Vehicle intersection guiding method and device based on V2X

The invention discloses a vehicle intersection guiding method and device based on V2X, and belongs to the technical field of roads and traffic, and the method comprises the steps: obtaining the positions of a main vehicle HV and a surrounding vehicle RV, and determining the relative azimuth angle and the relative course angle of the RV relative to the HV under a main vehicle coordinate system; when the heading of the RV and the heading of the HV are the same, determining the distance between the RV and the HV in the direction perpendicular to the lane or in the direction parallel to the lane based on the position relation between the RV and the HV, and then determining the lane where the RV and the HV are located; when no other vehicle exists in front of the HV, determining the driving speed according to the distance between the HV and the stop line of the intersection and the signal lamp information sent by the roadside equipment; and when other vehicles exist in front of the HV, screening out the front vehi