CN111624624A

CN111624624A - Method and device for processing differential data

Info

Publication number: CN111624624A
Application number: CN202010320046.7A
Authority: CN
Inventors: 刘恒进
Original assignee: Tencent Technology Shenzhen Co Ltd
Current assignee: Tencent Technology Shenzhen Co Ltd
Priority date: 2020-04-21
Filing date: 2020-04-21
Publication date: 2020-09-04

Abstract

The embodiment of the application provides a method and a device for processing differential data. The processing method of the differential data is applied to the second road side unit and comprises the following steps: receiving differential information of a first road side unit sent by the first road side unit or a server, wherein the differential information comprises identification information and differential data; identifying a target road side unit from the first road side unit according to the identification information of the first road side unit and the identification information of the second road side unit; and broadcasting the differential data of the target road side unit as the differential data of the second road side unit so as to position a running vehicle. According to the technical scheme, the second road side unit can acquire the matched differential data, the stability of the second road side unit for acquiring the differential data is guaranteed, and the accuracy of vehicle positioning is further guaranteed.

Description

Method and device for processing differential data

Technical Field

The present application relates to the field of computer and communication technologies, and in particular, to a method and an apparatus for processing differential data.

Background

In order to obtain higher positioning accuracy, differential positioning technology is generally adopted. In the current technical solution, a GPS signal receiver is deployed on a road side unit to receive a GPS positioning signal, and a differential data server generates corresponding differential data according to coordinate information of the road side unit and the GPS positioning signal of the road side unit, and the differential data is broadcasted by the road side unit to position a vehicle traveling on a road. Therefore, how to improve the stability of the road side unit for acquiring the differential data and further ensure the accuracy of vehicle positioning becomes an urgent technical problem to be solved.

Disclosure of Invention

The embodiment of the application provides a method and a device for processing differential data, so that the stability of a road side unit for acquiring the differential data can be improved at least to a certain extent, and the accuracy of vehicle positioning is further ensured.

Other features and advantages of the present application will be apparent from the following detailed description, or may be learned by practice of the application.

According to an aspect of the embodiments of the present application, there is provided a method for processing differential data, applied to a second road side unit, the method including:

receiving differential information of a first road side unit sent by the first road side unit or a server, wherein the differential information comprises identification information and differential data;

identifying a target road side unit from the first road side unit according to the identification information of the first road side unit and the identification information of the second road side unit;

and broadcasting the differential data of the target road side unit as the differential data of the second road side unit so as to position a running vehicle.

According to an aspect of the embodiments of the present application, there is provided a method for processing differential data, which is applied to a first road side unit, the method including:

acquiring positioning information of a first road side unit;

sending the positioning information and the identification information of the first road side unit to a server so that the server generates differential data corresponding to the first road side unit;

and receiving the differential data returned by the server so that the second road side unit acquires the differential data.

According to an aspect of the embodiments of the present application, there is provided a method for processing differential data, applied to a server, the method including:

receiving positioning information and identification information of at least one first road side unit;

and generating differential data corresponding to the at least one first road side unit according to the positioning information and the identification information of the at least one first road side unit.

According to an aspect of the embodiments of the present application, there is provided an apparatus for processing differential data, the apparatus including:

the first receiving module is used for receiving differential information of the first road side unit sent by the first road side unit or the server, wherein the differential information comprises identification information and differential data;

the identification module is used for identifying a target road side unit from the first road side unit according to the identification information of the first road side unit and the identification information of the second road side unit;

and the first processing module is used for broadcasting the differential data of the target road side unit as the differential data of the second road side unit so as to position a running vehicle.

In some embodiments of the present application, based on the foregoing solution, the identification information includes environment identification information, and the identification module is configured to: acquiring an occlusion degree value corresponding to the environment identification information of the first road side unit and an occlusion degree value corresponding to the environment identification information of the second road side unit; and identifying the first road side unit with the minimum difference value between the shielding degree value and the shielding degree value of the second road side unit as a target road side unit.

In some embodiments of the present application, based on the foregoing solution, the identification information includes environment identification information and location identification information, and the identification module is configured to: and matching the environment identification information and the position identification information of the first road side unit with the environment identification information and the position identification information of the second road side unit, and identifying the first road side unit matched with the second road side unit as the target road side unit.

In some embodiments of the present application, based on the foregoing solution, before receiving the differential information sent by the first route side unit or the server, the first processing module is further configured to: and broadcasting differential data request information of the second road side unit, wherein the differential data request information comprises identification information of the second road side unit, so that the first road side unit or the server feeds back the differential information according to the differential data request information.

In some embodiments of the present application, based on the foregoing, the first processing module is further configured to: acquiring broadcast cycle information of a first road side unit from received differential information sent by the first road side unit; determining the broadcast time of the first road side unit according to the broadcast period information; and receiving the differential information broadcast by the first road side unit at the next broadcast time of the first road side unit.

the acquisition module is used for acquiring the positioning information of the first road side unit;

a sending module, configured to send the positioning information and the identification information of the first road side unit to a server, so that the server generates differential data corresponding to the first road side unit;

and the second processing module is used for receiving the differential data returned by the server so that the second road side unit acquires the differential data.

In some embodiments of the application, based on the foregoing solution, after receiving the differential data returned by the server, the second processing module is further configured to: and broadcasting the differential information of the first road side unit, wherein the differential information comprises identification information and differential data, so that the second road side unit acquires the differential information.

In some embodiments of the application, based on the foregoing solution, after receiving the differential data returned by the server, the second processing module is further configured to: acquiring identification information of a second road side unit according to received differential data request information of the second road side unit; matching according to the identification information of the first road side unit and the identification information of the second road side unit; and if the identification information of the first road side unit is matched with the identification information of the second road side unit, sending the differential information of the first road side unit to the second road side unit, wherein the differential information comprises the identification information and differential data.

the second receiving module is used for receiving the positioning information and the identification information of at least one first road side unit;

and the third processing module is used for generating differential data corresponding to the at least one first road side unit according to the positioning information and the identification information of the at least one first road side unit.

In some embodiments of the present application, based on the foregoing, the third processing module is further configured to: and sending the differential data of the at least one first road side unit to the at least one first road side unit so that the second road side unit can acquire the differential data.

