Lane matching method and device based on V2X

The invention provides a V2X-based lane matching method, which comprises the following steps that: a vehicle receives a corresponding MAP message set through V2X and calls lane data; matching the lane information of the vehicle; whether corresponding points exist on center lines in front of and behind the vehicle or not is recognized, and when the corresponding points are recognized at the same time, a first point, closest to the vehicle, in front of the vehicle and a second point, closest to the vehicle, behind the vehicle are determined; judging whether the included angles between the central point of the rear axle of the vehicle and the connecting lines between the first point and the second point are obtuse angles or not, and if so, calculating the distances from the four vertexes of the rectangle of the vehicle to the central line of the lane where the vehicle is located; when the distances from the four vertexes to the center line of the lane where the vehicle is located are all smaller than half of the