WO2022040944A1 - 一种动态信息的获取方法及其相关设备 - Google Patents

一种动态信息的获取方法及其相关设备 Download PDF

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Publication number
WO2022040944A1
WO2022040944A1 PCT/CN2020/111159 CN2020111159W WO2022040944A1 WO 2022040944 A1 WO2022040944 A1 WO 2022040944A1 CN 2020111159 W CN2020111159 W CN 2020111159W WO 2022040944 A1 WO2022040944 A1 WO 2022040944A1
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Prior art keywords
information
client
enabling
server
target
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PCT/CN2020/111159
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English (en)
French (fr)
Inventor
阿芒哥·倪瑞特
葛翠丽
杨艳梅
Original Assignee
华为技术有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
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Publication date
Application filed by 华为技术有限公司 filed Critical 华为技术有限公司
Priority to CN202080102746.7A priority Critical patent/CN115812227A/zh
Priority to PCT/CN2020/111159 priority patent/WO2022040944A1/zh
Priority to EP20950617.9A priority patent/EP4187522A4/en
Publication of WO2022040944A1 publication Critical patent/WO2022040944A1/zh
Priority to US18/173,954 priority patent/US20230206760A1/en

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    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/09—Arrangements for giving variable traffic instructions
    • G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
    • G08G1/0967—Systems involving transmission of highway information, e.g. weather, speed limits
    • G08G1/096766—Systems involving transmission of highway information, e.g. weather, speed limits where the system is characterised by the origin of the information transmission
    • G08G1/096775—Systems involving transmission of highway information, e.g. weather, speed limits where the system is characterised by the origin of the information transmission where the origin of the information is a central station
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/01—Detecting movement of traffic to be counted or controlled
    • G08G1/0104—Measuring and analyzing of parameters relative to traffic conditions
    • G08G1/0108—Measuring and analyzing of parameters relative to traffic conditions based on the source of data
    • G08G1/0112—Measuring and analyzing of parameters relative to traffic conditions based on the source of data from the vehicle, e.g. floating car data [FCD]
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/01—Detecting movement of traffic to be counted or controlled
    • G08G1/0104—Measuring and analyzing of parameters relative to traffic conditions
    • G08G1/0137—Measuring and analyzing of parameters relative to traffic conditions for specific applications
    • G08G1/0141—Measuring and analyzing of parameters relative to traffic conditions for specific applications for traffic information dissemination
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/09—Arrangements for giving variable traffic instructions
    • G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
    • G08G1/0967—Systems involving transmission of highway information, e.g. weather, speed limits
    • G08G1/096733—Systems involving transmission of highway information, e.g. weather, speed limits where a selection of the information might take place
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/09—Arrangements for giving variable traffic instructions
    • G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
    • G08G1/0967—Systems involving transmission of highway information, e.g. weather, speed limits
    • G08G1/096766—Systems involving transmission of highway information, e.g. weather, speed limits where the system is characterised by the origin of the information transmission
    • G08G1/096791—Systems involving transmission of highway information, e.g. weather, speed limits where the system is characterised by the origin of the information transmission where the origin of the information is another vehicle
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/16—Anti-collision systems
    • G08G1/165—Anti-collision systems for passive traffic, e.g. including static obstacles, trees
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/16—Anti-collision systems
    • G08G1/166—Anti-collision systems for active traffic, e.g. moving vehicles, pedestrians, bikes
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/02—Services making use of location information
    • H04W4/025—Services making use of location information using location based information parameters
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/30—Services specially adapted for particular environments, situations or purposes
    • H04W4/40—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P]
    • H04W4/44—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P] for communication between vehicles and infrastructures, e.g. vehicle-to-cloud [V2C] or vehicle-to-home [V2H]
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/09—Arrangements for giving variable traffic instructions
    • G08G1/091—Traffic information broadcasting
    • G08G1/094—Hardware aspects; Signal processing or signal properties, e.g. frequency bands
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/09—Arrangements for giving variable traffic instructions
    • G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
    • G08G1/0967—Systems involving transmission of highway information, e.g. weather, speed limits
    • G08G1/096708—Systems involving transmission of highway information, e.g. weather, speed limits where the received information might be used to generate an automatic action on the vehicle control
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
    • H04L67/00—Network arrangements or protocols for supporting network services or applications
    • H04L67/01—Protocols
    • H04L67/12—Protocols specially adapted for proprietary or special-purpose networking environments, e.g. medical networks, sensor networks, networks in vehicles or remote metering networks

Definitions

  • the embodiments of the present application relate to the technical field of artificial intelligence, and in particular, to a method for acquiring dynamic information and related devices.
  • Autopilot is the mainstream application in the field of artificial intelligence technology.
  • Autopilot technology relies on the cooperation of computer vision, radar, monitoring devices and global positioning systems, etc., so that motor vehicles can complete autonomous driving within a predetermined itinerary without direct human operation.
  • the automatic driving process includes: the system uses the video cameras, radar sensors, laser rangefinders and other detection devices on the autonomous car to understand the traffic conditions around the car, including obstacles, traffic lights, Information such as moving pedestrians; and then draw a high-definition map based on this information to provide a driving environment reference for autonomous vehicles to achieve navigation for autonomous vehicles.
  • the self-driving car includes a main control computer, and the target client on the main control computer receives the detection information sent by each detection device, processes and analyzes the information, and obtains a high-definition map about the road ahead.
  • the high-definition map Plan the driving route of the car and control the running track of the vehicle;
  • the target client can also interact with the network side to send detection information to the service server, and the service server obtains the corresponding information of the target client according to the information provided by the target client
  • the high-definition map of the target client and then the target client guides the driving of the vehicle according to the high-definition map.
  • the detection information sent by the detection equipment received by the target client is limited, and the range of the high-definition map obtained according to the information provided by the target client is often fixed and limited; however, in a certain In some scenarios, such as high-speed driving, in order to avoid the impact of road emergencies on autonomous driving, autonomous vehicles often need to know a wider range of high-definition maps, so as to plan the vehicle's driving plan in advance and ensure the safety of autonomous driving; How to obtain a high-definition map corresponding to a reasonable geographical range for the reference of autonomous vehicles has become an urgent problem to be solved.
  • the embodiments of the present application provide a dynamic information acquisition method and related equipment, which are used to acquire high-definition map information in a target area corresponding to a target client, so that the target client can acquire high-definition images within a more reasonable range according to its own needs. map.
  • a first aspect of the embodiments of the present application provides a method for acquiring dynamic information, including:
  • the first enabling server needs to obtain the information of the enabling clients in the target area of the target client, and then sends a first message to the enabling client, instructing the enabling client to report the first message, and then the first message can be obtained from the target client.
  • Dynamic information associated with the client wherein, the first message refers to the local dynamic information of the enabling client, which reflects the surrounding environment learned by the enabling client, and the dynamic layer of the high-definition map of the target client can be obtained by using the reported local dynamic information dynamic information, and can also obtain high-definition map information of the target client.
  • the first enabling server can instruct the enabling clients in the target area of the target client to report its own local dynamic information, so that a high-definition map can be obtained according to the local dynamic information collected by multiple enabling clients in the target area, It can completely reflect the traffic environment of the target area.
  • the high-definition map can be used as a reference for the target client to determine the driving action, so that the target client can obtain a larger range of traffic information and plan the driving plan more reasonably.
  • the dynamic information associated with the target client includes first dynamic information or second dynamic information; the first dynamic information is dynamic information of the high-definition map dynamic layer of the target client, and the second dynamic information is the target Client's HD map information.
  • the first enabling server can receive the information of the target area sent by the service server, that is, the service server determines the target area of the target client, and the first enabling server can directly determine the target area according to the information sent by the service server.
  • the service server determines the target area, and the first enabling server directly obtains the information of the enabling clients in the target area according to the determined target area. In this way, the workload of the first enabling server can be reduced and the performance of the first enabling server can be improved. work performance.
  • the first enabling server can also obtain the identification of the target client and the range information of the target client from the service server, and then the first enabling server tracks the geographic location of the target client according to the identification of the target client, and then determines the target according to the scope information. The target area around the client.
  • the service server determines the range information of the target client, and then the first enabling server tracks the geographic location of the target client and determines the target area of the target client, which provides another method for determining the target area of the target client. way it can be achieved.
  • the first enabling server can also obtain the identification of the target client and the auxiliary information of the target client from the service server, wherein the auxiliary information can reflect the driving needs of the target client, and then the first enabling server determines the target client according to the auxiliary information.
  • the range information of the target client is used to track the geographic location of the target client through the identifier of the target client, and then the target area around the target client is determined according to the determined range information.
  • the first enabling server determines the range information of the target client, and then determines the target area around the target client according to the range information, which provides another solution for determining the target area of the target client.
  • the auxiliary information may be one of the types of services that the target client participates in, the sensor measurement range corresponding to the target client, the capability information of the terminal device corresponding to the target client, the speed of the target client, the direction of the target client, and the planned path of the target client. These can directly or indirectly reflect the target client's demand for high-definition maps; you can use this information to determine a reasonable target area and provide the target client with a more suitable range of high-definition maps.
  • the first enabling server can also accept the update policy, and the update policy is also the update request of the dynamic information, and the first enable server can report the first message according to the update policy request.
  • the client provides dynamic information to ensure the business needs of the target client.
  • the first enabling server may send a first request message to the location management server to request the location management server to determine the enabling client in the target area, and then the enabling client's The information is sent to the first enabling server.
  • the first enabling server sends a first request message carrying the target area information to the location management server, so that the location management server determines the enabling clients in the target area, and sends the information of the enabling clients to the first enabling server, A feasible solution is provided for the first enabling server to determine the enabling client.
  • the first enabling server may also obtain the information of the enabling clients in the target area from other enabling servers, that is, other enabling servers provide the information of enabling clients in the target area, and determine the enabling server for the first enabling server.
  • the client provides a feasible solution.
  • the first enabling server sends a first message to the enabling client, and when requesting the enabling client to report the first information, a reporting policy may also be carried in the first message, so that the enabling client performs reporting according to the reporting policy. Yes, the report policy can be obtained from the update policy.
  • the enabling client needs to report the first information according to the update strategy of the high-definition map, so as to ensure the normal update of the high-definition map.
  • the enabling client When the enabling client reports the first information, the first information may be reported to the enabling server, and the enabling server aggregates multiple first information, so that the multiple first information obtains dynamic information and sends it to the target client.
  • the enabling server can send dynamic information to the target client through the service server.
  • the first enabling server may also instruct the enabling client to directly report the first information to the target client, and the target client determines dynamic information according to the first information to provide the service client with a high-definition map.
  • a second aspect of the embodiments of the present application provides a method for acquiring dynamic information, including:
  • the first enabling server may also send a first subscription request to the location management server, requesting the location management server to report the information of the enabling clients in the target area of the target client; specifically, the first subscription request needs to include the identifier of the target client and the corresponding range information, the location management server tracks the location of the target client according to the target client's identity, and then first determines the target area according to the range information, and then determines the enabled client in the target area, and then reports the information of the enabled client to the The first enabling server; then the first enabling server sends a first message to the enabling client, instructing the enabling client to report the first message, and the first message can obtain dynamic information associated with the target client.
  • the location management server determines the target area and the enabling clients in the target area, so that the first enabling server can directly obtain the information of the enabling clients, thus reducing the burden of the first enabling server. work load, and improve the work performance of the first enabled server.
  • a third aspect of the embodiments of the present application provides a method for acquiring dynamic information, including:
  • the service server sends a request message to the first enabling server for requesting dynamic information associated with the target client, so that the first enabling server provides related services; then the service server receives the dynamic information.
  • the dynamic information associated with the target client includes first dynamic information or second dynamic information; the first dynamic information is dynamic information of the high-definition map dynamic layer of the target client, and the second dynamic information is the target Client's HD map information.
  • the request message may include at least one of the following information: information about the target area of the target client, or the identification and range information of the target client, or the identification of the target client and auxiliary information of the target client, all of which can be used to determine the target client.
  • the target area of the terminal and finally obtain a high-definition map in the target area for the business client to use.
  • the high-definition map information of the target client can be obtained according to the information, and then the high-definition map information of the target client is provided to the target client.
  • the business server needs to send dynamic information to the target client so that the target client can use the high-definition map.
  • a fourth aspect of the embodiments of the present application provides a method for acquiring dynamic information, including:
  • the target client may receive the first information sent by multiple enabling clients, and then obtain dynamic information within the target range according to the first information.
  • the first information is local dynamic information of multiple enabled clients, and the dynamic information may include first dynamic information or second dynamic information; the first dynamic information indicates the dynamic information of the high-definition map dynamic layer of the target client, and the second dynamic information
  • the dynamic information indicates the high-definition map information of the target client.
  • the target client obtains the dynamic information of the target client according to the received first information of multiple enabled clients, and can combine the local dynamic information of other enabled clients to perceive the environmental state in the target area, and obtain a complete high-definition map It is used by the target client.
  • the high-definition map can be used as a reference for the target client to determine the driving action, so that the target client can obtain a larger range of traffic information and plan the driving plan more reasonably.
  • the dynamic information associated with the target client includes first dynamic information or second dynamic information; the first dynamic information is dynamic information of the high-definition map dynamic layer of the target client, and the second dynamic information is the target Client's HD map information.
  • the target client can obtain the dynamic information by combining the local dynamic information provided by other enabling clients and its own corresponding local dynamic information.
  • the target client can obtain the dynamic information of the dynamic layer of the high-definition map, and can also obtain the high-definition map of the target client; if the dynamic information of the dynamic layer of the high-definition map is obtained, the target client can also obtain the dynamic information of the dynamic layer of the high-definition map. HD map.
  • the target client obtains the dynamic information of the dynamic layer of the high-definition map
  • the dynamic information of the dynamic layer of the high-definition map can be sent to the service client, and the service client obtains the high-definition map of the target client.
  • the information of the high-definition map of the target client can be sent to the service client, and the service client can directly obtain the high-definition map.
  • a fifth aspect of the embodiments of the present application provides a first enabling server, including:
  • an obtaining unit used for obtaining the information of the enabled client in the target area of the target client
  • a sending unit configured to send a first message to the enabling client, where the first message is used for the enabling client to report the first information
  • the first information includes local dynamic information of the enabling client, and the first information is used to obtain dynamic information associated with the target client.
  • a sixth aspect of the embodiments of the present application provides a service server, including:
  • a sending unit configured to send a request message to the enabling server, where the request message is used to obtain dynamic information associated with the target client;
  • a receiving unit configured to receive the dynamic information.
  • a seventh aspect of an embodiment of the present application provides a target client, wherein the target client includes:
  • a receiving unit configured to receive the first information of the enabling client
  • a processing unit configured to obtain dynamic information associated with the target client according to the first information, where the first information includes local dynamic information of the enabled client.
  • An eighth aspect of the present application provides a first enabling server, comprising: at least one processor and a memory, where the memory stores computer-executable instructions that can be executed on the processor, and when the computer-executable instructions are executed by the processor , the first enabling server executes the method described in the first aspect or any possible implementation manner of the first aspect and the method of the second aspect.
  • a ninth aspect of the present application provides a service server, comprising: at least one processor and a memory, where the memory stores computer-executable instructions that can run on the processor, and when the computer-executable instructions are executed by the processor, the The service server executes the method described in the third aspect or any possible implementation manner of the third aspect.
  • a tenth aspect of the present application provides a terminal device, comprising: at least one processor and a memory, where the memory stores computer-executable instructions that can run on the processor, and when the computer-executable instructions are executed by the processor, the The terminal device executes the method described in the fourth aspect or any of the possible implementation manners of the fourth aspect.
  • An eleventh aspect of the present application provides a dynamic information acquisition system, including: a first enabling server, a service client, and a terminal device, where the first enabling server is the one described in the fifth aspect or the eighth aspect.