In some embodiments of the present application, based on the foregoing, the third processing module is further configured to: acquiring identification information of the second road side unit according to the received differential data request information of the second road side unit; identifying a target road side unit from the at least one first road side unit according to the identification information of the at least one first road side unit and the identification information of the second road side unit; and then sending the differential data of the target road side unit to the second road side unit so that the second road side unit broadcasts the differential data of the target road side unit as the differential data of the second road side unit.

According to an aspect of the embodiments of the present application, there is provided a computer-readable medium on which a computer program is stored, the computer program, when executed by a processor, implementing the processing method of differential data as described in the above embodiments.

According to an aspect of an embodiment of the present application, there is provided an electronic device including: one or more processors; a storage device for storing one or more programs which, when executed by the one or more processors, cause the one or more processors to implement the method of processing differential data as described in the above embodiments.

In the technical solutions provided in some embodiments of the present application, the identification information of the first roadside unit and the identification information of the second roadside unit are matched to identify a target roadside unit of which the identification information is matched with the second roadside unit from the first roadside unit, and the differential data of the target roadside unit is broadcasted as the differential data of the second roadside unit, so that even if a GPS signal receiver deployed on the second roadside unit fails or a GPS signal receiver is not deployed on the second roadside unit, the corresponding differential data can be obtained to be broadcasted, the stability of the roadside unit obtaining the differential data is improved, and the accuracy of vehicle positioning is further ensured.

It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the application.

Drawings

The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and together with the description, serve to explain the principles of the application. It is obvious that the drawings in the following description are only some embodiments of the application, and that for a person skilled in the art, other drawings can be derived from them without inventive effort. In the drawings:

FIG. 1 shows a schematic diagram of an exemplary system architecture to which aspects of embodiments of the present application may be applied;

FIG. 2 shows a flow diagram of a method of processing differential data according to an embodiment of the present application;

FIG. 3 shows a flowchart of step S220 in the differential data processing method of FIG. 2 according to one embodiment of the present application;

fig. 4 is a schematic flowchart illustrating a differential information receiving process of a first road side unit further included in the differential data processing method according to an embodiment of the present application;

FIG. 5 shows a flow diagram of a method of processing differential data according to an embodiment of the present application;

fig. 6 is a schematic flowchart illustrating a first road side unit broadcasting differential information, further included in the differential data processing method according to an embodiment of the present application;

FIG. 7 shows a flow diagram of a method of processing differential data according to an embodiment of the present application;

fig. 8 is a schematic flowchart illustrating a server further included in the differential data processing method according to an embodiment of the present application sending differential information of a first road side unit;

FIG. 9 shows a flow diagram of a method of processing differential data according to an embodiment of the present application;

FIG. 10 shows a flow diagram of a method of processing differential data according to another embodiment of the present application;

FIG. 11 shows a flow diagram of a method of processing differential data according to yet another embodiment of the present application;

FIG. 12 shows a block diagram of a differential data processing apparatus according to an embodiment of the present application;

fig. 13 shows a block diagram of a differential data processing apparatus according to another embodiment of the present application;

fig. 14 shows a block diagram of a differential data processing apparatus according to yet another embodiment of the present application;

FIG. 15 illustrates a schematic structural diagram of a computer system suitable for use in implementing the electronic device of an embodiment of the present application.

Detailed Description

Example embodiments will now be described more fully with reference to the accompanying drawings. Example embodiments may, however, be embodied in many different forms and should not be construed as limited to the examples set forth herein; rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the concept of example embodiments to those skilled in the art.

Furthermore, the described features, structures, or characteristics may be combined in any suitable manner in one or more embodiments. In the following description, numerous specific details are provided to give a thorough understanding of embodiments of the application. One skilled in the relevant art will recognize, however, that the subject matter of the present application can be practiced without one or more of the specific details, or with other methods, components, devices, steps, and so forth. In other instances, well-known methods, devices, implementations, or operations have not been shown or described in detail to avoid obscuring aspects of the application.

The block diagrams shown in the figures are functional entities only and do not necessarily correspond to physically separate entities. I.e. these functional entities may be implemented in the form of software, or in one or more hardware modules or integrated circuits, or in different networks and/or processor means and/or microcontroller means.

The flow charts shown in the drawings are merely illustrative and do not necessarily include all of the contents and operations/steps, nor do they necessarily have to be performed in the order described. For example, some operations/steps may be decomposed, and some operations/steps may be combined or partially combined, so that the actual execution sequence may be changed according to the actual situation.

Fig. 1 shows a schematic diagram of an exemplary system architecture to which the technical solution of the embodiments of the present application can be applied.

As shown in fig. 1, the system architecture may include a server 110, at least one first roadside unit 120, at least one second roadside unit 130, and an in-vehicle terminal 140, and the server 110 and the first and

second roadside units

120 and 130, and the in-vehicle terminal 140 and the first and

second roadside units

120 and 130 may be connected by network communication.

It should be understood that the number of servers, first roadside units, second roadside units, and in-vehicle terminals in fig. 1 is merely illustrative. There may be any number of servers, first roadside units, second roadside units, and in-vehicle terminals, as desired for implementation. For example, the server 110 may be a server cluster composed of a plurality of servers, and the like.

The Road Side Unit (RSU) may be a Road test Unit (RSU) disposed on the Road Side to provide support for positioning the traveling vehicle. A GPS (Global Positioning System) signal receiver is deployed on the first roadside unit 120 to receive a GPS Positioning signal, and when the first roadside unit 120 receives the GPS Positioning signal, the GPS Positioning signal and the known precise coordinates of the first roadside unit 120 may be sent to the server 110.

The server 110 may be a server providing differential data calculation, and the server 110 may calculate a correction number of coordinates, i.e., differential data, based on the GPS positioning signal of the first roadside unit 120 and the precise coordinates known to the first roadside unit 120 and transmit the differential data to the first roadside unit 120. The first roadside unit 120 can broadcast the differential data, so that the vehicle-mounted terminal 140 configured on the traveling vehicle can correct the positioning result thereof, and the positioning accuracy is further improved.

The second roadside unit 130 may be a roadside unit that is not configured with a GPS signal receiver or that has a failure in a configured GPS signal receiver. The second roadside unit 130 cannot normally receive its own GPS positioning signal, and thus the server 110 cannot calculate the differential data of the second roadside unit 130.

