CN114079884A

CN114079884A - Transmission control method, device, equipment and terminal for map data

Info

Publication number: CN114079884A
Application number: CN202010817505.2A
Authority: CN
Inventors: 陈殿勇; 房家奕
Original assignee: Datang Gaohong Zhilian Technology Chongqing Co ltd
Current assignee: Datang Gaohong Zhilian Technology Chongqing Co ltd
Priority date: 2020-08-14
Filing date: 2020-08-14
Publication date: 2022-02-22

Abstract

The invention provides a transmission control method, device, equipment and terminal of map data, and relates to the technical field of communication. The method is applied to the car networking terminal and comprises the steps of obtaining first data provided by a map data platform and obtaining second data provided by a straight-through link map sending device; the map element information in the first data comprises position coordinates, and the map element information in the second data does not comprise the position coordinates or comprises coordinate indication information; map data is generated based on the first data and the second data. Therefore, the problem that geographical coordinates must be deflected when straight-through link MAP sending equipment such as road side equipment transmits an MAP MAP through a V2X PC5 interface can be avoided, the MAP precision can be kept, the high-level requirements of road cooperative application scenes such as automatic driving and the like can be met, meanwhile, the length of a MAP message transmitted through a V2X PC5 interface can be effectively reduced, more node data can be carried in the same MAP message, air interface resources are saved, and the transmission efficiency is improved.

Description

Transmission control method, device, equipment and terminal for map data

Technical Field

The present invention relates to the field of communications technologies, and in particular, to a method, an apparatus, a device, and a terminal for controlling transmission of map data.

Background

In the development of mobile communication systems, in order to better meet the user requirements and improve the efficiency of information interaction between devices, a PC5 interface is introduced between the devices. The PC5 interface is currently available for V2X (Vehicle-to-anything).

V2X MAP definition: the map message is broadcasted by a Road Side Unit (RSU) and transmits map information of a local area to vehicles, including intersection (node) information, link (link) information, lane (lane) information, connection relation between roads, and the like of the local area. Wherein a single map message may contain map data for multiple intersections or areas.

At present, when a V2X MAP message is broadcasted through a PC5 interface, geographical coordinates need to be deflected, so that the MAP precision is reduced, and the high-level requirements of the road collaborative application scene such as automatic driving and the like cannot be met.

Disclosure of Invention

The invention provides a transmission control method, a transmission control device, transmission control equipment and a transmission control terminal of MAP data, and solves the problems that in the prior art, when a V2X MAP message is broadcasted through a PC5 interface, geographical coordinates need to be deflected, so that the MAP precision is reduced, and advanced requirements of vehicle-road cooperative application scenes such as automatic driving and the like cannot be met.

According to a first aspect of the present invention, there is provided a transmission control method of map data, applied to a terminal of a vehicle networking, comprising:

acquiring first data provided by a map data platform and second data provided by a through link map sending device; the map element information in the first data comprises position coordinates, and the map element information in the second data does not comprise the position coordinates or comprises coordinate indication information;

and generating map data according to the first data and the second data.

According to a second aspect of the present invention, there is provided a transmission control method for map data, applied to a map data platform, comprising:

generating first data and second data; the map element information in the first data comprises position coordinates, and the map element information in the second data does not comprise the position coordinates or comprises coordinate indication information;

providing the first data to a vehicle networking terminal;

providing the second data to a direct link map sending device.

According to a third aspect of the present invention, there is provided a terminal for internet of vehicles, comprising: a transceiver, a memory, a processor and a computer program stored on the memory and executable on the processor, the processor implementing the transmission control method of map data as described in the first aspect above when executing the computer program. .

According to a fourth aspect of the present invention, there is provided a transmission control apparatus of map data, comprising: a transceiver, a memory, a processor and a computer program stored on the memory and executable on the processor, the processor implementing the transmission control method of map data as described in the second aspect above when executing the computer program.

According to a fifth aspect of the present invention, there is provided a transmission control device for map data, applied to a terminal of a vehicle networking, comprising:

the map data platform comprises an acquisition module, a mapping module and a communication link map sending device, wherein the acquisition module is used for acquiring first data provided by the map data platform and acquiring second data provided by the communication link map sending device; the map element information in the first data comprises position coordinates, and the map element information in the second data does not comprise the position coordinates or comprises coordinate indication information;

and the first processing module is used for generating map data according to the first data and the second data.

According to a sixth aspect of the present invention, there is provided a transmission control device for map data, applied to a map data platform, comprising:

the second processing module is used for generating first data and second data; the map element information in the first data comprises position coordinates, and the map element information in the second data does not comprise the position coordinates or comprises coordinate indication information;

the first data providing module is used for providing the first data to the Internet of vehicles terminal;

and the second data providing module is used for providing the second data to the communication link map sending equipment.

According to a seventh aspect of the present invention, there is provided a computer-readable storage medium having stored thereon a computer program which, when executed by a processor, implements the steps of the transmission control method of map data as described in the first aspect above, or the steps of the transmission control method of map data as described in the second aspect above.

The technical scheme of the invention has the beneficial effects that:

according to the scheme, the vehicle networking terminal acquires first data provided by a map data platform and second data provided by a straight-through link map sending device; the map element information in the first data comprises position coordinates, and the map element information in the second data does not comprise the position coordinates or comprises coordinate indication information; and finally, generating map data according to the first data and the second data. Therefore, the problem that geographical coordinate data must be deflected when straight-through link MAP sending equipment such as road side equipment transmits an MAP MAP through a V2X PC5 interface can be avoided, the MAP precision can be kept, the advanced requirements of road cooperative application scenes such as automatic driving and the like can be met, meanwhile, the length of a MAP message transmitted through a V2X PC5 interface can be effectively reduced, more node data can be carried in the same MAP message, air interface resources are saved, and the transmission efficiency is improved.