  • the first enabling server; the service server is the service server described in the sixth aspect or the ninth aspect; the terminal device is the target client of the seventh aspect or the terminal device described in the tenth aspect.
  • a twelfth aspect of the present application provides a computer-readable storage medium, where a computer program is stored in the computer-readable storage medium, which, when executed on a computer, causes the computer to execute the above-mentioned first, second, and third aspects or the method of the fourth aspect.
  • a thirteenth aspect of the present application provides a chip or a chip system, the chip or chip system includes at least one processor and a communication interface, the communication interface and the at least one processor are interconnected by a line, and the at least one processor is used for running a computer program or instruction , to carry out a dynamic information acquisition method described in any one of the first aspect to any possible implementation manner of the first aspect;
  • the communication interface in the chip may be an input/output interface, a pin, a circuit, or the like.
  • the chip or chip system described above in this application further includes at least one memory, where instructions are stored in the at least one memory.
  • the memory may be a storage unit inside the chip, such as a register, a cache, etc., or a storage unit of the chip (eg, a read-only memory, a random access memory, etc.).
  • a fourteenth aspect of the present application provides a chip or a chip system, the chip or chip system includes at least one processor and a communication interface, the communication interface and the at least one processor are interconnected by a line, and the at least one processor is used for running a computer program or instruction , to carry out a dynamic information acquisition method described in any one of the second aspect to any possible implementation manner of the second aspect;
  • the communication interface in the chip may be an input/output interface, a pin, a circuit, or the like.
  • the chip or chip system described above in this application further includes at least one memory, where instructions are stored in the at least one memory.
  • the memory may be a storage unit inside the chip, such as a register, a cache, etc., or a storage unit of the chip (eg, a read-only memory, a random access memory, etc.).
  • a fifteenth aspect of the present application provides a chip or a chip system, the chip or chip system includes at least one processor and a communication interface, the communication interface and the at least one processor are interconnected by a line, and the at least one processor is used for running a computer program or instruction , to carry out a dynamic information acquisition method described in any one of the third aspect to any possible implementation manner of the third aspect;
  • the communication interface in the chip may be an input/output interface, a pin, a circuit, or the like.
  • the chip or chip system described above in this application further includes at least one memory, where instructions are stored in the at least one memory.
  • the memory may be a storage unit inside the chip, such as a register, a cache, etc., or a storage unit of the chip (eg, a read-only memory, a random access memory, etc.).
  • a sixteenth aspect of the present application provides a chip or a chip system, the chip or chip system includes at least one processor and a communication interface, the communication interface and the at least one processor are interconnected by a line, and the at least one processor is used for running a computer program or instruction , to carry out a method for obtaining dynamic information described in any one of the possible implementation manners of the fourth aspect to the fourth aspect;
  • the communication interface in the chip may be an input/output interface, a pin, a circuit, or the like.
  • the chip or chip system described above in this application further includes at least one memory, where instructions are stored in the at least one memory.
  • the memory may be a storage unit inside the chip, such as a register, a cache, etc., or a storage unit of the chip (eg, a read-only memory, a random access memory, etc.).
  • a seventeenth aspect of the present application provides a computer program, which, when run on a computer, causes the computer to execute the method of the above-mentioned first, second, third or fourth aspects.
  • the first enabling server may instruct the enabling clients in the target area of the target client to report their own local dynamic information, so that the data can be collected according to multiple enabling clients in the target area.
  • the local dynamic information obtained can obtain a high-definition map, which can completely reflect the traffic environment of the target area.
  • the high-definition map can be used as a reference for the target client to determine the driving action, so that the target client can obtain a larger range of traffic information, more Reasonable planning of the driving plan.
  • FIG. 1 is a schematic structural diagram of a high-definition map provided by an embodiment of the present application.
  • FIG. 2 is a schematic structural diagram of another high-definition map provided by an embodiment of the present application.
  • FIG. 3 is a schematic structural diagram of a V2X application layer for vehicle-to-external information exchange provided by an embodiment of the present application;
  • FIG. 4 is a schematic flowchart of another method for acquiring dynamic information provided by an embodiment of the present application.
  • FIG. 5 is a schematic flowchart of another method for acquiring dynamic information provided by an embodiment of the present application.
  • FIG. 6 is a schematic flowchart of another method for acquiring dynamic information provided by an embodiment of the present application.
  • FIG. 7 is a schematic structural diagram of a first enabling server according to an embodiment of the present application.
  • FIG. 8 is a schematic structural diagram of a service server according to an embodiment of the present application.
  • FIG. 9 is a schematic structural diagram of a target client provided by an embodiment of the present application.
  • FIG. 10 is a schematic structural diagram of another first enabling server provided by an embodiment of the present application.
  • FIG. 11 is a schematic structural diagram of another service server provided by an embodiment of the present application.
  • FIG. 12 is a schematic structural diagram of a terminal device according to an embodiment of the present application.
  • the embodiments of the present application provide a dynamic information acquisition method and related equipment, which are used to acquire high-definition map information in a target area corresponding to a target client, so that the target client can acquire high-definition images within a more reasonable range according to its own needs. map.
  • High-definition maps are generally used in the field of autonomous driving. They are dynamic maps drawn from data collected by vehicle detection equipment, including radar, cameras, infrared, sensors, etc., which can reflect the traffic status around the vehicle, so that the vehicle can to plan the driving route and complete the automatic driving process.
  • vehicle detection equipment including radar, cameras, infrared, sensors, etc.
  • FIG. 1 is a schematic structural diagram of a high-definition map provided by an embodiment of the present application, and the high-definition map can be sequentially divided into a road network layer, a lane network layer, a safety auxiliary data layer, a road traffic facility layer, and a non-real-time dynamic target from the bottom up.
  • the road network layer can be the road in the area where the vehicle is located according to the positioning system; the lane layer is the lane on the road; the safety assistance data can include speed limit, limit vehicle height ; the road traffic facility layer can include traffic lights, road boundary railings, etc.; the non-real-time dynamic target layer can be road conditions, including the area delineated during road maintenance, puddles on the road, etc., while the real-time dynamic target layer includes road conditions. pedestrians and other vehicles. It can be understood that the higher the level, the more dynamic the information it reflects.
  • the higher the level of automatic driving that is, the more intelligent the automatic driving, the more levels of high-definition maps it needs; an exemplary , if you want to complete the intelligent navigation of the vehicle, you only need a map containing the road network layer, the lane network layer and the safety auxiliary data network layer; and to achieve intelligent traffic management, the high-definition map also needs a road traffic facility layer; To realize the assisted driving of the vehicle, a non-real-time dynamic target layer is required, and to realize the unmanned driving of the vehicle, the corresponding high-definition map needs to have a real-time dynamic target layer.
  • FIG. 2 is a schematic structural diagram of another high-definition map provided by an embodiment of the present application, and the high-definition map can be divided into a basic map layer, a geometric map layer, a semantic map layer, a pre-map layer, a real-time layer, etc.
  • the basic map layer can include basic terrain and road network
  • the geometric map layer can be a lane network
  • the semantic map layer is built on top of the geometric map layer , adding some semantic objects, including lane boundaries, intersections, parking spots, stop signs, traffic lights, etc., these objects contain rich information, such as traffic speed limit values, lane change restrictions (such as no U-turn), etc.; while the previous
  • the location map layer can contain dynamic information and human activity data, such as changes in traffic lights, the average waiting time of traffic lights at intersections, the probability of a car stopping at a parking spot, the average parking speed at the parking spot, etc.
  • the real-time layer is the HD map.
  • the top layer contains real-time shared traffic information between different vehicles, that is, this layer can include real-time distance, speed, real-time road conditions and pedestrians of other vehicles around the vehicle.
  • the vehicle can aggregate the sensor data collected by its own sensors (such as radar, camera, etc.) according to its main control computer, as well as the server information (such as traffic lights, parking lot information, etc.) obtained through the client.
  • the client draws a high-definition map to provide a reference for the main control computer to determine the driving planning route; however, it is understandable that the range of detection information of the sensors carried by each vehicle is limited; for example, in autonomous driving, if the vehicle If it is implemented on ordinary roads, it needs to know the traffic conditions within a range of 500 meters in real time, and summarize the information within this range to obtain a high-definition map, and it needs to continuously update and obtain new information according to the update frequency, and refresh the high-definition map.
  • the vehicle can only obtain the information related to the sensor.
  • a high-definition map with a consistent detection range cannot obtain a high-definition map within a reasonable range according to the driving needs of the vehicle, and once the range of the high-definition map required by the vehicle is larger than the detection range of the sensor, the vehicle’s own detection and analysis of visible objects will be based on its own detection and analysis. As a result, the vehicle cannot obtain the information of the high-definition map layer within the required range, which will seriously affect the driving planning of the vehicle, and cannot achieve intelligent and safe driving.
  • FIG. 3 is a schematic diagram of the architecture of the V2X application layer for vehicle-to-external information exchange provided by the embodiment of the present application; as shown in FIG. 3 , the vehicle terminal UE may include a V2X application specific client, V2X application enabling client and application service enabling layer client; the V2X application specific client is connected to the V2X application specific server through the 3GPP network system; the V2X application enabling client is connected to the V2X application enabling server through the 3GPP network system and the application service enabling layer client is connected to the application service enabling layer server through the 3GPP network system.
  • the V2X application specific client provides the client function of the V2X application on the terminal side, and is referred to as the service client.
  • the service client can include a V2X application client program, which can use the V2X application to enable the services provided by the client.
  • it can be similar to the platoon application; while the V2X application specific server (V2X application specific server)
  • the function of the server of the V2X application, corresponding to the specific client direction of the V2X application referred to as the service server. It can use the functions provided by the V2X application enabling server and the application business enabling layer server to provide corresponding business services for business clients.
  • the V2X application enabler client (V2X application enabler client, VAE client) is the enabling client of the V2X application enabler layer on the terminal side, which can interact with the V2X service client to support the operation of the V2X service ;
  • the V2X application enabling client can support the following functions: register with the V2X application enabling server to receive V2X messages; receive messages distributed by the V2X application enabling server, and deliver the received messages according to the V2X service ID To the corresponding V2X application; to undertake the functions of multicast service users; to receive network monitoring reports; to support the switching of V2V communication modes;
  • Exemplary can be Baidu map client, AutoNavi map client and so on.
  • the V2X application enabler server (VAE server) is the function of the V2X application enabler layer on the server side, and can provide functions to the V2X application-specific server. It is one of the enabler layers with the V2X application enabler client. For functional entities; specifically, it can communicate with 3GPP network elements to obtain unicast or broadcast communication resources; receive monitoring reports and events about network conditions from 3GPP network elements; receive V2X terminal UE registration; track V2X terminal applications Layer geographic location; support application-layer V2X message distribution; configure 3GPP system communication parameters for V2X UE; assume the function of V2X content provider, provide monitoring events to V2X application-specific servers; provide UE with network monitoring reports; negotiate with 3GPP systems V2X service parameters; maintain the mapping relationship between V2X user identity and V2X UE identity; provide the function of V2X service discovery, and support V2X business continuity, etc.
  • the application service enable layer client (service enable application layer client, SEAL client) is a collective term for a group of client functions that enable services on the terminal side.
  • the application service enable layer client can apply specific client, V2X application enabling client and application client functions in other industries provide services.
  • a specific application service enabling layer client may be a group management client, a configuration client, an identity identification client, a secret key management client, and a location management client, providing client-side functions corresponding to the peer-to-peer server.
  • Application service enablement layer server (service enable application layer server, SEAL server) is a general term for a group of enabling services on the server side.
  • the server can apply V2X application specific servers, V2X application enabling servers and application servers in other industries function to provide services.
  • it can be a group management server, which is used to provide group management functions such as group creation, group update, addition and deletion of group members, group deletion, etc.; it can be a configuration server, which is used to provide some services for business operation.
  • Configuration information such as user configuration information; it can be an identity server used to authenticate and authorize the user's identity; it can be a key management server, used to provide the root key or session key of communication, and other keys Relevant materials; it can also be a location management server, which is used to manage the location of users or groups, including location subscription, reporting, and push.
  • the V2X terminal includes: a mobile communication module (modem) for receiving wireless signals, sending and receiving uplink and downlink data; and the above-mentioned client for processing application-related business logic.
  • the V2X application specific client, the V2X application enabling client, and the application business enabling layer client are all logical function modules running on the V2X terminal. They can be independent client applications with independent running space. Among them, the V2X application enabling client and the application service enabling layer client may be collectively referred to as the enabling client.
  • the V2X application enabling client and the application business enabling layer client can be combined and implemented in one program component, such as a sub-function module or component in the operating system, or a software development kit (Software development kit). , SDK), a dynamic or static runtime library (lib), etc.
  • the above-mentioned V2X terminal device may be a smart car, a car with assisted driving capability, a car with advanced automatic driving capability, and the like.
  • the functions provided by the HD map service provider may be integrated in the V2X application enablement server, may also be integrated in the location management server of the application service enablement layer server, or may be integrated in an independent V2X application on a specific server (business server).
  • FIG. 4 is a schematic flowchart of a method for acquiring dynamic information provided by an embodiment of the present application; as shown in FIG. 4 , the method includes:
  • the first enabling server receives the request message sent by the target device
  • the V2X terminal equipment includes various sensors and a main control computer.
  • the sensors are used to collect traffic status information around the smart car and perceive the external driving environment of the smart car, while the main control computer needs to control the smart car according to the external driving environment. Driving behavior to determine the driving path of the smart car.
  • the target device may be a service server or an enabling client
  • the enabling client may be a V2X enabling client, or an application business enabling layer client (for example, a newly added high-definition map enabling client).
  • the first enabling server is a V2X enabling server or an application business enabling server that is equivalent to an application business enabling client (such as a newly added high-definition map enabling server), that is, the enabling client and the first enabling server are functional pairs. A pair of client and server, etc.
  • the service client on the V2X terminal device sends a service request, and requests the high-definition map service from the service server corresponding to the service client.
  • the target device is the service server
  • the target client is the service client. It can be understood that when the service server provides services for the service client, a request message may be sent to the first enabling server to obtain the high-definition map information corresponding to the service client or the dynamic information of the dynamic layer of the high-definition map.
  • the service server may request the first enabling server to provide dynamic information, where the dynamic information includes first dynamic information (dynamic information of the high-definition map dynamic layer of the target client) or second dynamic information (high-definition map information of the target client)
  • first dynamic information can be used to generate the second dynamic information
  • the business client can further control the driving action of the smart car according to the second dynamic information obtained to complete the automatic driving of the smart car.
  • the enabling client on the V2X terminal device sends a request message to the first enabling server.
  • the target device is the enabled client.
  • the target client is the service client on the terminal device.
  • the service client invokes the service provided by the enabling client to trigger the enabling client to help it obtain dynamic information of the dynamic layer of the high-definition map or information of the high-definition map.
  • the business client can trigger the enabling client to send a request message to the first enabling server, that is, the first enabling server provides and enables the service. information associated with the high-definition map, and then provide that information to the business client.
  • the enabling server may request the first enabling server to provide dynamic information, where the dynamic information includes first dynamic information (dynamic information of the high-definition map dynamic layer of the target client) or second dynamic information (the high-definition map information of the target client). ); it can be understood that the first dynamic information can be used to generate the second dynamic information, and the service client can further control the driving action of the smart car according to the acquired second dynamic information, so as to complete the automatic driving of the smart car.
  • the second enabling server sends a request message to the first enabling server for acquiring the high-definition map information corresponding to the target client or the dynamic information of the high-definition map dynamic layer.
  • the request may include information of the target area, or the identifier of the target client and the range information of the target client (which can be understood as the range of the high-definition map corresponding to the target client), or the identifier of the target client and auxiliary information of the target client.
  • the target device is the second enabled server.