In order to ensure that the second roadside unit 130 can stably transmit differential data to the traveling vehicle for accurate positioning, the second roadside unit 130 may receive differential information of the first roadside unit 120 transmitted by the first roadside unit 120 or the server 110, the differential information including identification information and differential data of the first roadside unit, identify a target roadside unit from the plurality of first roadside units 120 according to the identification information of the first roadside unit 120 and the identification information of the second roadside unit 130, and broadcast the differential data of the target roadside unit as the differential data of the second roadside unit for positioning of the traveling vehicle.

Therefore, the acquisition and broadcasting of the differential data by the second roadside unit 130 are ensured, and the differential data can be provided for the running vehicle for accurate positioning even if the second roadside unit 130 is not provided with a GPS signal receiver or the GPS signal receiver fails.

The implementation details of the technical solution of the embodiment of the present application are set forth in detail below:

fig. 2 shows a flowchart of a processing method of differential data according to an embodiment of the present application, which may be performed by the second routing unit 130 shown in fig. 1. Referring to fig. 2, the processing method of the differential data at least includes steps S210 to S230, which are described in detail as follows:

in step S210, differential information of the first route side unit sent by the first route side unit or the server is received, where the differential information includes identification information and differential data.

The first road side unit can be a road side unit provided with a GPS signal receiver, the GPS signal receiver can receive a GPS positioning signal aiming at the first road side unit, the first road side unit sends the GPS positioning signal to a server, and the server calculates a correction number, namely differential data, between the GPS positioning signal and an accurate coordinate according to the GPS positioning signal of the first road side unit and the known accurate coordinate of the first road side unit. The first road side unit broadcasts the difference data calculated by the server to provide support for positioning the running vehicle.

The identification information of the first road side unit may be information corresponding to the first road side unit, for example, the identification information of the first road side unit may include, but is not limited to, identity identification information of the first road side unit, environment identification information of an environment in which the first road side unit is located, location identification information of a location in which the first road side unit is located, and the like.

The second roadside unit may be a roadside unit that is not provided with a GPS signal receiver or that has a malfunction of a GPS signal receiver.

In an embodiment of the present application, the first roadside unit may send the received GPS positioning signal and the precise coordinates of the first roadside unit to the server, and the server calculates differential data corresponding to the first roadside unit and sends the differential data to the first roadside unit for the first roadside unit to broadcast. In other embodiments, the server may also broadcast the differential data corresponding to the first roadside unit for the second roadside unit to acquire. The second roadside unit may receive differential information of the first roadside unit sent by the first roadside unit or the server, where the differential information may include identification information and differential data of the first roadside unit.

It should be noted that the second roadside unit may receive the differential information sent by the at least one first roadside unit or the differential information sent by the server of the at least one first roadside unit. The difference information may be the difference information of one first road side unit, or may be the difference information of more than one first road side units of any number, and the application is not particularly limited herein.

In step S220, a target road side unit is identified from the first road side unit according to the identification information of the first road side unit and the identification information of the second road side unit.

The target rsu may be a first rsu whose identification information matches the identification information of a second rsu.

In an embodiment of the present application, the second roadside unit may obtain the identification information of the first roadside unit from the received differential information, and match the obtained identification information of the first roadside unit with the identification information of the second roadside unit. And if the identification information of the first road side unit is matched with the identification information of the second road side unit, determining the first road side unit as a target road side unit of the second road side unit.

In step S230, the differential data of the target road side unit is broadcasted as the differential data of the second road side unit for positioning of the traveling vehicle.

In one embodiment of the present application, the second roadside unit may broadcast the differential data of the target roadside unit as its own differential data for accurate positioning of the traveling vehicle on the road.

If there are a plurality of target rsus, one target rsus may be randomly selected from the plurality of target rsus, and the differential data of the selected target rsus may be broadcast as the differential data of the second rsus.

In the embodiment shown in fig. 2, the differential information of the first roadside unit is acquired, and the target roadside unit in the first roadside unit is identified according to the identification information of the first roadside unit and the identification information of the second roadside unit, so that the differential data of the target roadside unit is used as the differential data of the second roadside unit and is broadcast by the second roadside unit. Therefore, even if the second road side unit is not provided with the GPS signal receiver or the GPS signal receiver fails, the second road side unit can acquire the differential data suitable for the second road side unit to broadcast, the stability of acquiring the differential data by the second road side unit is ensured, and the accuracy of positioning the running vehicle is further ensured.

Based on the embodiment shown in fig. 2, fig. 3 shows a flowchart of step S220 in the differential data processing method of fig. 2 according to an embodiment of the present application. Referring to fig. 3, the identification information includes environment identification information, and the step S220 at least includes steps S310 to S320, which are described in detail as follows:

in step S310, an occlusion degree value corresponding to the environment identification information of the first road side unit and an occlusion degree value corresponding to the environment identification information of the second road side unit are obtained.

The environment identification information may be identification information describing an environment in which the roadside unit is located. It should be understood that since the roadside unit is disposed at the roadside, it may be in various environments, such as a situation where there is a tree shelter, a building shelter, or no shelter around the roadside unit. Therefore, the environment identification information corresponding to the roadside unit may be set according to different occlusion situations, for example, a number 1 may indicate no occlusion, a number 2 may indicate that a tree occlusion exists, a number 3 may indicate that a building occlusion exists, and the like, which is only an example and is not limited herein. The occlusion degree value may be a numerical value corresponding to the environment identification information and indicating the degree of occlusion of the roadside unit. It should be understood that different environmental identification information correspond to different occlusion degree values, and the higher the occlusion degree of the roadside unit by the environment where the roadside unit is located, the higher the corresponding occlusion degree value. For example, the degree of occlusion for an un-occluded block is 0, the degree of occlusion for a tree block is 20, the degree of occlusion for a building block is 50, and so on. The examples are given herein only and are not intended to be limiting.

In an embodiment of the present application, a person skilled in the art may pre-configure an occlusion degree value corresponding to the environment identification information, and store the occlusion degree value into each road side unit or server. The second road side unit can obtain the corresponding shielding degree value and the shielding degree value of the second road side unit from the storage position of the second road side unit according to the environment identification information of the first road side unit.

