable device.
  • Instructions provide steps for implementing the functions specified in a process or processes of a flowchart diagram and/or a block or blocks of a block diagram.
  • a computing device includes one or more processors (CPUs), input/output interfaces, network interfaces, and memory.
  • processors CPUs
  • input/output interfaces network interfaces
  • memory volatile and non-volatile memory
  • Memory may include non-permanent storage in computer-readable media, random access memory (RAM) and/or non-volatile memory in the form of read-only memory (ROM) or flash memory (flash RAM). Memory is an example of computer-readable media.
  • RAM random access memory
  • ROM read-only memory
  • flash RAM flash random access memory
  • Computer-readable media includes both persistent and non-volatile, removable and non-removable media that can be implemented by any method or technology for storage of information.
  • Information may be computer-readable instructions, data structures, modules of programs, or other data.
  • Examples of computer storage media include, but are not limited to, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), and read-only memory.
  • PRAM phase change memory
  • SRAM static random access memory
  • DRAM dynamic random access memory
  • RAM random access memory
  • read-only memory read-only memory
  • ROM read-only memory
  • EEPROM electrically erasable programmable read-only memory
  • flash memory or other memory technology
  • compact disc read-only memory CD-ROM
  • DVD digital versatile disc
  • Magnetic tape cassettes tape magnetic disk storage or other magnetic storage devices or any other non-transmission medium can be used to store information that can be accessed by a computing device.
  • computer-readable media does not include transient computer-readable media (transitory media), such as modulated data signals and carrier waves.