  • the first enabling server acquires the information of the enabling clients in the target area of the target client;
  • the first enabling server obtains the target area corresponding to the target client, and the target area corresponding to the target client can be understood as an area including the target client.
  • the first enabling server needs to determine the first dynamic information or the second dynamic information according to the local dynamic information of the enabling client in the target area corresponding to the target client. It can be understood that in order to meet the different driving needs of smart cars, the corresponding high-definition maps have different ranges or area sizes for different smart cars. Therefore, it is necessary to plan a specific area for a specific smart car (this The invention refers to the area of the high-definition map corresponding to the target client as the target area), and the first server needs to provide the target client with high-definition map information in the target area.
  • the area can be an area in the form of a circle, rectangle, polygon, etc., or an area identified by a specific range (such as radius, diameter, etc.) centered on the target client .
  • the target area can be a fixed geographic area, or a moving area including the target client.
  • the first enabling server acquires the information of the enabling clients in the target area corresponding to the target client.
  • the target area corresponding to the target client When the target area corresponding to the target client is determined, due to the limited detection range of the sensors of the smart car corresponding to the target client, the complete traffic environment in the target area cannot be perceived only by the dynamic traffic information collected by its own sensors.
  • the local dynamic information of at least one enabled client in the target area is required to jointly determine the high-definition map information (or dynamic information of the dynamic layer of the high-definition map) corresponding to the target area of the target client; therefore,
  • the first enabling server needs to acquire the information of the enabling clients in the target area, and determine at least one enabling client.
  • the target device is a service server or an enabling client.
  • the first enabling server sends a first message to the enabling client
  • the first enabling server After determining at least one enabled client, the first enabling server sends a first message to the enabling client.
  • the first message is used to instruct the enabling client to report the first information.
  • the first information may be the enabling client.
  • Local dynamic information obtained by the V2X terminal device corresponding to the client, including, for example, the speed, direction, and status of the V2X terminal device (normal driving, acceleration, deceleration, overtaking, lane change, fault, etc.), detection of the V2X terminal device To other information such as the speed, direction, status of surrounding vehicles, surrounding pedestrians, detected road objects (such as falling rocks, puddles, branches, garbage, etc.), detected status information of traffic lights (such as signal lights color, remaining time, etc.).
  • the V2X terminal device can obtain the above-mentioned local dynamic information from sensors, roadside units, and other V2X devices (such as other vehicles) that can communicate directly.
  • at least one enabling client may include an enabling client corresponding to the target client, and "corresponding" indicates that the target client and the enabling client are located in the same V2X terminal device.
  • the first enabling server After the first enabling server receives the dynamic information reported by the at least one enabling client, it can determine the dynamic information of the target area according to the at least one dynamic information. According to the density, distribution, and capability of the at least one enabled client in the target area, the first enabled server may also choose to send the first message to some or all of the at least one enabled client.
  • the first enabling server may acquire first information reported by at least one enabling client, generate dynamic information associated with the target client by using multiple pieces of first information, and then provide it to the target client.
  • the target client can obtain the high-definition map information corresponding to the target area, and control the driving behavior of the smart car corresponding to the target client according to the high-definition map information.
  • the first enabling server needs to first obtain the information of the enabling clients in the target area of the target client; and then send a first message to the enabling client, instructing the enabling client to report its local dynamic Then, the dynamic information associated with the target client can be generated according to the local dynamic information, so that the target client can control the driving behavior of the corresponding intelligent vehicle according to the dynamic information; in this way, the intelligent vehicle can obtain the information according to different needs.
  • the high-definition map within the target range makes the high-definition map meet different driving needs, more effectively assist the driving behavior of intelligent cars, and improve the safety and reliability of automatic driving.
  • FIG. 5 is a schematic flowchart of another method for acquiring dynamic information provided by an embodiment of the present application; as shown in FIG. 5 , the method includes:
  • the target client sends service request information to the service server;
  • the target client is a business client.
  • the user can start the generation and update process of the high-definition map through the service client of the smart car, and send service request information to the service server. Then, the service request information triggers the service server to perform subsequent operations, so that the target client obtains the required high-definition map information.
  • the service request information is a session establishment request message, a remote control request message, and a subscription high-definition map service request message.
  • the service server receives a session establishment request for remote control (telo-operated driving, ToD) from the target client, the service server triggers the acquisition process of high-definition map information or dynamic information of the dynamic layer of the high-definition map.
  • ToD telo-operated driving
  • the server sends request information to the first enabling server; or when the service server receives a request message from the target client requesting the service server to perform remote control, or when the target client subscribes to the service server for a high-definition map service, it requests to obtain its driving information During the high-definition map, the service server triggers the acquisition process of the high-definition map information or the dynamic information of the dynamic layer of the high-definition map. Specifically, the service server sends the request information to the first enabling server.
  • the service server when the service server decides to remotely control the smart car corresponding to the target client, the service server triggers the acquisition of the high-definition map information corresponding to the target client or the dynamic information of the dynamic layer of the high-definition map. Enable the server to send request information;
  • the service request information may include the identification of the target client and the auxiliary information of the target client; it is understandable that the identification of the target client may be the identification of the application user using the target client (such as the user identification of the ToD client), A combination of at least one or more of the identifier of the enabling client and the identifier of the V2X terminal device where the target client is located, such as GPSI, IP address, etc.
  • the auxiliary information of the target client can be the service type that the target client participates in, the sensor measurement range of the terminal device corresponding to the target client, the capability information of the terminal device corresponding to the target client, the speed of the target client, the direction and target of the target client. At least one item of the planned path of the client and the auxiliary information of the target client can be used to determine the range of a reasonable high-definition map of the smart car, so that the high-definition map can better assist the driving behavior of the smart car.
  • the target client runs on the V2X terminal device
  • the type of business that the target client participates in can be the driving type corresponding to the V2X terminal device.
  • the driving type is automatic driving or remote control driving
  • automatic driving is further Including the level of autonomous driving (any level from LoA1 to LoA5).
  • Different driving types have different requirements for the range of high-definition maps. For example, remote-controlled driving requires a relatively small range of high-definition maps due to the control of human beings, while autonomous driving adopts unmanned autonomous control. If it occurs, it is necessary to perceive the implementation traffic environment in a larger range, which requires a relatively larger range of high-definition map range.
  • the sensor measurement range corresponding to the target client is the sensor measurement range of the smart car itself.
  • the larger the sensor measurement range of the smart car itself the easier it is to perceive a wider range of traffic conditions.
  • a larger high-definition map can be determined for it.
  • the capability information of the terminal device corresponding to the target client can be the performance corresponding to the smart vehicle, such as the braking speed of the vehicle, the starting performance of the vehicle, whether it has the communication capability between short-distance devices (such as the communication capability of PC5 or DSRC), etc.;
  • the speed of the target client is the current speed of the smart car;
  • the direction of the target client is the driving direction of the vehicle;
  • the planned path of the target client can be used to determine the road that the smart car will pass through, for example, it can be determined according to the congestion of the road. Determining the range of high-definition maps required for smart cars.
  • the service server sends request information to the first enabling server
  • the service server needs to request the service service from the first enabling server, and the request message is used to obtain dynamic information associated with the target client (information related to the high-definition map).
  • the request information may include information of the target area, or the identification of the target client and the range information of the target client (which can be understood as the range of the high-definition map corresponding to the target client), or the identification of the target client and auxiliary information of the target client .
  • the service server determines the range of the high-definition map corresponding to the target client. Specifically: the service server determines the range (such as radius, diameter, etc.) of the high-definition map corresponding to the target client according to the obtained auxiliary information of the target client.
  • the range of the high-definition map is X meters, and X is a preset value.
  • the auxiliary information will be modeled and weighted, and the corresponding range value will be obtained through algorithm calculation.
  • the location of the target client and the range of the high-definition map corresponding to the target client represent the target area of the high-definition map corresponding to the target client; at this time, the service server requests the enabling server to monitor the movement and position of the target client, and the target area can be understood
  • the size of the target area is specified by the service server, and the location of the target area is determined by the enabling server according to the location of the target client.
  • the service server may send a request to the enabling server once and obtain dynamic information associated with the target client multiple times.
  • the service server determines the target area of the high-definition map corresponding to the target client, specifically: the service server determines the target area of the high-definition map corresponding to the target client according to the obtained auxiliary information of the target client, and the target area may be An area such as a circle, rectangle, or polygon.
  • the area of the high-definition map corresponding to the target client is determined as a circular area or geographic coordinate value of X meters where the current location of the target client is located.
  • X is a preset value, and for example, weights will be given to the modeling of auxiliary information, and the size or geographic coordinate value of the corresponding circular area is obtained through algorithm calculation.
  • the service server needs to monitor the movement of the target client and its location.
  • the service server provides a new target area information to the enabling server.
  • the service server sends a request to the enabling server to obtain the dynamic information of the target client in this area.
  • the request information may further include an update policy for dynamic information.
  • the first enabling server determines a target area corresponding to the target client
  • the first enabling server can determine the target area in the following ways:
  • Manner 1 The first enabling server uses the target area in the request message sent from the service server as the target area.
  • the request information sent by the service server to the first enabling server includes the information of the target area; the first enabling server determines the received target area as the target area.
  • the enabling server does not need to track the location coordinates of the intelligent vehicle corresponding to the target client, but only needs to receive the determined target area. Therefore, to update the high-definition map, the service server needs to track the dynamic target area of the intelligent vehicle.
  • the enabling server determines the latest target area corresponding to the target client according to the update policy and the position movement of the target client, and sends request information including the latest target area corresponding to the target client to the first enabling server. Exemplarily, if the service server determines that the update strategy is to update the high-definition map every 5S, the service server needs to determine the target area every 5S, and send request information to the first enabling server every 5S.
  • the first enabling server determines the target area according to the received identifier of the target client and the range information of the target client.
  • the first enabling server can determine the target client according to the range.
  • the target area corresponding to the target client; the first enabling server can track the location coordinates of the intelligent vehicle according to the identifier of the target client, and then determine the corresponding target client according to the location coordinates and the acquired range of the high-definition map corresponding to the target client.
  • the first enabling server can also receive the update strategy sent by the service server, for example, the update strategy received by the first enabling server is to update the high-definition map every 5S, then the first enabling server needs to The location coordinates of the intelligent vehicle are determined every 5s or at intervals of less than 5s, and the target area is determined based on the location coordinates.
  • Manner 3 The first enabling server determines the target area according to the received identifier of the target client and auxiliary information of the target client.
  • the first enabling server can determine the range of the high-definition map corresponding to the target client or the range of the high-definition map corresponding to the target client according to the auxiliary information of the target client For the target area, it can be understood that the manner in which the first enabling server determines the range of the high-definition map corresponding to the target client or the target area corresponding to the target client is similar to that of the service server, which will not be repeated here.
  • the first enabling server determines the range of the high-definition map corresponding to the target client, it can also determine the location coordinates of the smart vehicle according to the identifier of the target client, and then determine the location coordinates of the smart vehicle according to the location coordinates and the target client.
  • the range of the corresponding high-definition map is used to determine the target area.
  • the first enabling server acquires the enabling clients in the target area
  • the first enabling server After the first enabling server determines the target area, the first enabling server obtains at least one enabling client in the target area, and each enabling client in the at least one enabling client runs on a V2X terminal In this way, more comprehensive dynamic information can be obtained according to the corresponding local dynamic information collected by as many V2X terminal devices in the target area as possible, so as to obtain a more comprehensive and accurate high-definition image in the target area corresponding to the target client. map.
  • the first server can obtain the enabled clients in the target area in the following ways:
  • the first enabling server may locally acquire multiple enabling clients in the target area.
  • the first enabling server acquires the enabling clients in the target area from the location management server. Specifically, the first enabling server sends a first request message to the location management server, which is used to request the location management server to provide the information of the enabling clients in the target area.
  • the first request message includes information of the target area, where the information of the target area may be information such as circle, rectangle, polygon, etc., or may be the identification and range information of the target client, and may be the location and range information of the target client) .
  • the first enabling server acquires information of enabling clients in the target area from other enabling servers. Specifically, the first enabling server sends the information of the destination area to the second enabling server, where the information of the target area may be information such as circle, rectangle, polygon, etc., or may be the identification and range information of the target client, The information of the enabled clients located in the target area may be obtained from the second enabled server for the location and range information of the target client.
  • the first enabling server sends a first message to the enabling client
  • the first enabling server determines at least one enabling client in the target area, it instructs the at least enabling client to report the first information through the first message, and the first information may be corresponding to the enabling client.
  • Local dynamic information of the V2X terminal device where the first information is used to generate dynamic information of the dynamic layer of the high-definition map, or high-definition map information.
  • the first message may be a second request message or a second subscription request; specifically:
  • the enabling client sends a second request response message to the first enabling server, one second request message corresponds to one second request response message, and the second request response message contains the first information; it can be understood that in order to obtain the target client corresponding to the high-definition map information or the corresponding dynamic layer information of the high-definition map), the first enabling server needs to send the first enabling client to the enabling client multiple times according to the update policy. 2. request message;
  • the first enabling server may subscribe the corresponding first information to the enabling client.
  • the second subscription request message includes an event trigger for reporting the first information or a cycle of the previous week
  • the client is enabled to report the first information according to the event trigger or reporting cycle set by the subscription request
  • the second subscription request may include a reporting policy, where the reporting policy is determined according to the update policy.
  • the event trigger for reporting the first information or the cycle of the last week may also be a part of the reporting strategy.
  • the second subscription request further includes an effective time of the subscription, where the effective time indicates that when the effective time arrives, the subscription is invalid and the client no longer reports the first information to the first enabling server.
  • the enabling client determines how to report the first information according to the content described in step 505; optionally, the first message may further include the reporting address information (endpoint) of the first information, that is, Indicates to whom the enabled client terminal reports the first information.
  • the reporting address information indicates that the target entity for reporting the first information is the first enabling server and/or the target enabling client (it can be understood that the receiving entity of the first information is the first enabling server and/or the target enabling client) ). If the reporting address information is not carried, the client is enabled to report the first information to the first enabling server by default.
  • the reporting address information indicates that the target entity for reporting the first information is the first enabling server and/or the target enabling client (it can be understood that the receiving entity of the first information is the first enabling server and/or the target enabling client) ). If the reporting address information is not carried, the client is enabled to report the first information to the first enabling server by default.
  • the foregoing description reference can be made to the foregoing description, which
  • the target enabling client is the enabling client located in the same V2X terminal where the target client is located, and the target enabling client and the first enabling server are a logically equivalent pair of enabling client and enabling server , that is, when the target enabling client is the VAE client, the first enabling server is the VAE server, and when the target enabling client is the high-definition map service enabling client, the first enabling server is the high-definition map service enabling server .
  • the enabling client may send a response message to the second request, and send the first information to the specified reporting address in the response message to the second request ;
  • the enabling client can also determine when to report (report) the first information according to the reporting strategy contained in the second subscription request; Exemplary , the reporting policy in the second subscription request is to report the first information every 5S, then the enabling client will report the first information every 5S.
  • steps 507 to 509 are performed; when the enabling client reports the first information to the first enabling server, steps 510 to 513 are performed.
  • the enabling client reports the first information to the target enabling client
  • the enabling client reports the first information to the target client according to the reporting address of the first information as the address of the target enabling client.
  • the enabling client can also report the first information to the target enabling server through the first enabling server; specifically, the enabling client reports the first information to the first enabling server, and then the first enabling server reports the first information to the target enabling server.
  • the enabling server forwards the first information to the target enabling client.
  • the target enabling client determines dynamic information according to the first information
  • the target enabling client When the target enabling client receives the first information, it can process the first information (for example, perform operations such as deduplication, aggregation, modeling, etc. on the first information from at least one enabling client) to generate dynamic information, for example
  • the target enabling client can generate the dynamic information of the dynamic layer of the high-definition map according to the first information, and can also directly generate the high-definition map information of the target client. It is understandable that the dynamic information of the dynamic layer of the high-definition map is also used to generate the high-definition map. Information, the specific is not limited.
