CN116866369A

CN116866369A - Information sending method, information receiving method, related device and system

Info

Publication number: CN116866369A
Application number: CN202210311928.6A
Authority: CN
Inventors: 费雯凯; 蒋言; 刘建琴; 伍勇
Original assignee: Huawei Technologies Co Ltd
Current assignee: Huawei Technologies Co Ltd
Priority date: 2022-03-28
Filing date: 2022-03-28
Publication date: 2023-10-10
Also published as: WO2023185103A1

Abstract

The embodiment of the application provides an information sending method, an information receiving method, a related device and a related system. The method comprises the following steps: transmitting a first data packet to a server, wherein the first data packet is used for determining first coordinate conversion information, and the first coordinate conversion information is used for carrying out coordinate conversion between a first coordinate system and a second coordinate system; generating first position information of a first position point based on a first coordinate system; and sending a second data packet, wherein the second data packet carries the first position information. Through carrying first position information and first coordinate conversion information in different data package and sending, so can transmit through two different secure channels, need not to deflect two items of information, can not cause the loss to the precision of position information, compromise compliance and data security simultaneously, also can reduce the data transmission volume of position information in addition, save the bandwidth.

Description

Information sending method, information receiving method, related device and system

Technical Field

The present application relates to the field of intelligent transportation, and more particularly, to an information sending method, an information receiving method, and related devices and systems.

Background

With the development of intelligent transportation systems (intelligent transportation system, ITS), high-precision positioning is becoming a requirement. The road side end, the cloud end, the vehicle end and the like can be combined with the high-precision map to transmit and exchange the position information.

Currently, for safety, if high-precision position coordinates are to be transmitted, the position coordinates need to be transmitted after being deflected and encrypted. However, deflection encryption reduces the accuracy of the position coordinates, and transmission of high-accuracy positions cannot be truly realized. Accordingly, it is desirable to provide a method capable of safely and accurately transmitting highly accurate position information.

Disclosure of Invention

The application provides an information sending method, an information receiving method, a related device and a related system, so that high-precision position information can be safely and accurately transmitted.

In a first aspect, the present application provides an information sending method, where the method may be performed by the first roadside device, or may also be performed by a component (such as a chip, a chip system, etc.) configured in the first roadside device, or may also be implemented by a logic module or software capable of implementing all or part of the functions of the first roadside device, where the application is not limited to this.

Illustratively, the method includes: transmitting a first data packet to a server, wherein the first data packet is used for determining first coordinate conversion information, and the first coordinate conversion information is used for carrying out coordinate conversion between a first coordinate system and a second coordinate system; generating first position information of a first position point based on a first coordinate system; and sending a second data packet, wherein the second data packet carries the first position information.

It should be understood that the first road side device and the first coordinate conversion information, the first location point, the first location information and the like corresponding to the first road side device are defined only for convenience of distinguishing and description, and the information sending method provided by the application can be applied to any road side device without losing generality.

The first coordinate system may be a local coordinate system of a device (such as the first roadside device) with a relatively fixed position. For each roadside device, each roadside device may correspond to a local coordinate system, such as a coordinate system on which sensing devices within the roadside device collect data or process the data. The local coordinate system of the first roadside device is denoted herein as the first coordinate system. The second coordinate system may be a global coordinate system, such as a geographic coordinate system (geographic coordinate system), a geodetic coordinate system (geodetic coordinate system), and the like. The second coordinate system is, for example, the world Wide (world geodetic system-1984coordinated system,WGS-84) coordinate system of 1984.

The first position point is a position point which needs to be reported by the first road side equipment.

The sending of the first data packet may be that the road side device sends the first data packet to the server in a point-to-point sending manner. The roadside device may encrypt the first data packet and then send the encrypted first data packet to the server. The second data packet may be sent by a roadside device through broadcasting, that is, any other roadside device, any terminal device, or any server that has a communication connection with the roadside device may receive the second data packet. The first data packet can be sent through a Uu port or an optical fiber between the road side equipment and the server, and the second data packet can be sent through a PC5 port.

The first data packet in the first aspect may, for example, correspond to the data packet a illustrated below in connection with fig. 4, and the second data packet in the first aspect may, for example, correspond to the data packet B illustrated below in connection with fig. 4.

Using a first coordinate system of a first road side device with relatively fixed positions as a reference, converting the position information of the position points into first position information relative to the first coordinate system by the first road side device, and transmitting the first position information through a second data packet; the first road side device transmits data usable for determining first coordinate conversion information between the first coordinate system and the second coordinate system to the server through the first data packet. Based on the above scheme, the device receiving the first position information can analyze the first position information based on the first coordinate conversion information, so as to obtain the coordinates of the first position point under the second coordinate system.

Because the position information and the coordinate conversion information are transmitted by adopting two different data packets, namely two paths, and the position information and the coordinate conversion information are not coordinates under the second coordinate system, the position information and the coordinate conversion information do not need to deflect, the precision of the position information is not lost, the compliance and the data safety of the high-precision position information are simultaneously considered, in addition, the data transmission quantity of the position information can be reduced, and the bandwidth is saved.

With reference to the first aspect, in some possible implementations of the first aspect, the first coordinate transformation information may be generated by a first roadside device or may be generated by a server. Thus, the information carried by the first data packet sent by the first roadside device to the server may have the following two possible designs.

In one possible design, the first data packet carries first coordinate conversion information.

That is, the first road side device may generate the first coordinate conversion information by itself, and send the first coordinate conversion information for performing coordinate conversion between the first coordinate system and the second coordinate system to the server in the first data packet, so that the server may directly analyze the first position information according to the first coordinate conversion information, without determining the first coordinate conversion information, which is beneficial to improving the efficiency of the server in analyzing the position information.

In another possible design, the first data packet carries original data, where the original data is collected based on a first coordinate system, and is used to determine first coordinate conversion information.

The raw data may include, but is not limited to, point cloud data collected by a laser radar sensor or a radar sensor in the first roadside device, picture data collected by a vision sensor, and the like.

In this design, the first roadside device may send the original data carried in the first data packet to the server, and the server determines the first coordinate conversion information based on the original data. Therefore, for the first road side equipment, the first coordinate conversion information does not need to be determined locally, and calculation is transferred to a server with stronger calculation force, so that the calculation pressure on the first road side equipment is reduced. Meanwhile, the first road side equipment does not directly transmit the first coordinate conversion information, but transmits the original data, so that the leakage of the first coordinate conversion information can be prevented, and the data safety is ensured.

Based on the above-mentioned carrying of the original data by the first data packet, the server determines the design of the first coordinate transformation information, and further, the method further includes: first coordinate conversion information is received from a server.

Since the first roadside apparatus may be equipped with a plurality of sensors, each of which may correspond to a different coordinate system from the other, the roadside apparatus may also need to use the coordinate conversion information when generating the position information (including, for example, but not limited to, the first position information described above). After the server determines the coordinate conversion information according to the original data, the first coordinate conversion information can be sent to the first road side equipment so that the first road side equipment can generate the position information.

With reference to the first aspect, in some possible implementations of the first aspect, the second data packet further carries a version number of a coordinate conversion parameter used to generate the location information.

The version number of the coordinate conversion parameter is carried in the second data packet, so that the device receiving the second data packet can acquire the coordinate conversion parameter of the corresponding version or the coordinate conversion parameter of the version with which the version number can be compatible based on the version number, and the coordinate conversion parameter of the correct version is used for analyzing the first position information, so that high-precision analysis of the position information can be realized.

With reference to the first aspect, in some possible implementation manners of the first aspect, a transmission frequency of the second data packet is higher than a transmission frequency of the first data packet.

The following provides two implementations in which the first roadside device transmits the first data packet and the second data packet.

One possible implementation manner is that the first data packet is a data packet sent with a first preset time period as a period, and the second data packet is a data packet sent with a second preset time period as a period, and the first preset time period is longer than the second preset time period.

Another possible implementation manner is that the coordinate conversion information of the second data packet in the first data packet is successfully acquired and then sent.

The server may return a reception acknowledgement message to the first road side device after receiving the first data packet and acquiring the first coordinate conversion information, where the first road side device does not send the first data packet after receiving the reception acknowledgement message.

Because the position of the first road side equipment is not changed frequently, the updating frequency of the first coordinate conversion information carried by the first data packet is low. In contrast, the first location point to be reported changes frequently, and the first location information of the first location point carried by the second data packet is updated more frequently. Therefore, the sending frequency of the second data packet is higher than that of the first data packet, so that the actual requirement can be met and the signaling cost can be saved.

With reference to the first aspect, in certain possible implementation manners of the first aspect, the method further includes: acquiring second coordinate conversion information, wherein the second coordinate conversion information is used for carrying out coordinate conversion between a second coordinate system and a third coordinate system; receiving a third data packet carrying second position information, wherein the second position information is generated based on a third coordinate system; and determining the coordinates of the second position point under the second coordinate system according to the second position information and the second coordinate conversion information.

The third data packet may be a data packet from other road side devices and/or terminal devices, where the third data packet may carry second location information of the second location information. The third data packet may specifically be a data packet sent to the server by other road side devices and/or terminal devices, and forwarded to the first road side device by the server; or may be a data packet received by the first roadside device directly from other roadside devices and/or terminal devices. The application is not limited in this regard.

The first road side equipment can obtain more comprehensive road condition information by acquiring the data packets carrying the position information of other road side equipment and/or terminal equipment, so that reasonable path planning is facilitated.

In one possible scenario, the first roadside device receives a fourth data packet directly from the other roadside device and/or the terminal device, and can determine the second coordinate conversion information from the fourth data packet.

Optionally, the acquiring the second coordinate transformation information includes: receiving a fourth data packet, wherein the fourth data packet is used for determining the second coordinate conversion information; and determining the second coordinate conversion information based on the fourth data packet.

Another possible case is that the first road side device receives the correspondence information from the server, and obtains the second coordinate conversion information from the correspondence information.

Optionally, the third data packet carries information of a second roadside device, and corresponds to the second coordinate transformation information, and the obtaining the second coordinate transformation information includes: receiving corresponding relation information from the server, wherein the corresponding relation information is used for indicating a corresponding relation between road side equipment and coordinate conversion information, the road side equipment comprises second road side equipment, and the coordinate conversion relation comprises second coordinate conversion relation; and determining second coordinate conversion information based on the information of the second road side equipment and the corresponding relation information.

It should be appreciated that the third data packet may correspond, for example, to the data packet C illustrated below in connection with fig. 4, and the fourth data packet may correspond, for example, to the data packet D illustrated below in connection with fig. 4.

In a second aspect, the present application provides an information receiving method, which may be performed by a server, or may be performed by a component (such as a chip, a chip system, etc.) configured in the server, or may be implemented by a logic module or software capable of implementing all or part of the functions of the server, which is not limited in this aspect.

Illustratively, the method includes: receiving a first data packet from a first road side device; determining first coordinate conversion information for performing coordinate conversion between the first coordinate system and the second coordinate system based on the first data packet; receiving a second data packet from the road side equipment, wherein the second data packet carries first position information of a first position point generated based on a first coordinate system; based on the first coordinate conversion information and the first position information, coordinates of the first position point in the second coordinate system are determined.

The first data packet in the second aspect may, for example, correspond to the data packet a illustrated below in connection with fig. 4, and the second data packet in the second aspect may, for example, correspond to the data packet B illustrated below in connection with fig. 4.

The road side equipment carries the coordinate conversion information or the original data for determining the coordinate conversion information and the position information in different data packets to send, and the server can determine the first coordinate conversion information based on the first data packet to analyze the first position information in the second data packet so as to obtain the coordinates of the first position point under the second coordinate system. Based on the above scheme, because the position information and the coordinate conversion information are transmitted by adopting two different data packets, namely two paths are adopted for transmission, and the position information and the coordinate conversion information are not coordinates under the second coordinate system, the position information and the coordinate conversion information do not need to deflect, the precision of the position information is not lost, meanwhile, the compliance and the data safety of the high-precision position information are also considered, in addition, the data transmission quantity of the position information can be reduced, and the bandwidth is saved.

With reference to the second aspect, in some possible implementations of the second aspect, the first coordinate transformation information may be generated by the first roadside device or may be generated by a server. Thus, the information carried by the first data packet received by the server may have the following two possible designs.

After the server receives the first coordinate conversion information, the first position information can be directly analyzed according to the first coordinate conversion information, and the first coordinate conversion information does not need to be determined, so that the efficiency of analyzing the position information by the server is improved.

In another possible design, the first data packet carries original data, where the original data is data collected by the first roadside device based on the first coordinate system. The method further comprises the steps of: the first coordinate conversion information is determined based on the raw data.

Because the first road side equipment does not directly transmit the first coordinate conversion information, but transmits the original data, the server determines the first coordinate conversion information according to the original data, the leakage of the first coordinate conversion information can be prevented, and the data safety is ensured. In addition, the first road side equipment does not need to determine the first coordinate conversion information locally, but transfers the calculation to a server with stronger calculation power, so that the calculation pressure of the first road side equipment is reduced.

Based on the above-mentioned carrying of the original data by the first data packet, the server determines the design of the first coordinate transformation information, and further, the method further includes: and sending the first coordinate conversion information to the first road side equipment.

Since the first roadside apparatus may be equipped with a plurality of sensors, each of which may correspond to a different coordinate system from the other, the first roadside apparatus may also need to use the first coordinate conversion information when generating the position information (including, for example, but not limited to, the first position information described above). After determining the first coordinate conversion information according to the original data, the server can send the first coordinate conversion information to the first road side device so that the first road side device can generate position information.

With reference to the second aspect, in certain possible implementations of the second aspect, the method further includes: determining a first coordinate conversion parameter according to the first coordinate conversion information; when the first coordinate conversion parameter is different from a locally stored second coordinate conversion parameter regarding the first roadside device, the locally stored second coordinate conversion parameter is replaced with the first coordinate conversion parameter.

It should be appreciated that the first coordinate conversion parameter may correspond to the coordinate conversion parameter a in the flow illustrated below in connection with fig. 4, and the second coordinate capture parameter may correspond to the coordinate conversion parameter B in the flow illustrated below in connection with fig. 4.

The first data packet may further carry a version of the coordinate conversion parameter. The version of the coordinate conversion parameter may be a version number, a timestamp, an update time, an update indication flag bit, or other information that may be used to indicate the version.

When the versions of the coordinate conversion parameters received by the server and the locally stored coordinate conversion parameters are inconsistent, the server replaces the locally stored coordinate conversion parameters by storing the received coordinate conversion parameters, so that the locally stored coordinate conversion information can be used for analyzing the position information more accurately; when the two parameters are consistent, the received coordinate conversion parameters do not need to be stored, and the coordinate conversion parameters stored locally by the server can be used as the latest coordinate conversion parameters. The server determines whether to update the locally stored coordinate conversion parameters by comparing the received coordinate conversion parameters with the locally stored coordinate conversion parameters, so that the latest coordinate conversion parameters stored locally by the server are ensured, the latest coordinate conversion parameters can be used for analyzing the position information, and high-precision analysis of the position information is ensured.

With reference to the second aspect, in some possible implementations of the second aspect, the second data packet further carries a version number of a first coordinate conversion parameter used to generate the first location information; the method further comprises the steps of: in the case where the coordinate conversion parameter corresponding to the version number is not acquired, a request message is sent to the first roadside device to request acquisition of the coordinate conversion parameter corresponding to the version number.

It should be appreciated that each updated coordinate conversion parameter may correspond to a version number, and that since the coordinate conversion parameter is part of the coordinate conversion information, the coordinate conversion information to which the coordinate conversion parameter belongs also corresponds to a version number.

When the version number of the coordinate conversion parameter is carried in the second data packet, the server can determine whether the coordinate conversion parameter of the corresponding version is stored locally based on the version number, so that the position information is ensured to be analyzed by using the coordinate conversion parameter of the correct version, and high-precision analysis of the position information can be realized.

With reference to the second aspect, in certain possible implementations of the second aspect, the method further includes: and sending corresponding relation information to the terminal equipment and/or the road side equipment, wherein the corresponding relation information is used for indicating the corresponding relation between the road side equipment and the coordinate conversion information.

The correspondence information may include a correspondence between a first identifier of the first roadside device and the first coordinate conversion information, and a correspondence between information of the first roadside device and the first identifier of the first roadside device; or the corresponding relation information may also include information of the first road side equipment, and a corresponding relation between the first identifier of the first road side equipment and the first coordinate conversion information. The present application includes, but is not limited to.

The server sends the corresponding relation information to the terminal equipment and/or the road side equipment, so that the terminal equipment and/or the road side equipment can acquire the needed coordinate conversion information from the corresponding relation information according to the information of the road side equipment (such as the first road side equipment), and further the analysis of the position information can be realized.

With reference to the second aspect, in some possible implementations of the second aspect, the second data packet has a higher frequency of reception than the first data packet.

The following provides two implementations in which the server receives the first data packet and the second data packet.

One possible implementation manner is that the first data packet is a data packet received with a first preset time period as a period, and the second data packet is a data packet received with a second preset time period as a period, and the first preset time period is longer than the second preset time period.

Another possible implementation manner is that the second data packet is received after the first coordinate conversion information in the first data packet is successfully acquired.

Because the position of the first road side equipment is not changed frequently, the updating frequency of the first coordinate conversion information carried by the first data packet is low. In contrast, the first location point to be reported changes frequently, and the first location information of the first location point carried by the second data packet is updated more frequently. Therefore, the receiving frequency of the second data packet is higher than that of the first data packet, so that the actual demand is met and the signaling cost is saved.

With reference to the second aspect, in certain possible implementations of the second aspect, the method further includes: receiving a third data packet, wherein the third data packet is used for determining second coordinate conversion information between a second coordinate system and a third coordinate system; receiving a fourth data packet carrying second position information, wherein the second position information is generated based on a third coordinate system; and sending the fourth data packet.

Since the server may receive, in addition to the first data packet for determining the first coordinate conversion relationship and the second data packet carrying the first position information from the first road side terminal, also may receive the third data packet for determining the second coordinate conversion information and the fourth data packet carrying the second position information from other road side devices and/or terminal devices, the server may determine the second coordinate conversion information based on the third data packet, so as to analyze the second position information in the fourth data packet, and further perform reasonable planning control. The server can also forward the fourth data packet, so that the equipment receiving the fourth data packet can obtain more comprehensive road condition information, and is favorable for obtaining reasonable path planning.

