# US 12,602,993 B2 · Method and apparatus for obtaining traffic information, and storage medium > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 12,602,993 B2 - Document ID: US12602993B2 - Status: Granted - Kind: B2 - Application number: 18/602,628 - Filed: 2024-03-12 - Published: 2024-07-04 - Granted: 2026-04-14 - Earliest claimed: 2021-09-14 - Assignees: Shenzhen Yinwang Intelligent Technologies Co., Ltd. - Applicants: Shenzhen Yinwang Intelligent Technologies Co., Ltd. - Inventors: Tianze Li; Yan Wang; Junqiang Tian - Web page: https://patentgrep.com/patent/US12602993B2 ## CPC - G01C 21/3691: {Retrieval, searching and output of information related to real-time traffic, weather, or environmental conditions (arrangements for giving variable traffic instructions G08G1/09)} - G08G 1/0125: {Traffic data processing} - G08G 1/0112: {from the vehicle, e.g. floating car data [FCD]} - G08G 1/0116: {from roadside infrastructure, e.g. beacons} - G08G 1/0141: {for traffic information dissemination} - G08G 1/09675: {where a selection from the received information takes place in the vehicle} - G08G 1/096775: {where the origin of the information is a central station} - G08G 1/096783: {where the origin of the information is a roadside individual element} - G08G 1/167: {Driving aids for lane monitoring, lane changing, e.g. blind spot detection} - H04W 4/44: for communication between vehicles and infrastructures, e.g. vehicle-to-cloud [V2C] or vehicle-to-home [V2H] - G01C 21/32: Structuring or formatting of map data - G01C: MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY (measuring liquid level G01F; radio navigation, determining distance or velocity by use of propagation effects, e.g. Doppler effects, propagation time, of radio waves, analogous arrangements using other waves G01S) - G08G: TRAFFIC CONTROL SYSTEMS (guiding railway traffic, ensuring the safety of railway traffic B61L; arrangement of road signs or traffic signals E01F9/00; radar or analogous systems, sonar systems, lidar systems specially adapted for traffic control G01S13/91, G01S15/88, G01S17/88; {radar or analogous systems, sonar systems, lidar systems specially adapted for anti-collision purposes G01S13/93, G01S15/93, G01S17/93}) - H04W: WIRELESS COMMUNICATION NETWORKS (broadcast communication H04H; communication systems using wireless links for non-selective communication, e.g. wireless extensions H04M1/72) ## Abstract A method for obtaining traffic information may be applied to an on-board unit. The method may include: receiving vehicle-to-everything (V2X) information, where the V2X information indicates a first group of lane identifiers and traffic information corresponding to each lane identifier in the first group of lane identifiers, and the first group of lane identifiers includes a first lane identifier; obtaining map information, where the map information indicates that a second lane identifier on a map and the first lane identifier correspond to a same lane; determining that a vehicle is on the lane corresponding to the second lane identifier; determining, based on the map information, that the vehicle is on the lane corresponding to the first lane identifier; and extracting traffic information corresponding to the first lane identifier from the V2X information. ## Claims ### Claim 1 A method for obtaining traffic information, the method comprising: receiving vehicle-to-everything (V2X) information, wherein the V2X information indicates lane identifiers (IDs) and traffic information corresponding to the lane IDs, wherein the lane IDs comprise a first lane ID corresponding to a first lane, and wherein the traffic information comprise first traffic information corresponding to the first lane ID; obtaining map information indicating a second lane ID on a map corresponds to a second lane that is the same as the first lane; making a first determination, based on the V2X information, that a vehicle is in the second lane; making a second determination, based on the map information, that the vehicle is in the first lane; extracting, from the V2X information, traffic information corresponding to the first lane ID based on the first determination and the second determination; and controlling, based on the traffic information, movement of the vehicle. ### Claim 2 (depends on 1) The method of claim 1, wherein the V2X information comprises V2X MAP information, wherein the V2X MAP information comprises a lane identifier (laneID) field carrying a lane ID, and wherein the lane ID indicates the lane identifiers. ### Claim 3 (depends on 2) The method of claim 2, wherein the V2X MAP information further comprises a laneWidth field indicating widths of lanes corresponding to the lane ID. ### Claim 4 (depends on 2) The method of claim 2, wherein the V2X MAP information further comprises a laneAttributes field, and wherein the laneAttributes field indicates an attribute of a lane corresponding to the lane ID. ### Claim 5 (depends on 2) The method of claim 2, wherein the V2X MAP information further comprises a maneuvers field, and wherein the maneuvers field indicates an allowed turning behavior at a lane exit of a lane corresponding to the lane ID. ### Claim 6 (depends on 2) The method of claim 2, wherein the V2X MAP information further comprises a connectsTo field, and wherein the connectsTo field indicates a set of connection relationships between a lane corresponding to the lane ID and another lane in a downstream link. ### Claim 7 (depends on 2) The method of claim 2, wherein the V2X MAP information further comprises a points field, wherein the points field indicates a set of feature points of a lane corresponding to the lane ID, wherein the feature points comprise feature points on a lane center line, a lane edge line, or a lane stop line, and wherein the set of feature points comprises location information of each feature point. ### Claim 8 (depends on 2) The method of claim 2, wherein the V2X