  • the target enabling client further acquires local dynamic information corresponding to the target enabling client, and the target enabling client determines the dynamic information according to the first information and the local dynamic information corresponding to the target enabling client. Determining dynamic information can also be understood as generating or updating dynamic information.
  • the target enabling client sends dynamic information to the target client
  • the target client When the target enabling client generates the high-definition map information of the target client, the target client can directly obtain the high-definition map according to the high-definition map information to assist in generating the driving plan of its corresponding intelligent vehicle; when the target enabling client provides the target client with
  • the dynamic information of the high-definition map dynamic layer is the dynamic information of the high-definition map dynamic layer
  • the target client also needs to generate a high-definition map according to the dynamic information of the high-definition map dynamic layer, and provide a reference for generating the driving action of the intelligent vehicle.
  • the enabling client is the address of the first enabling server, or when the reporting address is provided, the enabling client reports the first information to the first enabling server.
  • the enabling client further includes a target enabling client, that is, the target enabling client reports the first information to the first enabling server.
  • the first enabling server determines dynamic information according to the first information
  • the manner in which the first enabling server determines the dynamic information according to the first information is similar to the manner in which the target enabling client determines the dynamic information according to the first information in step 508. It can perform operations such as deduplication, aggregation, and modeling of the first information of the client), which will not be described in detail.
  • the first information further includes local dynamic information corresponding to the target enabled client.
  • the first enabling server determining the dynamic information according to the first information also means that the first enabling server determines the dynamic information according to the first information including the target enabling client. Determining dynamic information can also be understood as generating or updating dynamic information.
  • the first enabling server requests other enabling servers for dynamic information corresponding to the target client, where the dynamic information is dynamic information of a dynamic layer of a high-definition map or high-definition map information.
  • the first enabling server sends a request message to the second enabling server, where the request message is used to obtain dynamic information (including high-definition map information or dynamic information of a high-definition map dynamic layer) corresponding to the target client.
  • the second enabling server obtains dynamic information (including high-definition map information or dynamic information of a high-definition map dynamic layer)
  • dynamic information including high-definition map information or dynamic information of a high-definition map dynamic layer
  • the first enabling server generates the final dynamic information of the target client according to the first information and the dynamic information from the second enabling server.
  • the first enabling server sends dynamic information to the service server
  • the first enabling server sends dynamic information to the service server, and the service server receives the dynamic information sent by the first enabling server.
  • the dynamic information includes dynamic information of a high-definition map dynamic layer, or high-definition map information.
  • the service server sends dynamic information to the target client
  • the service server directly sends the high-definition map information to the target client.
  • the service server When the dynamic information includes dynamic information of the dynamic layer of the high-definition map, the service server also needs to generate high-definition map information according to the dynamic information of the dynamic layer of the high-definition map, and the service server sends the high-definition map information to the target client.
  • the first enabling server needs to first obtain the information of the enabling clients in the target area of the target client; and then send a first message to the enabling client, instructing the enabling client to report its own Local dynamic information, and then the dynamic information associated with the target client can be generated according to the local dynamic information, so that the target client can control the driving behavior of its corresponding intelligent vehicle according to the dynamic information; in this way, the intelligent vehicle can be based on different needs.
  • the high-definition map within the target range is obtained, so that the high-definition map can meet different driving needs, more effectively assist the driving behavior of smart cars, and improve the safety and reliability of automatic driving.
  • FIG. 6 is a schematic flowchart of another method for acquiring dynamic information provided by an embodiment of the present application; as shown in FIG. 6 , it includes:
  • the target client sends service request information to the service server;
  • step 601 is similar to step 501 in the embodiment shown in FIG. 5 , and details are not described here.
  • the service server sends request information to the first enabling server
  • This step is optional. It can be understood that the service server needs to request the service service from the first enabling server, and the request message is used to obtain dynamic information associated with the target client (information related to the high-definition map).
  • the request information may include the identification of the target client and the range information of the target client, or the identification of the target client and the auxiliary information of the target client.
  • the first enabling server sends a first subscription request to the location management server
  • the first enabling server may send a first subscription request to the location management server, requesting the location management server to track the vehicle corresponding to the target client, determine the target area corresponding to the target client, and determine the location within the target area by the location management server.
  • the location management server can provide the enabling server with the information of the enabling clients in the target area of the target client.
  • the location management server provides the first enabling server with information about the enabling client corresponding to the target client;
  • the location management server determines the target of the target client according to the subscription request. area, and determine the enabling client according to the target area, and send the information of the enabling client to the first enabling server.
  • the location management server needs to determine the range of the high-definition map corresponding to the target client according to the auxiliary information of the target client, and then according to the target client.
  • the identifier of the client tracks the position coordinates of the intelligent vehicle, determines the target area according to the position coordinates and the range of the high-definition map, and determines the enabled client in the target area, and reports the information of the enabled client to the first enablement server.
  • the location management server determines the location information of the target client according to the location information of the target client in the subscription request and the range information corresponding to the target client.
  • the target area is determined, and the enabling client is determined according to the target area, and the information of the enabling client is sent to the first enabling server.
  • the first enabling server sends a first message to the enabling client
  • step 605 is similar to step 505 in the embodiment shown in FIG. 5 , and details are not described here.
  • step 606 is similar to step 506 in the embodiment shown in FIG. 5 , and details are not described here.
  • step 607 is similar to step 510 in the embodiment shown in FIG. 5 , and details are not described here.
  • the first enabling server determines dynamic information according to the first information
  • step 608 is similar to step 511 in the embodiment shown in FIG. 5 , and details are not described here.
  • the first enabling server sends dynamic information to the service server
  • step 609 is similar to step 512 in the embodiment shown in FIG. 5 , and details are not described here.
  • the service server sends dynamic information to the target client
  • step 610 is similar to step 513 in the embodiment shown in FIG. 5 , and details are not described here.
  • the first enabling server does not need to determine the target area corresponding to the target client, but directly subscribes services to the location management server, so that the location management server can track the location coordinates of the vehicle corresponding to the target client, and then The target area is determined according to the location coordinates and range, and the location management server reports the information of the enabled client in the target area; then the first enablement server sends the first message to the enabled client, instructing the enabled client to report Its own dynamic traffic information, and then the dynamic information associated with the target client can be obtained according to the dynamic traffic information, so that the target client can control the driving behavior of its corresponding intelligent vehicle according to the dynamic information; The workload of the enabled server is improved, and the working performance of the first enabled server is improved.
  • FIG. 7 is a schematic structural diagram of a first enabling server according to an embodiment of the present application, including:
  • Obtaining unit 701 configured to obtain the information of the enabled client in the target area of the target client;
  • a sending unit 702 configured to send a first message to the enabling client, where the first message is used for the enabling client to report first information;
  • the first information includes local dynamic information of the enabling client, and the first information is used to obtain dynamic information associated with the target client.
  • the dynamic information associated with the target client includes first dynamic information or second dynamic information; the first dynamic information is dynamic information of a high-definition map dynamic layer of the target client, and the The second dynamic information is high-definition map information of the target client.
  • the first enabling server further includes a receiving unit 703, where the receiving unit 703 is configured to receive the information of the target area from the service server.
  • the first enabling server further includes a determining unit 704, and the receiving unit 703 is further configured to receive the identifier of the target client and the range information of the target client from the service server.
  • the determining unit 704 is configured to determine the target area according to the identifier of the target client and the range information.
  • the receiving unit 703 is further configured to receive the identifier of the target client and the auxiliary information of the target client from the service server.
  • the determining unit 704 is further configured to determine the target area according to the identifier of the target client and the auxiliary information.
  • the auxiliary information includes: a service type that the target client participates in, a sensor measurement range corresponding to the target client, capability information of a terminal device corresponding to the target client, all at least one of the speed of the target client, the direction of the target client, and the planned path of the target client.
  • the receiving unit 703 is further configured to receive an update policy, where the update policy is used to update the dynamic information.
  • the sending unit 702 is further configured to send a first subscription request to the location management server, where the first subscription request includes the identifier of the target client and the range information corresponding to the target client , the subscription request is used to subscribe to the information of the enabling client corresponding to the target client;
  • the receiving unit 703 is further configured to receive the information of the enabled client from the location management server.
  • the sending unit 702 is further configured to send a first request message to the location management server, where the first request message includes the information of the target area;
  • the receiving unit 703 is further configured to receive information from the enabled client in the target area of the location management server.
  • the obtaining unit 701 is specifically configured to obtain the information of the enabled clients located in the target area from the second enabled server.
  • the first message includes a reporting policy
  • the sending unit 702 is specifically configured to send the first message to the enabling client according to the update policy; wherein the The reporting strategy is related to the updating strategy.
  • the first message is used to instruct the enabling client to report the first information to the enabling server
  • the receiving unit 703 is further configured to receive the first information , and send the dynamic information to the target client according to the first information.
  • the sending unit 702 is specifically configured to send the dynamic information to the target client through the service server.
  • the first message is used to instruct the enabling client to report the first information to the target client.
  • FIG. 8 is a schematic structural diagram of a service server provided by an embodiment of the present application, including:
  • a sending unit 801 configured to send a request message to the enabling server, where the request message is used to obtain dynamic information associated with the target client;
  • a receiving unit 802 configured to receive the dynamic information.
  • the dynamic information associated with the target client includes first dynamic information or second dynamic information; the first dynamic information is dynamic information of a high-definition map dynamic layer of the target client, and the The second dynamic information is high-definition map information of the target client.
  • the request information carries at least one of the following information: information about the target area of the target client; or the identification and range information of the target client; or the identification of the target client and auxiliary information of the target client.
  • the service server further includes an obtaining unit 803, and the obtaining unit 803 is specifically configured to obtain the second dynamic information according to the first dynamic information.
  • the sending unit 801 is further configured to send the dynamic information or the second dynamic information to the target client.
  • FIG. 9 is a schematic structural diagram of a target client provided by an embodiment of the present application, including:
  • a receiving unit 901 configured to receive the first information of the enabling client
  • the processing unit 902 is configured to obtain dynamic information associated with the target client according to the first information, where the first information includes local dynamic information of the enabled client.
  • the dynamic information associated with the target client includes first dynamic information or second dynamic information; the first dynamic information is dynamic information of a high-definition map dynamic layer of the target client, and the The second dynamic information is high-definition map information of the target client.
  • the processing unit 902 is specifically configured to obtain the dynamic information according to the first information and the second information; wherein the second information is used to indicate the local Dynamic Information.
  • the processing unit 902 is further configured to obtain the second dynamic information according to the first dynamic information.
  • the target client further includes a sending unit 903, configured to send the first dynamic information or the second dynamic information to the service client.
  • an embodiment of the first enabling server in this embodiment of the present application may include one or more central processing units 1001 , a memory 1002 , and a communication interface 1003 .
  • the memory 1002 may be ephemeral storage or persistent storage. Further, the central processing unit 1001 may be configured to communicate with the memory 1002 to execute a series of instruction operations in the memory 1002 on the first enabling server.
  • the central processing unit 1001 may perform the operations performed by the first enabling server in the foregoing embodiment shown in FIG. 4 , FIG. 5 , or FIG. 6 , and details are not described herein again.
  • the specific functional module division in the central processing unit 1001 may be similar to the functional module division manner of the obtaining unit, receiving unit, determining unit and other units described in FIG. 7 , and will not be repeated here.
  • an embodiment of the service server in this embodiment of the present application may include one or more central processing units 1101 , a memory 1102 , and a communication interface 1103 .
  • the memory 1102 may be ephemeral storage or persistent storage. Furthermore, the central processing unit 1101 may be configured to communicate with the memory 1102 to execute a series of instruction operations in the memory 1102 on the service server.
  • the central processing unit 1101 may perform the signal processing operation performed by the service server in the foregoing embodiment shown in FIG. 4 , FIG. 5 , or FIG. 6 , and details are not repeated here.
  • the specific functional module division in the central processing unit 1101 may be similar to the functional module division of the sending unit, the receiving unit, the obtaining unit and other units described in FIG. 8 , which will not be repeated here.
  • an embodiment of the terminal device in the embodiment of the present application may include one or more central processing units 1201 , a memory 1202 , and a communication interface 1203 .
  • the memory 1202 may be ephemeral storage or persistent storage. Further, the central processing unit 1201 may be configured to communicate with the memory 1202 to execute a series of instruction operations in the memory 1202 on the terminal device.
  • the central processing unit 1201 may execute the operations performed by the target client in the embodiment shown in FIG. 4 , FIG. 5 , or FIG. 6 , and details are not repeated here.
  • the specific functional module division in the central processing unit 1201 may be similar to the functional module division manner of the receiving unit, the processing unit or the transmitting unit described in FIG. 9 , which is not repeated here.
  • An embodiment of the present application further provides a dynamic information acquisition system, including: a first enabling server, a service client, and a terminal device, where the first enabling server is any possible implementation manner of the above-mentioned embodiment shown in FIG. 7
  • An embodiment of the present application further provides a chip or a chip system, the chip or chip system includes at least one processor and a communication interface, the communication interface and the at least one processor are interconnected through a line, and the at least one processor is used for running a computer program or instruction, To carry out a method for obtaining dynamic information described in any one of the implementations of FIG. 4, FIG. 5 or FIG. 6;
  • the communication interface in the chip may be an input/output interface, a pin, a circuit, or the like.
  • the chip or chip system described above in this application further includes at least one memory, where instructions are stored in the at least one memory.
  • the memory may be a storage unit inside the chip, such as a register, a cache, etc., or a storage unit of the chip (eg, a read-only memory, a random access memory, etc.).
  • Embodiments of the present application further provide a computer storage medium, where the computer storage medium is used to store computer software instructions for the above-mentioned first enabling server, service server, and target client.
  • the first enabling server may be the first enabling server described in the aforementioned FIG. 7 .
  • the service server may be the service server described in the aforementioned FIG. 8 .
  • An embodiment of the present application further provides a computer program product, where the computer program product includes computer software instructions, and the computer software instructions can be loaded by a processor to implement the dynamic information acquisition method in any one of the above-mentioned FIG. 4 to FIG. 6 . process.
  • the computer program product includes one or more computer instructions.
  • the computer program instructions when loaded and executed on a computer, result in whole or in part of the processes or functions described herein.
  • the computer may be a general purpose computer, special purpose computer, computer network, or other programmable device.
  • the computer instructions may be stored in or transmitted from one computer-readable storage medium to another computer-readable storage medium, for example, the computer instructions may be downloaded from a website site, computer, server, or data center Transmission to another website site, computer, server or data center via wired (eg coaxial cable, optical fiber, Digital Subscriber Line, DSL) or wireless (eg infrared, wireless, microwave, etc.) means.
  • wired eg coaxial cable, optical fiber, Digital Subscriber Line, DSL
  • wireless eg infrared, wireless, microwave, etc.
  • the computer-readable storage medium may be any available medium that can be stored by a computer, or a data storage device such as a server, data center, etc., which includes one or more available media integrated.
  • the usable media may be magnetic media (eg, floppy disks, hard disks, magnetic tapes), optical media (eg, DVD), or semiconductor media (eg, Solid State Disk (SSD)), and the like.
  • the disclosed system, apparatus and method may be implemented in other manners.
  • the apparatus embodiments described above are only illustrative.
  • the division of the units is only a logical function division. In actual implementation, there may be other division methods.
  • multiple units or components may be combined or Can be integrated into another system, or some features can be ignored, or not implemented.
  • the shown or discussed mutual coupling or direct coupling or communication connection may be through some interfaces, indirect coupling or communication connection of devices or units, and may be in electrical, mechanical or other forms.