Drawings

Fig. 1 is a flowchart illustrating a method for controlling transmission of map data according to an embodiment of the present invention;

FIG. 2 is a second flowchart illustrating a control flow of map data transmission according to an embodiment of the present invention;

FIG. 3 is a schematic diagram of a map topology of a local area in accordance with an embodiment of the present invention;

fig. 4 is a block diagram showing a configuration of a map data transmission control apparatus according to an embodiment of the present invention;

fig. 5 is a block diagram of a second map data transmission control apparatus according to an embodiment of the present invention;

fig. 6 shows a block diagram of a terminal of the internet of vehicles according to the embodiment of the present invention;

fig. 7 is a block diagram showing a configuration of a map data transmission control apparatus according to an embodiment of the present invention.

Detailed Description

In order to make the technical problems, technical solutions and advantages of the present invention more apparent, the following detailed description is given with reference to the accompanying drawings and specific embodiments. In the following description, specific details such as specific configurations and components are provided only to help the full understanding of the embodiments of the present invention. Thus, it will be apparent to those skilled in the art that various changes and modifications may be made to the embodiments described herein without departing from the scope and spirit of the invention. In addition, descriptions of well-known functions and constructions are omitted for clarity and conciseness.

It should be appreciated that reference throughout this specification to "one embodiment" or "an embodiment" means that a particular feature, structure or characteristic described in connection with the embodiment is included in at least one embodiment of the present invention. Thus, the appearances of the phrases "in one embodiment" or "in an embodiment" in various places throughout this specification are not necessarily all referring to the same embodiment. Furthermore, the particular features, structures, or characteristics may be combined in any suitable manner in one or more embodiments.

In various embodiments of the present invention, it should be understood that the sequence numbers of the following processes do not mean the execution sequence, and the execution sequence of each process should be determined by its function and inherent logic, and should not constitute any limitation to the implementation process of the embodiments of the present invention.

In addition, the terms "system" and "network" are often used interchangeably herein.

In the embodiments provided herein, it should be understood that "B corresponding to a" means that B is associated with a from which B can be determined. It should also be understood that determining B from a does not mean determining B from a alone, but may be determined from a and/or other information.

In the embodiment of the present invention, the access network may be an access network including a Macro Base Station (Macro Base Station), a micro Base Station (Pico Base Station), a Node B (3G mobile Station), an enhanced Base Station (eNB), a Home enhanced Base Station (Femto eNB or Home eNode B or Home eNB or HeNB), a relay Station, an access point, an RRU (Remote Radio Unit), an RRH (Remote Radio Head), and the like. The user terminal may be a mobile phone (or handset), or other device capable of sending or receiving wireless signals, including user Equipment, a Personal Digital Assistant (PDA), a wireless modem, a wireless communicator, a handheld device, a laptop computer, a cordless phone, a Wireless Local Loop (WLL) station, a CPE (Customer Premise Equipment) or a mobile smart hotspot capable of converting mobile signals into WiFi signals, a smart appliance, or other devices capable of autonomously communicating with a mobile communication network without human operation, and so on.

In the V2X message layer standard, Map messages are specifically defined in the following table (note: the following table only gives part of the content relevant to the present application, and others are not provided):

the refPos field refers to a map node position value and a reference coordinate in the node range, and is expressed by an absolute three-dimensional coordinate without deviation. The points field refers to a road section center point column, and the geometric shape of the road is abstractly described in the Map message in a pointList mode.

The road abstract point selection requirement is as follows: the first point is a first point of the upstream node entering the road section; the last point is the center point of the stop line entering the downstream node; the Link point concentrates on the point on the connecting line of any continuous two points, and the vertical distance from the actually covered road center line needs to be smaller than the actual error value (actual error value); the vertical distance from a point on the connecting line of any two continuous points in Lane set to the center line of the Lane actually covered needs to be smaller than the ActualError value. In RTS (Road traffic sign), if a Road affected by RTS and RTE (Road traffic event) is an actual Road, it is also required to meet the above specifications.

It should be noted that, for the RSU, the minimum transmission of the MAP message may include the following: when the road side unit RSU transmits a MAP message, an MSG _ Messageframe with MSG _ MAP is correspondingly generated. The msgmap message must include a MAP Node data list (DF _ NodeList), which includes one or more MAP Node information (DF _ Node). An ordered pair of map nodes uniquely identifies a directed Link (DF _ Link). In principle, there is at most one unique link between a pair of nodes. The map Node (DF _ Node) data frame contains a link list (DF _ LinkList) with the Node as a downstream Node. Therefore, the links contained by all the different map nodes are not repeated. Therein, the Link (DF _ Link) data frame must contain a map node number indicating the upstream node of the Link. The Lane (DF _ Lane) data frame must contain a DE _ Lane id field. A road section includes at least one lane, each lane having a unique lane number (LaneID) and numbered from 1 to the left and right with reference to the driving direction of the lane.

In a mechanism defined by an MAP message set, a cloud control platform issues MAP fragment data to a Road Side Unit (RSU), the RSU is packaged to send MAP messages and broadcasts the MAP messages to an OBU through a PC5 interface, wherein node information carries a required field refPos and represents absolute three-dimensional coordinates of node positions, and the absolute three-dimensional coordinates include longitude, latitude and height; and the road section link and lane information carries condition-dependent fields points, and the points field is a road section center point row field and is used for indicating the deviation value of a road section center position point or a lane center position point relative to a reference coordinate, and comprises longitude and latitude deviation and height deviation.