It should be appreciated that the third data packet may correspond, for example, to the data packet D illustrated below in connection with fig. 4, and the fourth data packet may correspond, for example, to the data packet C illustrated below in connection with fig. 4.

In a third aspect, the present application provides an information receiving method, where the method may be performed by a terminal device or other roadside device (such as a second roadside device), or may also be performed by a component (such as a chip, a chip system, etc.) configured in the terminal device or other roadside device, or may also be implemented by a logic module or software capable of implementing all or part of the functions of the terminal device or other roadside device, and the application is not limited thereto.

For convenience of distinction and explanation, the roadside apparatus transmitting the first location information of the first location point in the first to second aspects is referred to herein as a first roadside apparatus. The coordinate conversion information sent by the first roadside device may be recorded as first coordinate conversion information; the roadside device that may receive the location information from the first roadside device is denoted as a second roadside device.

Illustratively, the method includes: receiving a first data packet from first road side equipment, wherein the first data packet carries first position information of a first position point generated based on a first coordinate system; acquiring first coordinate conversion information corresponding to the first road side equipment, wherein the first coordinate conversion information is used for carrying out coordinate conversion between a first coordinate system and a second coordinate system; based on the first coordinate conversion information and the first position information, coordinates of the first position point in the second coordinate system are determined.

It will be appreciated that the first data packet in the third aspect may for example correspond to data packet B, which is illustrated below in connection with fig. 4.

The terminal device and/or the second road side device may acquire the first coordinate conversion information from the server, and parse the first position information in the first data packet received from the first road side device according to the first coordinate conversion information, so that the terminal device and/or the second road side device may determine the coordinates of the first position point in the second coordinate system. Based on the scheme, because the position information and the coordinate conversion information are transmitted by adopting two different transmission paths, and the position information and the coordinate conversion information are not coordinates under the second coordinate system, the position information and the coordinate conversion information do not need to deflect, the precision of the position information is not lost, the compliance and the data safety of the high-precision position information are simultaneously considered, the data transmission quantity of the position information can be reduced, and the bandwidth is saved.

A possible scenario is that the second roadside device or the terminal device may receive the second data packet directly from the first roadside device and may determine the second coordinate conversion information from the second data packet.

Optionally, the acquiring the first coordinate conversion information corresponding to the first roadside device includes: receiving a second data packet; the first coordinate conversion information is determined based on the second data packet.

It will be appreciated that the second data packet in the third aspect may be for example for data packet a as illustrated below in connection with fig. 4.

Another possible case is that the second road side device or the terminal device receives the correspondence information from the server, and obtains the first coordinate conversion information from the correspondence information.

Optionally, the first data packet further carries information of a first roadside device, and the obtaining first coordinate conversion information corresponding to the first roadside device includes: receiving corresponding relation information from a server, wherein the corresponding relation information is used for indicating a corresponding relation between road side equipment and coordinate conversion information, the road side equipment comprises the first road side equipment, and the coordinate conversion information comprises the first coordinate conversion information; and acquiring first coordinate conversion information based on the information of the first road side equipment and the corresponding relation information.

The first data packet can also carry information of the first road side equipment, so that the terminal equipment and/or the second road side equipment receiving the first data packet can identify the first road side equipment according to the information of the first road side equipment, and further obtain corresponding first coordinate conversion information based on the corresponding relation information.

Illustratively, the correspondence information may include at least one correspondence between the first identifier of the roadside apparatus and the coordinate conversion information, and at least one correspondence between the information of the roadside apparatus and the first identifier of the roadside apparatus; alternatively, the correspondence information may include at least one correspondence of the information of the roadside apparatus, the first identifier of the roadside apparatus, and the coordinate conversion information. The present application includes, but is not limited to, this.

Because the server stores the corresponding relation information in advance, the server can send the corresponding relation information to each user equipment of the map through the processes such as map updating and the like. The terminal device or the second road side device receiving the first data packet can find out the needed coordinate conversion information according to the information of the first road side device, so that the analysis of the position information is realized.

Further, the first data packet further carries a version number of a coordinate conversion parameter for generating the first position information; the obtaining the first coordinate conversion information based on the information of the first road side equipment and the corresponding relation information includes: determining a version number of a coordinate conversion parameter in first coordinate conversion information corresponding to the first road side equipment, which is acquired from a server, based on the information of the first road side equipment; and re-acquiring the first coordinate conversion information from the server under the condition that the version number of the coordinate conversion parameter acquired from the server is not compatible with the version number carried in the first data packet.

By acquiring the coordinate conversion parameters of the correct version number or the coordinate conversion parameters compatible with the version number, high-precision analysis of the position information can be ensured.

With reference to the third aspect, in some possible implementations of the third aspect, the method further includes: transmitting a third data packet, wherein the third data packet is used for determining second coordinate conversion information between the second coordinate system and a third coordinate system; and transmitting a fourth data packet carrying second position information, wherein the second position information is the position information of a second position point generated based on the third coordinate system.

It should be appreciated that the third data packet may correspond to, for example, data packet C in the following example, and the fourth data packet may correspond to, for example, data packet D in the following example. Similar to the first roadside device, the second roadside device and the terminal device may also generate a data packet for determining coordinate conversion information and a data packet carrying location information based on the method provided in the first aspect, and transmit the data packet through two different secure channels. Therefore, deflection is not needed for the position information and the coordinate conversion information, the precision of the position information is not lost, the compliance and the data safety of the high-precision position information are simultaneously considered, the data transmission quantity of the position information can be reduced, and the bandwidth is saved. In addition, the server can receive data packets from a plurality of road side devices and/or terminal devices, can obtain more comprehensive road condition information and performs reasonable planning control.

In combination with the above aspects, in some possible implementations, the first data packet and the second data packet are transmitted based on different secure channels.

In combination with the above aspects, in some possible implementations, the third data packet and the fourth data packet are transmitted based on different secure channels.

It should be appreciated that secure channels may be used to ensure confidentiality and integrity of the communication process. Different security channels may employ different information security protection mechanisms, for example, using different certificate mechanisms, authentication mechanisms, encryption mechanisms, or the like. The authentication mechanism may include, but is not limited to, an authentication method, an authentication algorithm, and the like. The encryption mechanism may include, but is not limited to, encryption algorithms, encryption modes, and the like. For example, two secure channels use different versions of digital certificates, or two channels use different keys and/or different encryption algorithms, etc. The present application includes, but is not limited to, this. For details of the secure channel, reference is made to the prior art, and no further description is given here.

By transmitting the data packet for determining the coordinate conversion information and the two data packets carrying the position information based on different secure channels, different certificate mechanisms, authentication mechanisms or encryption mechanisms can be used for encrypting the information, so that the transmission safety is improved. Therefore, the deflection of the position information and the coordinate conversion information is not needed, the loss of the precision of the position information is avoided, the compliance and the data safety of the high-precision position information are simultaneously considered, the data transmission quantity of the position information can be reduced, and the bandwidth is saved.

With reference to the first aspect to the third aspect, in some possible implementation manners, the first data packet and the second data packet further respectively carry information of a first roadside device, where the information of the first roadside device corresponds to the first coordinate conversion information.

The information of the first road side equipment comprises: a second identification of the first roadside device or a location coordinate of the first roadside device. The second identifier may be a self-report identifier of the first road side device. The first road side equipment generates and reports the self-report identification by itself, or can report the own position information.

With reference to the first aspect to the third aspect, in some possible implementations, the information of the first roadside device corresponds to a first identifier of the first roadside device.

The first identification of the first roadside device may be an identification of the first roadside device in a map, and the first identification may be used to uniquely identify one of the roadside devices in the map. In order to facilitate distinguishing between different road side devices and their corresponding coordinate conversion information, the server may pre-establish a correspondence between the information of the road side device, the first identifier of the road side device, and the coordinate conversion information.

The first data packet and the second data packet sent by the first road side equipment can also carry the information of the first road side equipment, so that the equipment receiving the first data packet and/or the second data packet can identify the first road side equipment according to the information of the first road side equipment, and further, the corresponding first coordinate conversion information can be rapidly obtained from the corresponding relation information.

In a fourth aspect, the present application provides an information sending method, where the method may be performed by the first terminal device, or may also be performed by a component (such as a chip, a chip system, etc.) configured in the first terminal device, or may also be implemented by a logic module or software capable of implementing all or part of the functions of the first terminal device, which is not limited in this aspect of the present application.

It should be understood that the first terminal device, the first road side device, the first coordinate conversion information corresponding to the first terminal device, and the like are defined only for convenience of distinguishing and description, and the information sending method provided by the application can be applied to any terminal device without losing generality.

Illustratively, the method includes: acquiring first coordinate conversion information for performing coordinate conversion between a first coordinate system and a second coordinate system; generating position information of the position point based on the first coordinate conversion information and coordinates of the position point in the second coordinate system; the location information is transmitted.

Due to the high mobility of the terminal devices, the first terminal device can also select the coordinate system of the road side device with a relatively fixed position as a reference. The first terminal device can select a nearby road side device or take a first coordinate system of the road side device which is in communication connection with the first terminal device as a reference. For example, a first coordinate system of a first roadside device is selected as a reference.

It will be appreciated that the location information in the fourth aspect may correspond to the location information C illustrated below in connection with fig. 6.

When the first terminal equipment identifies the position point, the coordinate of the position point under the self coordinate system is converted into the coordinate of the target position point under the second coordinate system. In order to ensure the safety of information transmission, the terminal equipment converts the coordinates of the position point under the second coordinate system into the coordinates of the selected fixed first road side equipment under the first coordinate system, so that the position information of the position point can be generated. The first terminal equipment uses a first coordinate system of first road side equipment with relatively fixed positions as a reference, converts the position information of the position points into the position information relative to the first coordinate system and sends the position information. Based on the above scheme, the device receiving the position information can analyze the position information based on the first coordinate transformation information, so as to obtain the coordinates of the position point under the second coordinate system.

Because the position information is not the coordinates under the second coordinate system, deflection is not needed, the precision of the position information is not lost, the compliance and the data safety of the high-precision position information are also considered, the data transmission quantity of the position information can be reduced, and the bandwidth is saved.

With reference to the fourth aspect, in some possible implementations of the fourth aspect, the sending location information includes: and sending a first data packet, wherein the first data packet carries the position information.

It will be appreciated that the first data packet in the fourth aspect may correspond to data packet E, which is illustrated below in connection with fig. 6.

With reference to the fourth aspect, in some possible implementation manners of the fourth aspect, the acquiring the first coordinate transformation information includes: receiving corresponding relation information from a server, wherein the corresponding relation information is used for indicating the corresponding relation between the road side equipment and the coordinate conversion information; and acquiring first coordinate conversion information based on the information of the first road side equipment, wherein the first coordinate conversion information corresponds to the first road side equipment.

Because the server stores the corresponding relation information in advance, the server can send the corresponding relation information to each user equipment of the map through the processes such as map updating and the like. When the first terminal equipment has the requirement of sending the position information, the required coordinate conversion information can be searched from the information of the selected road side equipment with the fixed position, so that the generation of the high-precision position information is realized, and the compliance and the data safety of the high-precision position information are considered.

With reference to the fourth aspect, in some possible implementation manners of the fourth aspect, the acquiring the first coordinate transformation information includes: a second data packet is received from the first roadside device, the second data packet being used to determine the first coordinate conversion information.

In a fifth aspect, the present application provides an information receiving method, where the method may be performed by a roadside device or other terminal device (such as a second terminal device), or may also be performed by a component (such as a chip, a chip system, etc.) configured in the roadside device or other terminal device, or may also be implemented by a logic module or software capable of implementing all or part of the functions of the roadside device or other terminal device, and the application is not limited thereto. It should be understood that the roadside device may be any one of a plurality of roadside devices, and may be a first roadside device or a second roadside device.

Illustratively, the method includes: receiving location information from a first terminal device, the location information being information for generating location points based on a first coordinate system; acquiring first coordinate conversion information for performing coordinate conversion between a first coordinate system and a second coordinate system; based on the first coordinate conversion information and the position information, the coordinates of the position point in the second coordinate system are determined.

It will be appreciated that the location information in the fifth aspect may correspond to the location information C illustrated below in connection with fig. 6.

Since the first terminal device transmits the position information generated based on the first coordinate system. After the first coordinate conversion information is acquired, the road side device and/or other terminal devices can analyze the position information according to the first coordinate conversion information, so that the coordinates of the position point under the second coordinate system can be obtained. Because the first coordinate conversion information and the position information are not the coordinates in the second coordinate system and are not transmitted together, deflection is not needed, loss of precision of the position information is avoided, compliance and data safety of the high-precision position information are also considered, data transmission quantity of the position information can be reduced, and bandwidth is saved.

With reference to the fifth aspect, in some possible implementation manners of the fifth aspect, the acquiring first coordinate transformation information includes: obtaining corresponding relation information from a server, wherein the corresponding relation information is used for indicating the corresponding relation between the road side equipment and the coordinate conversion information; and acquiring first coordinate conversion information based on the information of the first road side equipment.

Because the server stores the corresponding relation information in advance, the server can send the corresponding relation information to each user equipment of the map through the processes such as map updating and the like. The road side equipment and/or other terminal equipment receiving the position information can find out the needed first coordinate conversion information from the corresponding relation information according to the information of the first road side equipment, so that the analysis of the high-precision position information is realized, and the compliance and the data safety of the high-precision position information are both considered.

With reference to the fifth aspect, in certain possible implementation manners of the fifth aspect, the receiving location information from the first terminal device includes: a first data packet is received from a first terminal device, the first data packet carrying location information.

It should be appreciated that this first data packet may correspond to data packet E in the example below in connection with fig. 6.

With reference to the fifth aspect, in some possible implementation manners of the fifth aspect, the first data packet further carries a version number of a coordinate conversion parameter used for generating the location information, and the acquiring, based on the information of the first roadside device, first coordinate conversion information corresponding to the first roadside device includes: determining a version number of a coordinate conversion parameter in first coordinate conversion information corresponding to the first road side equipment, which is acquired from a server, based on the information of the first road side equipment; and re-acquiring the coordinate conversion parameters from the server under the condition that the version numbers of the coordinate conversion parameters acquired from the server are not compatible with the version numbers carried in the first data packet.

By acquiring the coordinate conversion parameter for generating the position information, or the coordinate conversion parameter compatible with the version number of the coordinate conversion parameter, high-precision analysis of the position information can be ensured.

In a sixth aspect, the present application provides an information receiving method, which may be performed by a server, or may be performed by a component (such as a chip, a chip system, etc.) configured in the server, or may be implemented by a logic module or software capable of implementing all or part of the functions of the server, which is not limited in this aspect.

Illustratively, the method includes: receiving location information from a first terminal device, the location information being information of a location point generated based on a first coordinate system; determining first coordinate conversion information for performing coordinate conversion between the first coordinate system and the second coordinate system; and determining the coordinates of the position point in the second coordinate system based on the first coordinate conversion information and the position information.

It will be appreciated that the location information in the sixth aspect may correspond to the location information C illustrated below in connection with fig. 6.

Since the first terminal device broadcasts the position information generated based on the first coordinate system, the server can analyze the position information based on the locally stored first coordinate conversion information, so as to obtain the coordinates of the position point under the second coordinate system. Because the position information is not the coordinates under the second coordinate system, the position information does not need to deflect, the precision of the position information is not lost, the compliance and the data safety of the high-precision position information are also considered, the data transmission quantity of the position information can be reduced, and the bandwidth is saved.

With reference to the sixth aspect, in certain possible implementation manners of the sixth aspect, the receiving location information includes: and receiving a first data packet, wherein the first data packet carries the position information.

With reference to the sixth aspect, in some possible implementation manners of the sixth aspect, the determining the first coordinate conversion information for performing coordinate conversion between the first coordinate system and the second coordinate system includes: determining a first coordinate conversion parameter according to the version number of the coordinate conversion parameter; and when the first coordinate conversion parameter is different from the version number of the locally stored second coordinate conversion parameter related to the first road side equipment, sending a request message to the first road side equipment to request to acquire the first coordinate conversion parameter.

When the version number of the coordinate conversion parameter is carried in the first data packet, the server can determine whether the coordinate conversion parameter of the corresponding version is stored locally based on the version number, so that the position information is ensured to be analyzed by using the coordinate conversion parameter of the correct version, and high-precision analysis of the position information can be realized.

With reference to the sixth aspect, in certain possible implementation manners of the sixth aspect, the method further includes: and sending corresponding relation information to the terminal equipment and/or the road side equipment, wherein the corresponding relation information is used for indicating the corresponding relation between the road side equipment and the coordinate conversion information.

The server sends the corresponding relation information to the terminal equipment and/or the road side equipment, so that the terminal equipment and/or the road side equipment can acquire the needed coordinate conversion information from the corresponding relation information according to the information of the road side equipment, and further the analysis of the position information can be realized.

With reference to the fourth aspect to the sixth aspect, in some possible implementation manners of the fourth aspect to the sixth aspect, the first data packet further carries information of a first roadside device, where the information of the first roadside device corresponds to the first coordinate conversion information.

With reference to the fourth to sixth aspects, in some possible implementations, the information of the first roadside device corresponds to a first identification of the first roadside device.

The identity of the first roadside device in the map is noted as a first identity. To facilitate distinguishing between different roadside devices and their corresponding coordinate conversion information. The server establishes a corresponding relation among the information of the road side equipment, the first identification of the road side equipment and the coordinate conversion information in advance.

The first data packet sent by the terminal equipment can also carry the information of the first road side equipment, so that the equipment receiving the first data packet can identify the first road side equipment according to the information of the first road side equipment, and further, the corresponding first coordinate conversion information can be rapidly obtained from the corresponding relation information.

With reference to the first aspect to the sixth aspect, in some possible implementation manners of the first aspect to the sixth aspect, the first identifier of the first roadside device includes a first field and a second field, where the first field is used to carry an area identifier of an area where the roadside device is located, and the second field is used to carry a device identifier of the roadside device in the area.