  • the units described as separate components may or may not be physically separated, and components displayed as units may or may not be physical units, that is, may be located in one place, or may be distributed to multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution in this embodiment.
  • each functional unit in each embodiment of the present application may be integrated into one processing unit, or each unit may exist physically alone, or two or more units may be integrated into one unit.
  • the above-mentioned integrated units may be implemented in the form of hardware, or may be implemented in the form of software functional units.
  • the integrated unit if implemented in the form of a software functional unit and sold or used as an independent product, may be stored in a computer-readable storage medium.
  • the technical solutions of the present application can be embodied in the form of software products in essence, or the parts that contribute to the prior art, or all or part of the technical solutions, and the computer software products are stored in a storage medium , including several instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of the present application.
  • the aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM, read-only memory), random access memory (RAM, random access memory), magnetic disk or optical disk and other media that can store program codes .

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Abstract

本申请实施例公开了一种动态信息的获取方法及其相关设备；可以应用于人工智能领域，方法包括：第一使能服务器获取目标客户端的目标区域内的使能客户端的信息；所述第一使能服务器向所述使能客户端发送第一消息，所述第一消息用于所述使能客户端上报第一信息；其中，所述第一信息包括所述使能客户端的本地动态信息，所述第一信息用于获得所述目标客户端关联的动态信息。

Description

一种动态信息的获取方法及其相关设备 技术领域
本申请实施例涉及人工智能技术领域，尤其涉及一种动态信息的获取方法及其相关设备。
背景技术
自动驾驶是人工智能技术领域的主流应用，自动驾驶技术依靠计算机视觉、雷达、监控装置和全球定位系统等的协同合作，让机动车辆不需要人类的直接操作，就可以完成预定行程内的自动驾驶。具体的，自动驾驶过程包括：系统通过自动驾驶汽车上的视频摄像头、雷达传感器、激光测距器等探测设备来了解该汽车周围的交通状况，包括探测设备获取到的障碍物、交通指示灯、移动的行人等信息；然后根据该信息来绘制一个高清地图，为自动驾驶汽车提供行驶环境参考，实现对自动驾驶汽车的导航。
具体的，自动驾驶汽车包括有主控计算机，主控计算机上的目标客户端接收各探测设备发送的探测信息，对该信息进行处理和分析，得到关于前方道路的高清地图，并根据该高清地图策划汽车的行驶路线，控制车辆的运行轨迹；示例性的，目标客户端还可以和网络侧进行交互，向业务服务器发送探测信息，由业务服务器根据目标客户端提供的信息获得该目标客户端对应的高清地图，然后目标客户端根据该高清地图指导车辆的行驶。
由于探测设备性能的局限性，目标客户端接收到的探测设备发送的探测信息是有限的，根据目标客户端提供的信息来获得的高清地图的范围也往往是固定且受限的；然而在某些场景下，例如高速行驶的状态中，为了避免道路突发状况对自动驾驶的影响，自动驾驶汽车往往需要获知更大范围的高清地图，以便提前策划车辆的行驶方案，保证自动驾驶的安全；如何获得合理地域范围对应的高清地图供自动驾驶汽车参考，成为亟需解决的问题。
发明内容
本申请实施例提供了一种动态信息的获取方法及其相关设备，用于获得目标客户端对应的目标区域内的高清地图信息，使得目标客户端可以根据自身需要获取到更合理范围内的高清地图。
本申请实施例的第一方面提供一种动态信息的获取方法，包括：
第一使能服务器需要获取目标客户端目标区域内的使能客户端的信息，然后再向使能客户端发送第一消息，指示使能客户端上报第一消息，然后第一消息可以获得与目标客户端相关联的动态信息；其中，第一消息指的是使能客户端的本地动态信息，其反应使能客户端获知的周围环境，利用上报的本地动态信息可以获得目标客户端的高清地图动态层的动态信息，也可以获得目标客户端的高清地图信息。
第一使能服务器可以指示目标客户端的目标区域内的使能客户端上报其自身的本地动态信息，这样就可以根据目标区域内多个使能客户端采集到的本地动态信息获得一个高清地图，能够完整的反应该目标区域的交通环境，这样，高清地图作为目标客户端确定行车动作的参考，可以使目标客户端获得一个较大范围的交通信息，更加合理的规划行车方案。
结合本申请实施例的第一方面，在本申请实施例的第一方面的第一种实现方式中：
所述目标客户端关联的动态信息包括第一动态信息或第二动态信息；所述第一动态信息为所述目标客户端的高清地图动态层的动态信息，所述第二动态信息为所述目标客户端的高清地图信息。
结合本申请实施例的第一方面至第一方面的第一种实现方式，在本申请实施例的第一方面的第二种实现方式中：
第一使能服务器可以接收来自业务服务器发送的该目标区域的信息，即由业务服务器来确定目标客户端的目标区域，第一使能服务器根据业务服务器发送的信息就可以直接确定目标区域。
业务服务器来确定目标区域，第一使能服务器根据确定好的目标区域直接获取目标区域内的使能客户端的信息，这样，可以减轻第一使能服务器的工作负荷，提高第一使能服务器的工作性能。
结合本申请实施例的第一方面至第一方面的第一种实现方式，在本申请实施例的第一方面的第三种实现方式中：
第一使能服务器还可以从业务服务器获取到目标客户端的标识，以及目标客户端的范围信息，然后第一使能服务器根据目标客户端的标识来追踪目标客户端的地理位置，再根据范围信息来确定目标客户端周围的目标区域。
在本实现方式中，由业务服务器确定目标客户端的范围信息，然后由第一使能服务器来追踪目标客户端的地理位置，确定目标客户端的目标区域，为确定目标客户端的目标区域提供了另一种可以实现的方式。
结合本申请实施例的第一方面至第一方面的第一种实现方式，在本申请实施例的第一方面的第四种实现方式中：
第一使能服务器还可以从业务服务器获取到目标客户端的标识和目标客户端的辅助信息，其中，辅助信息可以反映目标客户端的驾驶需求，然后第一使能服务器就根据该辅助信息来确定目标客户端的范围信息，再通过目标客户端的标识来追踪目标客户端的地理位置，再根据确定的范围信息来确定目标客户端周围的目标区域。
在本实现方式中，由第一使能服务器来确定目标客户端的范围信息，再根据该范围信息来确定目标客户端周围的目标区域，为确定目标客户端的目标区域提供了另一种解决方案。
结合本申请实施例的第一方面的第四种实现方式，在本申请实施例的第一方面的第五种实现方式中：
辅助信息可以是目标客户端参与的业务类型、目标客户端对应的传感器测量范围、目标客户端对应的终端设备的能力信息、目标客户端的速度、目标客户端的方向、目标客户端的规划路径中的一种或者几种，这些都可以直接或者间接的反应目标客户端对高清地图的需求；可以通过这些信息来确定合理的目标区域，为目标客户端提供更合适的范围内的高清地图。
结合本申请实施例的第一方面至第一方面的第五种实现方式，在本申请实施例的第一 方面的第六种实现方式中：
第一使能服务器还可以接受更新策略，还更新策略为动态信息的更新要求，第一使能服务器就可以根据该更新策略要求使能服务器上报第一消息；这样，可以根据更新策略为目标客户端提供动态信息，保证目标客户端的业务需求。
结合本申请实施例的第一方面至第一方面的第六种实现方式，在本申请实施例的第一方面的第七种实现方式中：
第一使能服务器在确定好目标客户端的目标区域时，可以向位置管理服务器发送第一请求消息，来请求位置管理服务器来确定该目标区域内的使能客户端，再将该使能客户端的信息发送给第一使能服务器。
第一使能服务器向位置管理服务器发送携带有目标区域信息的第一请求消息，使得位置管理服务器确定目标区域内的使能客户端，并将使能客户端的信息发送给第一使能服务器，为第一使能服务器确定使能客户端提供了一种可行性方案。
结合本申请实施例的第一方面至第一方面的第六种实现方式，在本申请实施例的第一方面的第八种实现方式中：
第一使能服务器还可以从其他的使能服务器获取目标区域内的使能客户端的信息，即由其他使能服务器提供目标区域内的使能客户端的信息，为第一使能服务器确定使能客户端提供了一种可行性方案。
结合本申请实施例的第一方面至第一方面的第八种实现方式，在本申请实施例的第一方面的第九种实现方式中：
第一使能服务器向使能客户端发送第一消息，要求使能客户端上报第一信息时，还可以在第一消息中携带上报策略，使得使能客户端根据上报策略来进行上报，具体的，上报策略可以由更新策略获得。
由于第一信息是用来获得高清地图的信息，因此使能客户端需要根据高清地图的更新策略来上报第一信息，保证高清地图的正常更新。
结合本申请实施例的第一方面至第一方面的第九种实现方式，在本申请实施例的第一方面的第十种实现方式中：
当使能客户端上报第一信息时，可以将第一信息上报给使能服务器，使能服务器汇聚多个第一信息，使得多个第一信息获得动态信息发送给目标客户端。
结合本申请实施例第一方面的第十种实现方式，在本申请实施例的第一方面的第十一种实现方式中：
使能服务器可以通过业务服务器为目标客户端发送动态信息。
结合本申请实施例第一方面至第一方面的第九种实现方式，在本申请实施例的第一方面的第十二种实现方式中：
第一使能服务器还可以指示使能客户端直接向目标客户端上报第一信息，由目标客户端根据第一信息确定动态信息，为业务客户端提供高清地图。
本申请实施例的第二方面提供一种动态信息的获取方法，包括：
第一使能服务器还可以向位置管理服务器发送第一订阅请求，请求位置管理服务器来 上报目标客户端的目标区域内的使能客户端的信息；具体的，第一订阅请求中需要包括目标客户端的标识和相应的范围信息，位置管理服务器根据目标客户端的标识追踪目标客户端的位置，然后根据范围信息先确定目标区域，再确定目标区域内的使能客户端，再将该使能客户端的信息上报给第一使能服务器；然后第一使能服务器向使能客户端发送第一消息，指示使能客户端上报第一消息，第一消息可以获得与目标客户端相关联的动态信息。
在本实施方式中，由位置管理服务器来确定目标区域和目标区域内的使能客户端，这样第一使能服务器就可以直接获取使能客户端的信息，这样，可以减轻第一使能服务器的工作负荷，提高第一使能服务器的工作性能。
本申请实施例的第三方面提供一种动态信息的获取方法，包括：
业务服务器向第一使能服务器发送请求消息，用于请求目标客户端关联的动态信息，使得第一使能服务器提供相关的服务；然后业务服务器接收该动态信息。
结合本申请实施例第三方面，在本申请实施例的第三方面的第一种实现方式中：
所述目标客户端关联的动态信息包括第一动态信息或第二动态信息；所述第一动态信息为所述目标客户端的高清地图动态层的动态信息，所述第二动态信息为所述目标客户端的高清地图信息。
结合本申请实施例第三方面至第三方面的第一种实现方式，在本申请实施例的第三方面的第二种实现方式中：
请求消息中可以包括以下信息的至少一种：目标客户端的目标区域的信息，或目标客户端的标识和范围信息，或目标客户端的标识和目标客户端的辅助信息，这些信息都可以用来确定目标客户端的目标区域，最终获得目标区域内的高清地图供业务客户端使用。
结合本申请实施例第三方面至第三方面的第二种实现方式，在本申请实施例的第三方面的第三种实现方式中：
当业务服务器接收到的动态信息为目标客户端的高清地图动态层的动态信息时，就可以根据该信息获得目标客户端的高清地图信息，然后将目标客户端的高清地图信息提供给目标客户端。
结合本申请实施例第三方面至第三方面的第三种实现方式，在本申请实施例的第三方面的第四种实现方式中：
业务服务器需要将动态信息发送给目标客户端，以供目标客户端使用高清地图。
本申请实施例的第四方面提供一种动态信息的获取方法，包括：
目标客户端可以接收多个使能客户端发送的第一信息，然后根据第一信息获得目标范围内的动态信息。其中，第一信息是多个使能客户端的本地动态信息，而动态信息则可以包括第一动态信息或第二动态信息；第一动态信息指示目标客户端的高清地图动态层的动态信息，第二动态信息指示目标客户端的高清地图信息。
目标客户端根据接收到的多个使能客户端的第一信息来获得目标客户端的动态信息，可以结合其他使能客户端的本地动态信息来感知目标区域内的环境状态，且可以获得完整的高清地图供目标客户端使用，这样，高清地图作为目标客户端确定行车动作的参考，可以使目标客户端获得一个较大范围的交通信息，更加合理的规划行车方案。
结合本申请实施例第四方面，在本申请实施例的第四方面的第一种实现方式中：
所述目标客户端关联的动态信息包括第一动态信息或第二动态信息；所述第一动态信息为所述目标客户端的高清地图动态层的动态信息，所述第二动态信息为所述目标客户端的高清地图信息。
结合本申请实施例第四方面至第四方面的第一种实施方式，在本申请实施例的第四方面的第二种实现方式中：
目标客户端可以结合其他使能客户端提供的本地动态信息和其自身对应的本地动态信息，得到动态信息。
结合本申请实施例第四方面至第四方面的第二种实现方式，在本申请实施例的第四方面的第三种实现方式中：
目标客户端获得高清地图动态层的动态信息，也可以获得目标客户端的高清地图；若获得的是高清地图动态层的动态信息，目标客户端还可以根据高清地图动态层的动态信息获得目标客户端的高清地图。
结合本申请实施例第四方面至第四方面的第三种实现方式，在本申请实施例的第四方面的第四种实现方式中：
当目标客户端获得的是高清地图动态层的动态信息时，可以将高清地图动态层的动态信息发送给业务客户端，由业务客户端来获得目标客户端的高清地图。当目标客户端获得的是目标客户端的高清地图时，可以将目标客户端的高清地图的信息发送给业务客户端，由业务客户端直接获取高清地图。