When the MAP message is broadcast and transmitted through a PC5 interface, the refPos of the node, the points of the link and the points of the lane all need to be required to be deflected, so that the MAP precision is seriously reduced, and the high-level requirements of the road collaborative application scene such as automatic driving and the like cannot be met.

Specifically, embodiments of the present invention provide a method, an apparatus, a device, and a terminal for controlling transmission of MAP data, which solve the problem in the prior art that MAP accuracy is seriously reduced and advanced requirements of road collaborative application scenarios such as autopilot cannot be met when MAP messages are transmitted through a PC5 interface in a broadcast manner.

First embodiment

As shown in fig. 1, an embodiment of the present invention provides a transmission control method for map data, which is applied to a car networking terminal, where the car networking terminal includes but is not limited to: an On board Unit (OBU for short), a handheld terminal and the like.

Specifically, the method for controlling transmission of map data may include the steps of:

step 11: acquiring first data provided by a map data platform and second data provided by a through link map sending device; the map element information in the first data comprises position coordinates, and the map element information in the second data does not comprise the position coordinates or comprises coordinate indication information;

the direct link map sending device may include a road side device RSU, or an on board unit OBU or a handheld device VRU.

Wherein the map element information includes at least one of: node information, road section center point list information and lane center point list information.

In this step, the map element information in the first data includes the position coordinate, and the map element information in the second data does not include the position coordinate or includes coordinate indication information, which may specifically include the following two cases:

the first condition is as follows:

when the position coordinates in the first data include position coordinates of a link center point row and/or position coordinates of a lane center point row, the position coordinates of the link center point row and the position coordinates of the lane center point row are not included in the second data.

Specifically, the position coordinates of the road section center point row and the position coordinates of the lane center point row are absolute position coordinates; or the position coordinates of the road section center point row and the position coordinates of the lane center point row comprise position coordinates of nodes and offset coordinates of the road section center point row and the lane center point row relative to the nodes.

Note that the absolute position coordinates refer to actual position coordinates; the position coordinates of the node refer to absolute three-dimensional coordinates (described by a refPos field) of the position of the node, including longitude, latitude, and height, which are actual coordinate values of the position of the node; offset coordinates (described by points field) of the road section center point row and the lane center point row relative to the nodes indicate the deviation values of the road section center position point and the lane center position point relative to the nodes, and comprise longitude deviation, latitude deviation and height deviation.

It is understood that the absolute position coordinates of the link center point row and the lane center point row can be obtained from the offset coordinates of the position coordinates of the node with respect to the node and the offset coordinates of the link center point row and the lane center point row with respect to the node.

Specifically, when the map element information in the second data does not include the position coordinates, the record of the coordinate indication information of the road section center point row and the coordinate indication information of the lane center point row in the map element information in the second data is null or a second preset value. That is, when the record of the coordinate indication information of the link center point row and the coordinate indication information of the lane center point row in the second data is empty, the link center point row field (points) of link and lane does not appear in the second data.

Further, the position coordinates of the nodes carried by the map element information in the second data are recorded as a first preset value. For example, Longitude Latitude takes a value of 0, Latitude Longitude takes a value of 0, and altitude Elevation takes a value of 0.

In the above case, the first data mainly includes basic geographical information, such as geographical location coordinates including node, link, and lane. The second data mainly comprises information irrelevant to the geographic position coordinates, such as attribute configuration information of the node, link and lane, and all fields of the node, link and lane relevant to the geographic position coordinates in the second data do not carry actual three-dimensional coordinate parameters. The attribute configuration information includes link width of link, movements (connection relationship between road and downstream link), speed limit, LaneWidth of lane, LaneAttributes, maneuvers, connectto (connection relationship between lane and downstream lane), speed limit, and the like.

Case two:

when the position coordinate included in the first data is a position coordinate of a node, the coordinate indication information included in the second data is an offset coordinate of a road section center point row relative to the node and/or an offset coordinate of a lane center point row relative to the node.

For example, when the first data includes absolute three-dimensional coordinates of the node position, the second data includes deviation coordinates of the link center position point and the lane center position point with respect to the node, specifically, a longitude deviation, a latitude deviation, and an altitude deviation. The offset coordinates of the road section center point row and the lane center point row relative to the nodes are described by points fields.

Step 12: and generating map data according to the first data and the second data.

In the embodiment, the vehicle networking terminal acquires first data provided by the map data platform and second data sent by the through link map sending equipment; the map element information in the first data comprises position coordinates, and the map element information in the second data does not comprise the position coordinates or comprises coordinate indication information; and finally, generating map data according to the first data and the second data. Therefore, the problem that geographical coordinate data must be deflected when road side unit and other communication link MAP sending equipment transmit the MAP MAP through a V2X PC5 interface can be avoided, the MAP precision can be kept, the high-level requirements of road cooperative application scenes such as automatic driving and the like can be met, meanwhile, the length of the MAP message transmitted through the V2X PC5 interface can be effectively reduced, more node data can be carried in the same MAP message, air interface resources are saved, and the transmission efficiency is improved.

Note that the first data is provided by the map data platform through a non-direct link interface.

Specifically, the obtaining of the first data provided by the map data platform may include: acquiring the first data provided by a map data platform in a target transmission mode; the target transmission mode comprises at least one of the following: cellular networks, WIFI networks, wired networks, satellite communications, digital broadcasts, universal serial bus USB, factory presets, and external memory.