  • embodiments of the present disclosure may be provided as methods, systems, or computer program products. Accordingly, the disclosure may take the form of an entirely hardware implementation, an entirely software implementation, or an implementation combining software and hardware aspects. Furthermore, the present disclosure may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, etc.) having computer-usable program code embodied therein.
  • computer-usable storage media including, but not limited to, disk storage, CD-ROM, optical storage, etc.

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Abstract

本公开提供了一种车辆信息交互方法、装置及电子设备、存储介质，其中所述方法应用于包含多个路侧RSU设备覆盖区域下的道路场景中的车辆，所述路侧RSU设备两两之间具有重叠覆盖区域或者非重叠覆盖区域，所述方法包括：接收任意路侧RSU设备广播的第一类型数据，多个所述第一类型数据用于确定重叠覆盖区域；在所述车辆位于所述重叠覆盖区域时，根据所述车辆的当前行驶意图，选择目标路侧RSU设备进行交互，所述目标路侧RSU设备包括覆盖后续行驶区域的路侧RSU设备。通过本公开让车辆自动选择路侧RSU设备，有效降低路侧和车辆的数据处理压力。

Description

车辆信息交互方法、装置及电子设备、存储介质
相关申请的交叉引用
本公开要求于2022年07月21日提交中国专利局的申请号为CN202210864055.1、名称为“车辆信息交互方法、装置及电子设备、存储介质”的中国专利申请的优先权，其全部内容通过引用结合在本公开中。
技术领域
本公开涉及车路协同技术领域，尤其涉及一种车辆信息交互方法、装置及电子设备、存储介质。
背景技术
车路协同系统中，由于V2X(Vehicle to X，车用无线通信)通信易受障碍物遮挡，复杂路段通常会安装多个RSU(Road Side Unit，路侧单元)，以达到全域覆盖的目的。虽然安装多个路侧RSU设备，达到了全域覆盖目的，但是也会存在信号覆盖重叠区，当车辆行驶在重叠区域时，会面临选择哪个路侧RSU设备的困境。
相关技术中，车辆通过V2X广播方式，向所有路侧RSU设备发送数据，路侧RSU设备收到数据后进行处理，然后返回数据给车辆，车辆会收到多个路侧RSU设备下发的数据。这样，对路侧RSU设备和车辆都增加了额外的数据处理压力，特别是复杂路况和车辆多时，路侧以及车辆数据处理压力倍增。
发明内容
本公开提供了车辆信息交互方法、装置及电子设备、存储介质，以实现让车辆自动选择路侧RSU设备，有效降低路侧和车辆的数据处理压力。
本公开提供一种车辆信息交互方法，其中，应用于包含多个路侧RSU设备覆盖区域下的道路场景中的车辆，每个所述路侧RSU设备两两之间具有重叠覆盖区域或者非重叠覆盖区域，所述方法包括：接收任意路侧RSU设备广播的第一类型数据，多个所述第一类型数据用于确定重叠覆盖区域；在所述车辆位于所述重叠覆盖区域时，根据所述车辆的当前行驶意图，选择目标路侧RSU设备进行交互，所述目标路侧RSU设备包括覆盖后续行驶区域的路侧RSU设备。
可选地，所述在所述车辆位于所述重叠覆盖区域时，根据所述车辆的当前行驶意图， 选择目标路侧RSU设备进行交互，包括：
在所述车辆位于第一重叠覆盖区域时，根据所述车辆的当前行驶意图，选择目标路侧RSU设备进行交互；
在所述车辆位于第二重叠覆盖区域时，根据所述车辆的当前行驶意图，切换目标路侧RSU设备进行交互或者保持与所述目标路侧RSU设备进行交互，所述第二重叠覆盖区域是所述第一重叠覆盖区域在车辆的行驶意图上的下一个区域。
可选地，在所述车辆位于第二重叠覆盖区域时，根据所述车辆的当前行驶意图，切换目标路侧RSU设备进行交互或者保持与所述目标路侧RSU设备进行交互，所述第二重叠覆盖区域是所述第一重叠覆盖区域在车辆的行驶意图上的下一个区域，包括：
根据所述车辆的当前位置，判断车辆是否驶出所述第二重叠覆盖区域且即将进入第三重叠覆盖区域；