本申请实施例第五方面提供一种第一使能服务器，包括：
获取单元，用于获取目标客户端的目标区域内的使能客户端的信息；
发送单元，用于向所述使能客户端发送第一消息，所述第一消息用于所述使能客户端上报第一信息；
其中，所述第一信息包括所述使能客户端的本地动态信息，所述第一信息用于获得所述目标客户端关联的动态信息。
本申请实施例第六方面提供一种业务服务器，包括：
发送单元，用于向使能服务器发送请求消息，所述请求消息用于获取目标客户端关联的动态信息；
接收单元，用于接收所述动态信息。
本申请实施例第七方面提供一种目标客户端，其特征在于，所述目标客户端包括：
接收单元，用于接收使能客户端的第一信息；
处理单元，用于根据所述第一信息，获得所述目标客户端关联的动态信息，所述第一信息包括所述使能客户端的本地动态信息。
本申请第八方面提供一种第一使能服务器，包括：至少一个处理器和存储器，存储器存储有可在处理器上运行的计算机执行指令，当所述计算机执行指令被所述处理器执行时，所述第一使能服务器执行如上述第一方面或第一方面任意一种可能的实现方式所述的方法以及第二方面的方法。
本申请第九方面提供一种业务服务器，包括：至少一个处理器和存储器，存储器存储有可在处理器上运行的计算机执行指令，当所述计算机执行指令被所述处理器执行时，所述业务服务器执行如上述第三方面或第三方面任意一种可能的实现方式所述的方法。
本申请第十方面提供一种终端设备，包括：至少一个处理器和存储器，存储器存储有可在处理器上运行的计算机执行指令，当所述计算机执行指令被所述处理器执行时，所述终端设备执行如上述第四方面或第四方面任意一种可能的实现方式所述的方法。
本申请第十一方面提供了一种动态信息的获取系统，包括：第一使能服务器、业务客户端和终端设备，所述第一使能服务器为上述第五方面或第八方面所述的第一使能服务器；所述业务服务器为上述第六方面或第九方面所述的业务服务器；所述终端设备为上述第七方面的目标客户端或第十方面所述的终端设备。
本申请第十二方面提供了一种计算机可读存储介质，计算机可读存储介质中存储有计算机程序，当其在计算机上运行时，使得计算机执行上述第一方面、第二方面、第三方面或第四方面的方法。
本申请第十三方面提供了一种芯片或者芯片系统，该芯片或者芯片系统包括至少一个处理器和通信接口，通信接口和至少一个处理器通过线路互联，至少一个处理器用于运行计算机程序或指令，以进行第一方面至第一方面的任一种可能的实现方式中任一项所描述的一种动态信息的获取方法；
其中，芯片中的通信接口可以为输入/输出接口、管脚或电路等。
在一种可能的实现中，本申请中上述描述的芯片或者芯片系统还包括至少一个存储器，该至少一个存储器中存储有指令。该存储器可以为芯片内部的存储单元，例如，寄存器、缓存等，也可以是该芯片的存储单元(例如，只读存储器、随机存取存储器等)。
本申请第十四方面提供了一种芯片或者芯片系统，该芯片或者芯片系统包括至少一个处理器和通信接口，通信接口和至少一个处理器通过线路互联，至少一个处理器用于运行计算机程序或指令，以进行第二方面至第二方面的任一种可能的实现方式中任一项所描述的一种动态信息的获取方法；
其中，芯片中的通信接口可以为输入/输出接口、管脚或电路等。
在一种可能的实现中，本申请中上述描述的芯片或者芯片系统还包括至少一个存储器，该至少一个存储器中存储有指令。该存储器可以为芯片内部的存储单元，例如，寄存器、缓存等，也可以是该芯片的存储单元(例如，只读存储器、随机存取存储器等)。
本申请第十五方面提供了一种芯片或者芯片系统，该芯片或者芯片系统包括至少一个处理器和通信接口，通信接口和至少一个处理器通过线路互联，至少一个处理器用于运行计算机程序或指令，以进行第三方面至第三方面的任一种可能的实现方式中任一项所描述的一种动态信息的获取方法；
其中，芯片中的通信接口可以为输入/输出接口、管脚或电路等。
在一种可能的实现中，本申请中上述描述的芯片或者芯片系统还包括至少一个存储器，该至少一个存储器中存储有指令。该存储器可以为芯片内部的存储单元，例如，寄存器、缓存等，也可以是该芯片的存储单元(例如，只读存储器、随机存取存储器等)。
本申请第十六方面提供了一种芯片或者芯片系统，该芯片或者芯片系统包括至少一个处理器和通信接口，通信接口和至少一个处理器通过线路互联，至少一个处理器用于运行计算机程序或指令，以进行第四方面至第四方面的任一种可能的实现方式中任一项所描述的一种动态信息的获取方法；
其中，芯片中的通信接口可以为输入/输出接口、管脚或电路等。
在一种可能的实现中，本申请中上述描述的芯片或者芯片系统还包括至少一个存储器，该至少一个存储器中存储有指令。该存储器可以为芯片内部的存储单元，例如，寄存器、缓存等，也可以是该芯片的存储单元(例如，只读存储器、随机存取存储器等)。
本申请第十七方面提供了一种计算机程序，当其在计算机上运行时，使得计算机执行上述第一方面、第二方面、第三方面或第四方面的方法。
本申请实施例提供的技术方案中，第一使能服务器可以指示目标客户端的目标区域内的使能客户端上报其自身的本地动态信息，这样就可以根据目标区域内多个使能客户端采集到的本地动态信息获得一个高清地图，能够完整的反应该目标区域的交通环境，这样，高清地图作为目标客户端确定行车动作的参考，可以使目标客户端获得一个较大范围的交通信息，更加合理的规划行车方案。
附图说明
图1为本申请实施例提供的一个高清地图的结构示意图；
图2为本申请实施例提供的另一个高清地图的结构示意图；
图3为本申请实施例提供的车对外界的信息交换V2X应用层的架构示意图；
图4为本申请实施例提供的另一种动态信息的获取方法的流程示意图；
图5为本申请实施例提供的另一种动态信息的获取方法的流程示意图；
图6为本申请实施例提供的另一种动态信息的获取方法的流程示意图；
图7为本申请实施例提供的一种第一使能服务器的结构示意图；
图8为本申请实施例提供的一种业务服务器的结构示意图；
图9为本申请实施例提供的一种目标客户端的结构示意图；
图10为本申请实施例提供的另一种第一使能服务器的结构示意图；
图11为本申请实施例提供的另一种业务服务器的结构示意图；
图12为本申请实施例提供的一种终端设备的结构示意图。
具体实施方式
本申请实施例提供了一种动态信息的获取方法及其相关设备，用于获得目标客户端对应的目标区域内的高清地图信息，使得目标客户端可以根据自身需要获取到更合理范围内的高清地图。
高清地图一般应用于自动驾驶领域，是由车辆的探测设备，包括雷达、摄像头、红外线、传感器等采集到的数据绘制而成的动态地图，能够反映车辆周围的交通状态，使得车辆可以根据高清地图来规划行车路线，完成自动驾驶过程。
图1为本申请实施例提供的一个高清地图的结构示意图，该高清地图从最底层向上，依次可以分为道路网层、车道网层、安全辅助数据层、道路交通设施层、非实时动态目标 层和实施动态目标层；其中，道路网层则可以是根据定位系统，获取到的该车辆所在区域的道路；车道层则是该道路上的车道；安全辅助数据可以包括限制时速、限制车高等；道路交通设施层则可以包括红绿灯、道路边界栏杆等；非实时动态目标层则可以为道路状况，包括道路维修时圈定的区域、道路上的水坑等，而实时动态目标层则包括道路的行人以及其他车辆等。可以理解的，越往上的层级，其所反映的信息就越动态，所以，自动驾驶的级别越高，即自动驾驶越智能，其所需要的高清地图的层级也就越多；示例性的，如果要完成对车辆的智能导航，则只需要含有道路网层、车道网层以及安全辅助数据网层的地图即可；而要实现智能交管，该高清地图就还需要有道路交通设施层；要实现车辆的辅助驾驶，则需要有非实时动态目标层，而要实现车辆的无人驾驶，则其对应的高清地图就需要有实时动态目标层。
图2为本申请实施例提供的另一个高清地图的结构示意图，该高清地图从下到上可以分为基础地图层、几何地图层、语义地图层、前置地图层、实时层等；可以理解的，越上层的图层，其所对应的信息越实时；具体的，基础地图层可以包括基础的地形和道路网；几何地图层可以为车道网；语义地图层则建立在几何地图层之上，添加了一些语义对象，包括车道边界、十字路口、停车点、停止标志、交通信号灯等，这些对象包含着丰富的信息，例如交通限速数值、车道变化限制(如禁止掉头)等；而前置地图层可以包含动态信息和人类活动数据，例如交通信号灯发生变化，路口信号灯的平均等灯时间，一个停车点有车停的概率，停车点的平均停车速度等；实时层为该高清地图的最顶层，包含不同的车之间实时共享交通信息，即该层可以包括该车辆周围其他车辆的实时距离、车速，路面实时状况和行人等信息。
现有的，车辆可以根据其主控计算机汇聚自身各传感器(如雷达、摄像头等)所采集的传感器数据，以及通过客户端获取到的服务器信息(如交通信号灯、停车场信息等)来在本地客户端绘制一个高清地图，为主控计算机提供参考，确定行车规划路线；然而可以理解的，每个车辆所携带的传感器，其探测信息的范围是有限的；例如，在自动驾驶中，若车辆是在普通道路上实行，则其需要实时获知周围500米范围内的交通状况，并且在该范围内汇总信息，得到高清地图，并且需要根据更新频率来不断更新获取新的信息，刷新高清地图，然后以此作出下一步的行车动作；而对于高速行驶的汽车而言，其往往需要更大范围的实时数据才能支撑远程驾驶或自动驾驶，受传感器探测范围的限制，车辆只能获取到与传感器的探测范围一致的高清地图，不能根据车辆的驾驶需求获取合理范围内的高清地图，并且一旦车辆所需高清地图的范围大于传感器的探测范围，车辆自己基于自身对可视对象的检测和分析将导致车辆不能获取到所需范围内的高清地图层的信息，这将严重影响车辆的行车规划，无法实现智能由安全的驾驶。
下面对本申请实施例的网络框架进行介绍；图3为本申请实施例提供的车对外界的信息交换V2X应用层的架构示意图；如图3所示，车辆终端UE可以包含V2X应用特定客户端，V2X应用使能客户端、应用业务使能层客户端；其中，V2X应用特定客户端通过3GPP网络系统与V2X应用特定服务器相连；V2X应用使能客户端通过3GPP网络系统与V2X应用使能服务器相连；而应用业务使能层客户端通过3GPP网络系统与应用业务使能层服务器 相连。
其中，V2X应用特定客户端(V2X application specific client)提供V2X应用在终端侧的客户端功能，简称业务客户端。示例性的，可以包括V2X应用客户端程序，该客户端可以使用V2X应用使能客户端提供的服务，示例性的，其可以类似于platoon应用；而V2X应用特定服务器(V2X application specific server)则为V2X应用的服务器的功能，与V2X应用特定客户端向对应，简称业务服务器。其可以利用V2X应用使能服务器和应用业务使能层服务器所提供的功能来为业务客户端提供相应的业务服务。
而V2X应用使能客户端(V2X application enabler client，VAE client)，是V2X应用使能层在终端侧的使能客户端，其可以与用于和V2X业务客户端交互，以支持V2X业务的运行；具体的，V2X应用使能客户端可以支持以下功能：向V2X应用使能服务器服务器注册，以接收V2X消息；接收V2X应用使能服务器分发的消息，并根据V2X服务ID将接收到的消息递送给对应的V2X应用；承担组播服务用户的功能；接收网络监测报告；支持V2V通信模式的切换；以及向V2X应用使能服务器提供应用层的位置信息等。示例性的，可以为百度地图客户端、高德地图客户端等。
而V2X应用使能服务器(V2X application enabler server，VAE server)是V2X应用使能层在服务器侧的功能，可以向V2X应用特定服务器提供功能，其与V2X应用使能客户端是使能层的一对功能实体；具体的，其可以和3GPP网元通信以获取单播或广播通信资源；从3GPP网元接收有关于网络状况的监测报告及事件；接收V2X终端UE的注册；追踪V2X终端的应用层地理位置；支持应用层V2X消息的分发；向V2X UE配置3GPP系统通信的参数；承担V2X内容提供者的功能，向V2X应用特定服务器提供监测事件；向UE提供网络监测报告；和3GPP系统协商V2X服务参数；维护V2X用户标识和V2X UE标识的映射关系；提供V2X服务发现的功能，以及支持V2X业务连续性等。
而应用业务使能层客户端(service enable application layer client，SEAL client)是一组使能服务在终端侧的客户端功能的统称，该应用业务使能层客户端可以向V2X应用特定客户端、V2X应用使能客户端以及其他行业的应用客户端功能提供服务。具体的应用业务使能层客户端可以是群组管理客户端、配置客户端、身份标识客户端、秘钥管理客户端、位置管理客户端，提供与对等服务器对应的客户端侧的功能。
应用业务使能层服务器(service enable application layer server，SEAL server)是一组使能服务在服务器侧的功能的统称，该服务器可以向V2X应用特定服务器、V2X应用使能服务器以及其他行业的应用服务器功能提供服务。具体的可以是群组管理服务器，用于提供群组管理功能如群组创建、群组更新、组员的添加删除、群组删除等；可以是配置服务器，用于提供一些用于业务运行的配置信息如用户配置信息；可以是身份标识服务器用于对用户的身份标识进行鉴权和授权管理；可以是秘钥管理服务器，用于提供通信的根秘钥或会话秘钥、以及其他秘钥相关的材料；还可以是位置管理服务器，用于对用户或群组的位置进行管理包括位置的订阅、上报、推送等。
其中，在V2X终端包含：移动通信模块(modem)用于接收无线信号、收发上下行数据；上述客户端，用于处理应用相关的业务逻辑。其中V2X应用特定客户端，V2X应用使 能客户端，应用业务使能层客户端均为运行在V2X终端上的逻辑功能模块，他们可以是独立的客户端应用程序，彼此有独立的运行空间。其中，V2X应用使能客户端，应用业务使能层客户端可以统称为使能客户端。其中V2X应用使能客户端和应用业务使能层客户端可以合并实现在一个程序组件中，例如可以是操作系统中的一个子功能模块或者组件，还可以是一个软件开发工具包(Software development kit，SDK)，一个动态或静态的运行库(lib)等。上述V2X终端设备可以是智能汽车、辅助驾驶能力的汽车、高级自动驾驶能力的汽车等。
而本申请实施例中，高清地图的服务提供商提供的功能可以集成在V2X应用使能服务器上，也可以集成在应用业务使能层服务器的位置管理服务器上，还可以集成在独立的V2X应用特定服务器(业务服务器)上。
图4为本申请实施例提供的一种动态信息的获取方法的流程示意图；如图4所示，包括：
401、第一使能服务器接收目标设备发送的请求消息；
V2X终端设备包括有各类传感器以及主控计算机，其中，传感器用于采集智能汽车周围的交通状态信息，感知智能汽车的外界驾驶环境，而主控计算机则需要根据外界驾驶环境来控制智能汽车的驾驶行为，确定智能汽车的行车路径。
其中目标设备可以为业务服务器或者使能客户端，使能客户端可以为V2X使能客户端，或应用业务使能层客户端(例如新增的高清地图使能客户端)。第一使能服务器为V2X使能服务器或应用业务使能客户端对等的应用业务使能服务器(如新增的高清地图使能服务器)，即使能客户端与第一使能服务器为功能对等的一对客户端和服务器。
当智能车辆启动驾驶，需要高清地图业务辅助其驾驶时，可以通过：
(一)V2X终端设备上的业务客户端发送业务请求，向业务客户端对应的业务服务器请求高清地图业务服务。此时目标设备为业务服务器，目标客户端为该业务客户端。可以理解的，业务服务器为业务客户端提供服务时，可以向第一使能服务器发送请求消息用于获取业务客户端对应的高清地图信息或高清地图动态层的动态信息。示例性的，业务服务器可以请求第一使能服务器提供动态信息，其中动态信息包括第一动态信息(目标客户端的高清地图动态层的动态信息)或者第二动态信息(目标客户端的高清地图信息)；可以理解的，第一动态信息可以用来生成第二动态信息，业务客户端可以根据通过获取到的第二动态信息来进一步控制智能汽车的行车动作，完成智能汽车的自动驾驶。