Note that the target transport is a transport of a non-direct link (non-PC 5) interface.

In an embodiment, the acquiring the second data provided by the roadside device includes:

receiving the second data provided by a through link map sending device through a through link interface, wherein the second data is provided by the map data platform to the through link map sending device.

Specifically, the MAP data platform sends the second data fragment to the road side unit RSU, and the RSU encapsulates the second data into an ASN.1 format MAP message and broadcasts the MAP message to the vehicle OBU through a V2X PC5 interface at a pre-configured frequency. After receiving the second data sent by the RSU, the OBU searches for a node corresponding to the first data stored locally through a node number (node id) carried by the MAP message, and updates the attribute configuration information of link and lane except for the geographic coordinates under the node in the MAP message to the local, so that the first data and the second data are synthesized into complete MAP data and stored for upper-layer application.

In the above embodiment, the map data platform generates, according to the map data, first data related to the geographic coordinates and second data unrelated to the geographic coordinates, sends the first data to the on-board unit, sends the second data to the through-link map sending device, and sends the second data to the on-board unit by the through-link map sending device, and finally generates the map data after the on-board unit recovers. Therefore, the problem that the geographic coordinate data must be deflected when the MAP MAP is transmitted through the V2X PC5 interface can be solved, the MAP precision can be maintained, the high-level requirements of the road cooperative application scene such as automatic driving and the like can be met, and meanwhile, the length of the MAP message transmitted through the V2X PC5 interface can be effectively reduced, so that more node data can be carried in the same MAP message, air interface resources are saved, and the transmission efficiency is improved.

As one implementation, the same map element in the first data and the second data is numbered the same.

Wherein the map elements include: at least one of a node, a road segment, and a lane.

Further, the step 12 may include:

and processing the map element information with the same number in the first data and the second data to generate map data.

Specifically, according to the two cases (the first case and the second case in the step 11) that the first data and the second data correspond to each other, the map element information with the same number in the first data and the second data is processed, which mainly includes the following three processing modes:

specifically, in the first case, when the position coordinates in the first data are the position coordinates of the link center point row and/or the absolute position coordinates of the lane center point row, the following first method may be mainly adopted for processing:

the first method is as follows: the node position coordinates in the second data are restored, and the absolute position coordinates of the center point row (point list) of the link uniquely identified by the upstream node and the downstream node and the absolute position coordinates of the point row (point list) of the lane (lane) included in the second data are restored.

Specifically, in the first case, when the position coordinates in the first data include the position coordinates of the node and the offset coordinates of the link center point row and the lane center point row with respect to the node, the following two methods are mainly adopted for processing:

the second method comprises the following steps: and restoring the position coordinates of the nodes in the second data, restoring the offset coordinates of the central point rows of each road section (which is uniquely identified by the upstream node and the downstream node) and the lane, which take the position coordinates of the nodes as the reference in the second data, relative to the nodes, and refreshing the offset coordinates of the central point rows of the road section and the lane into absolute position coordinates.

Specifically, in the second case, when the position coordinate included in the first data is the position coordinate of the node, and the coordinate indication information included in the second data is the offset coordinate of the link center point row with respect to the node and/or the offset coordinate of the lane center point row with respect to the node, the following three methods are mainly adopted for processing:

the third method comprises the following steps: the position coordinates of the nodes in the second data are restored, and offset coordinates of the center point rows of the respective links (uniquely identified with the upstream node and the downstream node) and the lanes with respect to the nodes in the second data with the position coordinates of the nodes as a reference are refreshed to absolute position coordinates.

In this embodiment, when the car networking terminal locally stores a plurality of first data and second data, the first data and the second data having the same map element and the same number can be searched through the number of the map element, and further processed to be restored to complete map data. Therefore, the first data and the second data can be recovered to be complete map data locally by the Internet of vehicles terminal, so that the Internet of vehicles terminal can be used by upper-layer applications conveniently.

Further, the method further comprises:

sending a data acquisition request to the map data platform; the map data platform responds to the data acquisition request and provides the first data to the Internet of vehicles terminal

In this embodiment, if the node number carried in the MAP message is not locally queried when the vehicle networking terminal receives the MAP message broadcasted by the RSU, the MAP data platform may initiate a data acquisition request to acquire corresponding first data, send the first data to the vehicle networking terminal in response to the data acquisition request, and combine and store the first data and the second data after the vehicle networking terminal receives the first data, so that the first data and the second data are used by an upper layer application.

Second embodiment

As shown in fig. 2, an embodiment of the present invention provides a transmission control method for map data, which is applied to a map data platform, where the map data platform includes, but is not limited to: cloud control center, map server, etc. Specifically, the map data transmission control method may include the steps of:

step 21, generating first data and second data; the map element information in the first data comprises position coordinates, and the map element information in the second data does not comprise the position coordinates or comprises coordinate indication information;

the first condition is as follows:

when the position coordinates in the first data are position coordinates of a road section center point row and/or position coordinates of a lane center point row, the position coordinates of the road section center point row and the position coordinates of the lane center point row are not included in the second data.

It is to be noted that the absolute position coordinates refer to actual position coordinates of the road section center point row and the lane center point row; the position coordinates of the node may refer to absolute three-dimensional coordinates (described in refPos field) of the node position, including longitude, latitude, and height, which are actual coordinate values of the node position; offset coordinates (described in points field) of the link center point row and the lane center point row with respect to the nodes indicate the magnitude of deviation values of the link center position point and the lane center position point with respect to the nodes, including longitude deviation, latitude deviation, and altitude deviation.