如果已驶出所述第二重叠覆盖区域且即将进入第三重叠覆盖区域，则切换目标路侧RSU设备进行交互或者保持与所述目标路侧RSU设备进行交互；
根据所述车辆的当前位置，判断车辆未驶出所述第二重叠覆盖区域，则保持与所述目标路侧RSU设备进行交互；
根据所述车辆的当前位置，判断车辆已驶出所述第二重叠覆盖区域且即将进入非重叠覆盖区域，则切换目标路侧RSU设备进行交互。
可选地，所述方法还包括：
接收任意路侧RSU设备广播的第二类型数据，每个所述第二类型数据用于确定支持的预设业务类型；
基于所述非重叠覆盖区域、所述车辆的当前位置，确定目标路侧RSU设备进行交互。
可选地，所述在所述车辆位于所述重叠覆盖区域时，根据所述车辆的当前行驶意图，选择目标路侧RSU设备进行交互，所述目标路侧RSU设备包括覆盖后续行驶区域的路侧RSU设备之后，还包括：
根据所述目标路侧RSU设备中的所述第二类型数据，判断所述目标路侧RSU设备是否支持预设业务类型；
如果支持，则与所述目标设备完成交互；
在与所述目标设备完成交互的情况下如果包括多个目标路侧RSU设备提供的多个行驶策略，则选择与当前预设安全等级匹配的行驶策略。
可选地，所述接收任意路侧RSU设备广播的第一类型数据，多个所述第一类型数据用于确定重叠覆盖区域，包括：
接收任意路侧RSU设备广播的DSA业务公告，并根据所述车辆实时位置确定当前是否位于所述重叠覆盖区域。
可选地，所述接收任意路侧RSU设备广播的第一类型数据之前，还包括：
根据所述路侧RSU设备预先标定并得到的对应电子围栏，设置路侧RSU设备的覆盖区域信息，以使所述路侧RSU设备通过DSA技术实时广播自身的预设支持业务类型以及所述覆盖区域信息。
本公开还提供一种车辆信息交互装置，其中，所述装置包括：其中，应用于包含多个路侧RSU设备覆盖区域下的道路场景中的车辆，每个所述路侧RSU设备两两之间具有重叠覆盖区域或者非重叠覆盖区域装置，所述方法包括：接收模块，用于接收任意路侧RSU设备广播的第一类型数据，多个所述第一类型数据用于确定重叠覆盖区域；筛选模块，用于在所述车辆位于所述重叠覆盖区域时，根据所述车辆的当前行驶意图，选择目标路侧RSU设备进行交互，所述目标路侧RSU设备包括覆盖后续行驶区域的路侧RSU设备。
本公开还提供一种电子设备，包括：处理器；以及被安排成存储计算机可执行指令的存储器，所述可执行指令在被执行时使所述处理器执行上述方法。
本公开还提供一种计算机可读存储介质，所述计算机可读存储介质存储一个或多个程序，所述一个或多个程序当被包括多个应用程序的电子设备执行时，使得所述电子设备执行上述方法。
本公开采用的上述至少一个技术方案能够达到以下有益效果：
所述路侧RSU设备两两之间具有重叠覆盖区域或者非重叠覆盖区域，通过先接收任意路侧RSU设备广播的第一类型数据，然后在所述车辆位于所述重叠覆盖区域时，根据所述车辆的当前行驶意图，选择目标路侧RSU设备进行交互。从而在多个路侧RSU设备的重叠覆盖区域内，实现路侧RSU设备的筛选。有效减少单个RSU和车辆之间的交互次数，降低RSU和车辆的数据处理压力。
附图说明
此处所说明的附图用来提供对本公开的进一步理解，构成本公开的一部分，本公开的示意性实施方式及其说明用于解释本公开，并不构成对本公开的不当限定。在附图中：
图1为本公开实施方式中车辆信息交互方法的流程示意图；
图2为本公开实施方式中车辆信息交互装置的结构示意图；
图3为本公开实施方式中车辆信息交互方法的两个路侧RSU设备覆盖区域示意图；
图4为本公开实施方式中车辆信息交互方法中实际使用场景示意图；
图5为本公开实施方式中一种电子设备的结构示意图。
具体实施方式
为使本公开的目的、技术方案和优点更加清楚，下面将结合本公开具体实施方式及相应的附图对本公开技术方案进行清楚、完整地描述。显然，所描述的实施方式仅是本公开一部分实施方式，而不是全部的实施方式。基于本公开中的实施方式，本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施方式，都属于本公开保护的范围。
以下结合附图，详细说明本公开各实施方式提供的技术方案。
本公开实施方式提供了一种车辆信息交互方法，如图1所示，提供了本公开实施方式中车辆信息交互方法流程示意图，所述方法至少包括如下的步骤S110至步骤S120：
步骤S110，接收任意路侧RSU设备广播的第一类型数据，多个所述第一类型数据用于确定重叠覆盖区域。
车辆信息交互方法应用于包含多个路侧RSU设备覆盖区域下的道路场景中的车辆，且所述路侧RSU设备两两之间具有重叠覆盖区域或者非重叠覆盖区域。