The first identifier of each roadside device may include a first field and a second field, and since the first field is used to carry an area identifier, the area identifiers carried by the first field in the first identifiers of different roadside devices in the same area may be the same, and the area identifiers carried by the first field in the first identifiers of the roadside devices in different areas may be different. And because the second field is used for bearing the device identifier of the road side device in the area, the device identifiers borne by the second field in the first identifiers of the road side devices in different areas can be the same or different.

With reference to the first to sixth aspects, in certain possible implementation manners of the first to sixth aspects, the first coordinate transformation information includes coordinate transformation parameters.

The coordinate transformation parameters may be a matrix, or a quaternion plus a translation vector. The coordinate transformation information may include a set of coordinate transformation parameters, or may include a plurality of sets of coordinate transformation parameters.

In one possible implementation, when the first roadside device includes only one sensor, the coordinate conversion information corresponding to the first roadside device includes a set of coordinate conversion parameters that can be used to perform coordinate conversion between the first coordinate system and the second coordinate system.

In another possible implementation manner, when the first roadside device includes a plurality of sensors, the coordinate conversion information corresponding to the first roadside device includes one set of coordinate conversion parameters, or multiple sets of coordinate conversion parameters.

For an implementation mode comprising a set of coordinate conversion parameters, after each sensor acquires the original data, the original data are fused, and the fusion result is converted into a first coordinate system of a certain sensor.

For implementations that include multiple sets of coordinate conversion parameters, the coordinate systems to which the multiple sensors respectively correspond are divided into multiple sets, each of which may include one or more sensors. Raw data acquired by sensors in each group can be fused and converted based on the coordinate system of a certain sensor in the group.

Further, the first coordinate conversion information further includes: identification of the source coordinate system of the coordinate conversion parameter and/or identification of the target coordinate system of the coordinate conversion parameter.

Wherein the identification of the source coordinate system and the identification of the target coordinate system can be used to distinguish between the identifications of the different coordinate systems.

Further, the first coordinate conversion information further includes one or more of the following: version number of the coordinate conversion parameter, update time of the coordinate conversion parameter, and version number with which the coordinate conversion parameter is compatible.

It should be appreciated that the above relevant content of the first coordinate conversion information may also be applicable to the second coordinate conversion information. For brevity, no further description is provided herein.

In a seventh aspect, the present application provides an information sending apparatus, comprising means or units for implementing the first or fourth aspect, and the method in any possible implementation manner of the first or fourth aspect. It will be understood that each module or unit may implement a corresponding function by executing a computer program.

In an eighth aspect, the present application provides an information sending apparatus, including a processor and a memory, the memory being coupled to the processor, the memory being configured to store a computer program, the processor executing the computer program to cause the apparatus to implement the first aspect or the fourth aspect, and the information sending method as described in any one of possible implementation manners of the first aspect or the fourth aspect.

Optionally, the apparatus may further comprise a communication interface for the apparatus to communicate with other devices, which may be, for example, a transceiver, a circuit, a bus, a module or other type of communication interface.

It should be understood that the information transmitting apparatus described in the first aspect and the fourth aspect may be a roadside device such as a roadside unit, a software module in a roadside unit, a hardware module, a chip or a chip system, or a terminal device such as a vehicle, a software module in a vehicle, a hardware module, a chip or a chip system. The present application includes, but is not limited to, this.

A ninth aspect, the present application provides an information receiving apparatus, comprising means or units for implementing the second, third, fifth or sixth aspect, and any possible implementation manner of the second, third, fifth or sixth aspect. It will be understood that each module or unit may implement a corresponding function by executing a computer program.

In a tenth aspect, the present application provides an information receiving apparatus, comprising a processor and a memory, the memory being coupled to the processor, the memory being configured to store a computer program, the processor being configured to execute the computer program, so that the apparatus implements the second, third, fifth or sixth aspect, and the information receiving method according to any one of possible implementation manners of the second, third, fifth or sixth aspect.

It should be understood that the information receiving apparatus described in the second aspect, the third aspect, the fifth aspect, and the sixth aspect may be a server, a terminal device, or a server, where the server is, for example, a map server, a software module, a hardware module, a chip, or a chip system in the map server, the roadside device is, for example, a roadside unit, a software module, a hardware module, a chip, or a chip system in the roadside unit, and the terminal device is, for example, a vehicle, a software module, a hardware module, a chip, or a chip system in the vehicle, or the like. The present application includes, but is not limited to, this.

In an eleventh aspect, the present application provides a chip system comprising a processor and a memory coupled to the processor, the memory for storing a computer program, the processor for executing the computer program to cause the chip system to perform the functions referred to in the first to sixth aspects and any one of the possible implementations of the first to sixth aspects, e.g. for receiving or processing data and/or information referred to in the above method.

In one possible design, the system on a chip further includes a memory to hold program instructions and data, the memory being located either within the processor or external to the processor.

The chip system may be formed of a chip or may include a chip and other discrete devices.

In a twelfth aspect, the present application provides a vehicle that may include the information transmitting apparatus described in the seventh or eighth aspect, or include the information receiving apparatus described in the ninth or tenth aspect.

In a thirteenth aspect, the present application provides a communication system comprising: the system comprises a first road side device and a server, wherein the first road side device is used for executing the method in the first aspect and any possible implementation manner of the first aspect; the server is adapted to perform the method of the second aspect and any one of the possible implementations of the second aspect.

In a fourteenth aspect, the present application provides a communication system comprising: a terminal device and a server, wherein the terminal device is configured to perform the third aspect and the method in any one of the possible implementations of the third aspect; the server is adapted to perform the method of the second aspect and any one of the possible implementations of the second aspect.

In a fifteenth aspect, the present application provides a communication system comprising: the system comprises a first road side device, a terminal device and a server, wherein the road side device is used for executing the method in the first aspect and any possible implementation manner of the first aspect; the terminal device is configured to perform the third aspect and the methods in any one of the possible implementations of the third aspect; the server is adapted to perform the method of the second aspect and any one of the possible implementations of the second aspect.

With reference to the thirteenth aspect, the fourteenth aspect and the fifteenth aspect, in some possible implementations, the communication system further includes a second roadside device for performing the method of the third aspect and any one of the possible implementations of the third aspect.

In a sixteenth aspect, the present application provides a communication system comprising: a roadside device, a first terminal device and a server, wherein the first terminal device is configured to perform the fourth aspect and any one of the possible implementation manners of the fourth aspect, the roadside device is configured to perform the fifth aspect and any one of the possible implementation manners of the fifth aspect, and the server is configured to perform the sixth aspect and any one of the possible implementation manners of the sixth aspect.

With reference to the seventeenth aspect, in some possible implementations, the communication system further includes a second terminal device configured to perform the fifth aspect and the method in any one of the possible implementations of the fifth aspect.

In an eighteenth aspect, the present application provides a computer readable storage medium comprising a computer program which, when run on a computer, causes the computer to carry out the method of the first to sixth aspects and any one of the possible implementations of the first to sixth aspects.

In a nineteenth aspect, the present application provides a computer program product comprising: a computer program (which may also be referred to as code, or instructions) which, when executed, causes a computer to perform the methods of the first to sixth aspects and any one of the possible implementations of the first to sixth aspects.

Drawings

FIG. 1 is a schematic diagram of a system architecture provided by an embodiment of the present application;

FIG. 2 is a schematic diagram of a coordinate transformation parameter list provided in an embodiment of the present application;

FIG. 3 is a schematic diagram of coordinate transformation information according to an embodiment of the present application;

fig. 4 is a schematic flowchart of an information transmission method and an information reception method according to an embodiment of the present application;

Fig. 5 is a schematic diagram of information transceiving between a server, a terminal device and a road side device according to an embodiment of the present application;

fig. 6 is a schematic flowchart of an information transmission method and an information reception method provided by another embodiment of the present application;

FIG. 7 is a schematic block diagram of an apparatus provided by an embodiment of the present application;

fig. 8 is another schematic block diagram of an apparatus provided by an embodiment of the present application.

Detailed Description

The technical scheme of the application will be described below with reference to the accompanying drawings.

In order to facilitate understanding of the embodiments of the present application, the following description is first made:

first, in the embodiment of the present application, "sending" may be performed between devices, for example, may be performed between different vehicles, may be performed between different road side devices, or may be performed between different servers. The communication can be performed between the road side equipment and the server, between the road side equipment and the vehicle, or between the server and the vehicle. As another example, it may be performed within the device, for example, by a bus, wiring, or interface, between components within the device, between modules, between chips, between software modules, or between hardware modules. For example, the transmission of the coordinate conversion information may be performed within the same roadside device.

The "receiving" in the embodiment of the present application may be performed between devices, for example, may be performed between different vehicles, may be performed between different road side devices, or may be performed between different servers. The communication can be performed between the road side equipment and the server, between the road side equipment and the vehicle, or between the server and the vehicle equipment. As another example, it may be performed within a device, for example, between components within a device, between modules, between chips, between software modules, or between hardware modules via a bus, trace, or interface. For example, the reception of the coordinate conversion information may be performed in the same server or in the same vehicle.

Second, prefix words such as "first" and "second" are used in the embodiments of the present application, and are merely used to distinguish different description objects, and there is no limitation on the location, order, priority, number, content, or the like of the described objects. For example, when the object is described as a "field", the ordinal words before the "field" in the "first field" and the "second field" do not limit the position or the sequence between the "fields", and the "first" and the "second" do not limit whether the "fields" modified by the "first" and the "second" are in the same message or not. For another example, if the object is described as "level", the ordinal words before "level" in the "first level" and "second level" do not limit the priority between "levels". As another example, the number of the described objects is not limited by the prefix word, and may be one or more, for example, the "first device" may be one or more. Furthermore, the objects modified by different prefix words may be the same or different, e.g., the described object is a "device", then the "first device" and the "second device" may be the same device, the same type of device, or different types of devices; for another example, the described object is "information", and the "first information" and the "second information" may be information of the same content or information of different contents. In summary, the use of prefix words to distinguish between descriptive objects in embodiments of the present application does not constitute a limitation on the described objects, and statements of the described objects are to be read in the claims or in the context of the embodiments and should not constitute unnecessary limitations due to the use of such prefix words.

Third, in embodiments of the present application, "at least one" means one or more, and "a plurality" means two or more. "and/or", describes an association relationship of an association object, and indicates that there may be three relationships, for example, a and/or B, and may indicate: a alone, a and B together, and B alone, wherein a, B may be singular or plural. The character "/" generally indicates that the context-dependent object is an "or" relationship. "at least one of" or the like means any combination of these items, including any combination of single item(s) or plural items(s). For example, at least one (one) of a, b, or c may represent: a, a; b; c, performing operation; a and b; a and c; b and c; or a and b and c. Wherein a, b and c can be single or multiple.

Fourth, in the embodiments of the present application, "when …", "if" and "if" all refer to that the device will perform the corresponding process under some objective condition, and are not limited in time, nor do they require that the device be implemented with a judgment action, nor are they meant to be limited.

Fifth, the term "simultaneously" in the embodiments of the present application may be understood as at the same time point, may be understood as within a period of time, may be understood as within the same period, and may be specifically understood in conjunction with the context.

The technical scheme provided by the application can be applied to an intelligent transportation system, which is also called an intelligent transportation system (intelligent transportation system). The intelligent traffic system effectively applies information technology, data communication technology, sensor technology, artificial intelligence and the like to traffic and service control, and can effectively improve the safety and efficiency of traffic and transportation.

Fig. 1 is a schematic diagram of a system architecture suitable for use in embodiments of the present application. As shown in fig. 1, the system 100 includes at least one of a roadside device 110, a server 120, and a terminal device 130.

The road side device 110 includes a Road Side Unit (RSU), a multi-access edge computing (MEC), or a sensor, for example, may be an RSU, a MEC, or a sensor, or may be a system composed of an RSU and a MEC, or may be a system composed of an RSU and a sensor, or may be a system composed of an RSU, a MEC, and a sensor.

The server 120 may be a device with computing capabilities, such as an application server or a map server. The server 120 may be, for example, a server deployed in a cloud environment, i.e., a cloud server, or may also be deployed in an edge environment, i.e., an edge computing server. The server 120 may be an integrated device or may be a plurality of distributed devices, which is not limited in this embodiment of the present application.

The terminal device 130 may be, for example, a vehicle, an On Board Unit (OBU), an intelligent wearable device (e.g., a sports bracelet, a watch, etc.), a portable mobile device (e.g., a mobile phone, a tablet, etc.), a component in the portable mobile device, or a chip in the above-mentioned various devices, and embodiments of the present application are not limited specifically.

Although fig. 1 shows only one roadside apparatus 110, one server 120, and one terminal apparatus 130, it should be understood that the number of the roadside apparatus 110, the server 120, and the terminal apparatus 130 is not limited in the embodiment of the present application. A greater number of roadside devices, servers, and terminal devices may be included in the system 100, or one or more devices may be included therein, as the application is not limited in this regard.

It should be noted that, in the above systems, communication between the server and the terminal device, between the terminal device and the roadside device, and between the server and the roadside device may use cellular communication technologies, such as 2G cellular communication, for example, global system for mobile communications (global system for mobile communication, GSM), and general packet radio service (general packet radio service, GPRS); or 3G cellular communication such as wideband code division multiple access (wideband code division multiple access, WCDMA), time division synchronous code division multiple access (TS-SCDMA), code division multiple access (code division multiple access, CDMA), or 4G cellular communication such as long term evolution (long term evolution, LTE). Or 5G cellular communication, or other evolving cellular communication technologies. Wireless communication systems may also utilize non-cellular communication technologies, such as Wi-Fi, to communicate with wireless local area networks (wireless local area network, WLAN). In some embodiments, the communication between the devices may also be direct communication using an infrared link, bluetooth, or zigbee. In some embodiments, the communication between the devices may also employ other wireless protocols, such as various vehicle communication systems, for example, one or more dedicated short-range communication (dedicated short range communications, DSRC) devices may be included in the system, which may include public and/or private data communication between vehicles and/or roadside stations, as the application is not specifically limited.

In the embodiment of the application, the terminal equipment can communicate with the road side equipment and the server in a wireless mode respectively. Illustratively, the terminal device may communicate with the roadside device through a PC5 port, and the terminal device may communicate with the server through a Uu port. The server and the roadside device may communicate by wireless or wired means. Illustratively, a server may communicate with the roadside device over a Uu port or a PC5 port, and the server may also communicate with the roadside device over a fiber optic link.

It should be noted that fig. 1 is only an exemplary architecture diagram, and is not limited to the number of network elements included in the system shown in fig. 1. Although not shown in fig. 1, fig. 1 may include other functional entities in addition to the functional entities shown in fig. 1. In addition, the method provided by the embodiment of the present application may be applied to the system shown in fig. 1, and of course, the method provided by the embodiment of the present application may also be applied to other communication systems, which is not limited in this embodiment of the present application.

Currently, when transmitting and exchanging location information between devices, a transmitting device is generally required to deflect and encrypt location coordinates and then transmit the location coordinates. The deflection encryption of the position information can ensure the safety of the information, but the accuracy of the position coordinates received by the receiving device is reduced, and the high-accuracy position transmission cannot be realized. Therefore, there is a need for secure and accurate transmission of highly accurate location information.

In view of this, the present application provides an information transmission method and an information reception method that use a local coordinate system of a roadside apparatus whose position is relatively fixed as a reference, convert positional information into positional information with respect to the local coordinate system, and transmit the positional information. On the other hand, the road side device transmits coordinate conversion information for coordinate conversion between the local coordinate system and the global coordinate system to the server, so that the server updates the coordinate conversion information to the use device of the electronic map. In this way, the using device of the electronic map can analyze the position information based on the coordinate transformation information, so as to obtain the position of the position point in the global coordinate system. Because different data packets are adopted for transmitting the position information and the coordinate conversion information, the position information and the coordinate conversion information can be transmitted based on different safety channels, are not coordinates under a global coordinate system, do not need to deflect, not only consider compliance and data safety, but also reduce the precision loss of the position information, reduce the data transmission quantity of the position information, and save the bandwidth.

The information transmitting method and the information receiving method according to the embodiments of the present application will be described in detail with reference to the accompanying drawings.

For the convenience of understanding the following examples, the terms referred to below will first be described.

1. Area Identification (ID): road network structure data in a map may be divided into tile level, road level, and lane level. Each tile in the map has a unique tile Identification (ID), each tile includes a plurality of roads, each road has a unique road ID, each road includes a plurality of lanes, and each lane has a unique lane ID. Wherein, the tile can be understood as: the map within a certain range is cut into rectangular grid pictures of a plurality of rows and columns according to a certain size and format and different map resolutions, and the rectangular grid pictures after being cut are called tiles (tiles).

The area ID may be, for example, the tile ID described above, a road ID, or a lane ID. Embodiments of the present application include, but are not limited to, this.

2. A first coordinate system and a third coordinate system: in the embodiment of the application, the local coordinate system of the first road side equipment is marked as a first coordinate system, and the local coordinate system of the second road side equipment is marked as a third coordinate system. The local coordinate system, that is, the coordinate system takes the center of an object (such as a road side device) as an origin of coordinates, the rotation, translation and other operations of the object are performed around the local coordinate system, and when the object performs the rotation, translation and other operations, the local coordinate system also performs corresponding rotation or translation operations. That is, a local coordinate system may be used to describe the location of the target location point under the local coordinate system. Thus, each roadside device may correspond to a local coordinate system.

It should be appreciated that the roadside device may be equipped with one or more sensors. The local coordinate system may be a coordinate system of one of the sensors mounted in the roadside apparatus, or may be a coordinate system obtained by fusing coordinate systems of a plurality of sensors. The embodiment of the present application is not limited thereto.

3. A second coordinate system: in the embodiment of the application, the position of the target position point in the map can be determined by coordinates in the second coordinate system. The second coordinate system may be a global coordinate system. For any one device, the coordinates of the same target location point in the second coordinate system are fixed.