It can be understood that the absolute position coordinates of the road section center point row and the lane center point row can be obtained respectively according to the position coordinates of the nodes, the offset coordinates of the road section center point row relative to the nodes and the offset coordinates of the lane center point row relative to the nodes.

It should be noted that, as another implementation manner, the position coordinates of the nodes carried by the map element information in the second data may also be recorded as an apparently unreasonable value, for example, the altitude is xxxx meters underground, or xxx meters in the air, or outside the china area, or the position deviation from the received signal is greater than a threshold value.

Case two:

For example, when the first data includes absolute three-dimensional coordinates of the node position, the second data includes deviation coordinates of the link center position point and the lane center position point with respect to the node, specifically, a longitude deviation, a latitude deviation, and an altitude deviation.

Step 22, providing the first data to a vehicle networking terminal;

in this step, providing the first data to the car networking terminal includes: providing the first data to an Internet of vehicles terminal through a non-direct link interface.

Specifically, the map data platform can provide the first data to the car networking terminal through a target transmission mode; note that the target transmission mode is a transmission mode of a non-direct link interface.

Specifically, the target transmission mode includes at least one of the following: cellular networks, WIFI networks, wired networks, satellite communications, digital broadcasts, universal serial bus USB, factory presets, and external memory.

And step 23, providing the second data to the direct link map sending device.

Specifically, the direct link map sending device provides the second data to the car networking terminal through a direct link interface.

In this embodiment, the map data platform generates first data and second data; the map element information in the first data comprises position coordinates, and the map element information in the second data does not comprise the position coordinates or comprises coordinate indication information; the first data is further provided to the vehicle networking terminal, and the second data is provided to the through link map sending device. Therefore, the problem that the geographic coordinate data must be deflected when MAP sending equipment transmits a MAP through a V2X PC5 (through link) interface can be avoided, the MAP precision can be kept, the high-level requirements of the road cooperative application scene such as automatic driving and the like can be met, and meanwhile, the length of the MAP message transmitted through the V2X PC5 interface can be effectively reduced, so that more node data can be carried in the same MAP message, air interface resources are saved, and the transmission efficiency is improved.

In one embodiment, the step 22 includes:

receiving a data acquisition request sent by a vehicle networking terminal;

and responding to the data acquisition request, and providing the first data to the Internet of vehicles terminal.

For example, if the node number carried by the MAP message is not locally queried when the vehicle networking terminal receives the MAP message broadcasted by the RSU, the MAP data platform may initiate a data acquisition request to acquire corresponding first data, send the first data to the vehicle networking terminal in response to the data acquisition request, and merge and store the first data and the second data after the vehicle networking terminal receives the first data, for use by an upper layer application.

In an embodiment, the first data and the second data have the same number of the same map element. Wherein the map element comprises at least one of: nodes, road segments, and lanes.

Therefore, under the condition that the plurality of first data and the plurality of second data are locally stored, the first data and the second data with the same number of the same map element can be searched through the number of the map element, and the first data and the second data are further processed to be recovered into complete map data. Therefore, the first data and the second data can be recovered to be complete map data locally by the Internet of vehicles terminal, so that the Internet of vehicles terminal can be used by upper-layer applications conveniently.

In another embodiment, the number and topology of map elements in the first data and the second data are the same.

In this embodiment, the transmission/storage format of the first data may be a MAP message format without multiplexing a message set, that is, it is only necessary to keep that the first data and the second data have the same level relationship of node, link, and lane, and node numbers in the first data and the second data are consistent. In this way, indexing can be facilitated.

It is further noted that if the first data reuses the MAP message format of the message set, the mandatory field in the first data that is independent of the coordinates is set to the second preset value. For example, Msgcount, linkwidth as the optional field can be set arbitrarily, and the OBU ignores after receiving the field.

In an embodiment, the generating the first data and the second data includes:

when the map topology structure in the map data changes, first data and second data are generated from the map data.

In the embodiment, under the condition that the map topological structure is changed, the map data platform updates and generates the first data and the second data according to the changed map topological structure, and sends the first data and the second data to the internet of vehicles terminal, so that the map data in the internet of vehicles terminal can be updated in time.

In an embodiment, the method further comprises:

and generating the second data under the condition that the attribute configuration of the map element in the map data is changed, wherein the second data comprises the updated attribute configuration information of the map element.

In this embodiment, when the attribute configuration of the map element changes, only the second data needs to be updated separately, the updated second data is sent to the roadside unit, and the first data does not need to be updated, which is favorable for improving the transmission efficiency of the map data and reducing the transmission cost of the map data.

The following describes a method for controlling transmission of map data according to the present invention with reference to a map topology diagram of a local area shown in fig. 3.

As in fig. 3, the local map includes: five node nodes which are numbered A, B, C, D, E respectively, wherein 4 links are arranged by taking the node A as a downstream node, the links are 1, link2, link3 and link4 respectively, the corresponding upstream node is B, C, D, E, two lanes are arranged below the link1, and the lanes are lane1 and lane2 respectively.

Assuming that an on-board unit OBU traverses this segment, the following illustrates a map data update example (only the fields relevant to the present invention are shown):

for example, the description will be made by taking an example in which the position coordinates of the link center point row and the position coordinates of the lane center point row in the first data include the position coordinates of the node and the offset coordinates of the link center point row and the lane center point row with respect to the node, and the position coordinates are not included in the second data.

(1) The method comprises the steps that an OBU downloads first data from a map server (or a cloud control platform) through a V2X Uu interface (a cellular network), wherein the first data carry information such as id of a node, refPos, link, point geographic coordinates of lane and the like, refPos fields are used for expressing position coordinates of the node, and point fields of the link and the lane are used for expressing offset coordinates of a road section center point row and a lane center point row relative to the node.

Specifically, examples of the first data are as follows:

(2) the RSU broadcasts a MAP message of the second data to the OBU, which carries information such as node id, link, and lane attribute configuration, and the message is exemplified as follows:

(3) after receiving the MAP message of the second data broadcasted by the RSU, the OBU merges the second data with the first data downloaded from the MAP server, and stores the merged second data locally for use by an upper application, where an example of the complete MAP data is as follows:

the above first embodiment and the second embodiment have been described with respect to the map data processing method of the present invention, respectively, and the following embodiment will further describe a map data processing apparatus corresponding thereto with reference to the drawings.

Third embodiment

As shown in fig. 4, a transmission control apparatus 400 of map data according to an embodiment of the present invention is applied to a terminal in a vehicle networking system, and the apparatus 400 includes:

the obtaining module 401 is configured to obtain first data provided by a map data platform and obtain second data provided by a direct link map sending device; the map element information in the first data comprises position coordinates, and the map element information in the second data does not comprise the position coordinates or comprises coordinate indication information;

a first processing module 402, configured to generate map data according to the first data and the second data.

Optionally, the obtaining module 401 includes:

the receiving submodule is used for receiving the second data provided by the through link map sending equipment through the through link interface, wherein the second data is provided by the map data platform to the through link map sending equipment.

Optionally, the acquired first data is provided by the map data platform through a non-direct link interface.

Optionally, when the position coordinate in the first data is a position coordinate of a road section center point row and/or a position coordinate of a lane center point row, the position coordinate of the road section center point row and the position coordinate of the lane center point row are not included in the second data.

Optionally, the position coordinates of the road section center point row and the position coordinates of the lane center point row are absolute position coordinates;

or

The position coordinates of the road section center point row and the lane center point row include position coordinates of nodes and offset coordinates of the road section center point row and the lane center point row with respect to the nodes.

Optionally, when the position coordinate included in the first data is a position coordinate of a node, the coordinate indication information included in the second data is an offset coordinate of a road section center point row relative to the node and/or an offset coordinate of a lane center point row relative to the node.

Optionally, the apparatus 400 further comprises:

the request sending module is used for sending a data acquisition request to the map data platform; and the map data platform responds to the data acquisition request and provides the first data to the Internet of vehicles terminal.

Optionally, the map element information includes at least one of:

node information;

road section center point row information;

lane center point sequence information.

Optionally, the position coordinates of the nodes carried by the map element information in the second data are recorded as a first preset value.

Optionally, when the map element information in the second data does not include the position coordinate, the record of the coordinate indication information of the road section center point row and the coordinate indication information of the lane center point row in the map element information in the second data is null or a second preset value.

Optionally, the number of the same map element in the first data is the same as that of the same map element in the second data.

Optionally, the first processing module 402 includes:

and the determining submodule is used for processing the map element information with the same number in the first data and the second data to generate map data.

The apparatus 400 is an apparatus corresponding to the method embodiment shown in fig. 1, and all implementation means in the method embodiment are applicable to the embodiment of the map data processing apparatus, and the same technical effects can be achieved.

Fourth embodiment

As shown in fig. 5, a transmission control apparatus 500 for map data according to an embodiment of the present invention is applied to a map data platform, and the apparatus 500 includes:

a second processing module 501, configured to generate first data and second data; the map element information in the first data comprises position coordinates, and the map element information in the second data does not comprise the position coordinates or comprises coordinate indication information;

a first data providing module 502, configured to provide the first data to a car networking terminal;

a second data providing module 503, configured to provide the second data to the direct link map sending device.

Optionally, the direct link map sending device provides the second data to the car networking terminal through a direct link interface.

or

The position coordinates of the link center point row and the lane center point row include position coordinates of nodes and offset coordinates of the link center point row and the lane center point row with respect to the nodes.

Optionally, the map element information includes at least one of:

node information;

road section center point row information;

lane center point sequence information.

Optionally, the node position coordinate carried by the map element information in the second data is recorded as a first preset value.

Optionally, the numbers of the map elements in the first data and the second data are the same.

Optionally, the first data providing module 502 includes:

the receiving unit is used for receiving a data acquisition request sent by the Internet of vehicles terminal;

and the response unit is used for responding to the data acquisition request and providing the first data to the Internet of vehicles terminal.

The map data transmission control device 500 is a device corresponding to the method embodiment shown in fig. 2, and all implementation means in the method embodiment are applied to the map data processing device, so that the same technical effects can be achieved.

Fifth embodiment

In order to better achieve the above object, as shown in fig. 6, a fourth embodiment of the present invention further provides a terminal for a vehicle networking, the terminal comprising: a processor 600; a memory 620 connected to the processor 600 through a bus interface, and a transceiver 610 connected to the processor 600 through a bus interface; the memory 620 is used for storing programs and data used by the processor in performing operations; transmitting data information or pilot frequency through the transceiver 610, and receiving an uplink control channel through the transceiver 610; when the processor 600 calls and executes the programs and data stored in the memory 620, the following steps are implemented:

and generating map data according to the first data and the second data.

Where in fig. 6, the bus architecture may include any number of interconnected buses and bridges, with various circuits being linked together, particularly one or more processors represented by processor 600 and memory represented by memory 620. The bus architecture may also link together various other circuits such as peripherals, voltage regulators, power management circuits, and the like, which are well known in the art, and therefore, will not be described any further herein. The bus interface provides an interface. The transceiver 610 may be a number of elements including a transmitter and a transceiver providing a means for communicating with various other apparatus over a transmission medium. For different terminals, the user interface 630 may also be an interface capable of interfacing with a desired device, including but not limited to a keypad, display, speaker, microphone, joystick, etc. The processor 600 is responsible for managing the bus architecture and general processing, and the memory 620 may store data used by the processor 600 in performing operations.

Optionally, when the processor 600 acquires the second data provided by the roadside device, the processor is specifically configured to:

Optionally, the first data is provided by the map data platform through a non-direct link interface.

or

Optionally, the processor 600 is further configured to:

sending a data acquisition request to the map data platform; and the map data platform responds to the data acquisition request and provides the first data to the Internet of vehicles terminal.

Optionally, the map element information includes at least one of:

node information;

road section center point row information;

lane center point sequence information.

Optionally, when the processor 600 generates the map data according to the first data and the second data, it is specifically configured to:

The terminal of the internet of vehicles provided by the invention acquires the first data provided by the map data platform and acquires the second data provided by the straight-through link map sending equipment; the map element information in the first data comprises position coordinates, and the map element information in the second data does not comprise the position coordinates or comprises coordinate indication information; and generating map data according to the first data and the second data. Therefore, the problem that geographical coordinate data must be deflected when MAP sending equipment such as road side units transmit the MAP MAP aiming at a V2X PC5 interface can be avoided, the MAP precision can be kept, the advanced requirements of road cooperative application scenes such as automatic driving and the like can be met, meanwhile, the length of the MAP message transmitted at the V2X PC5 interface can be effectively reduced, more node data can be carried in the same MAP message, air interface resources are saved, and the transmission efficiency is improved.

Sixth embodiment

In order to better achieve the above object, as shown in fig. 7, a fourth embodiment of the present invention further provides a transmission control apparatus of map data, including: a processor 700; a memory 720 connected to the processor 700 through a bus interface, and a transceiver 710 connected to the processor 700 through a bus interface; the memory 720 is used for storing programs and data used by the processor in performing operations; transmitting data information or pilot frequency through the transceiver 710, and receiving an uplink control channel through the transceiver 710; when the processor 700 calls and executes the programs and data stored in the memory 720, the following steps are implemented:

providing the first data to a vehicle networking terminal;

providing the second data to a direct link map sending device.

A transceiver 710 for receiving and transmitting data under the control of the processor 700.

Where in fig. 7, the bus architecture may include any number of interconnected buses and bridges, with various circuits being linked together, particularly one or more processors represented by processor 700 and memory represented by memory 720. The bus architecture may also link together various other circuits such as peripherals, voltage regulators, power management circuits, and the like, which are well known in the art, and therefore, will not be described any further herein. The bus interface provides an interface. The transceiver 710 may be a number of elements including a transmitter and a transceiver providing a means for communicating with various other apparatus over a transmission medium. For different terminals, the user interface 730 may also be an interface capable of interfacing with a desired device, including but not limited to a keypad, display, speaker, microphone, joystick, etc. The processor 700 is responsible for managing the bus architecture and general processing, and the memory 720 may store data used by the processor 700 in performing operations.

or

Optionally, the map element information includes at least one of:

node information;

road section center point row information;

lane center point sequence information.

Optionally, when the processor 700 provides the first data to the vehicle-mounted unit, the processor is specifically configured to:

receiving a data acquisition request sent by a vehicle networking terminal;

According to the transmission control device of the map data, the map data platform generates first data and second data according to the map data; the map element information in the first data comprises position coordinates, and the map element information in the second data does not comprise the position coordinates or comprises coordinate indication information; the first data is further provided to the vehicle networking terminal, and the second data is provided to the through link map sending device. Therefore, the problem that geographical coordinate data must be deflected when road side unit and other direct link MAP sending equipment transmit the MAP MAP through a V2X PC5 interface can be avoided, the MAP precision can be kept, the advanced requirements of road cooperative application scenes such as automatic driving and the like can be met, meanwhile, the length of the MAP message transmitted through a V2X PC5 interface can be effectively reduced, more node data can be carried in the same MAP message, air interface resources are saved, and the transmission efficiency is improved.

Those skilled in the art will appreciate that all or part of the steps for implementing the above embodiments may be performed by hardware, or may be instructed to be performed by associated hardware by a computer program that includes instructions for performing some or all of the steps of the above methods; and the computer program may be stored in a readable storage medium, which may be any form of storage medium.

Furthermore, it is to be noted that in the device and method of the invention, it is obvious that the individual components or steps can be decomposed and/or recombined. These decompositions and/or recombinations are to be regarded as equivalents of the present invention. Also, the steps of performing the series of processes described above may naturally be performed chronologically in the order described, but need not necessarily be performed chronologically, and some steps may be performed in parallel or independently of each other. It will be understood by those skilled in the art that all or any of the steps or elements of the method and apparatus of the present invention may be implemented in any computing device (including processors, storage media, etc.) or network of computing devices, in hardware, firmware, software, or any combination thereof, which can be implemented by those skilled in the art using their basic programming skills after reading the description of the present invention.

Thus, the objects of the invention may also be achieved by running a program or a set of programs on any computing device. The computing device may be a general purpose device as is well known. The object of the invention is thus also achieved solely by providing a program product comprising program code for implementing the method or the apparatus. That is, such a program product also constitutes the present invention, and a storage medium storing such a program product also constitutes the present invention. It is to be understood that the storage medium may be any known storage medium or any storage medium developed in the future. It is further noted that in the apparatus and method of the present invention, it is apparent that each component or step can be decomposed and/or recombined. These decompositions and/or recombinations are to be regarded as equivalents of the present invention. Also, the steps of executing the series of processes described above may naturally be executed chronologically in the order described, but need not necessarily be executed chronologically. Some steps may be performed in parallel or independently of each other.

While the foregoing is directed to the preferred embodiment of the present invention, it will be understood by those skilled in the art that various changes and modifications may be made without departing from the spirit and scope of the invention as defined in the appended claims.

Claims

1. A transmission control method of map data is characterized by being applied to a vehicle networking terminal and comprising the following steps:

and generating map data according to the first data and the second data.

2. The method for controlling transmission of map data according to claim 1, wherein the acquiring of the second data provided by the through-link map sending apparatus includes:

receiving the second data sent by the through link map sending device through a through link interface, wherein the second data is provided by the map data platform to the through link map sending device.

3. The method according to claim 1, wherein the first data is provided by a map data platform via a non-direct link interface.

4. The map data transmission control method according to claim 1, wherein when the position coordinates in the first data include position coordinates of a link center point row and/or position coordinates of a lane center point row, the position coordinates of the link center point row and the position coordinates of the lane center point row are not included in the second data.

5. The transmission control method of map data according to claim 4, characterized in that the position coordinates of the link center point row and the position coordinates of the lane center point row are absolute position coordinates; or

6. The map data transmission control method according to claim 1, wherein when the position coordinate included in the first data is a position coordinate of a node, the coordinate indication information included in the second data is an offset coordinate of a link center point row with respect to the node and/or an offset coordinate of a lane center point row with respect to a node.

7. The method for controlling transmission of map data according to claim 1, further comprising:

sending a data acquisition request to the map data platform;

and the map data platform responds to the data acquisition request and provides the first data to the Internet of vehicles terminal.

8. The transmission control method of map data according to claim 1, characterized in that the map element information includes at least one of:

node information;

road section center point row information;

lane center point sequence information.

9. The method according to claim 1, wherein position coordinates of a node carried by the map element information in the second data are recorded as a first preset value.

10. The transmission control method of map data according to claim 1, wherein when the map element information in the second data does not include the position coordinates, a record of coordinate indication information of a link center point row and coordinate indication information of a lane center point row in the map element information in the second data is empty or a second preset value.

11. The method according to claim 1, wherein the same map element in the first data and the second data has the same number.

12. The method according to claim 11, wherein the generating map data from the first data and the second data includes:

13. A transmission control method of map data is characterized in that the method is applied to a map data platform and comprises the following steps:

providing the first data to a vehicle networking terminal;

providing the second data to a direct link map sending device.

14. The method for controlling transmission of map data according to claim 13, wherein after the second data is supplied to the through-link map sending apparatus, the method further comprises:

and the direct link map sending equipment sends the second data to the Internet of vehicles terminal through a direct link interface.

15. The map data transmission control method according to claim 13, wherein when the position coordinates in the first data are position coordinates of a link center point row and/or position coordinates of a lane center point row, the position coordinates of the link center point row and the position coordinates of the lane center point row are not included in the second data.

16. The transmission control method of map data according to claim 15, characterized in that the position coordinates of the link center point row and the position coordinates of the lane center point row are absolute position coordinates; or

17. The map data transmission control method according to claim 13, wherein when the position coordinates included in the first data are position coordinates of a node, the coordinate indication information included in the second data are offset coordinates of a link center point row with respect to the node and/or offset coordinates of a lane center point row with respect to the node.

18. The transmission control method of map data according to claim 13, characterized in that the map element information includes at least one of:

node information;

road section center point row information;

lane center point sequence information.

19. The method according to claim 13, wherein a node position coordinate carried by the map element information in the second data is recorded as a first preset value.

20. The transmission control method of map data according to claim 13, wherein when the map element information in the second data does not include the position coordinates, a record of the coordinate indication information of the link center point row and the coordinate indication information of the lane center point row in the map element information in the second data is empty or a second preset value.

21. The method according to claim 13, wherein the same map element in the first data and the second data has the same number.

22. The method according to claim 13, wherein the providing the first data to a vehicle networking terminal includes:

receiving a data acquisition request sent by a vehicle networking terminal;

23. A terminal for a vehicle networking, comprising: transceiver, memory, processor and computer program stored on the memory and executable on the processor, characterized in that the processor implements the steps of the transmission control method of map data according to any of claims 1 to 12 when executing the computer program.

24. A transmission control apparatus of map data, comprising: transceiver, memory, processor and computer program stored on the memory and executable on the processor, characterized in that the processor implements the steps of the transmission control method of map data according to any of claims 13 to 22 when executing the computer program.

25. A transmission control device of map data is characterized in that the transmission control device is applied to a vehicle networking terminal and comprises:

the acquisition module is used for acquiring first data provided by the map data platform and second data provided by the road side equipment; the map element information in the first data comprises position coordinates, and the map element information in the second data does not comprise the position coordinates or comprises coordinate indication information;

26. A transmission control device of map data is characterized in that the transmission control device is applied to a map data platform and comprises the following components:

the second processing module is used for generating first data and second data according to the map data; the map element information in the first data comprises position coordinates, and the map element information in the second data does not comprise the position coordinates or comprises coordinate indication information;

a second data providing module for providing the second data to a roadside device.

27. A computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, carries out the steps of the transmission control method of map data according to any one of claims 1 to 12, or the steps of the transmission control method of map data according to any one of claims 13 to 22.