In step S320, the first road side unit with the smallest difference between the occlusion degree value and the occlusion degree value of the second road side unit is identified as the target road side unit.

In an embodiment of the present application, the shielding degree value of the first road side unit may be compared with the shielding degree value of the second road side unit to obtain a difference value therebetween. And identifying the first road side unit with the minimum difference value as a target road side unit of the second road side unit.

For example, if the degree of occlusion of the first road side unit a is 0, the degree of occlusion of the first road side unit B is 20, and the degree of occlusion of the second road side unit is 15, then the difference between the degree of occlusion of the first road side unit B and the degree of occlusion of the second road side unit B is 5, which is smaller than the difference 15 between the degree of occlusion of the first road side unit a and the degree of occlusion of the second road side unit B, so the first road side unit B is selected as the target road side unit of the second road side unit.

It should be noted that different degrees of occlusion may affect the GPS positioning of the roadside unit to different degrees. The higher the shielding degree is, the greater the influence on the signal transmission and reception of the road side unit is. In order to ensure that the second road side unit can acquire the differential data of the first road side unit adapted to the environment where the second road side unit is located, the first road side unit with the smallest difference value between the shielding degree value and the shielding degree value of the second road side unit can be identified as the target road side unit.

Therefore, the method can ensure that the environment of the target road side unit is more similar to the environment of the second road side unit, the difference data of the target road side unit has actual reference value, and the accuracy of the positioning of the running vehicle is ensured. And through setting up the degree of sheltering from degree value that corresponds with environment identification information, also can guarantee to carry out the rationality of comparing through environment identification information.

Based on the embodiment shown in fig. 2, in one embodiment of the present application, the identification information includes environment identification information and location identification information;

identifying a target road side unit from a first road side unit according to the identification information of the first road side unit and the identification information of a second road side unit, and the method comprises the following steps:

and matching the environment identification information and the position identification information of the first road side unit with the environment identification information and the position identification information of the second road side unit, and identifying the first road side unit with the environment identification information and the position identification information matched with the environment identification information and the position identification information of the second road side unit as the target road side unit.

In this embodiment, the identification information may further include location identification information, which may be information indicating a specific location where the roadside unit is located. For example, the location identification information of the roadside unit may be embodied in the form of longitude, latitude, and altitude. In other embodiments, the position identification information of the roadside unit may also be embodied in other forms, and the present application is not particularly limited herein.

And matching the environment identification information and the position identification information of the first road side unit with the environment identification information and the position identification information of the second road side unit, and identifying the first road side unit with the environment identification information and the position identification information which are closest to the environment identification information and the position identification information of the second road side unit as a target road side unit of the second road side unit.

Specifically, different weights may be set for the environment identification information and the position identification information of the roadside unit. Calculating a difference value between the environment identification information of each first road side unit and the environment identification information of the second road side unit, such as a difference value of an occlusion degree value, and a difference value between the position identification information of each first road side unit and the position identification information of the second road side unit, such as a distance between the first road side unit and the second road side unit according to the position identification information of the first road side unit and the second road side unit. And performing weighted sum operation on the two difference values to obtain an adaptation value between each first road side unit and each second road side unit, wherein the larger the adaptation value is, the more matched the first road side unit and the second road side unit is, and the difference data of the first road side unit has actual reference value. Therefore, the first road side unit with the maximum adaptation value with the second road side unit is identified as the target road side unit, and the rationality of the differential data of the second road side unit is ensured.

In addition, the similarity of the environmental identification information of the first road side unit and the second road side unit may be compared in advance, and the first road side unit with the maximum similarity may be identified as the target road side unit. If a plurality of first road side units with the same similarity exist, calculating the distance between the first road side unit and the second road side unit according to the position identification information of the first road side unit and the position identification information of the second road side unit, and selecting the first road side unit with the minimum distance between the first road side unit and the second road side unit from the plurality of first road side units with the same similarity as a target road side unit.

Therefore, the selected target road side unit can be ensured to be the first road side unit with the highest similarity with the second road side unit, and the rationality of obtaining the differential data of the second road side unit is ensured.

Based on the foregoing embodiment, in an embodiment of the present application, before receiving differential information sent by the first route side unit or the server, the processing method further includes:

and broadcasting differential data request information of the second road side unit, wherein the differential data request information comprises identification information of the second road side unit, so that the first road side unit or the server feeds back the differential information according to the differential data request information.

The differential data request information may be information used by the second road side unit to request to obtain the differential data. In an example, if a GPS signal receiver is configured on the second roadside unit, the second roadside unit may periodically send an operation state verification request to the GPS signal receiver to detect whether the GPS signal receiver operates normally. If the GPS signal receiver returns the state information of normal work to the second road side unit, the second road side unit sends a work state verification request to the GPS signal receiver at the next moment according to a preset interval; and if the second road side unit does not receive the normal working state information returned by the GPS signal receiver or the abnormal working state information returned by the GPS signal receiver, the second road side unit generates differential data request information and broadcasts the differential data request information.

In another example, if the second roadside unit is not configured with a GPS signal receiver, the differential data request information may be generated and broadcast at a predetermined interval, where the predetermined interval may be 1 hour, 3 hours, or 12 hours, and the like, and those skilled in the art may configure the differential data request information according to actual implementation needs, which is not particularly limited in this application.

When the first road side unit or the server receives the differential data request information broadcasted by the second road side unit, the identification information of the second road side unit can be obtained from the first road side unit or the server, matching is carried out according to the identification information of the second road side unit and the identification information of the first road side unit, and if matching is successful, differential data is sent to the second road side unit, so that the second road side unit broadcasts the differential data as self differential data.

Specifically, if the first roadside unit receives the differential data request information of the second roadside unit, the identification information of the second roadside unit is matched with the identification information of the first roadside unit, and if the matching is successful (for example, the difference between the two occlusion degree values is smaller than a certain threshold value or the similarity between the two occlusion degree values is higher than the certain threshold value, and the like), the first roadside unit sends the differential information of the first roadside unit to the second roadside unit. The matching method may be as described above and thus will not be described in detail. The second roadside unit may identify a target roadside unit from the first roadside unit according to the received differential information of the first roadside unit, and broadcast differential data of the roadside unit as its own differential data.