(二)V2X终端设备上的使能客户端向第一使能服务器发送请求消息。此时目标设备为该使能客户端。目标客户端为终端设备上的业务客户端，此时业务客户端调用使能客户端提供的服务，用以触发使能客户端帮助其获取高清地图的动态层的动态信息或高清地图的信息。
可以理解的，使能客户端为业务客户端提供支撑使能服务时，业务客户端可以触发使能客户端可以向第一使能服务器发送请求消息，即由第一使能使能服务器提供与高清地图相关联的信息，然后将该信息提供给业务客户端。示例性的，使能服务器可以请求第一使能服务器提供动态信息，其中动态信息包括第一动态信息(目标客户端的高清地图动态层 的动态信息)或者第二动态信息(目标客户端的高清地图信息)；可以理解的，第一动态信息可以用来生成第二动态信息，业务客户端可以根据获取到的第二动态信息来进一步控制智能汽车的行车动作，完成智能汽车的自动驾驶。
(三)第二使能服务器向第一使能服务器发送请求消息，用于获取目标客户端对应的高清地图信息或高清地图动态层的动态信息。该请求中可以包括目标区域的信息、或者目标客户端的标识和目标客户端的范围信息(可以理解为目标客户端对应的高清地图的范围)、或者目标客户端的标识和所述目标客户端的辅助信息。此时目标设备为第二使能服务器。
402、第一使能服务器获取目标客户端的目标区域内的使能客户端的信息；
第一使能服务器获取目标客户端对应的目标区域，目标客户端对应的目标区域可以理解为包含目标客户端的区域。
当目标设备请求第一使能服务器提供高清地图业务服务时，第一使能服务器需要根据目标客户端对应的目标区域内的使能客户端的本地动态信息来确定第一动态信息或者第二动态信息；可以理解的，为了满足智能汽车不同的驾驶需求，对不同的智能汽车，其对应的高清地图的范围大小或区域大小也不尽相同，因此，需要为特定的智能汽车规划特定的区域(本发明将目标客户端对应的高清地图的区域称为目标区域)，第一服务器需要为目标客户端提供目标区域内的高清地图信息。可以理解的是该区域(目标区域)可以是一个圆形、矩形、多边形等形态的区域，还可以是以目标客户端为中心，指定特定范围(range)(例如半径，直径等)标识的区域。该目标区域可以是一个固定的地理区域，或者是一个包含目标客户端在内的移动的区域。
第一使能服务器获取目标客户端对应的目标区域内的使能客户端的信息。
当确定好目标客户端对应的目标区域时，由于目标客户端对应的智能汽车的传感器探测范围有限，仅凭其自身传感器采集到的动态交通信息不能感知该目标区域内完整的交通环境，即不能获取到该目标区域完整的动态信息，需要该目标区域内至少一个使能客户端的本地动态信息共同确定目标客户端的目标区域对应的高清地图信息(或高清地图的动态层的动态信息)；因此，第一使能服务器就需要获取该目标区域内的使能客户端的信息，确定至少一个使能客户端。
其中，目标设备为业务服务器或使能客户端。
403、第一使能服务器向所述使能客户端发送第一消息；
第一使能服务器在确定至少一个使能客户端后，向使能客户端发送第一消息，第一消息用于指示使能客户端上报第一信息，可以理解的，第一信息可以为使能客户端对应的V2X终端设备获取到的本地动态信息，包含例如该V2X终端设备行驶的速度、方向、状态(正常行驶、加速、减速、超车、变道、故障等)、该V2X终端设备检测到其他信息如周边的车辆的速度、方向、状态，周边的行人，检测到的路面物体(object)(例如落石、水坑、树枝、垃圾等)、检测到交通信号灯的状态信息(例如信号灯的颜色，剩余时间等)。V2X终端设备可以从传感器、路边单元、其他可以直接通信的V2X设备(例如其他车辆)等获取到上述本地动态信息。其中，至少一个使能客户端可以包含目标客户端对应的使能 客户端，“对应的”表示目标客户端和使能客户端位于同一个V2X终端设备中。当第一使能服务器接收到至少一个使能客户端上报的动态信息之后，就可以根据该至少一个动态信息确定该目标区域的动态信息。根据目标区域中至少一个使能客户端的密度、分布情况、使能客户端的能力，第一使能服务器也可以选择向至少一个使能客户端中的部分或全部发送第一消息。
示例性的，第一使能服务器可以获取至少一个使能客户端上报的第一信息，通过多个第一信息生成目标客户端关联的动态信息，然后提供给目标客户端。这样，目标客户端就可以获取到目标区域对应的高清地图信息，根据该高清地图信息控制目标客户端对应智能汽车的驾驶行为。
本实施例提供的技术方案中，第一使能服务器需要先获取目标客户端的目标区域内的使能客户端的信息；然后向使能客户端发送第一消息，指示使能客户端上报其本地动态信息，然后就可以根据该本地动态信息生成目标客户端关联的动态信息，使得目标客户端可以根据该动态信息控制其对应的智能车辆的驾驶行为；这样，智能车辆就可以根据不同的需求获取到目标范围内的高清地图，使得高清地图满足不同的驾驶需求，更有效的辅助智能汽车的驾驶行为，提高自动驾驶的安全性和可靠性。
图5为本申请实施例提供的另一种动态信息的获取方法的流程示意图；如图5所示，包括：
501、目标客户端向业务服务器发送业务请求信息；
该步骤为可选步骤。该目标客户端为业务客户端。当智能汽车需要高清地图辅助其确定驾驶动作时，用户可以通过该智能汽车的业务客户端启动高清地图的生成及更新流程，向业务服务器发送业务请求信息。然后，该业务请求信息触发业务服务器执行后续操作，使得目标客户端获取到其所需要的高清地图信息。
其中，业务请求信息是会话建立请求消息、远程控制请求消息和订阅高清地图服务请求消息。例如，当业务服务器接收到目标客户端的用于远程控制(telo-operated driving，ToD)的会话建立请求时，业务服务器触发高清地图信息或高清地图动态层的动态信息的获取流程，具体地，业务服务器向第一使能服务器发送请求信息；或者当业务服务器接收到目标客户端请求该业务服务器进行远程控制的请求消息时，又或者目标客户端向业务服务器订阅高清地图服务时，请求获取其行驶期间的高清地图，业务服务器触发高清地图信息或高清地图动态层的动态信息的获取流程，具体地，业务服务器向第一使能服务器发送请求信息。
在另一个方式中，业务服务器决定远程控制目标客户端对应的智能汽车时，业务服务器触发目标客户端对应的高清地图信息或高清地图动态层的动态信息的获取，具体地，业务服务器向第一使能服务器发送请求信息；
具体的，业务请求信息可以包括目标客户端的标识和所述目标客户端的辅助信息；可以理解的，即目标客户端的标识可以是使用该目标客户端的应用用户的标识(如ToD client的用户标识)、使能客户端的标识、该目标客户端所在的V2X终端设备的标识如GPSI、IP地址等至少一项或多项的组合。
而目标客户端的辅助信息则可以为目标客户端参与的业务类型、目标客户端对应终端设备的传感器测量范围、目标客户端对应的终端设备的能力信息、目标客户端的速度、目标客户端的方向和目标客户端的规划路径中的至少一项，目标客户端的辅助信息可以用来确定该智能汽车合理的高清地图的范围，使得高清地图更好的辅助智能汽车的驾驶行为。
可以理解的，目标客户端运行在V2X终端设备，目标客户端参与的业务类型可以为该V2X终端设备所对应的驾驶类型，示例性的，驾驶类型为自动驾驶或者远程控制驾驶，自动驾驶还进一步包含自动驾驶的级别(从LoA1至LoA5中的任意一个级别)。不同的驾驶类型对高清地图的范围需求不同，例如远程控制驾驶由于有人进行控制，其所需的高清地图的范围可以比较小，而自动驾驶采用无人自主控制的方式，为了防止突发事件的发生，就需要感知更大范围内的实施交通环境状况，其所需要相对更大范围的高清地图范围。同样的，目标客户端对应的传感器测量范围即为智能汽车本身的传感器测量范围，示例性的，智能汽车本身的传感器测量范围越大，其感知更大范围的交通环境状况就越容易，这样就可以为其确定更大范围的高清地图。而目标客户端对应的终端设备的能力信息可以为智能车辆对应的性能，例如车辆的刹车速度、车辆的启动性能、是否具备短距设备间的通信能力(如PC5或DSRC的通信能力)等；目标客户端的速度则为智能汽车当前的行驶速度；目标客户端的方向即为车辆的行驶向；目标客户端的规划路径则可以用于确定智能汽车将要通过的道路，例如可以根据该道路的拥堵情况来确定智能汽车所需高清地图的范围。
502、业务服务器向第一使能服务器发送请求信息；
可以理解的，业务服务器需要向第一使能服务器请求业务服务，所述请求消息用于获取目标客户端关联的动态信息(高清地图的相关信息)。
其中，请求信息可以包括目标区域的信息、或者目标客户端的标识和目标客户端的范围信息(可以理解为目标客户端对应的高清地图的范围)、或者目标客户端的标识和所述目标客户端的辅助信息。
可选地，业务服务器确定目标客户端对应的高清地图的范围。具体地：业务服务器根据获取到的目标客户端的辅助信息来确定目标客户端对应的高清地图的范围(例如半径，直径等)，具体的，例如根据辅助信息中的自动驾驶级别确定目标客户端对应的高清地图的范围为X米，X为预设的一个数值，再例如将对辅助信息予以建模赋予权重，通过算法计算得到对应的范围值。该目标客户端的位置及目标客户端对应的高清地图的范围表示目标客户端对应的高清地图的目标区域；此时，业务服务器请求使能服务器监测目标客户端的移动及其位置，可以理解该目标区域的大小是由业务服务器指定，而该目标区域的位置是由使能服务器根据目标客户端的位置确定的。此时业务服务器可以向使能服务器发送一次请求而多次获取目标客户端关联的动态信息。
可选地，业务服务器确定目标客户端对应的高清地图的目标区域，具体地：业务服务器据获取到的目标客户端的辅助信息来确定目标客户端对应的高清地图的目标区域，该目标区域可以是一个例如圆形、矩形、多边形的区域，具体的，例如根据辅助信息中的自动驾驶级别确定目标客户端对应的高清地图的区域为目标客户端当前位置所在X米的圆形区域或地理坐标值，X为预设的一个数值，再例如将对辅助信息予以建模赋予权重，通过算 法计算得到对应的圆形区域的大小或地理坐标值。此时，需要业务服务器监测目标客户端的移动及其位置，当目标客户端移动到一个新的位置需要更新动态信息时，业务服务器向使能服务器提供一个新的目标区域信息。此时业务服务器向使能服务器发送一次请求，获取目标客户端在该区域的动态信息。
可选地，请求信息还可以包括动态信息的更新策略。
503、第一使能服务器确定目标客户端对应的目标区域；
第一使能服务器可以通过以下几种方式确定目标区域：
方式一：第一使能服务器将从业务服务器接发送的请求消息中的目标区域作为目标区域。
当业务服务器确定目标客户端对应的目标区域时，业务服务器向第一使能服务器发送的请求信息包括该目标区域的信息；第一使能服务器将接收到的目标区域确定为目标区域。此时使能服务器无需追踪目标客户端对应的智能车辆的位置坐标，只需要接收确定的目标区域即可，因此要实现高清地图的更新，则需要业务服务器追踪智能车辆动态的目标区域，业务使能服务器根据更新策略和目标客户端的位置移动确定目标客户端对应的最新的目标区域，并且向第一使能服务器发送包含目标客户端对应的最新目标区域的请求信息。示例性的，业务服务器确定更新策略为5S更新一次高清地图，那么业务服务器就需要每隔5S确定一次目标区域，并且每隔5S向第一使能服务器发送一次请求信息。
方式二：第一使能服务器根据接收到目标客户端的标识和目标客户端的范围信息确定目标区域。
当业务服务器根据获取到的目标客户端的辅助信息来确定目标客户端对应的高清地图的范围，并将该范围发送给第一使能服务器时，第一使能服务器就可以根据该范围确定目标客户端对应的目标区域；第一使能服务器可以根据目标客户端的标识追踪该智能车辆所在的位置坐标，然后根据位置坐标和获取到的目标客户端对应的高清地图的范围来确定目标客户端对应的目标区域；可选地，第一使能服务器还可以接收业务服务器发送的更新策略，例如第一使能服务器接收到的更新策略为每隔5S更新一次高清地图，那么第一使能服务器就需要每隔5S或者小于5s的间隔确定一次智能车辆所在的位置坐标，基于该位置坐标确定一次目标区域。
方式三：第一使能服务器根据接收到目标客户端的标识和所述目标客户端的辅助信息确定目标区域。
当业务服务器将目标客户端的标识和目标客户端的辅助信息给第一使能服务器时，第一使能服务器可以根据目标客户端的辅助信息确定目标客户端对应的高清地图的范围或目标客户端对应的目标区域，可以理解的，第一使能服务器确定目标客户端对应的高清地图的范围或目标客户端对应的目标区域的方式与业务服务器的类似，在此不做赘述。另一种实现方式中，当第一使能服务器确定好目标客户端对应的高清地图的范围之后，还可以根据目标客户端的标识来确定智能车辆的位置坐标，再根据该位置坐标和目标客户端对应的高清地图的范围来确定目标区域。
504、第一使能服务器获取目标区域内的使能客户端；
当第一使能服务器确定目标区域后，第一使能服务器获取该目标区域内的至少一个使能客户端，该至少一个使能使能客户端中的每个使能客户端运行在V2X终端设备中，由此根据目的区域内尽可能多的V2X终端设备采集到的其对应的本地动态信息获取更全面的动态信息，以便获得目标客户端对应的目标区域内的更加全面和更加精准的高清地图。
具体的，第一服务器可以通过以下几种方式获取目标区域内的使能客户端：
(1)第一使能服务器可以从本地获取目标区域内的多个使能客户端。
(2)第一使能服务器从位置管理服务器获取目标区域内的使能客户端。具体地第一使能服务器向位置管理服务器发送第一请求消息，用于请求位置管理服务器提供该目标区域内的使能客户端的信息。该第一请求消息包括目标区域的信息，其中目标区域的信息可以是可以为圆形、矩形、多边形等信息、或者可以为目标客户端的标识和范围信息、可以为目标客户端的位置和范围信息)。
(3)第一使能服务器从其他使能服务器获取目标区域内的使能客户端的信息。具体地，第一使能服务器向第二使能服务器发送该目的区域的信息，其中目标区域的信息可以是可以为圆形、矩形、多边形等信息、或者可以为目标客户端的标识和范围信息、可以为目标客户端的位置和范围信息，从第二使能服务器获取位于所述目标区域内的使能客户端的信息。
505、第一使能服务器向使能客户端发送第一消息；
可以理解的，第一使能服务器确定目标区域内的至少一个使能客户端，则通过第一消息指示该至少使能客户端上报第一信息，该第一信息可以为使能客户端对应的V2X终端设备的本地动态信息，该第一信息用来生成的高清地图动态层的动态信息，或者高清地图信息。其中对于第一信息的详细说明参考前面的描述，此处不再赘述。
示例性的，第一消息可以是第二请求消息或者第二订阅请求；具体的：
若第一消息为第二请求消息时，使能客户端向第一使能服务器发送第二请求的响应消息，一个第二请求消息对应一个第二请求的响应消息，该第二请求的响应消息中包含第一信息；可以理解的，为获取目标客户端对应高清地图信息或对应的高清地图的动态层的信息)，第一使能服务器就需要根据更新策略多次向使能客户端发送第二请求消息；
若第一消息为第二订阅请求消息，那么第一使能服务器就可以向使能客户端订阅其对应的第一信息。可选地，第二订阅请求消息中包含第一信息上报的事件触发器或者上周的周期，则使能客户端根据订阅请求设定的事件触发器或者上报周期上报第一信息，可选地，第二订阅请求中可以包括上报策略，所述上报策略根据所述更新策略确定。其中第一信息上报的事件触发器或者上周的周期也可以是上报策略的一部分。例如，更新策略为每隔5s更新高清地图，则上报策略可以是每隔5s上报第一信息，还可以是上报策略可以是每隔3s上报第一信息。可选地，第二订阅请求中还包含订阅的有效时间，该有效时间表示当有效时间到达时，订阅失效，客户端不再向第一使能服务器上报第一信息。
506、使能客户端根据第一消息上报第一信息。