The server, the vehicle, etc. need to determine the coordinates of the target location point in the global coordinate system according to the location information of the target location point. The universal coordinate system is understood to be a conventionally universal and substantially unchanged coordinate system. For any one device, the coordinates of the same target position point in the universal coordinate system are fixed. For ease of distinction and explanation, this common coordinate system is referred to herein as the second coordinate system. Illustratively, the second coordinate system may be a geographic coordinate system (geographic coordinate system), a geodetic coordinate system, or the like. The geographic coordinate system is a coordinate system for defining the position of the surface of the earth by using a three-dimensional spherical surface so as to realize the reference of the position of the surface of the earth by longitude and latitude. The geodetic coordinate system is a coordinate system established by taking a reference ellipsoid as a datum plane in geodetic measurement. The second coordinate system is, for example, the WGS-84 coordinate system.

4. Coordinate conversion information: the information for coordinate conversion between the local coordinate system and the global coordinate system is coordinate conversion information. First coordinate conversion information for coordinate conversion between the first coordinate system and the second coordinate system, and second coordinate conversion information for coordinate conversion between the third coordinate system and the second coordinate system, as mentioned below.

It should be understood that each roadside device corresponds to a respective local coordinate system, and thus also has respective coordinate conversion information for coordinate conversion between the respective local coordinate system and the global coordinate system, thereby facilitating generation and analysis of position information describing the position points.

The coordinate conversion information may include coordinate conversion parameters, among others. The coordinate conversion parameters may be used to coordinate convert between two coordinate systems. For example, the coordinate transformation parameter may be a matrix, such as a 3×3 coordinate transformation matrix, or the coordinate transformation parameter may be a quaternion plus a translation vector. It should be understood that these two coordinate systems may be a local coordinate system and a global coordinate system, or may be two or more local coordinate systems, which is not limited by the embodiment of the present application.

For ease of distinction and explanation, coordinate conversion parameters that can be used directly for coordinate conversion between two coordinate systems are referred to herein as a set of coordinate conversion parameters. Here, it can be directly used for coordinate conversion between two coordinate systems, meaning that, based on this set of coordinate conversion parameters, conversion from one coordinate system to another coordinate system is possible without introducing other coordinate conversion parameters or coordinate systems. It should be noted that the coordinate transformation information in the embodiments of the present application may include, but is not limited to, a set of coordinate transformation parameters. In other words, the coordinate conversion information may include more sets of coordinate conversion parameters.

Taking a first roadside device as an example:

in a possible case that the first roadside apparatus is provided with only one sensor, the first roadside apparatus may use a coordinate system of the sensor as a first coordinate system, and the coordinate conversion information corresponding to the first roadside apparatus may include a set of coordinate conversion parameters that may be directly used for coordinate conversion between the first coordinate system and the second coordinate system.

Another possibility is that the first roadside device is equipped with a plurality of sensors.

One possible way is that the first road side device may take the coordinate system of one of the sensors as the first coordinate system, where the sensor may be any one of the plurality of sensors of the road side device. For ease of distinction and explanation, this is referred to as the first sensor. The coordinate conversion information corresponding to the first roadside apparatus may include a set of coordinate conversion parameters that may be directly used for coordinate conversion between the first coordinate system and the second coordinate system. In this way, after the other sensors except the first sensor acquire the respective raw data, the raw data acquired by the respective sensors may be fused, and the fusion result may be converted into the first coordinate system.

Alternatively, the first road side device may divide the coordinate systems respectively corresponding to the plurality of sensors into a plurality of groups, and each group may include one or more sensors. The raw data acquired by the sensors in each group can be fused and converted based on the coordinate system of a certain sensor in the group, and the specific manner is as described in the former manner, and is not repeated here. For convenience of description, a coordinate system based on which raw data acquired by sensors within one group are fused and converted is referred to as a coordinate system of the group.

A set of coordinate transformation parameters, denoted C1, may be determined for each group. For example, the roadside device divides the plurality of sensors into two groups, group 1 and group 2, respectively, determines a set of coordinate conversion parameters for group 1, denoted as C1, usable for coordinate conversion between the coordinate system of group 1 and the coordinate system of group 2; another coordinate conversion parameter, denoted C2, is determined for group 2 and may be used to coordinate convert between the coordinate system of group 2 and the second coordinate system. In this way, the positional information generated based on the coordinate system of the group 1 or the positional information generated based on the coordinate system of the group 2 can be finally converted into the second coordinate system. It will be appreciated that the coordinate system corresponding to group 1 and the coordinate system corresponding to group 2 may both be used as the first coordinate system.

It should be noted that, in actual use, the roadside apparatus is usually provided with a plurality of sensors, and coordinate conversion parameters between the coordinate systems of some sensors are already obtained in advance, for example, the coordinate conversion parameters C1 between the coordinate system of the group 1 and the coordinate system of the group 2 may be obtained in advance. In this case, the roadside device may directly determine the coordinate conversion parameters (e.g., C2 above) between another portion of the sensors (e.g., the coordinate system of group 2) and the second coordinate system. In this way, the computational complexity caused by the determination of the coordinate transformation parameters can be reduced.

In one example, the first wayside device comprises two sensors, a lidar sensor (lidar) and a radar sensor (radar), respectively, each having a respective coordinate system. If the coordinate conversion parameters from the coordinate system of the radar sensor to the coordinate system of the lidar sensor are obtained in advance, C1 may be used, and the coordinate conversion parameters from the coordinate system of the lidar sensor to the second coordinate system may be determined as C2. Alternatively, an inverse matrix of the coordinate conversion parameter from the coordinate system of the radar sensor to the coordinate system of the lidar sensor may be taken as C1, and further the coordinate conversion parameter from the radar sensor to the second coordinate system may be determined as C2. Thus, two sets of coordinate conversion parameters of C1 and C2 can be obtained.

It is known that, in a normal case, the first road side device knows the coordinate conversion parameters from the coordinate system of the radar sensor to the coordinate system of the lidar sensor in advance, or the coordinate conversion parameters from the coordinate system of the lidar sensor to the coordinate system of the radar sensor, so that the coordinate conversion parameters C1 can be obtained without calculation, and the calculation complexity caused by the determination of the coordinate conversion parameters is reduced.

It should be appreciated that the examples of two sets of sensors and two sets of coordinate conversion parameters illustrated above are merely examples, and that it is also possible to divide the sensors into more sets and determine more sets of coordinate conversion parameters for more sets of sensors based on the same concept. For example, the sensors are divided into three groups, namely, group 1, group 2 and group 3, and coordinate conversion parameters C1, C2 and C3 can be determined respectively, wherein C1 can be used for coordinate conversion between the coordinate system of group 1 and the coordinate system of group 2, C2 can be used for coordinate conversion between the coordinate system of group 2 and the coordinate system of group 3, and C3 can be used for coordinate conversion between the coordinate system of group 3 and the second coordinate system. Thus, the coordinate systems of group 1, group 2, and group 3 can all be regarded as the first coordinate system.

Optionally, the above coordinate conversion information further includes an identification of a source coordinate system of the coordinate conversion parameter and/or an identification of a target coordinate system of the coordinate conversion parameter.

As previously mentioned, the coordinate conversion parameters are not limited to a set, and may be identified using a source coordinate system and a target coordinate system of the coordinate conversion parameters in order to facilitate distinguishing between the different coordinate conversion parameters.

For example, of the three sets of coordinate conversion parameters C1, C2, and C3 exemplified above, the source coordinate system of C1 is the coordinate system of set 1, and the target coordinate system is the coordinate system of set 2; the source coordinate system of C2 is the coordinate system of group 2, and the target coordinate system is the coordinate system of group 3; the source coordinate system of C3 is the coordinate system of group 3 and the target coordinate system is the second coordinate system.

For the three sets of coordinate conversion parameters, the coordinate conversion information may include the identifications of the source coordinate systems of C1 and the identification of the target coordinate system, the identifications of the source coordinate systems of C2 and the identification of the target coordinate system, the identifications of the source coordinate systems of C3 and the identification of the target coordinate system, respectively.

It should be understood that the source coordinate system of C2 is the target coordinate system of C1, the source coordinate system of C3 is also the target coordinate system of C2, and the target coordinate system of C3 is also the second coordinate system. Thus, if the order of the transitions between C1, C2, and C3 can be indicated by other means, the target coordinate systems of C1, C2, and C3 may not be identified, or the source coordinate system of C2, the source coordinate system of C3, and the target coordinate system may not be identified. In other words, as long as the order of conversion between the sets of coordinate conversion parameters can be determined by other means, for example, C1, C2, and C3 are carried in the coordinate conversion information in the order of conversion, respectively, it is not necessary to identify all of the source coordinate system and the target coordinate system of each set of coordinate conversion parameters.

It should be further understood that if the coordinate transformation information includes a set of coordinate transformation parameters, the source coordinate system of the set of coordinate transformation parameters is the first coordinate system, the target coordinate system is the second coordinate system, and the set of coordinate transformation parameters may be directly used for coordinate transformation between the first coordinate system and the second coordinate system. Even if the corresponding source and target coordinate systems are not identified for the set of coordinate conversion parameters, its use is not affected. In this case, the identification of the source coordinate system and the identification of the target coordinate system may also be omitted.

The identification of the source coordinate system and the identification of the target coordinate system may be identification for distinguishing different coordinate systems, for example, may be different numbers, different names, and the like. The application is not limited in this regard.

In the embodiment of the present application, the above-mentioned multiple sets of coordinate transformation parameters and the identifiers of the source coordinate system and the target coordinate system corresponding to the coordinate transformation parameters may be referred to as a coordinate transformation parameter list (list). Fig. 2 is a schematic diagram of a coordinate transformation parameter list provided in an embodiment of the present application. As shown in fig. 2, the coordinate conversion parameter list includes an identification of one or more sets of coordinate conversion parameters and their corresponding source coordinate systems and an identification of the target coordinate system. Wherein for the case mentioned before that the source coordinate system and/or the target coordinate system may not be indicated, the fields are shown in fig. 2 although: the identification of the source coordinate system and the identification of the target coordinate system, but the identification of the source coordinate system and the identification of the target coordinate system may not carry information, i.e., the field may be an empty field. It should be understood that the embodiment of the present application does not limit the sequence of the fields shown in fig. 2.

Optionally, the above coordinate conversion information further includes a version number of the coordinate conversion parameter.

Since the coordinate conversion parameters may change, for example, as the position of the sensor in the road side device changes, the direction adjusts, etc., different coordinate conversion parameters in the same coordinate system may be distinguished by different version numbers.

The information indicating the version of the coordinate conversion parameter may be, for example, a version number, a time stamp, an update indication flag bit, or other information that may be used to indicate the version. The embodiments of the present application are not limited in this regard.

Optionally, the above coordinate conversion information further includes an update time of the coordinate conversion parameter.

When the version of the coordinate conversion parameter is updated, the update time may be carried in the coordinate conversion information. The update time for indicating the coordinate conversion parameter may be, for example, a time stamp. It will be appreciated that the time of each version update is different, and thus the update time of the coordinate conversion parameter can be regarded as a representation of the version number of the coordinate conversion parameter.

Optionally, the above coordinate conversion information further includes a version number to which the coordinate conversion parameter is compatible.

Since the coordinate conversion parameters may only change slightly, for example with a slight adjustment of the position of the road side device, the slightly changed coordinate conversion parameters do not have a too great influence on the accuracy of the determined coordinates of the target position point in the second coordinate system, which influence is even negligible.

Therefore, the version number compatible with the coordinate conversion parameter can be carried in the coordinate conversion information, so that the equipment using the coordinate conversion information can judge whether the coordinate conversion parameter of the latest version needs to be acquired.

For example, compatible version numbers of the coordinate conversion parameters currently used by the first roadside device are V1.0.1.2 and V1.0.1.3, and a version number locally stored by the terminal device using the coordinate conversion parameters of the roadside device is: v1.0.1.2, the terminal device does not need to obtain the coordinate conversion parameters of the latest version, and can also obtain the high-precision coordinates of the target position point under the second coordinate system.

Fig. 3 is a schematic diagram of coordinate transformation information according to an embodiment of the present application. The coordinate conversion information shown in fig. 3 includes a coordinate conversion parameter list, version numbers, update times, and compatible version numbers. The detailed setting manner of the coordinate conversion parameter list can be referred to fig. 2. It should be understood that the version number, the update time, and the compatible version number are not necessarily included in the coordinate transformation information at the same time, which is not limited by the present application. In addition, the present application is not limited to the sequence of the fields shown in fig. 3.

5. Information and identification of road side equipment:

in order to distinguish between different roadside devices, information of the roadside devices and identification of the roadside devices are introduced herein.

Identification of roadside devices: including a first identifier and a second identifier.

In the map carried by the server and the vehicle, the road side equipment is also used as one of map elements, so that each road side equipment in the map can be distinguished by different identifiers.

The identification of the road side device in the map is denoted as a first identification, and can be used to uniquely identify one road side device in the map.

Two possible forms of the first identification are provided below.

One possible form is that each road side device corresponds to an identifier, the identifier is unique in the map, and the identifiers of the road side devices are different from each other.

In another possible form, the first identifier of each roadside device may include a first field for carrying an area identifier of an area in which the roadside device is located, and a second field for carrying a device identifier of the roadside device within the area. That is, the map may be divided into a plurality of areas (e.g., tiles) by areas, an area identifier (e.g., tile identifier) is set for each area, and a device identifier is set for each road side device in each area, the device identifier being unique in the area to which the area identifier corresponds. It should be understood that the above-described division of areas may not be at the granularity of tiles, and may be, for example, roads, or lanes, or administrative areas, etc. The application is not limited in this regard. It should also be appreciated that the identification of the roadside devices within any two regions may be the same or different. The application is not limited in this regard.

The second identifier of the roadside device may be a self-report identifier of the roadside device. The self-report identifier can be automatically generated and reported by the road side equipment.

Information of the roadside device: the method can be used for the road side equipment identification so as to facilitate other equipment to identify the road side equipment. The information of the roadside device may include a second identifier of the roadside device or a position coordinate of the roadside device. Since the second identifier can be generated and reported by the road side device, the received second identifier from the same road side device is the same for different vendors. Since the location of the roadside device does not generally change, the roadside device may also identify itself by its location coordinates.

An information transmitting method and an information receiving method provided by an embodiment of the present application are described below with reference to fig. 4 and 6. The embodiment shown in fig. 4 describes a specific process of the first road side device transmitting the position information and the server, the second road side device and the terminal device receiving the position information, and the embodiment shown in fig. 6 describes a specific process of the first terminal device transmitting the position information and the server, the road side device and the second terminal device receiving the position information.

For convenience of distinction and explanation, the location point indicated by the location information sent by the first roadside apparatus in the embodiment shown in fig. 4 is hereinafter referred to as location point a, and the location information corresponding to the location point is referred to as location information a; the location point indicated by the location information sent by the second roadside device is denoted as a second location point B, and the location information corresponding to the location point B is denoted as location information B. The location points a and B are merely location points that are respectively corresponding to the location information a and the location information B and are transmitted by two different devices, and may be the same or different, which is not limited in the present application.

The flowcharts shown in fig. 4 and 6 describe the methods provided by the embodiments of the present application from the perspective of device interaction, respectively. In the embodiment shown in fig. 4 and 6, the server is, for example, a map server, a software module, a hardware module, a chip or a chip system within the map server. The roadside device is, for example, a roadside unit, a software module within the roadside unit, a hardware module, a chip or a chip system. The terminal device is, for example, a software module, a hardware module, a chip or a chip system within the terminal device. The present application includes, but is not limited to, this.

Referring to fig. 4, fig. 4 is a schematic flowchart of an information transmitting method and an information receiving method according to an embodiment of the present application. The method 400 shown in fig. 4 may include S401 to S410. The various steps in the method 400 shown in fig. 4 are described in detail below.

S401, the first road side equipment sends a data packet A to the server, wherein the data packet A is used for determining first coordinate conversion information. Accordingly, the server receives data packet a from the first roadside device.

S402, the server determines first coordinate conversion information for coordinate conversion between the first coordinate system and the second coordinate system based on the data packet a.

The first road side device may be any one of a plurality of road side devices. In the present embodiment, for convenience of distinction and explanation, a roadside apparatus that transmits the position information a of the position point a is referred to as a first roadside apparatus. The other roadside device may receive the location information a from the first roadside device, noted as a second roadside device.

In order to improve the security of information transmission, optionally, the first road side device may encrypt the data packet a and then send the encrypted data packet a to the server.

In the embodiment of the present application, the sending of the data packet a may be that the first road side device sends the data packet a to the server in a peer-to-peer sending manner. The first roadside device may send data packet a over a Uu port or an optical fiber with the server.

As described above, the coordinate conversion information can be used to perform coordinate conversion between the first coordinate system and the second coordinate system. The coordinate conversion information may include a coordinate conversion parameter, may further include an identification of a source coordinate system of the coordinate conversion parameter and/or an identification of a target coordinate system of the coordinate conversion parameter, and may further include one or more of a version number of the coordinate conversion parameter, an update time of the coordinate conversion parameter, and a version number with which the coordinate conversion parameter is compatible. The coordinate conversion parameters may be a set of coordinate conversion parameters or a plurality of sets of coordinate conversion parameters. For details of the coordinate conversion information, reference is made to the previous descriptions related to fig. 2 and 3, and details thereof are not repeated here. For convenience of distinction and explanation hereinafter, the coordinate conversion information corresponding to the first roadside apparatus is referred to as first coordinate conversion information to distinguish from the coordinate conversion information of the other roadside apparatuses.

In the embodiment of the present application, the first coordinate transformation information may be generated by the first road side device or may be generated by the server. Therefore, the information carried by the data packet a sent by the first roadside device to the server may have the following two cases:

One case may be that the data packet a carries first coordinate conversion information. In other words, the first road side device generates the coordinate conversion parameters by itself and transmits the coordinate conversion parameters to the server. The server receives the data packet a and obtains the coordinate conversion information therefrom.

Alternatively, the data packet a may carry original data, where the original data is collected based on the first coordinate system, and may be used to determine the first coordinate transformation information. In other words, after the sensor of the first road side device acquires the original data based on its own first coordinate system, the original data is directly sent to the server, and the server determines the first coordinate conversion information according to the original data. The raw data may include, for example, but not limited to, point cloud data collected by a laser radar sensor or a radar sensor, an image collected by a vision sensor, and the like.