Therefore, the first road side unit can determine whether to be matched with the second road side unit in advance, the effectiveness of the differential information received by the second road side unit is guaranteed, and the first road side unit which is not matched does not need to send the differential information to the second road side unit, so that the power consumption of the first road side unit is reduced.

If the server receives the differential data request information of the second road side unit, the server can match the identification information of the first road side unit received by the server with the identification information of the second road side unit, and send the differential data of the first road side unit with the highest matching degree to the second road side unit, so that the second road side unit broadcasts the differential data as the differential data of the second road side unit, and the rationality of the differential data acquired by the second road side unit is ensured.

Based on the embodiment shown in fig. 2, fig. 4 is a schematic flow chart illustrating a process of receiving differential information of a first road side unit further included in the differential data processing method according to an embodiment of the present application. Referring to fig. 4, receiving the differential information of the first road side unit at least includes steps S410 to S430, which are described in detail as follows:

in step S410, broadcast cycle information of the first route side unit is acquired from the received differential information sent by the first route side unit.

The broadcast period information may be information indicating a broadcast time of the first road side unit.

In an embodiment of the present application, when the first road side unit broadcasts its own differential information, the differential information may include broadcast cycle information of the first road side unit. When the second road side unit receives the differential information broadcast by the first road side unit, the broadcast period information of the first road side unit can be obtained from the differential information.

In step S420, a broadcast time of the first road side unit is determined according to the broadcast period information.

In this embodiment, the next broadcast time of the first roadside unit may be determined according to the acquired broadcast period information of the first roadside unit, for example, the broadcast period information of the first roadside unit may be broadcast once every four hours, and the current time is 12:00, the broadcast time of the first roadside unit is 16:00, 20:00, … …, and the second roadside unit may receive the differential information at the specific broadcast time without querying in real time whether the differential information is broadcast.

Therefore, the second road side unit can receive the differential information of the first road side unit at a specific time according to the broadcast time of the first road side unit, and the differential information and the broadcast time do not need to be received and transmitted in real time, so that the respective power consumption is reduced.

In step S430, differential information broadcasted by the first road side unit is received at the next broadcast time of the first road side unit.

In the embodiment shown in fig. 4, the first roadside unit broadcasts its own broadcast cycle information, so that the second roadside unit can receive the differential information of the first roadside unit at a specific time without performing query or reception in real time, and the first roadside unit does not need to perform broadcast in real time either. Therefore, the power consumption of the first road side unit and the second road side unit can be reduced, the broadcasting and the sending are performed at the appointed time, the information sending and receiving synchronization of the first road side unit and the second road side unit can be ensured, the information loss is prevented, and the stability of the second road side unit for obtaining the differential information is ensured.

Fig. 5 is a flowchart illustrating a differential data processing method according to an embodiment of the present application, which may be applied to a first road-side unit. Referring to fig. 5, the processing method of the differential data at least includes steps S510 to S530, which are described in detail as follows:

in step S510, positioning information of the first roadside unit is acquired.

In this embodiment, since the first roadside unit is configured with the GPS signal receiver, the first roadside unit can receive GPS positioning information for the first roadside unit through the GPS signal receiver. The positioning information at least comprises pseudo-range measurement information and carrier phase measurement information of the first road side unit, so that the server can calculate differential data of the first road side unit according to the positioning information.

In step S520, the positioning information and the identification information of the first road side unit are sent to a server, so that the server generates differential data corresponding to the first road side unit.

In this embodiment, the identification information of the first road side unit may include, but is not limited to, identity identification information, environment identification information, and location identification information of the first road side unit, etc. For example, the identification information of the first road side unit may be a device number of the first road side unit or other identification information uniquely corresponding to the first road side unit.

The server may generate differential data corresponding to the first road side unit according to the received positioning information and the position identification information of the first road side unit.

In step S530, the differential data returned by the server is received, so that the second road side unit acquires the differential data.

In this embodiment, after the server generates the differential data corresponding to the first road side unit, the differential data may be sent to the corresponding first road side unit for broadcasting by the first road side unit for positioning by the traveling vehicle. The second road side unit may also acquire the differential data of the first road side unit through the first road side unit, so as to broadcast the differential data as its own differential data. Therefore, the stability of the second road side unit for acquiring the differential data is ensured, and the accuracy of the positioning of the running vehicle is further ensured.

Based on the embodiment shown in fig. 5, in an embodiment of the present application, after receiving the differential data returned by the server, the processing method further includes:

and broadcasting the differential information of the first road side unit, wherein the differential information comprises identification information and differential data, so that the second road side unit acquires the differential information.

In this embodiment, the first road side unit may generate its own differential information and broadcast it according to the differential data returned by the server and its own identification information. The second road side unit can obtain the differential information broadcasted by the first road side unit, correspondingly selects the differential data of the matched first road side unit as the differential data of the second road side unit and broadcasts the differential data so as to position the running vehicle. Therefore, even if the second road side unit is not provided with the GPS signal receiver or the GPS signal receiver fails, the differential data can be stably acquired and broadcasted, the stability of acquiring the differential data by the second road side unit is ensured, and the accuracy of positioning the running vehicle is further ensured.

Based on the embodiment shown in fig. 5, fig. 6 is a schematic flow chart illustrating that the first road side unit further includes in the differential data processing method according to an embodiment of the present application broadcasts differential information. Referring to fig. 6, the first road side unit broadcast difference information at least includes steps S610 to S630, which are described in detail as follows:

in step S610, according to the received differential data request information of the second roadside unit, the identification information of the second roadside unit is obtained.

In this embodiment, when the second roadside unit needs to acquire the differential data, the differential data request information may be broadcast to the outside, and the differential data request information may include identification information of the second roadside unit. The identification information of the second roadside unit may include, but is not limited to, identity identification information, environment identification information, and location identification information of the second roadside unit.

After the first road side unit receives the differential data request information of the second road side unit, the score checking data request information can be analyzed, and the identification information of the second road side unit can be obtained from the score checking data request information.

In step S620, matching is performed according to the identification information of the first road side unit and the identification information of the second road side unit.

In this embodiment, the first roadside unit may match its own identification information with the acquired identification information of the second roadside unit to determine whether the first roadside unit matches the second roadside unit.

In step S630, if the identification information of the first road side unit matches the identification information of the second road side unit, the differential information of the first road side unit is sent to the second road side unit, where the differential information includes the identification information and the differential data.