MAP information further comprises a speedLimits field, and wherein the speedLimits field indicates speed limit information of a lane corresponding to the lane ID or speed limit information of a link comprising the lane. ### Claim 9 (depends on 2) The method of claim 2, wherein the V2X MAP information further comprises a link Width field, and wherein the link Width field indicates a width of a link comprising a lane corresponding to the lane ID. ### Claim 10 (depends on 1) The method of claim 1, wherein the V2X information comprises a V2X signal phase and timing (SPAT) message, wherein the V2X SPAT message comprises a phase identifier (PhaseID) field carrying a phase ID, and wherein the phase ID indicates the lane identifiers. ### Claim 11 (depends on 10) The method of claim 10, wherein the V2X SPAT message further comprises a phaseStates field, and wherein the phaseStates field indicates a status of a traffic signal light corresponding to the phase ID. ### Claim 12 A method comprising: receiving vehicle-to-everything (V2X) MAP information from a road side device; obtaining, based on the V2X MAP information, first structure information of a road; obtaining perception data of a vehicle; obtaining, based on the perception data, second structure information of the road; determining, by matching the first structure information with the second structure information, that the vehicle is on a first lane; and controlling, based on the vehicle being on the first lane, movement of the vehicle. ### Claim 13 (depends on 12) The method of claim 12, wherein the V2X MAP information comprises the first structure information and identifier information that is of the first lane and that corresponds to the first structure information, and wherein determining, by matching the first structure information with the second structure information, that the vehicle is on the first lane comprises: determining, based on a matching result, that the first structure information and the second structure information correspond to a same lane; obtaining, based on the first structure information, the identifier information; and determining, based on the identifier information, the first lane. ### Claim 14 (depends on 12) The method of claim 12, wherein the V2X MAP information indicates a correspondence between first identifier information of a plurality of lanes and second identifier information of a plurality of phases, wherein the lanes comprise the first lane, wherein the first identifier information comprises third identifier information of the first lane, and wherein the second identifier information comprises fourth identifier information of a first phase, and wherein the method further comprises: receiving a V2X signal phase and timing (SPAT) message from the road side device, wherein the V2X SPAT message comprises the fourth identifier information and traffic signal light status information corresponding to the fourth identifier information; determining, from the V2X MAP information, the third identifier information; determining, based on the correspondence and the third identifier information, the fourth identifier information; and extracting, from the V2X SPAT message, the traffic signal light status information corresponding to the fourth identifier information. ### Claim 15 (depends on 12) The method of claim 12, wherein the first structure information indicates one or more of a lane attribute, a lane location, or a lane width. ### Claim 16 (depends on 12) The method of claim 12, wherein the V2X MAP information comprises a lanes field, and wherein the lanes field indicates the first structure information. ### Claim 17 A method comprising: receiving vehicle-to-everything (V2X) MAP information from a road side device, wherein the V2X MAP information indicates location information of mark points on a road, wherein the mark points comprise a first mark point, and wherein the location information comprises first location information of the first mark point; obtaining perception data of a vehicle; obtaining, based on the perception data, second location information of the first mark point; determining a deviation value between the first location information and the second location information; obtaining localization information of the vehicle; correcting the localization information based on the deviation value; determining, based on the localization information, that the vehicle is in a first lane; and controlling, based on the vehicle being in the first lane, movement of the vehicle. ### Claim 18 (depends on 17) The method of claim 17, wherein the V2X MAP information indicates correspondences between first identifier information of lanes and second identifier information of phases, wherein the lanes comprise the first lane, wherein the first identifier information comprises third identifier information of the first lane, and wherein the second identifier information comprises fourth identifier information of a first phase, and wherein the method further comprises: receiving a vehicle-to-everything signal phase and timing (SPAT) message from the road side device, wherein the V2X SPAT message comprises the fourth identifier information and traffic signal light status information corresponding to the fourth identifier information; determining, from the V2X MAP information, the third identifier information; determining, based on the correspondence and the third identifier information, the fourth identifier information; and extracting, from the V2X SPAT message, the traffic signal light status information corresponding to the fourth identifier information. ### Claim 19 (depends on 17) The method of claim 17, wherein a distance between the first mark point and the vehicle is within a preset range. ### Claim 20 (depends on 17) The method of claim 17, wherein a quantity of mark points comprised in the plurality of mark points depends on at least one of a length or a curvature of the road.