One example of determining coordinate conversion parameters based on raw data collected by a first roadside device is shown below. The raw data in this example may be, for example, an image. The first roadside device or server may look for feature points from the image. The feature points may include, for example, but are not limited to, a left end point, a right end point of a centerline of the stop line physical marking, an intersection of the stop line and the lane line, a physical line intersection of the road edge, and so forth. The road side equipment or the server can respectively obtain the coordinates of the feature points in the image and the coordinates under the second coordinate system to form a plurality of coordinate pairs, and further calculate the coordinate conversion parameters by using a least square method and other algorithms based on the coordinates of the plurality of coordinate pairs.

It should be understood that the above illustrated method of determining the coordinate transformation parameters is only one possible implementation and should not be construed as limiting the application in any way.

It is understood that the raw data may also include data collected by other sensors, such as point cloud data. For different types of data, the coordinate transformation parameters may be calculated in different manners, which will not be described here.

The server can update the coordinate conversion parameters in the first coordinate conversion information based on the original data reported by the first road side equipment each time, so that the version number, the update time, the compatible version number and other information of the coordinate conversion parameters can be further obtained.

After determining the first coordinate conversion information, the server may further send the first coordinate conversion information to the first road side device, so as to facilitate the first road side device to use in a subsequent step of generating the position information.

As previously described, the first roadside device is any one of a plurality of roadside devices. Each road side device can send the data packet A to the server in the mode, so that the server can determine the coordinate conversion information corresponding to each road side device.

In order to facilitate distinguishing between different road side devices and their corresponding coordinate conversion information, the data packet a may further carry information of the first road side device.

The information of the first roadside device may be, for example, a second identifier of the first roadside device, such as a self-report identifier, or a position coordinate of the first roadside device. The server assigns a first identification to the first roadside device based on its information so as to uniquely identify the first roadside device throughout the map. In this way, the server may establish a correspondence between the first identifier of the first roadside device and the information of the first roadside device. When a data packet from the first road side device is received next time, the first identifier of the first road side device can be determined according to the information of the first road side device carried in the data packet.

It will be appreciated that, although the first identifiers allocated to the same roadside device may be different for different vendors, the self-reporting identifiers reported to the vendors by the same roadside device are consistent. Therefore, the server may previously establish a correspondence between the first identifier of the road side device (e.g., the first road side device) and the self-reported identifier of the road side device (e.g., the first road side device).

Before the correspondence between the self-reporting identifier of the first road side device and the first identifier of the first road side device is not established, that is, when the first road side device sends the data packet a for the first time, the first road side device may report its own position coordinate, so that the server determines the first road side device in the map.

Optionally, the position coordinates may be coordinates generated based on a first coordinate system, and the server may determine, in combination with the coordinate conversion parameters of the first road side device, coordinates of the first road side device in a second coordinate system, so as to determine the first road side device in the map.

Alternatively, the position coordinates may also be coordinates generated based on the second coordinate system. Because the second coordinate system is a universal coordinate system, the first road side equipment can pre-determine the coordinates of the first road side equipment in the second coordinate system (for example, the coordinates of the first road side equipment in the geographic coordinate system can be obtained through a global positioning system (global positioning system, GPS) in advance), and after receiving the position coordinates, the server can directly determine the first road side equipment in the map.

It can be appreciated that the position coordinates reported by the first roadside device need not be highly accurate, as long as the server can determine the position coordinates from the map according to the position coordinates.

On the other hand, after determining the first coordinate conversion information corresponding to the first road side equipment, the server may further locally store the first coordinate conversion information of the first road side equipment. For example, the server may establish a correspondence between the first identifier of the first road side device and the first coordinate conversion information, or the server may further associate the first identifier of the first road side device with the first coordinate conversion information on the basis of the correspondence between the first identifier of the first road side device and the information of the first road side device, to obtain the correspondence between the information of the first road side device and the first identifier of the first road side device and the first coordinate conversion information. For convenience of explanation, the correspondence between the first identifier of the first road side device and the first coordinate conversion information, the information of the first road side device, and the correspondence between the first identifier of the first road side device and the first coordinate conversion information are collectively referred to as a correspondence between the first road side device and the first coordinate conversion information.

As described above, the coordinate conversion information may include one or more of a version number, an update time, and a compatible version number of the coordinate conversion parameter in addition to the coordinate conversion parameter. In this embodiment, in the case where the first coordinate conversion information includes a version number and/or an update time, after the server obtains the coordinate conversion information based on the data packet a, the server may further compare the version number or the update time of the coordinate conversion parameter with the version number or the update time of the locally stored coordinate conversion parameter, so as to update the locally stored coordinate conversion information, so that the locally stored coordinate conversion parameter is the coordinate conversion parameter of the latest version of the first road side device.

Optionally, the method further comprises:

the server determines a coordinate conversion parameter A according to the first coordinate conversion information;

when the coordinate conversion parameter a is different from the locally stored coordinate conversion parameter B with respect to the first roadside apparatus, the server replaces the locally stored coordinate conversion parameter B with the coordinate conversion parameter a.

In one possible implementation manner, the first coordinate conversion information carries a version number of the coordinate conversion parameter a, and the server may determine whether the newly acquired coordinate conversion parameter a and the locally stored coordinate conversion parameter B are the same version; if the obtained coordinate conversion parameters are the same version, the obtained coordinate conversion parameters A are stored locally in the server, and the coordinate conversion parameters A can be ignored; if the obtained coordinate conversion parameters are different versions, the obtained coordinate conversion parameters A are not stored in the server, and the coordinate conversion parameters B stored in the server can be replaced by the coordinate conversion parameters A. The server may also store the received first coordinate conversion information (including the coordinate conversion parameter B and one or more of the following: the version number of the coordinate conversion parameter, the update time, and the compatible version number) locally, while the coordinate conversion parameter previously stored locally may be discarded or not processed. The application is not limited in this regard.

It should be understood that the server may obtain coordinate conversion information based on each received data packet a, and further obtain the latest version of the coordinate conversion parameters.

It should also be understood that the process of updating the locally stored coordinate conversion information by the server is a process of updating the correspondence between the locally stored first road side device and the first coordinate conversion information.

S403, the first road side device generates the position information a of the position point a based on the first coordinate system.

The first roadside device may generate location information a for location point a according to the first coordinate system. Wherein the position information a may include position coordinates. In an embodiment of the present application, the position information a may be a position coordinate with respect to the first coordinate system.

S404, the first road side equipment sends a data packet B, and the data packet B carries the position information A of the position point A.

Illustratively, the first roadside device may send the data packet B by broadcasting. In other words, any other roadside device, any terminal device, or any server having a communication connection with the first roadside device may receive the data packet B. In the embodiment of the present application, the data packet B may be sent through the PC5 port.

It should be understood that the first road side device may also send the data packet B by other means, such as unicast or multicast, etc., which the present application includes but is not limited to. In addition, the data packet B may be transmitted through the PC5 port, or may be transmitted through other interfaces, such as Uu port or other interfaces. The application is not limited in this regard. For one example, the first roadside device may send data packet B to the server over the Uu port, which the server may broadcast.

Because the first road side device is any one of the plurality of road side devices, and other road side devices can also send the data packet B carrying the position information based on the same method described above, in order to distinguish the data packets B from different road side devices, the information of the road side devices can be carried in the data packet B.

In this embodiment, the data packet B may further carry information of the first roadside device.

The information of the first roadside device corresponds to the first identifier of the first roadside device, and the first identifier of the first roadside device corresponds to the first coordinate conversion information. Therefore, the device that receives the data packet B may acquire the first coordinate conversion information of the first roadside device based on the correspondence relationship.

The data packet B may also carry a self-report identifier of the first road side device, and because the server stores the information of the road side device, the first identifier of the road side device, and the corresponding relationship between the coordinate conversion information in advance, the server may query the coordinate conversion parameter corresponding to the first road side device based on the self-report identifier of the first road side device. For the case that the other device (such as the terminal device) receives the data packet B sent by the first roadside device, the other device may also obtain the first coordinate conversion information of the first roadside device from the server based on the self-report identifier of the first roadside device.

The coordinate conversion parameter for converting the position information a of the position point a is a required version of the coordinate conversion parameter. Optionally, the data packet B may also carry a version number of the coordinate conversion parameter used to generate the location information a. Hereinafter, for convenience of explanation, a version number of the coordinate conversion parameter used to generate the position information is referred to as a target version number.

Therefore, each device that receives the data packet B may further obtain the coordinate conversion information of the corresponding version based on the target version number, so as to parse the location information a in the data packet B.

It should be noted that, since the update of the coordinate conversion parameter will cause the update of other related information, such as version number, update time, etc., each time, the version number of the coordinate conversion parameter, that is, the version number of the coordinate conversion information, is also updated.

As can be seen from the above, the first road side device transmits the data packet a for determining the first coordinate conversion information and the data packet B carrying the position information a separately, so that the two data packets can be transmitted based on two different secure channels.

Wherein a secure channel may be used to ensure confidentiality and integrity of the communication process. Different security channels may employ different information security protection mechanisms, for example, using different certificate mechanisms, authentication mechanisms, encryption mechanisms, or the like. The authentication mechanism may include, but is not limited to, an authentication method, an authentication algorithm, and the like. The encryption mechanism may include, but is not limited to, encryption algorithms, encryption modes, and the like. For example, two secure channels use different versions of digital certificates, or two channels use different keys and/or different encryption algorithms, etc. The present application includes, but is not limited to, this. For details of the secure channel, reference is made to the prior art, and no further description is given here.

By transmitting the data packet A and the data packet B based on different security channels, different certificate mechanisms, authentication mechanisms or encryption mechanisms and the like can be used for encrypting information in the data packet, so that the transmission security is improved. Therefore, the deflection of the position information and the coordinate conversion information is not needed, the loss of the precision of the position information is avoided, the compliance and the data safety of the high-precision position information are simultaneously considered, the data transmission quantity of the position information can be reduced, and the bandwidth is saved.

In the above flow, the frequency of sending the data packet a by the first roadside device may be lower than the frequency of sending the data packet B. In other words, the frequency at which the server receives data packet a may be lower than the frequency at which data packet B is received.

Two implementations of the first roadside device transmitting data packet a and data packet B are provided below.

In a first possible implementation, the data packet a is a data packet sent with a first preset duration as a period, and the data packet B is a data packet sent with a second preset duration as a period, where the first preset duration is longer than the second preset duration.

Since the frequency of updating the coordinate conversion parameters carried in the data packet a is generally low (for example, the position of the roadside device is generally unchanged, the coordinate conversion parameters are generally unchanged), the frequency of updating the position information a of the position point a carried in the data packet B is generally high. Therefore, the transmission frequency of the data packet B may be set to be higher than that of the data packet a, that is, the first preset time period is longer than the second preset time period.

In a second possible implementation, the data packet B is sent after the coordinate transformation information in the data packet a is successfully acquired.

In an example, the first roadside device may send the data packet a with the first preset duration as a period, and when the server receives the data packet a, the first roadside device returns a reception acknowledgement message, and when the first roadside device receives the reception acknowledgement message, the first roadside device does not send the data packet a any more. After that, the first road side device may send the data packet B with the second preset duration as a period, and the server receives the data packet B. The first preset duration may be different from the second preset duration.

Each device that receives the data packet B may determine the coordinates of the location point a in the second coordinate system based on the first coordinate conversion information of the first roadside device and the location information a in the data packet B, respectively.

The flow of processing of each device receiving the data packet B will be described in connection with different steps. Wherein S405 describes the processing procedure of the received data packet B by the server, and S406 to S407 describe the processing procedure of the received data packet B by the terminal device and other roadside devices (e.g., the second roadside device). The respective steps will be described below.

S405, the server determines coordinates of the position point a in the second coordinate system based on the first coordinate conversion information and the position information a.

The server may obtain first coordinate conversion information of the first roadside device based on the received data packet a. After receiving the data packet B from the first roadside device in S404, the server may determine the coordinates of the location point a in the second coordinate system based on the first coordinate transformation information of the first roadside device and the location information a in the data packet B.

The above-mentioned first coordinate conversion parameters of the first roadside device may be one set or multiple sets. If the coordinate conversion parameters are a group, the server can directly convert the position of the position point A under the first coordinate system to the position point A under the second coordinate system according to the group of coordinate conversion parameters, so as to obtain the coordinates under the second coordinate system. If the coordinate conversion parameters are multiple groups, the server can convert the position information A one by one according to the source coordinate system and the target coordinate system of each of the multiple groups of coordinate conversion parameters, and after the conversion is performed for multiple times, the position information A of the position point A under the first coordinate system can be converted into the second coordinate system, so that the coordinates under the second coordinate system can be obtained.

It should be appreciated that the above-exemplified process of determining the coordinates of the location point a in the second coordinate system based on the first coordinate conversion information and the location information a of the first roadside apparatus is only one possible implementation, and should not constitute any limitation to the present application. Based on the same conception, the person skilled in the art can determine the coordinates of the position point a in the second coordinate system in different ways or make changes to the execution sequence of the steps. The present application includes, but is not limited to, this.

As described above, when the data packet B may further carry a target version number of the coordinate conversion parameter for generating the location information a, the server may determine whether the coordinate conversion parameter of the corresponding version is stored locally based on the target version number, and then analyze the location information a using the coordinate conversion parameter of the correct version.

Optionally, the method further comprises: in the case that the server does not acquire the coordinate conversion parameter corresponding to the target version number, a request message is sent to the first roadside device to request acquisition of the coordinate conversion parameter corresponding to the target version number.

For convenience of explanation, the version number of the coordinate conversion parameter for generating the position information a carried in the data packet B is referred to herein as version a.

For example, the server may search for the first coordinate conversion information stored locally according to the target version number of the coordinate conversion parameter based on which the location information is generated, and if the coordinate conversion parameter consistent with the target version number is found, the location information may be resolved using the queried coordinate conversion parameter; if the coordinate conversion parameter consistent with the target version number is not found, which indicates that the coordinate conversion parameter of the latest version of the first road side equipment may not be received yet, a request message may be sent to the first road side equipment to request the first road side equipment to send the coordinate conversion parameter corresponding to the target version number.

It is known that in S401 to S405, since the first road side device carries the first coordinate conversion information or the original data for determining the first coordinate conversion information and the position information a in different data packets, the first data packets are transmitted in different manners, that is, through two different secure channels. And the two information are either coordinate conversion parameters, original data with low precision, or relative coordinates, and are not coordinates under the second coordinate system, so that deflection encryption is not needed. The server can obtain the coordinates of the position point A in the second coordinate system locally through coordinate conversion, so that safe, accurate and high-precision transmission of the position information is realized.

In addition to the server, other roadside devices (e.g., a second roadside device) and/or terminal devices may also receive the data packet B from the first roadside device in S404, and may parse the location information a in the data packet B by performing S406 and S407 described below.

The second road side equipment and the terminal equipment are equipment capable of receiving the data packet B sent by the first road side equipment. The second roadside device may be any one of a plurality of roadside devices other than the first roadside device. In other words, the second roadside device is a different roadside device than the first roadside device.

The data packet B sent by the first roadside device may, as described above, carry, in addition to the location information a of the location point a, information of the first roadside device, and a target version number of the coordinate conversion parameter used by the first roadside device to generate the location information a of the location point a.

S406, the second road side equipment and/or the terminal equipment acquire first coordinate conversion information corresponding to the first road side equipment.

The server may store the first coordinate conversion information of the first roadside device locally after receiving the data packet a from the first roadside device and obtaining the first coordinate conversion information of the first roadside device. The second roadside device and/or the terminal device may acquire the first coordinate conversion information of the first roadside device from the server.

Optionally, S406 may further include:

s4061, the second road side equipment and/or the terminal equipment acquire corresponding relation information from the server, wherein the corresponding relation information is used for indicating the corresponding relation between the road side equipment and the coordinate conversion information; and

s4062, the second road side device and/or the terminal device obtains, based on the information of the first road side device, first coordinate conversion information corresponding to the first road side device.

The correspondence information may include, for example, at least one correspondence between the first identifier of the road side device and the coordinate conversion information, and at least one correspondence between information of the road side device and the first identifier of the road side device; alternatively, the correspondence information may include at least one correspondence of the information of the roadside apparatus, the first identifier of the roadside apparatus, and the coordinate conversion information.

Because the server pre-stores the corresponding relation information, the second road side equipment and/or the terminal equipment can acquire the first coordinate conversion information corresponding to the first road side equipment from the server. Accordingly, the server transmits the correspondence information.

One possible design of the server sending the correspondence information is that the server may send the correspondence information stored locally to the user equipment of the map by updating the map, for example, by over-the-air technology (OTA) upgrade, map differential update, or other dynamic update procedures. In this way, the device that receives the correspondence information, such as the second road side device and the terminal device, may obtain the first coordinate conversion information of the first road side device from the correspondence information according to the information of the first road side device.

When the data packet B also carries a version number of the coordinate conversion parameter used to generate the position information a, S4062 may optionally further include the following procedure:

the second road side equipment and/or the terminal equipment determines the version number of the coordinate conversion parameter in the first coordinate conversion information corresponding to the first road side equipment, which is acquired from the server, based on the information of the first road side equipment;

and under the condition that the version numbers of the coordinate conversion parameters in the first coordinate conversion information of the first road side equipment obtained from the server are not compatible by the target version numbers, the coordinate conversion parameters of the corresponding version numbers are obtained from the server again.

As described above, the second road side device and/or the terminal device may determine, according to the information of the first road side device carried in the data packet B, first coordinate conversion information corresponding to the first road side device from the corresponding relationship information, and further determine a version number of the coordinate conversion parameter based on the first coordinate conversion information.

Since the server does not necessarily issue the updated coordinate conversion information immediately after each update of the coordinate conversion information, the coordinate conversion parameter acquired from the server by the second road side device and/or the terminal device last time is not necessarily the coordinate conversion parameter of the latest version.

In order to avoid frequent map updating by the second road side device and/or the terminal device, the coordinate conversion information may further carry a compatible version number. If the version number of the coordinate conversion parameter acquired from the server by the second road side device and/or the terminal device last time is a version compatible with the target version number, the second road side device and/or the terminal device can be used continuously; otherwise, the coordinate conversion parameters corresponding to the target version number need to be retrieved from the server.

