A vehicle-to-infrastructure cooperation information processing method, apparatus, device and an autonomous vehicle are provided. The method includes: acquiring first on-board perception data of a target vehicle, the first on-board perception data including 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; generating 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 including 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 including obstacle data for representing the target vehicle.