In this embodiment, according to the matching result of the identification information, if the identification information of the first roadside unit matches the identification information of the second roadside unit, the first roadside unit may send its own differential information to the second roadside unit.

Illustratively, the identification information of the second road side unit includes environment identification information, and if the environment identification information of the first road side unit is consistent with the environment identification information of the second road side unit, or the difference between the shielding degree value corresponding to the environment identification information of the first road side unit and the shielding degree value corresponding to the environment identification information of the second road side unit is smaller than a certain threshold, it is determined that the first road side unit is matched with the second road side unit, so that the first road side unit can send its own differential information to the second road side unit, so as to ensure the practicability of the differential information obtained by the second road side unit.

For example, the identification information of the second roadside unit includes environment identification information and location identification information of the second roadside unit, the first roadside unit may perform weighting and operation according to a difference between the two environment identification information and a difference between the location identification information, if the similarity between the first roadside unit and the second roadside unit is greater than a certain threshold, it may be determined that the first roadside unit and the second roadside unit are matched, and the first roadside unit may send its own difference information to the second roadside unit.

Fig. 7 is a flowchart illustrating a differential data processing method according to an embodiment of the present application, which may be applied to a server. Referring to fig. 7, the method for processing differential data at least includes steps S710 to S720, which are described in detail as follows:

in step S710, positioning information and identification information of at least one first road side unit are received.

In this embodiment, after receiving GPS positioning information for the first roadside unit, the first roadside unit may send the GPS positioning information and its identification information to the server, where the identification information of the first roadside unit includes, but is not limited to, identity identification information, environment identification information, and location identification information of the first roadside unit.

It should be noted that the position identification information of the first roadside unit is known coordinate information of the first roadside unit, and the coordinate information may be embodied in a form of longitude, latitude, and altitude, for example.

It should be understood that the server may receive at least one, two, or any number of the location information and identification information transmitted by the first roadside unit.

In step S720, differential data corresponding to the at least one first road side unit is generated according to the positioning information and the identification information of the at least one first road side unit.

In this embodiment, the server may perform calculation according to the received positioning information of the first road-side unit and the coordinate information of the first road-side unit, so as to obtain differential data corresponding to the first road-side unit.

Based on the embodiment shown in fig. 7, in an embodiment of the present application, the method for processing differential data further includes:

and sending the differential data of the at least one first road side unit to the at least one first road side unit so that the second road side unit can acquire the differential data.

In this embodiment, the server sends the generated differential data to the corresponding first roadside unit, so that the second roadside unit can acquire the differential data from the matched first roadside unit to broadcast as its own differential data for positioning by the traveling vehicle.

Based on the embodiment shown in fig. 7, fig. 8 is a schematic flow chart illustrating that the server further includes in the differential data processing method according to an embodiment of the present application sends the differential information of the first roadside unit. Referring to fig. 8, the step of sending the difference information of the first road side unit by the server at least includes steps S810 to S830, which are described in detail as follows:

in step S810, the identification information of the second roadside unit is obtained according to the received differential data request information of the second roadside unit.

In this embodiment, when the second roadside unit needs to acquire the differential data, differential data request information may be generated, where the differential information may include identification information of the second roadside unit, and the second roadside unit sends the differential data request information to the server to request the server for the differential data. The server may obtain the identification information of the second roadside unit from the received differential data request information of the second roadside unit, where the identification information of the second roadside unit may include, but is not limited to, identity identification information, environment identification information, and location identification information of the second roadside unit, and so on.

In step S820, a target roadside unit is identified from the at least one first roadside unit according to the identification information of the at least one first roadside unit and the identification information of the second roadside unit.

In this embodiment, the server may perform matching according to the received identification information of the first roadside unit and the received identification information of the second roadside unit to identify a target roadside unit matched with the second roadside unit from the first roadside unit. The matching method is as described above and will not be described herein.

In step S830, the differential data of the target rsu is sent to the second rsu, so that the second rsu broadcasts the differential data of the target rsu as its own differential data.

In the embodiment shown in fig. 8, the second roadside unit sends the differential data request information to the server, and the server performs matching according to the identification information of the first roadside unit and the identification information of the second roadside unit to determine a target roadside unit matched with the second roadside unit from the first roadside unit, and sends the differential data of the target roadside unit to the second roadside unit, so that the second roadside unit broadcasts the differential data as its own differential data. Therefore, the adaptation of the differential data acquired by the second road side unit and the second road side unit can be ensured, the practicability of the differential data acquired by the second road side unit and the stability of the differential data acquired by the second road side unit are ensured, and the accuracy of the positioning of the running vehicle is further ensured.

Based on the technical solution of the above embodiment, a specific application scenario of the embodiment of the present application is introduced as follows:

fig. 9 shows a flow diagram of a differential data processing method according to an embodiment of the present application. Referring to fig. 9, the processing method of the differential data at least includes steps S910 to S960, which are described in detail as follows:

in step S910, the first road side unit receives positioning information.

In step S920, the first road side unit sends the positioning information and the identification information to the server.

In step S930, the server generates difference data and transmits the difference data to the first roadside unit.

In step S940, the first road side unit broadcasts differential information, which includes differential data and identification information.

In step S950, the second roadside unit identifies the target roadside unit from the first roadside unit according to the identification information of the first roadside unit.

In step S960, the second roadside unit broadcasts the differential data of the target roadside unit to the vehicle-mounted terminal so that the vehicle-mounted terminal can acquire and locate.

Fig. 10 is a flowchart illustrating a differential data processing method according to another embodiment of the present application. Referring to fig. 10, the method for processing differential data at least includes steps S1010 to S1060, which are described in detail as follows:

in step S1010, the first roadside unit receives positioning information.

In step S1020, the first road side unit sends the positioning information and the identification information to the server.

In step S1030, the server generates differential data and transmits the differential data to the first roadside unit.

In step S1040, the second roadside unit broadcasts differential data request information to the first roadside unit, where the differential data request information includes identification information of the second roadside unit.

In step S1050, if the first roadside unit identification information matches the identification information of the second roadside unit, the first roadside unit broadcasts differential data to the second roadside unit.

In step S1060, the second roadside unit broadcasts the differential data of the first roadside unit to the in-vehicle terminal.