Here, determining whether the version number of the coordinate conversion parameter acquired from the server is compatible with the target version number may specifically include: and determining whether the version numbers of the two are the same or whether the version which can be compatible with the target version number contains the version number of the acquired coordinate conversion parameter.

It should be understood that the second roadside device and/or the terminal device may acquire the first coordinate conversion information in other manners. The above S4061 may be replaced by: the second road side equipment and/or the terminal equipment receives the data packet A from the first road side equipment. In such an implementation, the second roadside device and/or the terminal device may also determine the first coordinate transformation information based on the data packet a.

The data packet a may be received from the first roadside device or forwarded by the server. The application is not limited in this regard.

S407, the second roadside device and/or the terminal device determines coordinates of the location point a under the second coordinate system based on the first coordinate conversion information of the first roadside device and the location information a.

Similarly to the server, after the second roadside device and/or the terminal device acquire the coordinate conversion parameter and the position information a corresponding to the first roadside device, the position point a can be converted from the coordinate under the first coordinate system to the coordinate under the second coordinate system by using the coordinate conversion parameter.

It is known that, in S404 and S406 to S407, the first roadside apparatus carries the position information a in the data packet B for transmission, and the first coordinate conversion information corresponding to the first roadside apparatus can be obtained from the correspondence information of the server, and neither of the two pieces of information relates to the coordinates in the second coordinate system, or the coordinate conversion parameters, or the original data with low precision, or the relative coordinates, so that the deflection encryption is not required. The second road side equipment and/or the terminal equipment can obtain the coordinates of the position point A under the second coordinate system through coordinate conversion, so that safe, accurate and high-precision transmission of the position information is realized.

The above describes the process that the second roadside device, the terminal device and the server can analyze the position information a of the first roadside device. Similarly, the first road side device may also parse the location information from other devices. The process of resolving the location information B from the second roadside device by the first roadside device is described below. The position information B is position information sent by the second roadside device and used for indicating the position point B.

S408, the second roadside device transmits a data packet C carrying position information B, which is position information of a position point B generated based on the third coordinate system. Correspondingly, the first road side equipment receives the data packet C carrying the position information B.

The third coordinate system is a coordinate system based on which the second road side equipment generates the position information B. The second roadside device may generate location information B of a location point B according to the third coordinate system, and the location information B may include location information of the location point B.

The second roadside device may transmit the data packet C carrying the location information B by broadcasting, for example. That is, any other roadside device, any terminal device, or any server having a communication connection with the second roadside device can receive the data packet C. Thus, the first roadside device also receives the data packet C.

Of course, the second roadside device may also send the data packet C by other means, such as unicast or multicast, etc., which the present application includes but is not limited to. In addition, the data packet B may be transmitted through the PC5 port, or may be transmitted through other interfaces, such as Uu port or other interfaces. The application is not limited in this regard. In one example, the second roadside device may send the data packet C to the server over the Uu port, which the server may broadcast.

Optionally, the data packet C further carries information of the second roadside device. It is thus possible to facilitate the device that receives the data packet C to determine that the position information B in the data packet C is generated based on the coordinate system corresponding to which roadside device.

S409, the first roadside apparatus acquires second coordinate conversion information for coordinate conversion between the second coordinate system and the third coordinate system.

If the first road side device determines the coordinates of the position point B in the second coordinate system, it needs to acquire the second coordinate conversion information corresponding to the second road side device.

Alternatively, S409 may be specifically implemented by one of S4091a or S4091b and S4092 below.

In S4091a, the first roadside device receives a data packet D from the second roadside device, the data packet D being used to determine the second coordinate conversion information. Correspondingly, the second road side equipment sends the data packet D to the first road side equipment.

The second coordinate conversion information may be generated by the second roadside apparatus or may be generated by the first roadside apparatus. Therefore, the information carried by the data packet D received by the first roadside device may be as follows: the data packet D carries the second coordinate conversion information, or the data packet D carries the original data, which is the data collected based on the third coordinate system, and the original data can be used to determine the second coordinate conversion information.

It should be understood that the first roadside device may receive the data packet D from the second roadside device or may receive the data packet D from the server, which is not limited by the present application.

In addition, similar to the foregoing data packet a and data packet B, the data packet C and data packet D may also be transmitted through different secure channels, so as to improve the security of transmission. For details of the secure channel, reference is made to the relevant description above, and no further description is given here.

At S4091b, the first roadside apparatus receives correspondence information from the server, the correspondence information indicating a correspondence between the roadside apparatus including the second roadside apparatus and coordinate conversion information including the second coordinate conversion information.

Because the server pre-stores the corresponding relation information, the first road side equipment can acquire second coordinate conversion information corresponding to the second road side equipment from the server. Accordingly, the server transmits the correspondence information.

In S4092, the first roadside apparatus determines second coordinate conversion information.

When S4091 is implemented by S4091a, S4092 may specifically include: the first road side device determines second coordinate conversion information based on the data packet D.

After the first road side device receives the data packet D, the second coordinate conversion information may be obtained from the data packet D, or the second coordinate conversion information may be determined according to the original data. The process of determining the second coordinate conversion information by the first road side device based on the data packet D may refer to the description related to the determination of the first coordinate conversion information by the server based on the data packet a, which is not described herein.

When S4091 is implemented by S4091b, S4092 may include: the first road side equipment determines second coordinate conversion information based on the information of the second road side equipment and the corresponding relation information.

Because the data packet C may further carry information of the second road side device, after the first road side device receives the corresponding relationship information from the server, according to the information of the second road side device, the second coordinate conversion information of the second road side device may be found in the corresponding relationship information, so as to determine the coordinate conversion parameter corresponding to the second road side device.

S410, the first road side device determines coordinates of the position point B in the second coordinate system based on the second coordinate conversion information and the position information B.

After the first road side device obtains the coordinate conversion parameter and the position information B corresponding to the second road side device, the coordinate of the position point B under the third coordinate system can be converted into the coordinate under the second coordinate system by utilizing the coordinate conversion parameter. The process of determining the coordinates of the location point B in the second coordinate system by the first road side device based on the second coordinate conversion information and the location information B is similar to the process of determining the coordinates of the location point a in the second coordinate system by the server in the foregoing S405 based on the first coordinate conversion information and the location information B, and may refer to the related description in S405, which is not repeated herein.

It will be appreciated that the first roadside device may receive location information from other roadside devices and/or terminal devices in addition to the location information from the second roadside device, and may also receive location information from a server. The first roadside device may also parse the received location information in a similar manner as described above. In addition, based on the above similar method, the terminal device may also generate location information of the location point based on the local coordinate system of a certain road side device, and send the location information.

Accordingly, the roadside device and/or the server may receive the location information and parse the location information based on similar methods as above.

It should be understood that the data packet C and the data packet D are defined only for the convenience of distinguishing different location information, and should not be construed as limiting the present application in any way.

In connection with the foregoing description, the information transmission and reception between the devices may be as shown in fig. 5.

Referring to fig. 5, fig. 5 is a schematic diagram of information transceiving between a server, a terminal device and a roadside device according to an embodiment of the present application. The road side equipment can send the data packet A to the server through a Uu port or an optical fiber. The roadside device may broadcast the data packet B through the PC5 port, i.e., the server and the terminal device may receive the data packet B through the PC5 port. The server may also send the data packet D to the roadside device and the terminal device through the Uu port. Similarly, the terminal device may send the data packet C to the server through the Uu port, or may send the data packet C to the roadside device through the PC5 port. It should be appreciated that the description of data packet a, data packet B, data packet D, and data packet C may be explained with reference to flow 400 in fig. 4.

It should be understood that the interfaces used for transmission between the devices in fig. 5 are merely examples, and should not be construed as limiting the present application in any way. The application is not limited to the transmission interface of each data packet.

It should be further understood that the sequence numbers of the above steps do not mean the order of execution, and the execution order of the processes should be determined by the functions and the internal logic, and should not be construed as limiting the implementation process of the embodiments of the present application. For example, S401 and S404 may be executed simultaneously, S401 may be executed first, S404 may be executed second, and S404 may be executed first, S401 may be executed second. For another example, S402 and S405 may be sequentially performed after S401, S403, and S404 are performed, or S402 may be performed after S401 and S405 may be performed after S404. For another example, S403 may be executed in synchronization with S401, or may be executed after S401 or S402. For another example, S408 to S409 may be simultaneously executed, S408 may be executed first, S409 may be executed second, and S409 may be executed first, S408 may be executed second. The application is not limited in this regard.

In the embodiment of the application, a first coordinate system of a first road side device with a relatively fixed position is used as a reference, and the position information is converted into first position information corresponding to the first coordinate system and sent through a data packet; the first roadside device transmits data usable for determining first coordinate conversion information between the first coordinate system and the second coordinate system to other devices, such as a server, through another data packet so that the other devices resolve the first position information based on the first coordinate conversion information. The device that receives the first location information may obtain the coordinates of the first location point in the second coordinate system through coordinate transformation. Because the position information and the coordinate conversion information are transmitted by adopting two different data packets, namely two different paths are adopted for transmission, and the position information and the coordinate conversion information are not coordinates under the second coordinate system and do not need to deflect, the precision of the position information is not lost, the compliance and the data safety of the high-precision position information are simultaneously considered, the data transmission quantity of the position information can be reduced, and the bandwidth is saved.

Referring to fig. 6, fig. 6 is a schematic flowchart of an information transmitting method and an information receiving method according to another embodiment of the present application.

For convenience of distinction and explanation, the location point indicated by the location information transmitted by the first terminal device in the embodiment shown in fig. 6 is hereinafter referred to as location point C, and the location information corresponding to the location point C is referred to as location information C. The data packet carrying the position information C is denoted as data packet E. It should be understood that this location point C is defined only for convenience of distinction from the location points a and B in the previous embodiments, and may be the same or different, which is not limited by the present application. In contrast, the data packet E is defined only for easy distinction from the data packet a, the data packet B, the data packet C, and the data packet D in the foregoing embodiments, and should not constitute any limitation.

It should be further understood that, in the embodiment shown in fig. 6, the information sending method and the information receiving method provided by the embodiment of the present application are described by taking the example that the first terminal device sends the location information. Without loss of generality, the first terminal device may be any one of the terminal devices, or any one of the terminal devices may transmit the location information based on the following method.

The method 600 shown in fig. 6 may include S601 to S609. The various steps in the method 600 shown in fig. 6 are described in detail below.

S601, the first terminal device acquires first coordinate conversion information for coordinate conversion between the first coordinate system and the second coordinate system.

The first terminal device is any one of a plurality of terminal devices, such as any one vehicle. In the present embodiment, for convenience of distinction and explanation, a terminal device that transmits the position information C is referred to as a first terminal device. The other terminal device may receive the location information C from the first terminal device, denoted as second terminal device.

Since the first terminal device itself can know its own pose and position, the first terminal device can also generate the position information C. In order to ensure the security of the transmission of the location information, the first terminal device may convert the coordinates of the location point C to another coordinate system to generate the location information for transmission.

It will be appreciated that the coordinate system of the first terminal device itself may vary with movement due to the high mobility of the first terminal device, and therefore, if the coordinate system of the first terminal device itself is used to generate the location information, the resolution of the location information may be inconvenient. Therefore, the first terminal device may select a relatively fixed coordinate system as a reference to generate the location information C. For example, the first terminal device selects the first coordinate system of the road side device with a relatively fixed position as a reference. In this way, the position information C may be generated based on the first coordinate system of the roadside device.

The first terminal device may first obtain coordinate conversion information corresponding to the first coordinate system to generate the location information C.

For example, the first terminal device may query information of a roadside device in the vicinity of the first terminal device according to the map and the own location, or may acquire information of a roadside device currently in communication connection with itself. The first terminal equipment can acquire coordinate conversion information corresponding to the road side equipment from the server according to the acquired information of the road side equipment. In this embodiment, for convenience of explanation, it is assumed that the coordinate system selected by the first terminal device is the first coordinate system of the first roadside device.

Optionally, S601 may further include:

s6011, the first terminal equipment acquires corresponding relation information from the server, wherein the corresponding relation information is used for indicating at least one corresponding relation between the road side equipment and the coordinate conversion information;

s6012, the first terminal device obtains first coordinate conversion information based on the information of the first roadside device, the first coordinate conversion information corresponding to the first roadside device.

As described above, the server stores the correspondence information between the road side device and the coordinate conversion information, and the first terminal device may determine, according to the queried or obtained information (e.g., the second identifier of the first road side device) of the first road side device, the first coordinate conversion information corresponding to the first road side device from the correspondence information after obtaining the correspondence information from the server. For details of the coordinate conversion information, reference is made to the previous descriptions related to fig. 2 and 3, and details thereof are not repeated here.

S602, the first terminal device generates the position information C based on the first coordinate conversion information and the coordinates of the position point C in the second coordinate system.

Since the first terminal device can recognize its own coordinate system (for example, for a vehicle, the coordinate system is a vehicle body coordinate system) and the second coordinate system by its own installed sensor, and can realize coordinate conversion between its own coordinate system and the second coordinate system. Thus, the first terminal device can determine the coordinates of the location point C in the second coordinate system. Therefore, the first terminal device can convert the coordinates of the position point C in the second coordinate system to the coordinates of the position point C in the first coordinate system based on the first coordinate conversion information, thereby obtaining the position information C.

It should be noted that when transmitting the coordinate conversion information to the server, the roadside apparatus generally transmits coordinate conversion parameters that can be used for conversion from the first coordinate system to the second coordinate system. Therefore, when the first terminal device uses the coordinate conversion parameter in the first coordinate conversion information, the coordinate conversion parameter needs to be mathematically transformed and then used. For example, assuming that the coordinate conversion parameter is a matrix, the first terminal device needs to determine its inverse matrix first and then generate the position information C based on the inverse matrix when generating the position information C of the position point C based on the coordinate conversion parameter.

S603, the first terminal device sends the location information C of the location point C.

The first terminal device may send the position information C carried in the data packet, and S603 may specifically be:

and sending a data packet E, wherein the data packet E carries the position information C.

The first terminal device may transmit the data packet E by broadcasting, for example. In other words, any other roadside device, any one second terminal device, and any one server having communication connection with the first terminal device may receive the data packet E.

It should be understood that the first terminal device may also send the data packet E by other means, such as unicast or multicast, etc., which the present application includes but is not limited to. In addition, the data packet E may be transmitted through the PC5 port, or may be transmitted through other interfaces, such as Uu port or other interfaces. The application is not limited in this regard. In one example, the first terminal device may send the data packet E to the server through the Uu port, and the server may broadcast the data packet E through the Uu port.

In this embodiment, the data packet E may further carry information of the first roadside device.

The information of the first roadside device corresponds to the first identifier of the first roadside device, and the first identifier of the first roadside device corresponds to the first coordinate conversion information. Therefore, the device that receives the data packet E may obtain the first coordinate conversion information of the first roadside device based on the information of the first roadside device and the correspondence relationship.

In order to ensure that the coordinate conversion parameter that converts the position information C is the correct version of the coordinate conversion parameter, the data packet E optionally also carries a version number of the coordinate conversion parameter used to generate the position information. Hereinafter, for convenience of distinction and explanation, a version number of a coordinate conversion parameter used for generating the position information is referred to as a target version number.

Therefore, each device that receives the data packet E may further obtain the coordinate conversion parameter of the corresponding version based on the target version number, so as to parse the location information C in the data packet E.

The processing flow of each device receiving the data packet E will be described in connection with different steps. Wherein S604 to S605 describe the processing procedure of the received data packet E by the server, and S606 to S607 describe the processing procedure of the received data packet E by the roadside apparatus and/or other terminal apparatuses (i.e., the second terminal apparatus). The respective steps will be described below.

S604, the server determines first coordinate conversion information for coordinate conversion between the first coordinate system and the second coordinate system.

After receiving the data packet E in S603, the server may search the corresponding first coordinate conversion information in the locally stored correspondence information according to the information of the first road side device carried in the data packet E.

Optionally, when the data packet E may further carry a target version number of the coordinate conversion parameter for generating the location information C, S604 may include:

the server searches corresponding coordinate conversion parameters in locally stored coordinate conversion parameters based on the information of the first road side equipment and the target version number;

and in the case that the first coordinate conversion information corresponding to the target version number is not found, sending a request message to the first road side equipment to request to acquire the first coordinate conversion information corresponding to the target version number.

Similar to the method 400 in fig. 4, the server may search for the coordinate conversion information stored locally according to the target version number, and if the coordinate conversion parameter consistent with the target version number is found, the queried coordinate conversion parameter may be used to determine the coordinate of the second target location point in the second coordinate system; if the coordinate conversion parameter consistent with the target version number is not found, which indicates that the coordinate conversion parameter of the latest version of the first road side equipment may not be received yet, a request message may be sent to the first road side equipment to request the first road side equipment to send the coordinate conversion parameter corresponding to the target version number.

S605, the server determines the coordinates of the position point C in the second coordinate system based on the first coordinate conversion information and the position information C.

The server may acquire the position information of the position point C in the first coordinate system from the received data packet E, and determine, after acquiring the first coordinate conversion information, the coordinates of the position point C in the second coordinate system based on the first coordinate conversion information of the first roadside device and the position information C.

It is known that in S603 to S605, since the first terminal device transmits the coordinates of the position point C in the first coordinate system in the packet, and the information is the relative coordinates, not the coordinates in the second coordinate system, deflection encryption is not required. The server can obtain the coordinates of the position point C under the second coordinate system through coordinate conversion based on the first coordinate conversion information, so that safe, accurate and high-precision transmission of the position information is realized.

In addition to the server, the roadside device and/or other terminal devices (i.e., the second terminal device) may also receive the data packet E from the terminal device in S603, and may parse the location information C in the data packet E by performing S606 and S607 described below.

The road side equipment and the second terminal equipment are equipment capable of receiving the data packet E sent by the first terminal equipment. The roadside device may be any one of a plurality of roadside devices, may be a first roadside device, or may be any one other roadside device (i.e., a second roadside device) other than the first roadside device. The second terminal device may be any one of a plurality of terminal devices other than the first terminal device. In other words, the second terminal device and the first terminal device are different terminal devices.