需要注意的是，所述车辆可以是具有自动驾驶能力的车辆或者非具有自动驾驶能力的车辆，在本公开的实施方式中并不进行具体限定。
在车辆端可以接收任意路侧RSU设备广播的第一类型数据，可以理解，所述第一类型数据是用于确定重叠覆盖区域。并且由于每个所述路侧RSU设备都会进行广播，所以所述第一类型数据包括了多个。
在一些实施方式中，所述第一类型数据可以指示当前对应路侧RSU设备的覆盖区域，同理，多个所述第一类型数据可以确定出至少一个重叠覆盖区域，或者没有重叠覆盖区域。如图3所示。
步骤S120，在所述车辆位于所述重叠覆盖区域时，根据所述车辆的当前行驶意图，选择目标路侧RSU设备进行交互，所述目标路侧RSU设备包括覆盖后续行驶区域的路侧RSU设备。
判断车辆是否位于所述重叠覆盖区域，在所述车辆位于所述重叠覆盖区域时，则会根据所述车辆的当前行驶意图，车辆选择目标路侧RSU设备进行交互。
可以理解，可以根据车辆的行驶速度以及车辆位置(自动驾驶车辆可以是IMU+RTK/GPS的组合定位结果)判断车辆是否位于所述重叠覆盖区域。
此外，对于选择的目标路侧RSU设备主要是指覆盖了车辆后续行驶区域的路侧RSU设备，也就是说，可以根据车辆意图确定出车辆位于不同重叠覆盖区域下时，车辆可选择的 所述路侧RSU设备。
在一些实施方式中，车辆可以具备由当前重叠覆盖区域向另一个重叠覆盖或者非重叠覆盖区域的行驶意图。
在一些实施方式中，车辆可以具备由非重叠覆盖区域向一个重叠覆盖区域或者另一个非重叠覆盖区域的行驶意图。
在本公开的一个实施方式中，所述在所述车辆位于所述重叠覆盖区域时，根据所述车辆的当前行驶意图，选择目标路侧RSU设备进行交互，包括：在所述车辆位于第一重叠覆盖区域时，根据所述车辆的当前行驶意图，选择目标路侧RSU设备进行交互；在所述车辆位于第二重叠覆盖区域时，根据所述车辆的当前行驶意图，切换目标路侧RSU设备进行交互或者保持与所述目标路侧RSU设备进行交互，所述第二重叠覆盖区域是所述第一重叠覆盖区域在车辆的行驶意图上的下一个区域。
具体实施时，对于重叠覆盖区域进行分情况说明。
在所述车辆位于第一重叠覆盖区域时，根据所述车辆的当前行驶意图，选择目标路侧RSU设备进行交互。这是对于车辆位于第一重叠覆盖区域的情况，可以根据车辆当前的行驶意图，车辆自主选择目标路侧RSU设备进行交互。也就是说，如果车辆处于重叠区，会根据车辆行驶意图，筛选后续行驶区域覆盖的RSU设备。
如图4所示，比如，从路侧RSU A设备覆盖区域驶入路侧RSU B设备覆盖区域，且车辆位于第一重叠覆盖区域，则会筛选出路侧RSU A设备和路侧RSU B设备，同时向路侧RSU A设备和路侧RSU B设备发送业务交互。此时路侧RSU A设备和路侧RSU B设备均为目标路侧RSU设备。
可选地，对于所述第二重叠覆盖区域是指所述第一重叠覆盖区域在车辆的行驶意图上的下一个区域。比如，参见图4，第一重叠覆盖区域由路侧RSU A设备和RSU B重叠提供，第二重叠覆盖区域由路侧RSU B设备和RSUC重叠提供。在所述车辆位于第二重叠覆盖区域时，根据所述车辆的当前行驶意图，切换目标路侧RSU设备进行交互或者保持与所述目标路侧RSU设备进行交互。
可以理解，切换目标路侧RSU设备进行交互时，是车辆行驶出了之前的路侧RSU设备覆盖区域，进入新的路侧RSU设备覆盖区域或者减少与路侧RSU设备覆盖区域中路侧RSU设备交互的个数。
可以理解，保持与所述目标路侧RSU设备进行交互时，是车辆仍未行驶出之前的路侧RSU设备覆盖区域(包括多个重叠覆盖区域的情况)，或者不减少与路侧RSU设备覆盖区域中路侧RSU设备交互的个数。
在本公开的一个实施方式中，在所述车辆位于第二重叠覆盖区域时，根据所述车辆的当前行驶意图，切换目标路侧RSU设备进行交互或者保持与所述目标路侧RSU设备进行交互，所述第二重叠覆盖区域是所述第一重叠覆盖区域在车辆的行驶意图上的下一个区域，包括：根据所述车辆的当前位置，判断车辆是否驶出所述第二重叠覆盖区域且即将进入第三重叠覆盖区域；如果已驶出所述第二重叠覆盖区域且即将进入第三重叠覆盖区域，则切换目标路侧RSU设备进行交互或者保持与所述目标路侧RSU设备进行交互；根据所述车辆的当前位置，判断车辆未驶出所述第二重叠覆盖区域，则保持与所述目标路侧RSU设备进行交互；根据所述车辆的当前位置，判断车辆已驶出所述第二重叠覆盖区域且即将进入非重叠覆盖区域，则切换目标路侧RSU设备进行交互。
具体实施时，对于重叠覆盖区域不同车辆行驶意图进行分情况说明。
根据所述车辆的当前位置，判断车辆是否驶出所述第二重叠覆盖区域且即将进入第三重叠覆盖区域，由于是由一个重叠覆盖区域向下一个重叠覆盖区域行驶，需要根据当前车辆位置判断车辆是否驶出。
