Vehicle-to-infrastructure cooperation information processing method, apparatus, device and autonomous vehicle

A vehicle-to-infrastructure cooperation information processing apparatus, comprising:

• a processor and a memory for storing one or more computer programs executable by the processor,
• wherein when executing at least one of the computer programs, the processor is configured to perform operations comprising:
• acquiring first on-board perception data of a target vehicle, the first on-board perception data comprising data of an obstacle around the target vehicle sensed by the target vehicle;
• generating virtual obstacle data for representing the target vehicle according to positioning data of the target vehicle;
• obtaining second on-board perception data based on the virtual obstacle data and the first on-board perception data;
• and
• fusing the second on-board perception data with roadside perception data to obtain fusion data, the fusion data comprising all obstacle data in both the second on-board perception data and the roadside perception data, and the obstacle data in the roadside perception data comprising obstacle data for representing the target vehicle,
• wherein when executing at least one of the computer programs, the processor is further configured to perform operations comprising:
• acquiring appearance information of the target vehicle;
• generating a virtual data frame according to the appearance information of the target vehicle;
• obtaining a center point position and heading of the target vehicle according to the positioning data of the target vehicle;
• and
• generating the virtual obstacle data for representing the target vehicle by setting the virtual data frame according to the center point position and heading of the target vehicle.