As described above, the data packet E sent by the first terminal device may carry, in addition to the location information C, information of the first roadside device, and a target version number of the coordinate conversion parameter used by the first terminal device to generate the location information C.

S606, the road side equipment and/or the second terminal equipment acquire first coordinate conversion information, wherein the first coordinate conversion information is used for carrying out coordinate conversion between a first coordinate system and a second coordinate system.

After receiving the data packet E, the road side device and/or the second terminal device may find corresponding first coordinate conversion information from the corresponding relationship information of the server according to the information of the first road side device carried in the data packet E. Optionally, S606 may include:

s6061, the road side equipment and/or the second terminal equipment acquire corresponding relation information from the server, wherein the corresponding relation information is used for indicating at least one corresponding relation between the road side equipment and the coordinate conversion information;

s6062, the roadside apparatus and/or the second terminal apparatus acquires the first coordinate conversion information based on the information of the first roadside apparatus corresponding to the first coordinate conversion information.

As described above, the server may send the locally stored correspondence information to the map using device by updating the map, such as by OTA upgrade, map differential update, or other dynamic update procedures. The corresponding relation information is received by the road side equipment and/or the second terminal equipment, and the first coordinate conversion information corresponding to the first road side equipment can be obtained from the corresponding relation information.

Optionally, when the data packet E further carries a target version number of the coordinate conversion parameter for generating the location information, S6062 may include:

the method comprises the steps that a road side device and/or a second terminal device determine a version number of a coordinate conversion parameter in first coordinate conversion information corresponding to first road side device, which is acquired from a server, based on information of the first road side device;

and re-acquiring the first coordinate conversion information from the server in the case that the version number of the coordinate conversion parameter in the first coordinate conversion information acquired from the server is not compatible with the target version number.

Likewise, the road side device and/or the second terminal device may determine, according to compatibility between the version number of the coordinate conversion parameter in the first coordinate conversion information obtained from the server and the target version number carried in the received data packet E, and when the version number and the target version number are compatible, the coordinate of the location point C under the second coordinate system may be determined using the coordinate conversion parameter in the first coordinate conversion information; when the two are incompatible, the server can be re-requested to acquire the latest first coordinate conversion information. Alternatively, the roadside device and/or the second terminal device may determine whether the coordinate conversion parameter in the acquired first coordinate conversion information can be directly used by determining whether the target version number is the same as the version number of the acquired coordinate conversion parameter.

It should be understood that the specific process of acquiring the first coordinate conversion information by the roadside device and/or the second terminal device is similar to the process in S409 in the foregoing method 400, and is not limited to the manner of determining the first coordinate conversion information by the correspondence information mentioned in S6061 and S6062, and is not repeated herein for brevity.

It should also be understood that, when the roadside device that receives the data packet E is the first roadside device determined by the terminal device in S601, the first roadside device does not need to acquire the first coordinate conversion information from the server because the first roadside device knows the first coordinate conversion information of itself. Therefore, the first road side apparatus may skip S6061 and S6062 described above, and directly acquire the first coordinate conversion information from the local.

S607, the roadside apparatus and/or the second terminal apparatus determines the coordinates of the position point C in the second coordinate system based on the first coordinate conversion information and the position information.

Similar to the server, after the roadside device and/or the second terminal device acquire the coordinate conversion parameter corresponding to the first roadside device and receive the position information carried in the data packet E, the position point C can be converted from the coordinate under the first coordinate system to the coordinate under the second coordinate system by using the coordinate conversion parameter.

It is known that in S603, S607 to S607, since the first terminal device carries the position information of the position point C in the data packet E and sends the position information, the first coordinate conversion information corresponding to the first roadside device may be obtained from the corresponding relationship information of the server, and the two pieces of information are either coordinate conversion parameters, or original data with low precision, or relative coordinates, and neither coordinate in the second coordinate system is involved, so that deflection encryption is not required. And the road side equipment and/or the second terminal equipment can obtain the coordinates of the position point C under the second coordinate system through coordinate conversion, so that the safe, accurate and high-precision transmission of the position information is realized.

As previously described, the server may receive location information from other roadside devices and/or terminal devices in addition to the location information from the first roadside device. Thus, the received location information may be forwarded out, if necessary. Likewise, the first terminal device may receive location information from other roadside devices (i.e., the second roadside device) in addition to the data packet B from the first roadside device. Therefore, the first terminal device can receive the data packet with the position information from any one of the road side devices, and can also receive the data packet from any one of the road side devices through the server.

It should be further understood that the sequence numbers of the above steps do not mean the order of execution, and the execution order of the processes should be determined by the functions and the internal logic, and should not be construed as limiting the implementation process of the embodiments of the present application. For example, S604 to S605 and S606 to S607 may be executed simultaneously or may not be executed simultaneously. The application is not limited in this regard.

The first terminal device uses a first coordinate system of a nearby first road side device as a reference, and the position information is converted into position information with respect to the first coordinate system and transmitted through a data packet. The server also locally stores coordinate conversion information for determining a conversion between the first coordinate system and the second coordinate system, so that the server resolves the position information based on the coordinate conversion information. Based on the above scheme, the server can obtain the coordinates of the position point under the second coordinate system through coordinate conversion. The road side equipment and/or other terminal equipment can also obtain the coordinates of the position points under the second coordinate system through coordinate conversion after obtaining the corresponding relation information from the server to determine the corresponding first coordinate conversion information. Because the position information is not the coordinates under the second coordinate system, deflection is not needed, the precision of the position information is not lost, the compliance and the data safety of the high-precision position information are simultaneously considered, the data transmission quantity of the position information can be reduced, and the bandwidth is saved.

The method provided by the embodiment of the present application is described in detail above with reference to fig. 2 to 6. The following describes in detail the apparatus provided in the embodiment of the present application with reference to fig. 7 to 8.

Fig. 7 is a schematic block diagram of an apparatus provided by an embodiment of the present application. As shown in fig. 7, the apparatus 700 may include: a transceiver unit 710 and a processing unit 720.

In a first possible design, the apparatus 700 may perform the various processes and/or steps corresponding to the roadside device in any of the previous embodiments.

In one embodiment, the transceiving unit 710 may be used to perform one of S401, S404, S408, and S4091 or S4091b in the method 400, and the processing unit 720 may be used to perform S403, S4092b, and S410 in the method 400.

In another embodiment, the transceiver unit 710 may be used to perform S404, S4061, S408, and S4091a in the method 400, and the processing unit 720 may be used to perform S4062 and S407 in the method 400.

In another embodiment, the transceiver unit 710 may be used to perform S603 and S6061 in the method 600, and the processing unit 720 may be used to perform S6062 and S607 in the method 600.

In a second possible design, the apparatus 700 may also perform the various processes and/or steps corresponding to the server in any of the foregoing embodiments.

In one embodiment, the transceiver unit 710 may be used to perform S401, S404, S4061, S408, and S4091b in the method 400, and the processing unit 720 may be used to perform S402 and S405 in the method 400.

In another embodiment, the transceiving unit 710 may be used to perform S6011, S603 and S6061 in the method 600, and the processing unit 720 may be used to perform S604 to S605 in the method 600.

In a third possible design, the apparatus 700 may also perform the respective flows and/or steps corresponding to the terminal device in any of the foregoing embodiments.

In one embodiment, the transceiver unit 710 may be used to perform S404, S4061, and S408 in the method 400, and the processing unit 720 may be used to perform S4062 and S407 in the method 400.

In another embodiment, the processing unit 720 may be used to perform S6012 and S602 in the method 600, and the transceiving unit 710 may be used to perform S603 in the method 600.

In yet another embodiment, the transceiver unit 710 may be used to perform S603 and S6061 in the method 600, and the processing unit 720 may be used to perform S6062 and S607 in the method 600.

It should be understood that, in this implementation manner, the processes performed by the transceiver unit 710 and the processing unit 720 are similar to the respective flows and/or steps in the third embodiment corresponding to the executable roadside device of the apparatus 700, and will not be described again.

It should be understood that the division of the units in the embodiment of the present application is schematic, only one logic function is divided, and another division manner may be implemented in practice. In addition, each functional unit in the embodiments of the present application may be integrated in one processor, or may exist alone physically, or two or more units may be integrated in one unit. The integrated units may be implemented in hardware or in software functional units.

Fig. 8 is another schematic block diagram of an apparatus provided by an embodiment of the present application. The apparatus 800 may be used to implement the functionality of a roadside device, a server, or a terminal device in the above method. The apparatus 800 may be a system-on-chip. In the embodiment of the application, the chip system can be formed by a chip, and can also comprise the chip and other discrete devices.

As shown in fig. 8, the apparatus 800 may include a processor 810 and a memory 820. A processor 810 and a memory 820. The memory 820 may be used to store a computer program, and the processor 810 may be used to call and execute the computer program, so that the apparatus implements the functions of a road side device, a server, or a terminal device in the method provided by the embodiment of the present application.

Optionally, the apparatus 800 further comprises a communication interface 830 for communicating with other devices via a transmission medium, such that the apparatus 800 may communicate with other devices.

Illustratively, when the apparatus 800 is configured to implement the function of the first roadside device in the method provided by the embodiment of the present application, the processor 810 may be configured to control the communication interface 830 to send a first data packet to the server, where the first data packet is used to determine first coordinate conversion information, and the first coordinate conversion information is used to perform coordinate conversion between the first coordinate system and the second coordinate system; the processor 810 is further operable to generate first location information for a first location point based on the first coordinate system; the processor 810 is further operable to control the communication interface 830 to transmit a second data packet, where the second data packet carries the first location information.

Illustratively, when the apparatus 800 is configured to implement the server function in the method provided by the embodiment of the present application, the processor 810 may be configured to control the communication interface 830 to receive the first data packet from the first roadside device; the processor 810 may also determine first coordinate conversion information for converting coordinates between the first coordinate system and the second coordinate system based on the first data packet; the processor 810 is further configured to control the communication interface 830 to receive a second data packet from the first roadside device, where the second data packet carries first location information of a first location point generated based on the first coordinate system; the processor 810 may also determine coordinates of the first location point in the second coordinate system based on the first coordinate transformation information and the first location information.

Illustratively, when the apparatus 800 is configured to implement the function of the second roadside device or the terminal device in the method provided by the embodiment of the present application, the processor 810 may be configured to control the communication interface 830 to receive a first data packet from the first roadside device, where the first data packet carries first location information of a first location point generated based on the first coordinate system; the processor 810 is further configured to obtain first coordinate conversion information corresponding to the first roadside apparatus, where the first coordinate conversion information is used for coordinate conversion between the first coordinate system and a second coordinate system; and determining coordinates of the first position point in the second coordinate system based on the first coordinate conversion information and the first position information.

The coupling in the embodiments of the present application is an indirect coupling or communication connection between devices, units, or modules, which may be in electrical, mechanical, or other forms for information interaction between the devices, units, or modules. Processor 810 may operate in conjunction with memory 820. Processor 810 may execute program instructions stored in memory 820. At least one of the at least one memory may be included in the processor.

The apparatus 800 may also include a communication interface 830 for communicating with other devices over a transmission medium so that the apparatus 800 may communicate with other devices. For example, when the apparatus 800 is used to implement the functions of a roadside device in the method provided by the embodiment of the present application, the other device may be another roadside device, a server, or a terminal device; the communication interface 830 may be, for example, a transceiver, an interface, a bus, a circuit, or a device capable of implementing a transceiving function. The processor 810 may utilize the communication interface 830 to transceive data and/or information and is used to implement methods performed by a roadside device, a server, or a terminal device in the corresponding embodiments of fig. 4 or 6.

The specific connection medium between the processor 810, the memory 820, and the communication interface 830 is not limited in the embodiment of the present application. Embodiments of the present application are illustrated in fig. 8 as being connected by a bus between processor 810, memory 820, and communication interface 830. The bus is shown in bold lines in fig. 8, and the manner in which other components are connected is merely illustrative and not limiting. The bus may be classified as an address bus, a data bus, a control bus, etc. For ease of illustration, only one thick line is shown in fig. 8, but not only one bus or one type of bus.

It should be appreciated that the processor in embodiments of the present application may be an integrated circuit chip having signal processing capabilities. In implementation, the steps of the above method embodiments may be implemented by integrated logic circuits of hardware in a processor or instructions in software form. The processor may be a general purpose processor, a digital signal processor (digital signal processor, DSP), an application specific integrated circuit (application specific integrated circuit, ASIC), a field programmable gate array (field programmable gate array, FPGA) or other programmable logic device, discrete gate or transistor logic device, discrete hardware components. The disclosed methods, steps, and logic blocks in the embodiments of the present application may be implemented or performed. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like. The steps of the method disclosed in connection with the embodiments of the present application may be embodied directly in the execution of a hardware decoding processor, or in the execution of a combination of hardware and software modules in a decoding processor. The software modules may be located in a random access memory, flash memory, read only memory, programmable read only memory, or electrically erasable programmable memory, registers, etc. as well known in the art. The storage medium is located in a memory, and the processor reads the information in the memory and, in combination with its hardware, performs the steps of the above method.

It should also be appreciated that the memory in embodiments of the present application may be either volatile memory or nonvolatile memory, or may include both volatile and nonvolatile memory. The nonvolatile memory may be a read-only memory (ROM), a Programmable ROM (PROM), an Erasable PROM (EPROM), an electrically Erasable EPROM (EEPROM), or a flash memory. The volatile memory may be random access memory (random access memory, RAM) which acts as an external cache. By way of example, and not limitation, many forms of RAM are available, such as Static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double data rate SDRAM (DDR SDRAM), enhanced SDRAM (ESDRAM), synchronous DRAM (SLDRAM), and direct memory bus RAM (DR RAM). It should be noted that the memory of the systems and methods described herein is intended to comprise, without being limited to, these and any other suitable types of memory.

The present application also provides a roadside device, which includes a processor, where the processor is configured to execute the program code, so that the roadside device implements a method performed by the first roadside device or a method performed by the second roadside device in the embodiment shown in fig. 4, or a method performed by the roadside device in the embodiment shown in fig. 4.

The present application also provides a server comprising a processor for executing said program code to cause the server to implement the method performed by the server in the embodiments shown in fig. 4 or fig. 6.

The present application also provides a terminal device comprising a processor for executing program code to cause the terminal device to implement a method performed by the terminal device in the embodiment shown in fig. 4, or a method performed by the first terminal device or a method performed by the second terminal device in the embodiment shown in fig. 6.

The application also provides a vehicle which can be used to implement the method performed by the terminal device in the embodiment shown in fig. 4, or the method performed by the first terminal device or the method performed by the second terminal device in the embodiment shown in fig. 6.

The present application also provides a communication system comprising: the system comprises first road side equipment and a server, wherein the first road side equipment is used for realizing a method executed by the first road side equipment in the embodiment shown in fig. 4; the server is configured to implement the method performed by the server in the embodiment shown in fig. 4. Optionally, the communication system further includes a second roadside device, for implementing the method performed by the second roadside device in the embodiment shown in fig. 4. The present application also provides a communication system comprising: the terminal equipment and the server, wherein the terminal equipment is used for realizing the method executed by the terminal equipment in the embodiment shown in fig. 4; the server is configured to implement the method performed by the server in the embodiment shown in fig. 4. Optionally, the communication system further includes a second roadside device, for implementing the method performed by the second roadside device in the embodiment shown in fig. 4.

The present application also provides a communication system comprising: the system comprises first road side equipment, terminal equipment and a server, wherein the road side equipment is used for realizing a method executed by the first road side equipment in the embodiment shown in fig. 4; the terminal device is configured to implement a method performed by the terminal device in the embodiment shown in fig. 4; the server is configured to implement the method performed by the server in the embodiment shown in fig. 4. Optionally, the communication system further includes a second roadside device, for implementing the method performed by the second roadside device in the embodiment shown in fig. 4.

The present application also provides a communication system comprising: the system comprises a road side device, a first terminal device and a server, wherein the first terminal device is used for realizing a method executed by the first terminal device in the embodiment shown in fig. 6, the road side device is used for realizing a method executed by the road side device in the embodiment shown in fig. 6, and the server is used for realizing a method executed by the server in the embodiment shown in fig. 6. Optionally, the system further comprises a second terminal device, for implementing the method performed by the second terminal device in the embodiment shown in fig. 6.

The present application also provides a computer readable storage medium, where a computer program is stored, where the computer program when executed by a processor implements a method performed by a first road side device, a method performed by a server, a method performed by a second road side device, and a method performed by a terminal device in the embodiment shown in fig. 4, or implements a method performed by a first terminal device, a method performed by a server, a method performed by a road side device, and a method performed by a second terminal device in the embodiment shown in fig. 6.

The present application also provides a computer program product, which includes a computer program, when the computer program is executed, implements a method executed by a first road side device, a method executed by a server, a method executed by a second road side device, and a method executed by a terminal device in the embodiment shown in fig. 4, or implements a method executed by a first terminal device, a method executed by a server, a method executed by a road side device, and a method executed by a second terminal device in the embodiment shown in fig. 6, where the terms "unit", "module", and the like used in this specification may be used to represent a computer-related entity, hardware, firmware, a combination of hardware and software, or software in execution.

Those of ordinary skill in the art will appreciate that the various illustrative logical blocks (illustrative logical block) and steps (steps) described in connection with the embodiments disclosed herein can be implemented as electronic hardware, or combinations of computer software and electronic hardware. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the solution. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present application. In the several embodiments provided by the present application, it should be understood that the disclosed apparatus, device and method may be implemented in other manners. For example, the apparatus embodiments described above are merely illustrative, e.g., the division of the units is merely a logical function division, and there may be additional divisions when actually implemented, e.g., multiple units or components may be combined or integrated into another system, or some features may be omitted or not performed. Alternatively, the coupling or direct coupling or communication connection shown or discussed with each other may be an indirect coupling or communication connection via some interfaces, devices or units, which may be in electrical, mechanical or other form.

The units described as separate units may or may not be physically separate, and units shown as units may or may not be physical units, may be located in one place, or may be distributed over a plurality of network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

In addition, each functional unit in the embodiments of the present application may be integrated in one processing unit, or each unit may exist alone physically, or two or more units may be integrated in one unit.