Fig. 11 shows a flowchart illustrating a differential data processing method according to still another embodiment of the present application. Referring to fig. 11, the method for processing differential data at least includes steps S1110 to S1160, and the following is described in detail:

in step S1110, the first roadside unit receives positioning information.

In step S1120, the first roadside unit transmits the positioning information and the identification information to the server.

In step S1130, the server generates differential data of the first roadside unit.

In step S1140, the second road-side unit sends differential data request information to the server, the differential data request including identification information of the second road-side unit.

In step S1150, if the identification information of the first road side unit matches the identification information of the second road side unit, the server broadcasts the differential data of the first road side unit to the second road side unit.

In step S1160, the second roadside unit broadcasts the differential data of the first roadside unit to the in-vehicle terminal.

In the embodiments shown in fig. 9, 10 and 11, the second roadside unit may obtain the differential data of the matched first roadside unit from the first roadside unit or the server for broadcasting, so as to ensure the practicability of stably obtaining the differential data and the obtained differential data by the second roadside unit, and further ensure the accuracy of positioning the traveling vehicle.

The following describes embodiments of the apparatus of the present application, which may be used to perform the differential data processing method in the above embodiments of the present application. For details that are not disclosed in the embodiments of the apparatus of the present application, please refer to the embodiments of the differential data processing method described above in the present application.

Fig. 12 shows a block diagram of a differential data processing apparatus according to an embodiment of the present application.

Referring to fig. 12, a differential data processing apparatus according to an embodiment of the present application includes:

a first receiving module 1210, configured to receive differential information of a first route side unit sent by a first route side unit or a server, where the differential information includes identification information and differential data;

the identifying module 1220 is configured to identify a target road side unit from the first road side unit according to the identification information of the first road side unit and the identification information of the second road side unit;

the first processing module 1230 is configured to broadcast the differential data of the target rsu as the differential data of the second rsu, so that a traveling vehicle can be located.

In some embodiments of the present application, based on the foregoing scheme, the identification information includes environment identification information, and the identifying module 1220 is configured to: acquiring an occlusion degree value corresponding to the environment identification information of the first road side unit and an occlusion degree value corresponding to the environment identification information of the second road side unit; and identifying the first road side unit with the minimum difference value between the shielding degree value and the shielding degree value of the second road side unit as a target road side unit.

In some embodiments of the present application, based on the foregoing scheme, the identification information includes environment identification information and location identification information, and the identification module 1220 is configured to: and matching the environment identification information and the position identification information of the first road side unit with the environment identification information and the position identification information of the second road side unit, and identifying the first road side unit matched with the second road side unit as the target road side unit.

In some embodiments of the present application, based on the foregoing solution, before receiving the differential information sent by the first route side unit or the server, the first processing module 1230 is further configured to: and broadcasting differential data request information of the second road side unit, wherein the differential data request information comprises identification information of the second road side unit, so that the first road side unit or the server feeds back the differential information according to the differential data request information.

In some embodiments of the present application, based on the foregoing solution, the first processing module 1230 is further configured to: acquiring broadcast cycle information of a first road side unit from received differential information sent by the first road side unit; determining the broadcast time of the first road side unit according to the broadcast period information; and receiving the differential information broadcast by the first road side unit at the next broadcast time of the first road side unit.

Fig. 13 shows a block diagram of a differential data processing apparatus according to another embodiment of the present application.

Referring to fig. 13, a differential data processing apparatus according to another embodiment of the present application includes:

an obtaining module 1310, configured to obtain positioning information of a first road side unit;

a sending module 1320, configured to send the positioning information and the identification information of the first road side unit to a server, so that the server generates differential data corresponding to the first road side unit;

the second processing module 1330 receives the differential data returned by the server, so that the second road side unit obtains the differential data.

In some embodiments of the present application, based on the foregoing scheme, after receiving the differential data returned by the server, the second processing module 1330 is further configured to: and broadcasting the differential information of the first road side unit, wherein the differential information comprises the identification information and differential data, so that the second road side unit can acquire the differential information.

In some embodiments of the present application, based on the foregoing scheme, after receiving the differential data returned by the server, the second processing module 1330 is further configured to: acquiring identification information of a second road side unit according to received differential data request information of the second road side unit; matching according to the identification information of the first road side unit and the identification information of the second road side unit; and if the identification information of the first road side unit is matched with the identification information of the second road side unit, sending the differential information of the first road side unit to the second road side unit, wherein the differential information comprises the identification information and differential data.

Fig. 14 shows a block diagram of a differential data processing apparatus according to yet another embodiment of the present application.

Referring to fig. 14, a differential data processing apparatus according to still another embodiment of the present application includes:

a second receiving module 1410, configured to receive positioning information and identification information of at least one first road side unit;

a third processing module 1420, configured to generate differential data corresponding to the at least one first road-side unit according to the positioning information and the identification information of the at least one first road-side unit.

In some embodiments of the present application, based on the foregoing, the third processing module 1420 is further configured to: and sending the differential data of the at least one first road side unit to the at least one first road side unit so that the second road side unit can acquire the differential data.

In some embodiments of the present application, based on the foregoing, the third processing module 1420 is further configured to: acquiring identification information of the second road side unit according to the received differential data request information of the second road side unit; identifying a target road side unit from the at least one first road side unit according to the identification information of the at least one first road side unit and the identification information of the second road side unit; and then sending the differential data of the target road side unit to the second road side unit so that the second road side unit broadcasts the differential data of the target road side unit as the differential data of the second road side unit.

It should be noted that the computer system of the electronic device shown in fig. 15 is only an example, and should not bring any limitation to the functions and the scope of use of the embodiments of the present application.

As shown in fig. 15, the computer system includes a Central Processing Unit (CPU)1501 which can perform various appropriate actions and processes, such as performing the methods described in the above embodiments, according to a program stored in a Read-Only Memory (ROM) 1502 or a program loaded from a storage section 1508 into a Random Access Memory (RAM) 1503. In the RAM 1503, various programs and data necessary for system operation are also stored. The CPU 1501, the ROM 1502, and the RAM 1503 are connected to each other by a bus 1504. An Input/Output (I/O) interface 1505 is also connected to bus 1504.