可选地，如果根据车辆的当前位置判断车辆已驶出所述第二重叠覆盖区域且即将进入第三重叠覆盖区域，则切换目标路侧RSU设备进行交互或者保持与所述目标路侧RSU设备进行交互。也就是说，可以是在即将进入第三重叠覆盖区域时(不需要之前的路侧RSU设备信息，比如之前依赖第二重叠覆盖区域对应的路侧RSU设备信息)，切换目标路侧RSU设备，也可以是即将进入在第三重叠覆盖区域时(仍然需要之前的路侧RSU设备信息)保持与所述目标路侧RSU设备进行交互。
如图4所示，如果车辆处于重叠区，会根据车辆行驶意图，筛选后续行驶区域覆盖的路侧RSU设备，比如，从路侧RSU A设备驶入路侧RSU C设备覆盖区域，不是驶入路侧RSU B设备覆盖区域，则会筛选出路侧RSU A设备和路侧RSU C设备，进行相应的业务交互。又比如，从路侧RSU A设备驶入路侧RSU C设备覆盖区域，则会筛选出路侧RSU A设备和路侧RSU C设备，但仍会与路侧RSU B设备交互。
在本公开的一个实施方式中，所述方法还包括：接收任意路侧RSU设备广播的第二类型数据，每个所述第二类型数据用于确定支持的预设业务类型；基于所述非重叠覆盖区域、所述车辆的当前位置，确定目标路侧RSU设备进行交互。
所述第二类型数据是指路侧RSU设备所支持的业务类型。接收任意路侧RSU设备广播的第二类型数据，然后基于所述非重叠覆盖区域、所述车辆的当前位置，确定目标路侧RSU设备进行交互。也就是说，根据车辆位置，如果处在RSU A覆盖区域，则只与RSU A进行交互，采用单播方式，或者采用广播方式，在数据中添加RSU ID进行标识，其他RSU根 据该ID判断是否属于自己，如果属于，则进行处理，否则不进行交互。
在本公开的一个实施方式中，所述在所述车辆位于所述重叠覆盖区域时，根据所述车辆的当前行驶意图，选择目标路侧RSU设备进行交互，所述目标路侧RSU设备包括覆盖后续行驶区域的路侧RSU设备之后，还包括：根据所述目标路侧RSU设备中的所述第二类型数据，判断所述目标路侧RSU设备是否支持预设业务类型；如果支持，则与所述目标设备完成交互；在与所述目标设备完成交互的情况下如果包括多个目标路侧RSU设备提供的多个行驶策略，则选择与当前预设安全等级匹配的行驶策略。
具体实施时，当筛选出多个RSU设备时，多个RSU会给出相应的引导意见，当出现多个RSU设备给出的引导意见不同时，选择最安全的建议。比如，图4中，RSU A引导意见为车辆可以变道，RSU B给出的意见为车辆延缓变道，则选择RSU B的建议，保证车辆更加安全的行驶。
需要注意的是，当前预设安全等级可以根据当前行驶道路确定，也可以根据车辆确定，比如，一些特种车辆的等级会高于普通车辆。
在本公开的一个实施方式中，所述接收任意路侧RSU设备广播的第一类型数据，多个所述第一类型数据用于确定重叠覆盖区域，包括：接收任意路侧RSU设备广播的DSA业务公告，并根据所述车辆实时位置确定当前是否位于所述重叠覆盖区域。DSA(DSRC Sevice Advertisement)专用短程通信业务公告。
具体实施时，接收任意路侧RSU设备广播的DSA业务公告，筛选出RSU设备后，车辆会根据RSU广播的DSA业务公告，进一步判断是否支持即将要发起的业务请求以及根据所述车辆实时位置确定当前是否位于所述重叠覆盖区域，如果不支持，则不进行交互，如果支持，则交互，完成车路协同的应用场景。
在本公开的一个实施方式中，所述接收任意路侧RSU设备广播的第一类型数据之前，还包括：根据所述路侧RSU设备预先标定并得到的对应电子围栏，设置路侧RSU设备的覆盖区域信息，以使所述路侧RSU设备通过DSA技术实时广播自身的预设支持业务类型以及所述覆盖区域信息。
具体实施时，所述路侧RSU设备采用标定方式，利用电子围栏技术，设置覆盖区域。同时路侧RSU设备利用DSA技术，实时播发自己支持的业务类型(作为第二类型数据)及覆盖区域信息(作为第一类型数据)。
车辆收到DSA业务公告后，根据车辆实时位置，筛选匹配的路侧RSU设备进行信息交互，实现车路协同应用。车辆根据路侧RSU设备的DSA公告内容，获取路侧RSU设备的覆盖区域及所支持的业务类型。
本公开实施方式还提供了车辆信息交互装置200，如图2所示，提供了本公开实施方式中车辆信息交互装置的结构示意图，所述车辆信息交互装置200至少包括：接收模块210、筛选模块220，其中：
在本公开的一个实施方式中，所述接收模块210具体用于：接收任意路侧RSU设备广播的第一类型数据，多个所述第一类型数据用于确定重叠覆盖区域。
车辆信息交互方法应用于包含多个路侧RSU设备覆盖区域下的道路场景中的车辆，且对于每个所述路侧RSU设备两两之间具有重叠覆盖区域或者非重叠覆盖区域。
需要注意的是，所述车辆可以是具有自动驾驶能力的车辆或者非具有自动驾驶能力的车辆，在本公开的实施方式中并不进行具体限定。
在车辆端可以接收任意路侧RSU设备广播的第一类型数据，可以理解，所述第一类型数据是用于确定重叠覆盖区域。并且由于每个所述路侧RSU设备都会进行广播，所以所述第一类型数据包括了多个。
在一些实施方式中，所述第一类型数据可以指示当前对应路侧RSU设备的覆盖区域，同理，多个所述第一类型数据可以确定出至少一个重叠覆盖区域，或者没有重叠覆盖区域。
在本公开的一个实施方式中，所述筛选模块220具体用于：在所述车辆位于所述重叠覆盖区域时，根据所述车辆的当前行驶意图，选择目标路侧RSU设备进行交互，所述目标路侧RSU设备包括覆盖后续行驶区域的路侧RSU设备。
判断车辆是否位于所述重叠覆盖区域，在所述车辆位于所述重叠覆盖区域时，则会根据所述车辆的当前行驶意图，车辆选择目标路侧RSU设备进行交互。
可以理解，可以根据车辆的行驶速度以及车辆位置(自动驾驶车辆可以是IMU+RTK/GPS的组合定位结果)判断车辆是否位于所述重叠覆盖区域。
此外，对于选择的目标路侧RSU设备主要是指覆盖了车辆后续行驶区域的路侧RSU设备，也就说，可以根据车辆意图确定出车辆位于不同重叠覆盖区域下时，车辆可选择的所述路侧RSU设备。
在一些实施方式中，车辆可以是由当前重叠覆盖区域向另一个重叠覆盖区域的行驶意图。
在一些实施方式中，车辆可以是由非重叠覆盖区域向一个重叠覆盖区域或者另一个非重叠覆盖区域的行驶意图。
能够理解，上述车辆信息交互装置，能够实现前述实施方式中提供的车辆信息交互方法的各个步骤，关于车辆信息交互方法的相关阐释均适用于车辆信息交互装置，此处不再赘述。
图5是本公开的一个实施方式电子设备的结构示意图。请参考图5，在硬件层面，该电子设备包括处理器，可选地还包括内部总线、网络接口、存储器。其中，存储器可能包含内存，例如高速随机存取存储器(Random-Access Memory，RAM)，也可能还包括非易失性存储器(non-volatile memory)，例如至少1个磁盘存储器等。当然，该电子设备还可能包括其他业务所需要的硬件。
处理器、网络接口和存储器可以通过内部总线相互连接，该内部总线可以是ISA(Industry Standard Architecture，工业标准体系结构)总线、PCI(Peripheral Component Interconnect，外设部件互连标准)总线或EISA(Extended Industry Standard Architecture，扩展工业标准结构)总线等。所述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5中仅用一个双向箭头表示，但并不表示仅有一根总线或一种类型的总线。
存储器，用于存放程序。具体地，程序可以包括程序代码，所述程序代码包括计算机操作指令。存储器可以包括内存和非易失性存储器，并向处理器提供指令和数据。
处理器从非易失性存储器中读取对应的计算机程序到内存中然后运行，在逻辑层面上形成车辆信息交互装置。处理器，执行存储器所存放的程序，并具体用于执行以下操作：
接收任意路侧RSU设备广播的第一类型数据，多个所述第一类型数据用于确定重叠覆盖区域；
在所述车辆位于所述重叠覆盖区域时，根据所述车辆的当前行驶意图，选择目标路侧RSU设备进行交互，所述目标路侧RSU设备包括覆盖后续行驶区域的路侧RSU设备。
上述如本公开图1所示实施方式揭示的车辆信息交互装置执行的方法可以应用于处理器中，或者由处理器实现。处理器可能是一种集成电路芯片，具有信号的处理能力。在实现过程中，上述方法的各步骤可以通过处理器中的硬件的集成逻辑电路或者软件形式的指令完成。上述的处理器可以是通用处理器，包括中央处理器(Central Processing Unit，CPU)、网络处理器(Network Processor，NP)等；还可以是数字信号处理器(Digital Signal Processor，DSP)、专用集成电路(Application Specific Integrated Circuit，ASIC)、现场可编程门阵列(Field－Programmable Gate Array，FPGA)或者其他可编程逻辑器件、分立门或者晶体管逻辑器件、分立硬件组件。可以实现或者执行本公开实施方式中的公开的各方法、步骤及逻辑框图。通用处理器可以是微处理器或者该处理器也可以是任何常规的处理器等。结合本公开实施方式所公开的方法的步骤可以直接体现为硬件译码处理器执行完成，或者用译码处理器中的硬件及软件模块组合执行完成。软件模块可以位于随机存储器，闪存、只读存储器，可编程只读存储器或者电可擦写可编程存储器、寄存器等本领域成熟的存储介质中。该存储介质位于存储器，处理器读取存储器中的信息，结合其硬件完成上述方法的步 骤。
该电子设备还可执行图1中车辆信息交互装置执行的方法，并实现车辆信息交互装置在图1所示实施方式的功能，本公开实施方式在此不再赘述。
本公开实施方式还提出了一种计算机可读存储介质，该计算机可读存储介质存储一个或多个程序，该一个或多个程序包括指令，该指令当被包括多个应用程序的电子设备执行时，能够使该电子设备执行图1所示实施方式中车辆信息交互装置执行的方法，并具体用于执行：
接收任意路侧RSU设备广播的第一类型数据，多个所述第一类型数据用于确定重叠覆盖区域；
在所述车辆位于所述重叠覆盖区域时，根据所述车辆的当前行驶意图，选择目标路侧RSU设备进行交互，所述目标路侧RSU设备包括覆盖后续行驶区域的路侧RSU设备。
本领域内的技术人员应明白，本公开的实施方式可提供为方法、系统、或计算机程序产品。因此，本公开可采用完全硬件实施方式、完全软件实施方式、或结合软件和硬件方面的实施方式的形式。而且，本公开可采用在一个或多个其中包含有计算机可用程序代码的计算机可用存储介质(包括但不限于磁盘存储器、CD-ROM、光学存储器等)上实施的计算机程序产品的形式。
本公开是参照根据本公开实施方式的方法、设备(系统)、和计算机程序产品的流程图和/或方框图来描述的。应理解可由计算机程序指令实现流程图和/或方框图中的每一流程和/或方框、以及流程图和/或方框图中的流程和/或方框的结合。可提供这些计算机程序指令到通用计算机、专用计算机、嵌入式处理机或其他可编程数据处理设备的处理器以产生一个机器，使得通过计算机或其他可编程数据处理设备的处理器执行的指令产生用于实现在流程图一个流程或多个流程和/或方框图一个方框或多个方框中指定的功能的装置。
这些计算机程序指令也可存储在能引导计算机或其他可编程数据处理设备以特定方式工作的计算机可读存储器中，使得存储在该计算机可读存储器中的指令产生包括指令装置的制造品，该指令装置实现在流程图一个流程或多个流程和/或方框图一个方框或多个方框中指定的功能。
这些计算机程序指令也可装载到计算机或其他可编程数据处理设备上，使得在计算机或其他可编程设备上执行一系列操作步骤以产生计算机实现的处理，从而在计算机或其他可编程设备上执行的指令提供用于实现在流程图一个流程或多个流程和/或方框图一个方框或多个方框中指定的功能的步骤。
在一个典型的配置中，计算设备包括一个或多个处理器(CPU)、输入/输出接口、网络接口和内存。
内存可能包括计算机可读介质中的非永久性存储器，随机存取存储器(RAM)和/或非易失性内存等形式，如只读存储器(ROM)或闪存(flash RAM)。内存是计算机可读介质的示例。
计算机可读介质包括永久性和非永久性、可移动和非可移动媒体可以由任何方法或技术来实现信息存储。信息可以是计算机可读指令、数据结构、程序的模块或其他数据。计算机的存储介质的例子包括，但不限于相变内存(PRAM)、静态随机存取存储器(SRAM)、动态随机存取存储器(DRAM)、其他类型的随机存取存储器(RAM)、只读存储器(ROM)、电可擦除可编程只读存储器(EEPROM)、快闪记忆体或其他内存技术、只读光盘只读存储器(CD-ROM)、数字多功能光盘(DVD)或其他光学存储、磁盒式磁带，磁带磁磁盘存储或其他磁性存储设备或任何其他非传输介质，可用于存储可以被计算设备访问的信息。按照本文中的界定，计算机可读介质不包括暂存电脑可读媒体(transitory media)，如调制的数据信号和载波。
还需要说明的是，术语“包括”、“包含”或者其任何其他变体意在涵盖非排他性的包含，从而使得包括一系列要素的过程、方法、商品或者设备不仅包括那些要素，而且还包括没有明确列出的其他要素，或者是还包括为这种过程、方法、商品或者设备所固有的要素。在没有更多限制的情况下，由语句“包括一个……”限定的要素，并不排除在包括所述要素的过程、方法、商品或者设备中还存在另外的相同要素。
本领域技术人员应明白，本公开的实施方式可提供为方法、系统或计算机程序产品。因此，本公开可采用完全硬件实施方式、完全软件实施方式或结合软件和硬件方面的实施方式的形式。而且，本公开可采用在一个或多个其中包含有计算机可用程序代码的计算机可用存储介质(包括但不限于磁盘存储器、CD-ROM、光学存储器等)上实施的计算机程序产品的形式。
以上所述仅为本公开的实施方式而已，并不用于限制本公开。对于本领域技术人员来说，本公开可以有各种更改和变化。凡在本公开的精神和原理之内所作的任何修改、等同替换、改进等，均应包含在本公开的权利要求范围之内。

Claims (10)

  1. 一种车辆信息交互方法，应用于包含多个路侧RSU设备覆盖区域下的道路场景中的车辆，所述路侧RSU设备两两之间具有重叠覆盖区域或者非重叠覆盖区域，所述方法包括：
    接收任意路侧RSU设备广播的第一类型数据，多个所述第一类型数据用于确定重叠覆盖区域；
    在所述车辆位于所述重叠覆盖区域时，根据所述车辆的当前行驶意图，选择目标路侧RSU设备进行交互，所述目标路侧RSU设备包括覆盖后续行驶区域的路侧RSU设备。
  2. 如权利要求1所述方法，其中，所述在所述车辆位于所述重叠覆盖区域时，根据所述车辆的当前行驶意图，选择目标路侧RSU设备进行交互，包括：
    在所述车辆位于第一重叠覆盖区域时，根据所述车辆的当前行驶意图，选择目标路侧RSU设备进行交互；
    在所述车辆位于第二重叠覆盖区域时，根据所述车辆的当前行驶意图，切换目标路侧RSU设备进行交互或者保持与所述目标路侧RSU设备进行交互，所述第二重叠覆盖区域是所述第一重叠覆盖区域在车辆的行驶意图上的下一个区域。
  3. 如权利要求2所述方法，其中，在所述车辆位于第二重叠覆盖区域时，根据所述车辆的当前行驶意图，切换目标路侧RSU设备进行交互或者保持与所述目标路侧RSU设备进行交互，所述第二重叠覆盖区域是所述第一重叠覆盖区域在车辆的行驶意图上的下一个区域，包括：
    根据所述车辆的当前位置，判断车辆是否驶出所述第二重叠覆盖区域且即将进入第三重叠覆盖区域；
    如果已驶出所述第二重叠覆盖区域且即将进入第三重叠覆盖区域，则切换目标路侧RSU设备进行交互或者保持与所述目标路侧RSU设备进行交互；
    根据所述车辆的当前位置，判断车辆未驶出所述第二重叠覆盖区域，则保持与所述目标路侧RSU设备进行交互；
    根据所述车辆的当前位置，判断车辆已驶出所述第二重叠覆盖区域且即将进入非重叠覆盖区域，则切换目标路侧RSU设备进行交互。
  4. 如权利要求1所述方法，其中，所述方法还包括：
    接收任意路侧RSU设备广播的第二类型数据，每个所述第二类型数据用于确定支持的预设业务类型；
    基于所述非重叠覆盖区域、所述车辆的当前位置，确定目标路侧RSU设备进行交互。
  5. 如权利要求4所述方法，其中，所述在所述车辆位于所述重叠覆盖区域时，根据所述 车辆的当前行驶意图，选择目标路侧RSU设备进行交互，所述目标路侧RSU设备包括覆盖后续行驶区域的路侧RSU设备之后，还包括：
    根据所述目标路侧RSU设备中的所述第二类型数据，判断所述目标路侧RSU设备是否支持预设业务类型；
    如果支持，则与所述目标设备完成交互；
    在与所述目标设备完成交互的情况下如果包括多个目标路侧RSU设备提供的多个行驶策略，则选择与当前预设安全等级匹配的行驶策略。
  6. 如权利要求1所述方法，其中，所述接收任意路侧RSU设备广播的第一类型数据，多个所述第一类型数据用于确定重叠覆盖区域，包括：
    接收任意路侧RSU设备广播的DSA业务公告，并根据所述车辆实时位置确定当前是否位于所述重叠覆盖区域。
  7. 如权利要求1至6任一项的所述方法，其中，所述接收任意路侧RSU设备广播的第一类型数据之前，还包括：
    根据所述路侧RSU设备预先标定并得到的对应电子围栏，设置路侧RSU设备的覆盖区域信息，以使所述路侧RSU设备通过DSA技术实时广播自身的预设支持业务类型以及所述覆盖区域信息。
  8. 一种车辆信息交互装置，所述装置包括：应用于包含多个路侧RSU设备覆盖区域下的道路场景中的车辆，所述路侧RSU设备两两之间具有重叠覆盖区域或者非重叠覆盖区域装置，所述方法包括：
    接收模块，用于接收任意路侧RSU设备广播的第一类型数据，多个所述第一类型数据用于确定重叠覆盖区域；
    筛选模块，用于在所述车辆位于所述重叠覆盖区域时，根据所述车辆的当前行驶意图，选择目标路侧RSU设备进行交互，所述目标路侧RSU设备包括覆盖后续行驶区域的路侧RSU设备。
  9. 一种电子设备，包括：
    处理器；以及
    被安排成存储计算机可执行指令的存储器，所述可执行指令在被执行时使所述处理器执行所述权利要求1～7之任一所述方法。
  10. 一种计算机可读存储介质，所述计算机可读存储介质存储一个或多个程序，所述一个或多个程序当被包括多个应用程序的电子设备执行时，使得所述电子设备执行所述权利要求1～7之任一所述方法。
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