In the above-described embodiments, the functions of the respective functional units may be implemented in whole or in part by software, hardware, firmware, or any combination thereof. When implemented in software, may be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions (programs). When the computer program instructions (program) are loaded and executed on a computer, the processes or functions according to embodiments of the present application are fully or partially produced. The computer may be a general purpose computer, a special purpose computer, a computer network, or other programmable apparatus. The computer instructions may be stored in a computer-readable storage medium or transmitted from one computer-readable storage medium to another computer-readable storage medium, for example, the computer instructions may be transmitted from one website, computer, server, or data center to another website, computer, server, or data center by a wired (e.g., coaxial cable, fiber optic, digital subscriber line (digital subscriber line, DSL)) or wireless (e.g., infrared, wireless, microwave, etc.). The computer readable storage medium may be any available medium that can be accessed by a computer or a data storage device such as a server, data center, etc. that contains an integration of one or more available media. The usable medium may be a magnetic medium (e.g., a floppy disk, a hard disk, a magnetic tape), an optical medium (e.g., a digital video disc (digital video disc, DVD)), or a semiconductor medium (e.g., a Solid State Disk (SSD)), or the like.

The functions, if implemented in the form of software functional units and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on this understanding, the technical solution of the present application may be embodied essentially or in a part contributing to the prior art or in a part of the technical solution in the form of a software product stored in a storage medium, comprising several instructions for causing a computer device (which may be a personal computer, a server, a network device, etc.) to perform all or part of the steps of the method of the embodiments of the present application. And the aforementioned storage medium includes: a usb disk, a removable hard disk, a ROM, a RAM, a magnetic disk, or an optical disk, etc.

The foregoing is merely illustrative of the present application, and the present application is not limited thereto, and any person skilled in the art will readily recognize that variations or substitutions are within the scope of the present application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.

Claims

1. An information transmission method, comprising:

transmitting a first data packet to a server, wherein the first data packet is used for determining first coordinate conversion information, and the first coordinate conversion information is used for carrying out coordinate conversion between a first coordinate system and a second coordinate system;

generating first position information of a first position point based on the first coordinate system;

and sending a second data packet, wherein the second data packet carries the first position information.

2. The method of claim 1, wherein the first data packet and the second data packet are transmitted based on different secure channels.

3. The method according to claim 1 or 2, wherein the first data packet carries the first coordinate conversion information.

4. The method according to claim 1 or 2, wherein the first data packet carries raw data, the raw data being data collected based on the first coordinate system, for determining the first coordinate conversion information.

5. The method of claim 4, wherein the method further comprises:

the first coordinate conversion information from the server is received.

6. The method according to any one of claims 3 to 5, wherein the first data packet and the second data packet further carry information of a first roadside device, respectively, the information of the first roadside device corresponding to the coordinate conversion information.

7. The method of claim 6, wherein the information of the first roadside device corresponds to a first identifier of the first roadside device, the first identifier including a first field for carrying an area identifier of an area in which the first roadside device is located and a second field for carrying an device identifier of the first roadside device within the area.

8. The method of any of claims 1 to 7, wherein the first coordinate conversion information includes coordinate conversion parameters, and one or more of:

the identity of the source coordinate system of the coordinate conversion parameters,

the identification of the target coordinate system of the coordinate conversion parameters,

the version number of the coordinate conversion parameter,

update time of the coordinate conversion parameter, and

the coordinate conversion parameters are compatible with version numbers.

9. The method of any of claims 1 to 8, wherein the second data packet further carries a version number of a coordinate conversion parameter used to generate the first location information.

10. The method according to any of claims 1 to 9, wherein the second data packet is transmitted at a higher frequency than the first data packet.

11. The method of any one of claims 1 to 10, wherein the method further comprises:

acquiring second coordinate conversion information, wherein the second coordinate conversion information is used for carrying out coordinate conversion between the second coordinate system and a third coordinate system;

receiving a third data packet carrying second position information, wherein the second position information is second position information of a second position point generated based on the third coordinate system;

and determining the coordinates of the second position point under the second coordinate system according to the second position information and the second coordinate conversion information.

12. The method of claim 11, wherein the obtaining the second coordinate transformation information comprises:

receiving a fourth data packet, wherein the fourth data packet is used for determining the second coordinate conversion information;

and determining the second coordinate conversion information based on the fourth data packet.

13. The method of claim 12, wherein the third data packet and the fourth data packet are transmitted based on different secure channels.

14. The method of claim 11, wherein the third data packet carries information of a second roadside device, the obtaining second coordinate conversion information, the second roadside device corresponding to the second coordinate conversion information, comprises:

receiving correspondence information from the server, where the correspondence information is used to indicate a correspondence between a road side device and coordinate conversion information, the road side device includes the second road side device, and the coordinate conversion relationship includes the second coordinate conversion relationship

And determining the second coordinate conversion information based on the information of the second road side equipment and the corresponding relation information.

15. An information receiving method, comprising:

receiving a first data packet from a first road side device;

determining first coordinate conversion information for performing coordinate conversion between a first coordinate system and a second coordinate system based on the first data packet;

receiving a second data packet from the first road side equipment, wherein the second data packet carries first position information of a first position point generated based on the first coordinate system;

And determining coordinates of the first position point in the second coordinate system based on the first coordinate conversion information and the first position information.

16. The method of claim 15, wherein the first data packet and the second data packet are transmitted based on different secure channels.

17. The method of claim 15 or 16, wherein the first data packet carries the first coordinate conversion information.

18. The method according to claim 15 or 16, wherein the first data packet carries original data, the original data being data collected by the first roadside device based on the first coordinate system;

the method further comprises the steps of:

the first coordinate conversion information is determined based on the raw data.

19. The method of claim 18, wherein the method further comprises:

and sending the first coordinate conversion information to the first road side equipment.

20. The method of any one of claims 17 to 19, wherein the first data packet and the second data packet further carry information of the first roadside device, respectively, the information of the first roadside device corresponding to the first coordinate conversion information.

21. The method of claim 20, wherein the information of the first roadside device corresponds to a first identifier of the first roadside device, the first identifier including a first field for carrying an area identifier of an area in which the first roadside device is located and a second field for carrying an device identifier of the first roadside device within the area.

22. The method of any of claims 15 to 21, wherein the first coordinate conversion information includes coordinate conversion parameters, and one or more of:

the version number of the coordinate conversion parameter,

update time of the coordinate conversion parameter, and

the coordinate conversion parameters are compatible with version numbers.

23. The method of any one of claims 15 to 22, wherein the method further comprises:

determining a first coordinate conversion parameter according to the first coordinate conversion information;

when the first coordinate conversion parameter is different from a locally stored second coordinate conversion parameter regarding the first roadside device, the locally stored second coordinate conversion parameter is replaced with the first coordinate conversion parameter.

24. The method of any one of claims 15 to 23, wherein the second data packet further carries a version number of a coordinate conversion parameter used to generate the first location information; and

the method further comprises the steps of:

and in the case that the coordinate conversion parameters corresponding to the version number are not acquired, sending a request message to the first road side equipment to request to acquire the coordinate conversion parameters corresponding to the version number.

25. The method of any one of claims to 24, wherein the method further comprises:

and sending corresponding relation information to the terminal equipment and/or the road side equipment, wherein the corresponding relation information is used for indicating the corresponding relation between the road side equipment and the coordinate conversion information.

26. A method as claimed in any one of claims 15 to 25, wherein the second data packet is received at a higher frequency than the first data packet.

27. The method of any one of claims 13 to 24, wherein the method further comprises:

receiving a third data packet, wherein the third data packet is used for determining second coordinate conversion information between the second coordinate system and a third coordinate system;

Receiving a fourth data packet carrying second position information, wherein the second position information is generated based on the third coordinate system;

and sending the fourth data packet.

28. The method of claim 25, wherein the third data packet and the fourth data packet are transmitted based on different secure channels.

29. An information receiving method, comprising:

receiving a first data packet from first road side equipment, wherein the first data packet carries first position information of a first position point generated based on a first coordinate system;

acquiring first coordinate conversion information corresponding to the first road side equipment, wherein the first coordinate conversion information is used for carrying out coordinate conversion between the first coordinate system and a second coordinate system;

30. The method of claim 29, wherein the obtaining first coordinate conversion information corresponding to the first roadside device comprises:

receiving a second data packet;

the first coordinate conversion information is determined based on the second data packet.

31. The method of claim 30, wherein the first data packet and the second data packet are transmitted based on different secure channels.

32. The method of claim 29, wherein the first data packet further carries information of the first roadside device, and the obtaining the first coordinate conversion information corresponding to the first roadside device comprises:

receiving corresponding relation information from a server, wherein the corresponding relation information is used for indicating a corresponding relation between road side equipment and coordinate conversion information, the road side equipment comprises the first road side equipment, and the coordinate conversion information comprises the first coordinate conversion information;

and acquiring the first coordinate conversion information based on the information of the first road side equipment and the corresponding relation information.

33. The method of any of claims 29 to 32, wherein the first coordinate conversion information includes coordinate conversion parameters, and one or more of:

the version number of the coordinate conversion parameter,

update time of the coordinate conversion parameter, and

The coordinate conversion parameters are compatible with version numbers.

34. A method as claimed in any one of claims 29 to 33, wherein the first data packet also carries information of the first roadside device corresponding to the first coordinate conversion information.

35. A method as claimed in claim 32 or 34, wherein the information of the first roadside device comprises a first identifier of the first roadside device, the first identifier comprising a first field for carrying an area identifier of an area in which the first roadside device is located and a second field for carrying an identifier of the first roadside device within the area.

36. The method of any one of claims 29 to 35, wherein the method further comprises:

transmitting a third data packet, wherein the third data packet is used for determining second coordinate conversion information between the second coordinate system and a third coordinate system;

and transmitting a fourth data packet carrying second position information, wherein the second position information is the position information of a second position point generated based on the third coordinate system.

37. The method of claim 36, wherein the third data packet and the fourth data packet are transmitted based on different secure channels.

38. An information transmission apparatus comprising a processor and a memory, the memory for storing a computer program, the processor for executing the computer program to cause the apparatus to implement the method of any one of claims 1 to 14.

39. An information transmitting apparatus, comprising:

the receiving and transmitting unit is used for transmitting a first data packet to the server, wherein the first data packet is used for determining first coordinate conversion information, and the first coordinate conversion information is used for carrying out coordinate conversion between a first coordinate system and a second coordinate system;

a processing unit, configured to generate first position information of a first position point based on the first coordinate system;

the transceiver unit is further configured to send a second data packet, where the second data packet carries the first location information.

40. The apparatus of claim 39, wherein the first data packet and the second data packet are transmitted based on different secure channels.

41. The apparatus of claim 39 or 40, wherein the first data packet carries the first coordinate conversion information.

42. The apparatus of claim 39 or 40, wherein the first data packet carries raw data, the raw data being data collected based on the first coordinate system, for determining the first coordinate conversion information.

43. The apparatus of claim 42, wherein the transceiver unit is further configured to receive the first coordinate conversion information.

44. The apparatus of any one of claims 41 to 43, wherein the first data packet and the second data packet further carry information of the apparatus, respectively, the information of the apparatus corresponding to the first coordinate conversion information.

45. The apparatus of claim 44, wherein the information of the apparatus corresponds to a first identification of the apparatus, the first identification comprising a first field for carrying an area identification of an area in which the apparatus is located and a second field for carrying a device identification of the apparatus within the area.

46. The apparatus of any one of claims 38 to 45, wherein the first coordinate conversion information includes coordinate conversion parameters, and one or more of:

the version number of the coordinate conversion parameter,

update time of the coordinate conversion parameter, and

The coordinate conversion parameters are compatible with version numbers.

47. The apparatus of any one of claims 38 to 46, wherein the second data packet further carries a version number of a coordinate conversion parameter used to generate the first location information.

48. The apparatus of any one of claims 38 to 47, wherein the second data packet is transmitted at a higher frequency than the first data packet.

49. The apparatus of any one of claims 38 to 48, wherein the transceiver unit is further configured to:

receiving a third data packet carrying second position information, wherein the second position information is generated based on the third coordinate system;

the processing unit is further configured to determine coordinates of the second location point in the second coordinate system according to the second location information and the second coordinate conversion information.

50. The apparatus of claim 49, wherein the transceiver unit is further configured to receive a fourth data packet, the fourth data packet being used to determine the second coordinate conversion information.

51. The apparatus of claim 50, wherein the third data packet and the fourth data packet are transmitted based on different secure channels.

52. The apparatus of claim 49, wherein the transceiver unit is further configured to receive correspondence information from the server, the correspondence information indicating a correspondence between roadside devices and coordinate conversion information.

53. An information receiving apparatus comprising a processor and a memory, the memory for storing a computer program, the processor for executing the computer program to cause the apparatus to implement the method of any one of claims 15 to 28.

54. An information receiving apparatus, comprising:

the receiving and transmitting unit is used for receiving a first data packet from the first road side equipment;

a processing unit configured to determine first coordinate conversion information for performing coordinate conversion between a first coordinate system and a second coordinate system based on the first data packet;

the receiving and transmitting unit is further configured to receive a second data packet from the first roadside device, where the second data packet carries first location information of a first location point generated based on the first coordinate system;

The processing unit is further configured to determine coordinates of the first location point in the second coordinate system based on the first coordinate conversion information and the first location information.

55. The apparatus of claim 54, wherein the first data packet and the second data packet are transmitted based on different secure channels.

56. The apparatus of claim 54 or 55, wherein the first data packet carries the first coordinate conversion information.

57. The apparatus of claim 54 or 55, wherein the first data packet carries raw data, the raw data being data collected by the first roadside device based on the first coordinate system;

the processing unit is further configured to determine the first coordinate conversion information based on the raw data.

58. The apparatus of claim 56, wherein the transceiver unit is further configured to send the first coordinate conversion information to the first roadside device.

59. The apparatus of any one of claims 56 to 58, wherein the first data packet and the second data packet further carry information of the first roadside device, respectively, the information of the first roadside device corresponding to the first coordinate conversion information.

60. The apparatus of claim 59, wherein the information for the first roadside device corresponds to a first identification for the first roadside device, the first identification comprising a first field for carrying an area identification of an area in which the first roadside device is located and a second field for carrying an equipment identification of the first roadside device within the area.

61. The apparatus of any one of claims 54 to 60, wherein the first coordinate conversion information includes coordinate conversion parameters, and one or more of:

the version number of the coordinate conversion parameter,

update time of the coordinate conversion parameter, and

the coordinate conversion parameters are compatible with version numbers.

62. The apparatus of any one of claims 54 to 61, wherein the processing unit is further to:

63. The apparatus of any one of claims 64 to 62, wherein the second data packet further carries a version number of a coordinate conversion parameter used to generate the first location information;

the transceiver unit is further configured to send a request message to the first roadside device to request to obtain the coordinate conversion parameter corresponding to the version number if the coordinate conversion parameter corresponding to the version number is not obtained.

64. The apparatus of any one of claims 54 to 63, wherein the transceiver unit is further configured to:

65. The apparatus of any one of claims 54 to 64, wherein the second data packet is received at a higher frequency than the first data packet.

66. The apparatus of any one of claims 54 to 65, wherein the transceiver unit is further configured to:

and sending the fourth data packet.

67. The apparatus of claim 66, wherein the third data packet and the fourth data packet are transmitted based on different secure channels.

68. An information receiving apparatus comprising a processor and a memory, the memory for storing a computer program, the processor for executing the computer program to cause the apparatus to implement the method of any one of claims 27 to 35.

69. An information receiving apparatus, comprising:

the receiving and transmitting unit is used for receiving a first data packet from the first road side equipment, wherein the first data packet carries first position information of a first position point generated based on a first coordinate system;

a processing unit, configured to acquire first coordinate conversion information corresponding to the first roadside apparatus, where the first coordinate conversion information is used for performing coordinate conversion between the first coordinate system and a second coordinate system; and determining coordinates of the first position point in the second coordinate system based on the first coordinate conversion information and the first position information.

70. The apparatus of claim 69, wherein the transceiver unit is further configured to receive a second data packet, the second data packet being used to determine the first coordinate conversion information;

the processing unit is specifically configured to determine the first coordinate transformation information based on the second data packet.

71. The apparatus of claim 70, wherein the first data packet and the second data packet are transmitted based on different secure channels.

72. The apparatus of claim 69, wherein the first data packet further carries information for the first roadside device, the transceiver unit is further configured to receive correspondence information from a server, the correspondence information being used to indicate correspondence between a roadside device including the first roadside device and coordinate conversion information including the first coordinate conversion information;

the processing unit is specifically configured to obtain the first coordinate conversion information based on the information of the first roadside device and the correspondence information.

73. The apparatus of any one of claims 69-72, wherein the first coordinate conversion information includes coordinate conversion parameters, and one or more of:

the version number of the coordinate conversion parameter,

update time of the coordinate conversion parameter, and

the coordinate conversion parameters are compatible with version numbers.

74. The apparatus of any one of claims 69-73, wherein the first data packet further carries information for the first roadside device, the information for the first roadside device corresponding to the first coordinate conversion information.

75. An apparatus as claimed in claim 72 or 74, wherein the information of the first roadside device comprises a first identification of the first roadside device, the first identification comprising a first field for carrying an area identification of an area in which the first roadside device is located and a second field for carrying an equipment identification of the first roadside device within the area.

76. The apparatus of any one of claims 69 to 75, wherein the transceiver unit is further configured to:

77. The apparatus of claim 76, wherein the third data packet and the fourth data packet are transmitted based on different secure channels.

78. A communication system, comprising:

a roadside device for performing the method of any one of claims 1 to 14; and

a server for performing the method of any of claims 15 to 28.

79. A communication system, comprising:

terminal device for performing the method of any of claims 29 to 37; and

a server for performing the method of any of claims 15 to 28.

80. A communication system, comprising:

a roadside device for performing the method of any one of claims 1 to 14;

terminal device for performing the method of any of claims 29 to 37; and

a server for performing the method of any of claims 15 to 28.

81. A computer readable storage medium having stored thereon a computer program, which when executed by a processor, implements the method of any of claims 1 to 37.

82. A computer program product comprising a computer program which, when run, implements the method of any one of claims 1 to 37.

83. A vehicle comprising an information receiving apparatus according to any one of claims 68 to 77.