The following components are connected to the I/O interface 1505: an input portion 1506 including a keyboard, a mouse, and the like; an output section 1507 including a Display such as a Cathode Ray Tube (CRT), a Liquid Crystal Display (LCD), and a speaker; a storage portion 1508 including a hard disk and the like; and a communication section 1509 including a network interface card such as a LAN (Local area network) card, a modem, or the like. The communication section 1509 performs communication processing via a network such as the internet. A drive 1510 is also connected to the I/O interface 1505 as needed. A removable medium 1511 such as a magnetic disk, an optical disk, a magneto-optical disk, a semiconductor memory, or the like is mounted on the drive 1510 as necessary, so that a computer program read out therefrom is mounted into the storage section 1508 as necessary.

In particular, according to embodiments of the application, the processes described above with reference to the flow diagrams may be implemented as computer software programs. For example, embodiments of the present application include a computer program product comprising a computer program embodied on a computer readable medium, the computer program comprising a computer program for performing the method illustrated by the flow chart. In such an embodiment, the computer program may be downloaded and installed from a network through the communication section 1509, and/or installed from the removable medium 1511. When the computer program is executed by a Central Processing Unit (CPU)1501, various functions defined in the system of the present application are executed.

It should be noted that the computer readable medium shown in the embodiments of the present application may be a computer readable signal medium or a computer readable storage medium or any combination of the two. A computer readable storage medium may be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination of the foregoing. More specific examples of the computer readable storage medium may include, but are not limited to: an electrical connection having one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a Read-Only Memory (ROM), an Erasable Programmable Read-Only Memory (EPROM), a flash Memory, an optical fiber, a portable Compact Disc Read-Only Memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. In the present application, a computer readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device. In this application, however, a computer readable signal medium may include a propagated data signal with a computer program embodied therein, for example, in baseband or as part of a carrier wave. Such a propagated data signal may take many forms, including, but not limited to, electro-magnetic, optical, or any suitable combination thereof. A computer readable signal medium may also be any computer readable medium that is not a computer readable storage medium and that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device. The computer program embodied on the computer readable medium may be transmitted using any appropriate medium, including but not limited to: wireless, wired, etc., or any suitable combination of the foregoing.

The flowchart and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of systems, methods and computer program products according to various embodiments of the present application. Each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams or flowchart illustration, and combinations of blocks in the block diagrams or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.

The units described in the embodiments of the present application may be implemented by software, or may be implemented by hardware, and the described units may also be disposed in a processor. Wherein the names of the elements do not in some way constitute a limitation on the elements themselves.

As another aspect, the present application also provides a computer-readable medium, which may be contained in the electronic device described in the above embodiments; or may exist separately without being assembled into the electronic device. The computer readable medium carries one or more programs which, when executed by an electronic device, cause the electronic device to implement the method described in the above embodiments.

It should be noted that although in the above detailed description several modules or units of the device for action execution are mentioned, such a division is not mandatory. Indeed, the features and functionality of two or more modules or units described above may be embodied in one module or unit, according to embodiments of the application. Conversely, the features and functions of one module or unit described above may be further divided into embodiments by a plurality of modules or units.

Through the above description of the embodiments, those skilled in the art will readily understand that the exemplary embodiments described herein may be implemented by software, or by software in combination with necessary hardware. Therefore, the technical solution according to the embodiments of the present application can be embodied in the form of a software product, which can be stored in a non-volatile storage medium (which can be a CD-ROM, a usb disk, a removable hard disk, etc.) or on a network, and includes several instructions to enable a computing device (which can be a personal computer, a server, a touch terminal, or a network device, etc.) to execute the method according to the embodiments of the present application.

Other embodiments of the present application will be apparent to those skilled in the art from consideration of the specification and practice of the embodiments disclosed herein. This application is intended to cover any variations, uses, or adaptations of the invention following, in general, the principles of the application and including such departures from the present disclosure as come within known or customary practice within the art to which the invention pertains.

It will be understood that the present application is not limited to the precise arrangements described above and shown in the drawings and that various modifications and changes may be made without departing from the scope thereof. The scope of the application is limited only by the appended claims.

Claims

1. A method for processing differential data applied to a second road side unit includes:

2. The processing method according to claim 1, wherein the identification information includes environment identification information;

acquiring an occlusion degree value corresponding to the environment identification information of the first road side unit and an occlusion degree value corresponding to the environment identification information of the second road side unit;

and identifying the first road side unit with the minimum difference value between the shielding degree value and the shielding degree value of the second road side unit as the target road side unit.

3. The processing method according to claim 1, wherein the identification information includes environment identification information and location identification information;

4. The processing method according to claim 3, wherein before receiving the differential information sent by the first route side unit or the server, the processing method further comprises:

5. The processing method according to claim 1, characterized in that it further comprises:

acquiring broadcast cycle information of a first road side unit from received differential information sent by the first road side unit;

determining the broadcast time of the first road side unit according to the broadcast period information;

and receiving the differential information broadcast by the first road side unit at the next broadcast time of the first road side unit.

6. A method for processing differential data is applied to a first road side unit, and is characterized in that the method comprises the following steps:

acquiring positioning information of a first road side unit;

7. The process of claim 6, wherein after receiving the differential data returned by the server, the process further comprises:

8. The differential data processing method according to claim 6, wherein after receiving the differential data returned by the server, the processing method further comprises:

acquiring identification information of a second road side unit according to received differential data request information of the second road side unit;

matching according to the identification information of the first road side unit and the identification information of the second road side unit;

and if the identification information of the first road side unit is matched with the identification information of the second road side unit, sending the differential information of the first road side unit to the second road side unit, wherein the differential information comprises the identification information and differential data.

9. A processing method of differential data, which is applied to a server, is characterized in that the processing method comprises the following steps:

10. The processing method according to claim 9, characterized in that it further comprises:

11. The processing method according to claim 9, characterized in that it further comprises:

acquiring identification information of the second road side unit according to the received differential data request information of the second road side unit;

identifying a target road side unit from the at least one first road side unit according to the identification information of the at least one first road side unit and the identification information of the second road side unit;

and sending the differential data of the target road side unit to the second road side unit so that the second road side unit broadcasts the differential data of the target road side unit as the differential data of the second road side unit.

12. An apparatus for processing differential data, comprising:

13. An apparatus for processing differential data, comprising:

14. An apparatus for processing differential data, comprising: