CN114079885A

CN114079885A - Traffic position information transmission control method, device, equipment and terminal

Info

Publication number: CN114079885A
Application number: CN202010818086.4A
Authority: CN
Inventors: 沈天珺; 房家奕; 陈殿勇
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 traffic position information transmission control method, a traffic position information transmission control device, traffic position information transmission control equipment and a traffic position information transmission control terminal. The method is applied to the car networking terminal and comprises the following steps: acquiring first data provided by a position information service platform and second data provided by through link traffic position information sending equipment; wherein the traffic element information in the first data comprises position coordinates and index information indicating an association between the first data and the second data; the traffic element information in the second data does not include position coordinates or includes coordinate indication information; and generating traffic position data according to the first data and the second data. The invention can avoid the problem that position coordinates require deflection when RSI/RSM information is broadcast and transmitted through a PC5 interface, can ensure the precision of position information, and meets the high-level requirements of road cooperative application scenes such as automatic driving and the like.

Description

Traffic position information transmission control method, device, equipment and terminal

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 traffic location information.

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).

According to a mechanism defined by a current RSI (Road Side Information, Road Side Information for short)/RSM (Road Safety Message for short) Message set, position Information is sent to a Road Side unit RSU by a cloud control platform/preconfigured/local detection, the RSU is packaged to send the RSI/RSM Message and then is sent to an OBU through a PC5 interface in a broadcast mode, but when the RSI/RSM Message is transmitted in a broadcast mode through a PC5 interface, position coordinates in the RSI/RSM Message are required to be deflected, so that the precision of the position Information is seriously reduced, and the high-level requirement of a vehicle-Road cooperative application scene such as automatic driving cannot be met.

Disclosure of Invention

The invention provides a traffic position information transmission control method, a traffic position information transmission control device, traffic position information transmission control equipment and a traffic position information transmission control terminal, and solves the problems that when RSI/RSM information is transmitted in a broadcast mode through a PC5 interface, position coordinates in the RSI/RSM information are required to be deflected, so that the accuracy of position information is seriously reduced, and high-level requirements of road collaborative application scenes such as automatic driving cannot be met.

In a first aspect, an embodiment of the present invention provides a method for controlling transmission of traffic location information, which is applied to a terminal in a vehicle networking system, and includes:

acquiring first data provided by a position information service platform and second data provided by through link traffic position information sending equipment; wherein the traffic element information in the first data comprises position coordinates and index information indicating an association between the first data and the second data; the traffic element information in the second data does not include position coordinates or includes coordinate indication information;

and generating traffic position data according to the first data and the second data.

In a second aspect, an embodiment of the present invention provides a method for controlling transmission of traffic location information, which is applied to a location information service platform, and includes:

generating first data and second data; wherein the traffic element information in the first data comprises position coordinates and index information indicating an association between the first data and the second data; the traffic element information in the second data does not include position coordinates or includes coordinate indication information;

providing the first data to a vehicle networking terminal;

providing the second data to a through-link traffic location information sending device.

In a third aspect, an embodiment of the present invention provides a car networking terminal, including: a transceiver, a memory, a processor and a computer program stored on the memory and executable on the processor, the processor implementing the steps of the transmission control method of traffic location information as described in the first aspect when executing the computer program.

In a fourth aspect, an embodiment of the present invention provides a transmission control apparatus of traffic location information, including: a transceiver, a memory, a processor and a computer program stored on the memory and executable on the processor, the processor implementing the steps of the transmission control method of traffic location information according to the second aspect when executing the computer program.

In a fifth aspect, an embodiment of the present invention provides a transmission control device for traffic location information, which is applied to a terminal in a vehicle networking system, and includes:

the data acquisition module is used for acquiring first data provided by the position information service platform and second data provided by the through link traffic position information sending equipment; wherein the traffic element information in the first data comprises position coordinates and index information indicating an association between the first data and the second data; the traffic element information in the second data does not include position coordinates or includes coordinate indication information;

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

In a sixth aspect, an embodiment of the present invention provides a transmission control device for traffic location information, which is applied to a location information service platform, and includes:

the generating module is used for generating first data and second data; wherein the traffic element information in the first data comprises position coordinates and index information indicating an association between the first data and the second data; the traffic element information in the second data does not include position coordinates or includes 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 through link traffic position information sending equipment.

In a seventh aspect, an embodiment of the present invention provides a computer-readable storage medium on which a computer program is stored, the computer program, when executed by a processor, implementing the steps of the transmission control method of traffic location information according to the first aspect or the steps of the transmission control method of traffic location information according to the second aspect.

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

according to the scheme, the Internet of vehicles terminal acquires first data provided by the position information service platform and second data provided by the direct link traffic position information sending equipment; wherein the traffic element information in the first data comprises position coordinates and index information indicating an association between the first data and the second data; the traffic element information in the second data does not include position coordinates or includes coordinate indication information; and generating traffic position data according to the first data and the second data. The invention can avoid the problem that position coordinates require deflection when RSI/RSM information is broadcast and transmitted through a PC5 interface, can ensure the precision requirement of position information, and meets the high-level requirement of road cooperative application scenes such as automatic driving and the like.

Drawings

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

FIG. 2 shows one of the schematic views of a traffic segment according to the present invention;

FIG. 3 is a second schematic view of a traffic segment according to the present invention;

fig. 4 is a second flowchart of a method for controlling transmission of traffic location information according to an embodiment of the present invention;

fig. 5 is a block diagram showing a configuration of a traffic location information transmission control apparatus according to an embodiment of the present invention;

fig. 6 is a second block diagram of a traffic location information transmission control apparatus according to an embodiment of the present invention;

fig. 7 shows a block diagram of a terminal of the internet of vehicles according to the embodiment of the present invention;

fig. 8 is a block diagram showing a configuration of a traffic location information 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.

For ease of understanding, the definitions of the RSI message and the RSM message in the V2X message layer standard are first described below.

One, definition of RSI message (only part of the location related content is given, others are not provided)

The RSI message is broadcasted by the road side unit, and is distributed to the traffic event information and the traffic sign information of the surrounding vehicle-mounted units. The message frame can package one or more traffic event information or traffic sign information, and also contains the rsu number and reference location coordinates from which the message was sent.

The minimum transmission of the RSI message includes:

(1) when the system transmits an RSI message, an MSG _ MessageFrame with an MSG _ RSI is correspondingly generated.

(2) The MSG RSI message must contain a data list DF _ RTSList representing road signs, which contains one or more traffic sign information DF _ RTSData.

(3) msgCnt denotes the sequence number of a message

(4) id represents the unique identity of the RSU

(5) refPos denotes coordinates of a reference point

Second, RSM message definition (only part of the location-related content is shown, others are not provided)

The RSM message is broadcasted by the road side unit, and the real-time state information of the surrounding traffic participants of the RSM message is issued to the surrounding vehicle-mounted units. The minimum transmission of the RSM message includes:

(1) when the system transmits an RSM message, an MSG _ MessageFrame with an MSG _ RSM is correspondingly generated.

(2) msgCnt denotes the sequence number of a message

(3) id represents the unique identity of the RSU

(4) refPos denotes coordinates of a reference point

(5) The messages must contain characteristics representing traffic participant information, including information of one or more traffic Participants.

When the RSI and RSM messages are broadcast and transmitted on the PC5 interface, the refPos (reference node position value), the signPos (sign position value), the eventPos (event position value), the Pos (position information of traffic participants), and the activePath (reference path) coordinates all require deflection, which results in a serious reduction in the accuracy of position information and a problem that the high-level requirements of the road collaborative application scene such as autopilot cannot be satisfied.

Specifically, the method, the device, the equipment and the terminal for controlling the transmission of the traffic position information solve the problems that in the prior art, when the RSI or RSM information is transmitted through a PC5 interface in a broadcasting mode, position coordinates in the RSI/RSM information are required to be deflected, so that the precision of the position information is seriously reduced, and the high-level requirements of the road collaborative application scene such as automatic driving and the like cannot be met.

First embodiment

As shown in fig. 1, an embodiment of the present invention provides a transmission control method for traffic location information, which is applied to a vehicle networking terminal, where the vehicle 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 the transmission of the traffic location information includes the following steps:

step 11: acquiring first data provided by a position information service platform and second data provided by through link traffic position information sending equipment; wherein the traffic element information in the first data comprises position coordinates and index information indicating an association between the first data and the second data; the traffic element information in the second data does not include position coordinates or includes coordinate indication information;

the direct link traffic location information sending device may include a road side device RSU, or may also be a vehicle-mounted device OBU or a handheld device VRU, or the like.

Wherein the traffic element information comprises at least one of:

referencing node information;

traffic event information;

traffic sign information;

referring to the path center point column information;

traffic participant information.

For example, in the case of an RSI message, the traffic element information may include: reference node information, traffic event information and reference path center point list information; and/or reference node information, traffic sign information, reference path center point column information.

For example, in the case of RSM messages, the traffic element information may include: reference node information and traffic participant information.

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

Specifically, step 12 includes:

and processing the traffic element information with the same index information in the first data and the second data to generate traffic position data.

In this step, the car networking terminal can search the first data and the second data with the same index information through the index information under the condition that a plurality of first data and second data are locally stored, and further process the first data and the second data to recover the first data and the second data 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 the embodiment, the vehicle networking terminal acquires first data provided by the position information service platform and second data provided by the through link traffic position information sending equipment; wherein the traffic element information in the first data comprises position coordinates and index information indicating an association between the first data and the second data; the traffic element information in the second data does not include position coordinates or includes coordinate indication information; and determining first data and second data which are mutually associated according to the index information, so as to generate traffic position data according to the first data and the second data. The embodiment can avoid the problem that position coordinates require deflection when RSI/RSM information is broadcast and transmitted through a PC5 interface, can ensure the precision requirement of position information, and meets the high-level requirements of road cooperative application scenes such as automatic driving and the like.

In an embodiment, the acquiring the second data provided by the direct link traffic location information sending device in step 11 includes:

receiving the second data sent by the through link traffic position information sending device through a through link interface, wherein the second data is provided for the through link traffic position information sending device by the position information service platform.

For example, the RSI/RSM message encapsulating the second data into asn.1 format is broadcast by the RSU to the on-board OBUs or other mobile terminals over the direct-link interface at a preconfigured frequency.

Further, the first data is provided by the location information service platform through a non-direct link interface.

Non-direct link interfaces include, but are not limited to: cellular networks, WIFI networks, wired networks, satellite communications, digital broadcasts, universal serial bus USB, factory presets, and external memory.

In the above embodiment, the location information service platform processes the RSI and RSM messages into first data including the first coordinates and the index information and second data not including the location coordinates or including the coordinate indication information, provides the first data to the car networking terminal through the non-direct link interface, provides the second data to the car networking terminal through the direct link, and finally generates traffic location data at the car networking terminal according to the first data and the second data. Thus, the problem that the position coordinates must be deflected when the RSI or RSM message is transmitted through the through-link PC5 interface can be avoided, and the accuracy of the position coordinates can be ensured.

The first data and the second data are described below for the RSI message and the RSM message, respectively.

Firstly, for the RSI message, the following two cases are mainly included

Situation one

When the position coordinates include position coordinates of a traffic incident and a reference route center point column, and/or position coordinates of a traffic sign and a reference route center point column, the position coordinates of the traffic incident and the reference route center point column, and the position coordinates of the traffic sign and the reference route center point column are not included in the second data.

It is to be understood that, when the traffic event information is included in the RSI message, the position coordinates in the first data include the position coordinates of the traffic event and the reference route center point column, and the position coordinates of the traffic event and the reference route center point column are not included in the second data;

it is to be understood that, when the traffic sign information is included in the RSI message, the total position coordinates of the first data include the position coordinates of the traffic sign and the reference route center point column, and the position coordinates of the traffic sign and the reference route center point column are not included in the second data.

Specifically, the position coordinates in the first data mainly include one of the following two ways:

mode 1: the position coordinates of the traffic incident and the reference path center point row and the position coordinates of the traffic sign and the reference path center point row are absolute position coordinates;

in this method, the absolute position coordinates are actual position coordinates after calculation. Namely, the position coordinates of the traffic incident and the position coordinates of the reference path center point row are both actual position coordinates; the position coordinates of the traffic sign and the position coordinates of the reference path center point column are both actual position coordinates.

Mode 2: the location coordinates of the traffic event include: position coordinates of a reference node, and offset coordinates of the traffic event and reference path center point columns relative to the reference node; the position coordinates of the traffic sign include: the position coordinates of the reference nodes, and the offset coordinates of the traffic sign and the reference path center point column with respect to the reference nodes.

In the method, the position coordinates of the reference nodes are absolute non-deviation three-dimensional coordinates and are provided by a refPos field, and the position coordinates comprise longitude, latitude and height; the offset coordinates are each calculated based on the position coordinates of the reference node. And the actual position coordinates are equal to the position coordinates of the reference node plus the offset coordinates.

For example, the signPos and eventPos fields carry the position information of the sign and the position information of the event, respectively, expressed in the magnitude of an offset value with respect to the coordinates (refPos) of the reference node, including a latitude and longitude offset, and a height offset. The activePath carries a field PathPointList, represents a reference road section center point column, represents 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, a directional action range is defined in a mode of 2-32 ordered position point columns, the position of a point is represented as the deviation value of refPos, and the longitudinal range of the reference path is abstractly described in the RSI message in a mode of the activePath.

The absolute three-dimensional coordinates of the positions such as the signboard position, the event position, the point column on the reference path and the like can be obtained by calculating the position offset (offset coordinate) carried by the signPos field, the eventPos field, the activePath field and the like and the absolute position coordinate of the reference node carried by the refPos field.

Situation two

When the position coordinate included in the first data is a position coordinate of a reference node, the coordinate indication information in the second data includes: offset coordinates of the traffic incident and the reference route center point column with respect to the reference node, and/or offset coordinates of the traffic sign and the reference route center point column with respect to the reference node.

In this case, the position coordinates of the reference nodes are absolute, unbiased three-dimensional coordinates, provided with a refPos field, including longitude and latitude and height; the offset coordinates are each calculated based on the position coordinates of the reference node. And the actual position coordinates are equal to the position coordinates of the reference node plus the offset coordinates. Thus, the position coordinates included in the first data are the coordinates of the reference node, and the traffic incident and reference route center point columns, and or the offset of the traffic sign and the reference route center point columns with respect to the reference node are included in the second data.

Secondly, aiming at RSM messages, the following two conditions are mainly included:

situation one

When the position coordinates include position coordinates of the traffic participant, the position coordinates of the traffic participant are not included in the second data.

It is understood that the first data includes the position coordinates of the traffic participants, and the second data does not include the position coordinates of the traffic participants.

mode 1: the position coordinates of the traffic participants are absolute position coordinates;

in this method, the absolute position coordinates of the traffic participants are calculated actual position coordinates. That is, the position coordinates of the traffic participant in this method are actual position coordinates.

Mode 2: the position coordinates of the traffic participant include: position coordinates of a reference node and offset coordinates of the traffic participant relative to the reference node.

In the method, the position coordinates of the reference nodes are absolute deviation-free three-dimensional coordinates and are provided by a refPos field, and the reference nodes comprise longitude, latitude and height; the Pos field carries position information of the traffic participant, and is expressed by a deviation value (offset coordinate) of coordinates of a reference node, including longitude and latitude deviations and height deviations. The offset coordinates of the traffic participant are calculated based on the position coordinates of the reference node. And the actual position coordinates are equal to the position coordinates of the reference node plus the offset coordinates. It can be understood that, as for the absolute three-dimensional coordinates (actual coordinates) of the positions of the traffic participants, the absolute three-dimensional coordinates can be obtained by performing an operation on Pos fields (position offset (offset coordinates) carried by the position information of the traffic participants and the absolute position coordinates of the reference nodes carried in the refPos fields).

Situation two

When the position coordinates included in the first data are position coordinates of a reference node, the coordinate indication information in the second data includes offset coordinates of a traffic participant with respect to the reference node.

In this case, the position coordinates of the reference nodes are absolute non-deviation three-dimensional coordinates, provided by refPos fields, including longitude and latitude and height; the offset coordinates of the traffic participant are calculated based on the position coordinates of the reference node. And the actual position coordinates of the traffic participants are equal to the position coordinates of the reference nodes plus the offset coordinates. Thus, the position coordinates included in the first data are the coordinates of the reference node, and the offset of the traffic participant with respect to the position coordinates of the reference node is included in the second data.

In an embodiment, the position coordinates of the reference node carried by the traffic 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 an embodiment, when the traffic element information in the second data does not include the position coordinate, the record of the coordinate indication information of the traffic event, the coordinate indication information of the traffic sign, the coordinate indication information of the reference road section center point row, and the coordinate indication information of the traffic participant in the traffic element information in the second data is empty or a second preset value.

In this embodiment, the coordinate indication information is empty or the second preset value may be recorded as empty or the second preset value in the traffic event, the traffic sign, the reference road section center point row, and the offset coordinate corresponding to the traffic participant.

In one embodiment, the index information includes one of:

the identity ID of the direct link traffic position information sending equipment;

a combination of an identification ID of a direct link traffic location information sending device and a range limit of at least one field in a road side traffic message RSI;

a combination of an identification ID of a direct link traffic location information sending device and a range limit of at least one field in a RSM;

a first preset identification field in the road side traffic message RSI;

and a second preset identification field in the RSM.

For example, the ID of the direct link traffic location information sending device may be an ID of an RSU, and may be represented by an 8-bit string; the combination of the ID of the direct link traffic location information sending device and the range limit of at least one field in the RSM may be a combination of the ID field in the RSI/RSM message and the range limits of other fields in the message, such as msgCnt (message sequence number), moy (time interval, such as forbidden time interval, etc.), rtsId (sign ID), rteId (event ID), ptcId (traffic participant ID), etc., where ID is a1, moy corresponds to the first geographic location information between 0 and 263520, ID is a1, and moy corresponds to the second geographic location information between 263521 and 527040; illustratively, the first preset identification field and the second preset identification field are newly added unique identification fields, for example, the newly added global id field corresponds to the third geographical location information.

It should be noted that the transmission and storage format of the index information may be a format of a multiplexed message set, or may not be a format of an RSI/RSM message of the multiplexed message set, and the configuration mode of the index information needs to be agreed in advance.

In an embodiment, the method further comprises:

sending a data acquisition request to the position information service platform;

and the position information service platform responds to the data acquisition request and provides the first data for the Internet of vehicles terminal.

In this embodiment, if the corresponding identifier carried by the message cannot be queried when the terminal of the internet of vehicles receives the RSI/RSM message broadcasted by the location information service platform (e.g., RSU), the data of the corresponding index information is extracted from the RSI/RSM message, a data acquisition request is initiated to the location information service platform to acquire the corresponding first data, and the first data and the second data are merged and stored after being received for use by an upper layer application.

Second embodiment

As shown in fig. 2, a second embodiment of the present invention provides a method for controlling transmission of traffic location information, which is applied to a location information service platform, where the location information service platform includes, but is not limited to: cloud control platform, location information server, etc.

step 21: generating first data and second data; wherein the traffic element information in the first data comprises position coordinates and index information indicating an association between the first data and the second data; the traffic element information in the second data does not include position coordinates or includes coordinate indication information;

wherein the traffic element information comprises at least one of:

referencing node information;

traffic event information;

traffic sign information;

referring to the path center point column information;

traffic participant information.

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

specifically, the direct link traffic position information sending device sends the second data to the internet of vehicles terminal through a direct link interface. Non-direct link interfaces include, but are not limited to: cellular networks, WIFI networks, wired networks, satellite communications, digital broadcasts, universal serial bus USB, factory presets, and external memory.

Step 23: providing the second data to a through-link traffic location information sending device.

In the embodiment, the position information service platform processes the RSI and RSM messages into first data including first coordinates and index information and second data not including the position coordinates or including coordinate indication information, provides the first data to the vehicle networking terminal through a non-direct link interface, provides the second data to the vehicle networking terminal through a direct link, and finally generates traffic position data according to the first data and the second data at the vehicle networking terminal. Thus, the problem that the position coordinates must be deflected when the RSI or RSM message is transmitted through the through-link PC5 interface can be avoided, and the accuracy of the position coordinates can be ensured.

Firstly, for the RSI message, the following two cases are mainly included

Situation one

For example, the signPos and eventPos fields carry the position information of the sign and the position information of the event, respectively, expressed in the magnitude of an offset value with respect to the coordinates (refPos) of the reference node, including a latitude and longitude offset, and a height offset. The activePath carries a field PathPointList which represents a reference road section center point column and is used for describing the deviation value of a road section center position point or a lane center position point relative to a reference coordinate, the deviation value comprises longitude and latitude deviation and height deviation, a directional action range is defined in a mode of 2-32 ordered position point columns, the position of a point is represented as the deviation value with refPos, and the longitudinal range of the reference path is abstractly described in an RSI message in a mode of the activePath.

Situation two

situation one

in this method, the absolute position coordinates are actual position coordinates after calculation. That is, the position coordinates of the traffic participant are actual position coordinates.

In the method, the position coordinates of the reference nodes are absolute deviation-free three-dimensional coordinates and are provided by a refPos field, and the reference nodes comprise longitude, latitude and height; the Pos field carries position information of the traffic participant, and is expressed by a deviation value (offset coordinate) of coordinates of a reference node, including longitude and latitude deviations and height deviations. The offset coordinates are each calculated based on the position coordinates of the reference node. And the actual position coordinates are equal to the position coordinates of the reference node plus the offset coordinates. It can be understood that, as for the absolute three-dimensional coordinates (actual coordinates) of the positions of the traffic participants, the absolute three-dimensional coordinates can be obtained by performing an operation on Pos fields (position offset (offset coordinates) carried by the position information of the traffic participants and the absolute position coordinates of the reference nodes carried in the refPos fields).

Situation two

In this case, the position coordinates of the reference nodes are absolute non-deviation three-dimensional coordinates, provided by refPos fields, including longitude and latitude and height; the offset coordinates of the traffic participants are calculated based on the position coordinates of the reference nodes. And the actual position coordinates of the traffic participants are equal to the position coordinates of the reference nodes plus the offset coordinates. Thus, the position coordinates included in the first data are the coordinates of the reference node, and the offset of the traffic participant with respect to the position coordinates of the reference node is included in the second data.

In one embodiment, the index information includes one of:

a first preset identification field in the road side traffic message RSI;

and a second preset identification field in the RSM.

In one embodiment, the step 22 includes:

receiving a data acquisition request sent by the Internet of vehicles terminal;

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

In this embodiment, if the corresponding identifier carried by the message is not queried when the vehicle networking terminal receives an RSI/RSM message broadcasted by a location information service platform (e.g., RSU), data of corresponding index information is extracted from the RSI/RSM message, a data acquisition request is initiated to the location information service platform, the location information service platform responds to the data acquisition request to provide the first data to the vehicle networking terminal, and the vehicle networking terminal, after receiving the first data, merges and stores the first data and the second data for use by an upper application.

In the following, a cloud control platform and a road side unit RSU are taken as examples to integrally introduce the traffic location information transmission control method of the present invention. Specifically, the method comprises the following steps:

the method comprises the steps that position information data are generated by a cloud control platform or transmitted to the cloud control platform by an RSU, the position data are divided into a first data part (first data) and a second data part (second data), geographic position data in the two parts correspond to each other one by one through a certain index relation (such as RSU ID and the like), and information of the two parts is sent through different communication interfaces. When the position information changes, the cloud control platform synchronously updates the position information of the two parts and the index information related between the two parts.

The first data portion is used for transmission of a non-direct link interface (such as a uu interface, wifi and the like), and when the first data portion is sent, the first data portion needs to include geographic position information a and index information a' related to the second portion information. The geographic location information a, which is mainly the basic geographic location information, must at least include an absolute location coordinate (e.g., refPos). The index information a' is information that is independent of the position in the RSI/RSM message but related to some other fields.

Specifically, the geographical location information a includes the following configuration modes:

mode 1: the refPos represents the absolute three-dimensional coordinate of the reference point position and comprises longitude, latitude and height;

mode 2: the three-dimensional coordinates of refPos also transmit values of signPos, eventPos, Pos (traffic participant position information), activePath, and the like (i.e., values of offsets of some or all of the positions having actually representative meanings from refPos);

mode 3: absolute three-dimensional coordinates of a part or all of positions (such as a sign position, an event position, a position of a traffic participant, a point column on a reference path and the like) with actual meaning in the message, namely absolute three-dimensional coordinates of positions obtained after calculation of position offset amounts such as signPos, eventPos, Pos (traffic participant position information), activePath and refPos;

the geographical location information a needs to be configured in a predetermined manner.

When the value in the location information contained in the geographical location information a changes, the version of the first information transmission needs to be updated.

The transmission and storage format of the geographical location information a may be an RSI/RSM message format of a multiplex/demultiplex message set, and only the same hierarchy and correspondence of refPos, signPos, eventPos, Pos (traffic participant location information), activePath need to be maintained, and the corresponding correspondence is maintained with the index information a'.

The index information a' includes the following configuration:

mode 1: the ID field in the RSI/RSM message, i.e., the group of 8-bit strings representing the RSU ID.

Mode 2: the ID field in the RSI/RSM message is combined with range restrictions for other fields in the message, such as msgCnt (message sequence number), moy (time interval, such as forbidden time interval), rtsId (signboard ID), rteId (event ID), ptcId (traffic participant ID), etc., for example, ID a1, moy corresponds to geographical location information a1 between 0 and 263520, ID a1, moy corresponds to geographical location information a2 between 263521 and 527040.

Mode 3: a unique identification field is added in the RSI/RSM message, for example, a global id field is added to correspond to certain position information A3.

It should be noted that the transmission or storage format of the index information a 'may be an RSI/RSM message format of a multiplex/demultiplex message set, and the configuration mode of the index information a' needs to be defined in advance.

The information transmitted by the first data part is composed of geographical position information A and index information A'.

The second data part is used for direct link interface transmission and needs to include location information B, as well as other fields of the RSI/RSM message. Wherein the position information B cannot comprise any real position coordinates.

Specifically, the configuration mode of the position information B includes:

mode 1: the values of the position-related fields having practical significance, such as signPos, eventPos, Pos (traffic participant position information), activePath, and the like, namely, the offset to refPos; the refPos field does not appear or fills in a false value (when combined, the true information in A is used)

Mode 2: the position related fields such as refPos, signPos, evenPos, Pos (position information of traffic participants), activePath and the like which appear in the first part do not appear or fill in a false value (the real information in A is adopted during merging);

the arrangement mode 1 of the position information B corresponds to the mode 1 of the geographical position information a in the first data portion, and the arrangement mode 2 of the position information B corresponds to the modes 2 and 3 in the first data portion a. The arrangement of the position information B needs to be defined in advance.

The location information B mainly comprises the relative location information to the reference point in the RSI/RSM message, and when the part is changed, the updated version is needed

Secondly, the cloud control platform deploys the position information A and the index information A ' data on a position information server, the vehicle-mounted OBU or other mobile terminals register to the position information server after being started, the position information A data and the index information A ' data are downloaded and obtained through a non-direct link interface, and the position information A data and the index information A ' data are updated and stored locally; when the data versions of the position information A and the index information A' are updated, the position information server actively pushes the position information and the index information data of the new version to the registered OBU or other mobile terminals, and the OBU or other mobile terminals locally update and store the new version after receiving the position information and the index information data.

And (III) each road side unit RSU acquires the position information B in a cloud control platform/local detection/V2X acquisition/preset mode, and the like, and the RSU encapsulates the position information data into RSI/RSM information in an ASN.1 format and broadcasts the RSI/RSM information to the vehicle-mounted OBU or other mobile terminals through a direct link interface at a pre-configured frequency.

And (IV) after the vehicle-mounted OBU or other mobile terminals receive the RSI/RSM message broadcasted by the RSU, extracting the position information B from the message, comparing information carried by other fields of the RSI/RSM message with the index information in the A ', if the information is the same as the index information in the A', searching data of the locally stored corresponding position information A, and updating the position information such as refPos, signPos, evenPos, Pos (positions of traffic participants), activePath and the like in the A and the B to the local, so that the position information A and the position information B are synthesized into complete real position information data and stored for upper-layer application.

And (V) if the vehicle-mounted OBU or other mobile terminals cannot inquire the corresponding identification carried by the message when receiving the RSI/RSM message broadcasted by the RSU, extracting the data of the corresponding index information A' from the RSI/RSM message, initiating a request to a position information server to obtain the corresponding position information A data, and merging and storing the position data of the part A and the part B after receiving the position information A data for an upper layer.

Further, a method for controlling transmission of traffic location information will be described with reference to the exemplary embodiments shown in fig. 3 and 4.

Example 1

Referring to fig. 3, assuming that a road segment is as shown in fig. 3, the part behind the sign is a no-drive road segment, the road segment is a reference path, the corresponding reference point position is issued by the cloud control platform, the sign position and the reference path are issued by the RSU, and an on-board OBU passes through the road segment, the following examples illustrate examples of position data update in the RSI (only fields relevant to the present invention are shown):

(1) the vehicle-mounted OBU downloads information including position information a and index information a ' (first data) from the position server through a V2X Uu interface, where a carries real position coordinate information of refPos, and a ' carries id (rsu id) corresponding to a, and an example of sending the first data including a and a ' is as follows:

(2) the RSI broadcasts an RSI message containing location information B (second data) to the OBU, carrying location information of signPos and activePath, where the message is exemplified as follows:

(3) after receiving the RSI message including the location information B broadcasted by the RSU, the OBU extracts the index information, i.e., RSUid, in the RSI and compares the RSI message with the stored information to find that the RSI message conforms to a', finds the data of the location information a corresponding to the RSU, i.e., the three-dimensional value of refPos, merges the data of the location information a of the location information B, and locally stores the data for use by an upper application, where the complete location information data is exemplified as follows:

example two

Referring to fig. 4, assuming that a road segment is shown in fig. 4, the positions of pedestrians and reference positions are shown, and the corresponding reference point positions and positions of traffic participants (such as pedestrians) are sent by the cloud control platform, and an on-board OBU passes through the road segment, the following illustrates an example of updating position data in RSM (only fields relevant to the present invention are shown):

(1) the vehicle-mounted OBU downloads position information a and index information a '(first data) from the position server through a V2X Uu interface, where a carries real position coordinate information of refPos, a' carries (range of RSU id, ptcId, and secMark), a and a 'are not completely stored and transmitted according to the RSM format, and an example of first data transmission including a and a' is as follows:

(2) the RSU broadcasts an RSM message containing location information B (second data) to the OBU, without carrying location information, and the message is exemplified as follows:

(3) after receiving the RSM message including the location information B broadcasted by the RSU, the OBU finds that the index information in the RSM, i.e., the ranges of RSU id, ptcId, and secMark, matches a' with the stored information, finds the data of the corresponding location information a, i.e., the three-dimensional value of refPos and the offset of the location of the transportation participant recorded by Pos to refPos, merges the data of the data location information a of the location information B, and locally stores the data for use by an upper layer application, where the complete location information data is exemplified as follows:

in the embodiment, the cloud control platform cuts the position data of the V2X RSI/RSM into two parts which are related to geographic coordinates and unrelated to geographic coordinates, the two parts are respectively transmitted through a non-V2X PC5 port and a non-V2X PC5 port, original complete position information data are merged and recovered at the vehicle-mounted OBU or other mobile terminals, the problem that the position coordinates must be deflected when the position information is transmitted by aiming at a V2X PC5 interface is solved, the precision of high-precision position information is maintained, and the high-level requirements of road cooperation application scenes such as automatic driving and the like are met.

Third embodiment

As shown in fig. 5, an apparatus 500 for controlling transmission of traffic location information according to an embodiment of the present invention is applied to a terminal in a vehicle networking system, and includes:

a data obtaining module 501, configured to obtain first data provided by a location information service platform, and obtain second data provided by a direct link traffic location information sending device; wherein the traffic element information in the first data comprises position coordinates and index information indicating an association between the first data and the second data; the traffic element information in the second data does not include position coordinates or includes coordinate indication information;

a processing module 502, configured to generate traffic location data according to the first data and the second data.

Optionally, the data obtaining module 501 includes:

and the acquisition submodule is used for receiving the second data sent by the through link traffic position information sending equipment through a through link interface, wherein the second data is provided for the through link traffic position information sending equipment by the position information service platform.

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

Optionally, when the position coordinates include position coordinates of a traffic incident and a reference route center point column, and/or position coordinates of a traffic sign and a reference route center point column, the position coordinates of the traffic incident and the reference route center point column, and the position coordinates of the traffic sign and the reference route center point column are not included in the second data.

Optionally, the position coordinates of the traffic incident and the reference route center point row, and the position coordinates of the traffic sign and the reference route center point row are absolute position coordinates; or

The location coordinates of the traffic event include: position coordinates of a reference node, and offset coordinates of the traffic event and reference path center point columns relative to the reference node; the position coordinates of the traffic sign include: the position coordinates of the reference nodes, and the offset coordinates of the traffic sign and the reference path center point column with respect to the reference nodes.

Optionally, when the position coordinate included in the first data is a position coordinate of a reference node, the coordinate indication information in the second data includes: offset coordinates of the traffic incident and the reference route center point column with respect to the reference node, and/or offset coordinates of the traffic sign and the reference route center point column with respect to the reference node.

Optionally, when the position coordinates include position coordinates of a traffic participant, the position coordinates of the traffic participant are not included in the second data.

Optionally, the position coordinates of the traffic participants are absolute position coordinates; or

The position coordinates of the traffic participant include: position coordinates of a reference node and offset coordinates of the traffic participant relative to the reference node.

Optionally, when the position coordinate included in the first data is a position coordinate of a reference node, the coordinate indication information in the second data includes offset coordinates of a traffic participant relative to the reference node.

Optionally, the index information includes one of the following items:

a first preset identification field in the road side traffic message RSI;

and a second preset identification field in the RSM.

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

referencing node information;

traffic event information;

traffic sign information;

referring to the path center point column information;

traffic participant information.

Optionally, the apparatus 500 further comprises:

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

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

Optionally, when the traffic element information in the second data does not include the position coordinate, the record of the coordinate indication information of the traffic incident, the coordinate indication information of the traffic sign, the coordinate indication information of the reference road section center point row, and the coordinate indication information of the traffic participant in the traffic element information in the second data is empty or a second preset value.

Optionally, the processing module 502 includes:

and the first processing submodule is used for processing the traffic element information with the same index information in the first data and the second data to generate traffic position data.

The apparatus 500 of the present invention is corresponding to the first embodiment of the method, and all implementation means in the above method embodiment are applicable to the embodiment of the network device, so that the same technical effect can be achieved.

The

Fourth embodiment

As shown in fig. 6, an apparatus 600 for controlling transmission of traffic location information according to an embodiment of the present invention is applied to a location information service platform, and includes:

a generating module 601, configured to generate first data and second data; wherein the traffic element information in the first data comprises position coordinates and index information indicating an association between the first data and the second data; the traffic element information in the second data does not include position coordinates or includes coordinate indication information;

a first data providing module 602, configured to provide the first data to a car networking terminal;

a second data providing module 603, configured to provide the second data to a direct link traffic location information sending device.

Optionally, after providing the second data to the direct link traffic location information sending device, the method further includes:

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

Optionally, when the position coordinate included in the first data is a position coordinate of a reference node, the coordinate indication information in the second data includes offset coordinates of a traffic event and a reference route center point column with respect to the reference node, and/or offset coordinates of a traffic sign and a reference route center point column with respect to the reference node.

Optionally, the index information includes one of the following items:

a first preset identification field in the road side traffic message RSI;

and a second preset identification field in the RSM.

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

referencing node information;

traffic event information;

traffic sign information;

referring to the path center point column information;

traffic participant information.

Optionally, the first data providing module 601 includes:

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

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

The apparatus 600 of the present invention is corresponding to the second embodiment of the method, and all the implementation means in the above method embodiment are applicable to the embodiment of the network device, and the same technical effect can be achieved. This is done.

Fifth embodiment

In order to better achieve the above object, as shown in fig. 7, the present invention further provides a car networking terminal, including: a processor 700; and a memory 720 connected to the processor 700 through a bus interface, wherein the memory 720 is used for storing programs and data used by the processor 700 when executing operations, and the processor 700 calls and executes the programs and data stored in the memory 720.

The transceiver 710 is connected to the bus interface, and is configured to receive and transmit data under the control of the processor 700; the processor 700 is used for reading the program in the memory 720 and executing the following steps:

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.

Optionally, when acquiring the second data provided by the direct link traffic location information sending device, the processor 700 is specifically configured to:

Optionally, the position coordinates of the traffic incident and the reference route center point row, and the position coordinates of the traffic sign and the reference route center point row are absolute position coordinates;

or

Optionally, the position coordinates of the traffic participants are absolute position coordinates;

or

Optionally, the index information includes one of the following items:

a first preset identification field in the road side traffic message RSI;

and a second preset identification field in the RSM.

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

referencing node information;

traffic event information;

traffic sign information;

referring to the path center point column information;

traffic participant information.

Optionally, the processor 700 is further configured to:

Optionally, when the processor 700 generates the traffic location data according to the first data and the second data, the processor is specifically configured to:

The fifth embodiment of the present invention is corresponding to the first embodiment of the method, and all the implementation means in the method embodiment are applicable to the embodiment of the terminal, so that the same technical effects can be achieved.

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.

Sixth embodiment

As shown in fig. 8, in order to better achieve the above object, as shown in fig. 8, the present invention further provides a transmission control device of traffic location information, optionally, the transmission control device of traffic location information may be a location information service platform, and the control device includes: a processor 800; and a memory 820 connected to the processor 800 through a bus interface, wherein the memory 820 is used for storing programs and data used by the processor 800 in executing operations, and the processor 800 calls and executes the programs and data stored in the memory 820.

The transceiver 810 is connected to the bus interface, and is configured to receive and transmit data under the control of the processor 800; the processor 800 is used for reading the program in the memory 820 and executing the following steps:

providing the first data to a vehicle networking terminal;

Where in fig. 8, 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 800 and memory represented by memory 820. 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 810 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 830 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 800 is responsible for managing the bus architecture and general processing, and the memory 820 may store data used by the processor 800 in performing operations.

or

Optionally, the index information includes one of the following items:

a first preset identification field in the road side traffic message RSI;

and a second preset identification field in the RSM.

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

referencing node information;

traffic event information;

traffic sign information;

referring to the path center point column information;

traffic participant information.

Optionally, when the processor provides the first data to the car networking terminal, the processor is specifically configured to:

receiving a data acquisition request sent by the Internet of vehicles terminal;

The sixth embodiment of the present invention is corresponding to the second embodiment of the method, and all the implementation means in the method embodiment are applicable to the embodiment of the terminal, so that the same technical effects can be achieved.

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 traffic position information transmission control method is applied to a vehicle networking terminal and comprises the following steps:

2. The method of claim 1, wherein the obtaining of the second data provided by the direct link traffic location information sending device comprises:

3. The method of claim 1, wherein the first data is provided by the location information service platform through a non-direct link interface.

4. The transmission control method of traffic location information according to claim 1, wherein when the location coordinates include location coordinates of a traffic incident and a reference route center point column, and/or location coordinates of a traffic sign and a reference route center point column, the location coordinates of the traffic incident and the reference route center point column, and the location coordinates of the traffic sign and the reference route center point column are not included in the second data.

5. The transmission control method of traffic location information according to claim 4, characterized in that the location coordinates of the traffic incident and the reference route center point row, and the location coordinates of the traffic sign and the reference route center point row are absolute location coordinates;

or

6. The transmission control method of traffic location information according to claim 1, wherein when the location coordinates included in the first data are location coordinates of a reference node, the coordinate indication information in the second data includes: offset coordinates of the traffic incident and the reference route center point column with respect to the reference node, and/or offset coordinates of the traffic sign and the reference route center point column with respect to the reference node.

7. The transmission control method of traffic location information according to claim 1, characterized in that when the location coordinates include location coordinates of a traffic participant, the location coordinates of the traffic participant are not included in the second data.

8. The transmission control method of traffic location information according to claim 7, wherein the location coordinates of the traffic participants are absolute location coordinates;

or

9. The transmission control method of traffic location information according to claim 1, wherein the coordinate indication information in the second data includes offset coordinates of a traffic participant with respect to a reference node when the location coordinates included in the first data are location coordinates of the reference node.

10. The method of claim 1, wherein the index information comprises one of:

a first preset identification field in the road side traffic message RSI;

and a second preset identification field in the RSM.

11. The transmission control method of traffic location information according to claim 1, wherein the traffic element information includes at least one of:

referencing node information;

traffic event information;

traffic sign information;

referring to the path center point column information;

traffic participant information.

12. The method of controlling transmission of traffic location information according to claim 1, further comprising:

13. The transmission control method of traffic location information according to claim 1, wherein the location coordinates of the reference node carried by the traffic element information in the second data are recorded as a first preset value.

14. The transmission control method of traffic location information according to claim 1, wherein when the traffic element information in the second data does not include the location coordinates, a record of the coordinate indication information of the traffic incident, the coordinate indication information of the traffic sign, the coordinate indication information of the reference link center point row, and the coordinate indication information of the traffic participant in the traffic element information in the second data is empty or a second preset value.

15. The method of claim 1, wherein generating traffic location data based on the first data and the second data comprises:

16. A transmission control method of traffic position information is applied to a position information service platform and comprises the following steps:

providing the first data to a vehicle networking terminal;

17. The method of claim 16, wherein after providing the second data to the direct link traffic location information transmitting device, further comprising:

18. The transmission control method of traffic location information according to claim 16, wherein when the location coordinates include location coordinates of a traffic incident and a reference route center point column, and/or location coordinates of a traffic sign and a reference route center point column, the location coordinates of the traffic incident and the reference route center point column, and the location coordinates of the traffic sign and the reference route center point column are not included in the second data.

19. The transmission control method of traffic location information according to claim 18, characterized in that the location coordinates of the traffic incident and the reference route center point row, and the location coordinates of the traffic sign and the reference route center point row are absolute location coordinates;

or

20. The transmission control method of traffic location information according to claim 16, wherein when the location coordinates included in the first data are location coordinates of a reference node, the coordinate indication information in the second data includes offset coordinates of a traffic event and a reference route center point column with respect to the reference node, and/or offset coordinates of a traffic sign and a reference route center point column with respect to the reference node.

21. The transmission control method of traffic location information according to claim 16, characterized in that when the location coordinates include location coordinates of a traffic participant, the location coordinates of the traffic participant are not included in the second data.

22. The transmission control method of traffic location information according to claim 21, wherein the location coordinates of the traffic participants are absolute location coordinates;

or

23. The transmission control method of traffic location information according to claim 16, wherein the coordinate indication information in the second data includes offset coordinates of a traffic participant with respect to a reference node when the location coordinates included in the first data are location coordinates of the reference node.

24. The transmission control method of traffic location information according to claim 16, wherein the index information includes one of:

a first preset identification field in the road side traffic message RSI;

and a second preset identification field in the RSM.

25. The transmission control method of traffic location information according to claim 16, wherein the traffic element information includes at least one of:

referencing node information;

traffic event information;

traffic sign information;

referring to the path center point column information;

traffic participant information.

26. The transmission control method of traffic location information according to claim 16, wherein the providing the first data to a vehicle networking terminal includes:

receiving a data acquisition request sent by the Internet of vehicles terminal;

27. The transmission control method of traffic location information according to claim 16, wherein the location coordinates of the reference node carried by the traffic element information in the second data are recorded as a first preset value.

28. The transmission control method of traffic location information according to claim 16,

when the traffic element information in the second data does not include the position coordinates, the records of the coordinate indication information of the traffic incident, the coordinate indication information of the traffic sign, the coordinate indication information of the reference road section center point row and the coordinate indication information of the traffic participant in the traffic element information in the second data are empty or are a second preset value.

29. 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 traffic location information according to any of claims 1 to 15 when executing the computer program.

30. A transmission control apparatus of traffic location information, 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 traffic location information according to any of claims 16 to 28 when executing the computer program.

31. The utility model provides a transmission controlling means of traffic position information which is applied to car networking terminal, includes:

32. A traffic location information transmission control device is applied to a location information service platform and comprises:

33. 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 traffic location information according to any one of claims 1 to 15, or the steps of the transmission control method of traffic location information according to any one of claims 16 to 28.