Vehicle control method, vehicle-road coordination system, roadside device and automatic driving vehicle

A roadside device, comprising:

• at least one processor, and
• a memory communicatively connected to the at least one processor;
• wherein
• the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor, so that the at least one processor is configured to:
• filter road perception information acquired in a coverage area of a roadside device to obtain target road perception information;
• and determine effective area information of an area to which the target road perception information belongs;
• and
• send a roadside perception message to a vehicle, wherein the roadside perception message comprises the target road perception information, the effective area information and area information of the coverage area of the roadside device, and the roadside perception message is used to indicate that the vehicle is controlled to travel based on the target road perception information, the effective area information and the area information.

An automatic driving vehicle, comprising:

• at least one processor, and
• a memory communicatively connected to the at least one processor;
• wherein
• the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor, so that the at least one processor is configured to:
• receive a roadside perception message sent by a roadside device, wherein the roadside perception message comprises target road perception information, effective area information of an area to which the target road perception information belongs and area information of a coverage area of the roadside device;
• and
• control the vehicle to travel according to the target road perception information, the effective area information, the area information and vehicle perception information.