当使能客户端接收到第一消息时，根据步骤505所述的内容，来确定如何上报第一信息；可选地，第一消息还可以包括第一信息的上报地址信息(endpoint)，即指示使能客 户端向谁上报该第一信息。该上报地址信息指示第一信息上报的目标实体为第一使能服务器和/或目标使能客户端(可以理解为第一信息的接收实体为第一使能服务器和/或目标使能客户端)。如果未携带该上报地址信息，则使能客户端默认向第一使能服务器上报第一信息。对于第一信息的具体描述参考前面的描述，此处不在赘述。其中目标使能客户端为位于目标客户端所在的同一个V2X终端中的使能客户端，目标使能客户端与第一使能服务器是逻辑对等的一对使能客户端和使能服务器，即当目标使能客户端为VAE client时，第一使能服务器为VAE server，当目标使能客户端为高清地图服务使能客户端时，第一使能服务器为高清地图服务使能服务器。
例如，当使能客户端接收的第一消息为第二请求消息时，使能客户端可以发送该第二请求的响应消息，在第二请求的响应消息中向指定的上报地址发送第一信息；当使能客户端接收的第一消息为第二订阅请求时，则使能客户端还可以根据第二订阅请求中包含的上报策略，确定何时上报(report)第一信息；示例性的，第二订阅请求中的上报策略为每隔5S上报第一信息，那么使能客户端则每隔5S上报一次第一信息。
当使能客户端向目标使能客户端上报第一信息时，执行步骤507至步骤509；当使能客户端向第一使能服务器上报第一信息时，则执行步骤510至步骤513。
507、使能客户端向目标使能客户端上报第一信息；
使能客户端根据第一信息的上报地址为目标使能客户端的地址，使能客户端向目标客户端上报第一信息。
可以理解的，使能客户端还可以通过第一使能服务器向目标使能服务器上报第一信息；具体的，使能客户端将第一信息上报给第一使能服务器，再由第一使能服务器将第一信息转发给目标使能客户端。
508、目标使能客户端根据第一信息确定动态信息；
目标使能客户端接收到第一信息时，就可以对第一信息进行处理(例如对来自至少一个使能客户端的第一信息进行去重、聚合、建模等操作)，生成动态信息，示例性的，目标使能客户端可以根据第一信息生成高清地图动态层的动态信息，还可以直接生成目标客户端的高清地图信息，可以理解的，高清地图动态层的动态信息也用来生成高清地图信息，具体的不做限定。
可选地，目标使能客户端还获取该目标使能客户端对应的本地动态信息，目标使能客户端根据第一信息和目标使能客户端对应的本地动态信息确定动态信息。确定动态信息还可以理解为生成或更新动态信息。
509、目标使能客户端向目标客户端发送动态信息；
当目标使能客户端生成目标客户端的高清地图信息时，目标客户端可以直接根据高清地图信息获取高清地图，辅助生成其对应的智能车辆的行车方案；当目标使能客户端向目标客户端提供的是高清地图动态层的动态信息时，目标客户端还需要根据该高清地图动态层的动态信息生成高清地图，并为生成智能车辆的行车动作提供参考。
510、使能客户端向第一使能服务器上报第一信息；
使能客户端根据第一信息的上报地址为第一使能服务器的地址，或者为提供上报地址 时，使能客户端向第一使能服务器上报第一信息。
可选地，使能客户端还包括目标使能客户端，即目标使能客户端向第一使能服务器上报第一信息。
511、第一使能服务器根据第一信息确定动态信息；
可以理解的，第一使能服务器根据第一信息确定动态信息的方式与步骤508中目标使能客户端根据第一信息确定动态信息的方式类似，例如第一使能服务器对对来自至少一个使能客户端的第一信息进行去重、聚合、建模等操作)，具体不做赘述。
可选地，第一信息还包括目标使能客户端对应的本地动态信息。此时第一使能服务器根据第一信息确定动态信息还表示第一使能服务器根据包括目标使能客户端在内的第一信息确定动态信息。确定动态信息还可以理解为生成或更新动态信息。
可选地，第一使能服务器向其他使能服务器请求目标客户端对应的动态信息，该动态信息为高清地图动态层的动态信息或高清地图信息。此时第一使能服务器向第二使能服务器发送请求消息，该请求消息用于获取目标客户端对应的动态信息(包括高清地图信息或高清地图动态层的动态信息)。具体第二使能服务器获取动态信息(包括高清地图信息或高清地图动态层的动态信息)的详细描述可以参考第一使能服务器获取动态信息(包括高清地图信息或高清地图动态层的动态信息)的描述不再赘述。
可选地，第一使能服务器根据第一信息和来自第二使能服务器的动态信息生成最终的目标客户端的动态信息。
512、第一使能服务器向业务服务器发送动态信息；
第一使能服务器向业务服务器发送动态信息，业务服务器接收第一使能服务器发送的动态信息。具体的，该动态信息包含高清地图动态层的动态信息，或成高清地图信息。
513、业务服务器向目标客户端发送动态信息；
当动态信息中包含目标客户端的高清地图信息时，业务服务器直接向目标客户端发送该高清地图信息。
当动态信息中包含高清地图动态层的动态信息时，业务服务器还需要根据该高清地图动态层的动态信息生成高清地图信息，业务服务器向目标客户端发送高清地图信息。
本实施例提供的技术方案中，第一使能服务器需要先获取目标客户端的目标区域内的使能客户端的信息；然后向使能客户端发送第一消息，指示使能客户端上报其自身的本地动态信息，然后就可以根据该本地动态信息生成目标客户端关联的动态信息，使得目标客户端可以根据该动态信息控制其对应的智能车辆的驾驶行为；这样，智能车辆就可以根据不同的需求获取到目标范围内的高清地图，使得高清地图满足不同的驾驶需求，更有效的辅助智能汽车的驾驶行为，提高自动驾驶的安全性和可靠性。
图6为本申请实施例提供的另一种动态信息的获取方法的流程示意图；如图6所示，包括：
601、目标客户端向业务服务器发送业务请求信息；
该步骤可选。示例性的，步骤601与图5所示实施例中的步骤501类似，在此不做赘述。
602、业务服务器向第一使能服务器发送请求信息；
该步骤可选。可以理解的，业务服务器需要向第一使能服务器请求业务服务，所述请求消息用于获取目标客户端关联的动态信息(高清地图的相关信息)。该请求信息可以包括目标客户端的标识和所述目标客户端的范围信息、或者目标客户端的标识和所述目标客户端的辅助信息。
603、第一使能服务器向位置管理服务器发送第一订阅请求；
第一使能服务器可以向位置管理服务器发送第一订阅请求，要求位置管理服务器对目标客户端对应的车辆进行追踪，确定目标客户端对应的目标区域，并且由位置管理服务器来确定该目标区域内的多个使能客户端；这样，位置管理服务器就可以向使能服务器提供目标客户端的目标区域内的使能客户端的信息。
604、位置管理服务器向第一使能服务器提供目标客户端对应的使能客户端的信息；
可选地，若第一订阅请求包括的目标客户端的标识和目标客户端对应的范围信息(可以理解为目标客户端对应的高清地图的范围信息)，位置管理服务器根据订阅请求确定目标客户端的目标区域，并且根据该目标区域确定使能客户端，将使能客户端的信息发送给第一使能服务器。
可选地，若第一订阅请求包括目标客户端的标识和目标客户端的辅助信息，那么位置管理服务器则需要根据目标客户端的辅助信息，来确定目标客户端对应的高清地图的范围，软后根据目标客户端的标识追踪智能车辆的位置坐标，根据该位置坐标和高清地图的范围确定目标区域，并且确定目标区域内的使能客户端，将该使能客户端的信息上报给第一使能服务器。
可选地，若第一订阅请求包括的目标客户端的位置信息和目标客户端对应的范围信息，位置管理服务器根据订阅请求中的目标客户端的位置信息和目标客户端对应的范围信息确定目标客户端的目标区域，并且根据该目标区域确定使能客户端，将使能客户端的信息发送给第一使能服务器。
605、第一使能服务器向使能客户端发送第一消息；
示例性的，步骤605与图5所示实施例中的步骤505类似，在此不做赘述。
606、使能客户端根据第一消息上报第一信息；
示例性的，步骤606与图5所示实施例中的步骤506类似，在此不做赘述。
607、使能客户端向第一使能服务器上报第一信息；
示例性的，步骤607与图5所示实施例中的步骤510类似，在此不做赘述。
608、第一使能服务器根据第一信息确定动态信息；
示例性的，步骤608与图5所示实施例中的步骤511类似，在此不做赘述。
609、第一使能服务器向业务服务器发送动态信息；
示例性的，步骤609与图5所示实施例中的步骤512类似，在此不做赘述。
610、业务服务器向目标客户端发送动态信息；
示例性的，步骤610与图5所示实施例中的步骤513类似，在此不做赘述。
本实施例提供的技术方案中，第一使能服务器无需确定目标客户端对应的目标区域，而是向位置管理服务器直接订阅业务，使得位置管理服务器来追踪目标客户端对应车辆的 位置坐标，然后根据位置坐标和范围来确定目标区域，位置管理服务器再对该目标区域中的使能客户端的信息进行上报；然后第一使能服务器向使能客户端发送第一消息，指示使能客户端上报其自身的动态交通信息，然后就可以根据该动态交通信息获得目标客户端关联的动态信息，使得目标客户端可以根据该动态信息控制其对应的智能车辆的驾驶行为；这样，减轻了第一使能服务器的工作负荷，提高了第一使能服务器的工作性能。
图7为本申请实施例提供的一种第一使能服务器的结构示意图，包括：
获取单元701，用于获取目标客户端的目标区域内的使能客户端的信息；
发送单元702，用于向所述使能客户端发送第一消息，所述第一消息用于所述使能客户端上报第一信息；
其中，所述第一信息包括所述使能客户端的本地动态信息，所述第一信息用于获得所述目标客户端关联的动态信息。
在一个可能的实现方式中，所述目标客户端关联的动态信息包括第一动态信息或第二动态信息；所述第一动态信息为所述目标客户端的高清地图动态层的动态信息，所述第二动态信息为所述目标客户端的高清地图信息。
在一种可能的实现方式中，所述第一使能服务器还包括接收单元703，所述接收单元703用于接收来自业务服务器的所述目标区域的信息。
在一种可能的实现方式中，所述第一使能服务器还包括确定单元704，所述接收单元703还用于接收来自业务服务器的所述目标客户端的标识和所述目标客户端的范围信息。
所述确定单元704用于根据所述目标客户端的标识和所述范围信息，确定所述目标区域。
在一种可能的实现方式中，所述接收单元703还用于接收来自所述业务服务器的所述目标客户端的标识和所述目标客户端的辅助信息。
所述确定单元704还用于根据所述目标客户端的标识和所述辅助信息，确定所述目标区域。
在一种可能的实现方式中，所述辅助信息包括：所述目标客户端参与的业务类型、所述目标客户端对应的传感器测量范围、所述目标客户端对应的终端设备的能力信息、所述目标客户端的速度、所述目标客户端的方向和所述目标客户端的规划路径中的至少一项。
在一种可能的实现方式中，所述接收单元703还用于接收更新策略，所述更新策略用于更新所述动态信息。
在一种可能的实现方式中，所述发送单元702还用于向位置管理服务器发送第一订阅请求，所述第一订阅请求包括所述目标客户端的标识和所述目标客户端对应的范围信息，所述订阅请求用于订阅所述目标客户端对应的使能客户端的信息；
所述接收单元703还用于接收来自所述位置管理服务器的所述使能客户端的信息。
在一种可能的实现方式中，所述发送单元702还用于向位置管理服务器发送第一请求消息，所述第一请求消息包括所述目标区域的信息；
所述接收单元703还用于接收来自所述位置管理服务器的所述目标区域内的所述使能客户端的信息。
在一种可能的实现方式中，所述获取单元701具体用于从第二使能服务器获取位于所述目标区域内的使能客户端的信息。
在一种可能的实现方式中，所述第一消息包括上报策略，所述发送单元702具体用于根据所述更新策略，向所述使能客户端发送所述第一消息；其中，所述上报策略和所述更新策略相关。
在一种可能的实现方式中，所述第一消息用于指示所述使能客户端向所述使能服务器上报所述第一信息，所述接收单元703还用于接收所述第一信息，并根据所述第一信息向所述目标客户端发送所述动态信息。
在一种可能的实现方式中，所述发送单元702具体用于通过所述业务服务器向所述目标客户端发送所述动态信息。
在一种可能的实现方式中，所述第一消息用于指示所述使能客户端向所述目标客户端上报所述第一信息。
需要说明的是，第一使能服务器中各模块/单元之间的信息交互、执行过程等内容，与本申请中图4、图5和图6对应的各个方法实施例基于同一构思，具体内容可参见本申请前述所示的方法实施例中的叙述，此处不再赘述。
图8为本申请实施例提供的一种业务服务器的结构示意图，包括：
发送单元801，用于向使能服务器发送请求消息，所述请求消息用于获取目标客户端关联的动态信息；
接收单元802，用于接收所述动态信息。
在一个可能的实现方式中，所述目标客户端关联的动态信息包括第一动态信息或第二动态信息；所述第一动态信息为所述目标客户端的高清地图动态层的动态信息，所述第二动态信息为所述目标客户端的高清地图信息。
在一种可能的实现方式中，所述请求信息中携带以下信息的至少一种：所述目标客户端的目标区域的信息；或所述目标客户端的标识和范围信息；或所述目标客户端的标识和所述目标客户端的辅助信息。
在一种可能的实现方式中，所述业务服务器还包括获取单元803，所述获取单元803具体用于根据所述第一动态信息获得所述第二动态信息。
在一种可能的实现方式中，所述发送单元801还用于向所述目标客户端发送所述动态信息或所述第二动态信息。
需要说明的是，业务服务器中各模块/单元之间的信息交互、执行过程等内容，与本申请中图4、图5和图6对应的各个方法实施例基于同一构思，具体内容可参见本申请前述所示的方法实施例中的叙述，此处不再赘述。
图9为本申请实施例提供的一种目标客户端的结构示意图，包括：
接收单元901，用于接收使能客户端的第一信息；
处理单元902，用于根据所述第一信息，获得所述目标客户端关联的动态信息，所述第一信息包括所述使能客户端的本地动态信息。
在一个可能的实现方式中，所述目标客户端关联的动态信息包括第一动态信息或第二 动态信息；所述第一动态信息为所述目标客户端的高清地图动态层的动态信息，所述第二动态信息为所述目标客户端的高清地图信息。
在一种可能的实现方式中，所述处理单元902具体用于根据所述第一信息和第二信息，获得所述动态信息；其中，所述第二信息用于指示所述目标客户端的本地动态信息。
在一种可能的实现方式中，所述处理单元902还用于根据所述第一动态信息获得所述第二动态信息。
在一种可能的实现方式中，所述目标客户端还包括发送单元903，用于向业务客户端发送所述第一动态信息或所述第二动态信息。
需要说明的是，目标客户端中各模块/单元之间的信息交互、执行过程等内容，与本申请中图4、图5和图6对应的各个方法实施例基于同一构思，具体内容可参见本申请前述所示的方法实施例中的叙述，此处不再赘述。
请参阅图10，本申请实施例中第一使能服务器的一个实施例，可以包括一个或一个以上中央处理器1001，存储器1002，通信接口1003。
存储器1002可以是短暂存储或持久存储。更进一步地，中央处理器1001可以配置为与存储器1002通信，在第一使能服务器上执行存储器1002中的一系列指令操作。
本实施例中，中央处理器1001可以执行前述图4、图5或图6所示实施例中第一使能服务器所执行操作，具体此处不再赘述。
本实施例中，中央处理器1001中的具体功能模块划分可以与前述图7中所描述的获取单元、接收单元、确定单元等单元的功能模块划分方式类似，此处不再赘述。
请参阅图11，本申请实施例中业务服务器一个实施例可以包括一个或一个以上中央处理器1101，存储器1102，通信接口1103。
存储器1102可以是短暂存储或持久存储。更进一步地，中央处理器1101可以配置为与存储器1102通信，在业务服务器上执行存储器1102中的一系列指令操作。
本实施例中，中央处理器1101可以执行前述图4、图5或图6所示实施例中业务服务器所执行信号处理的操作，具体此处不再赘述。
本实施例中，中央处理器1101中的具体功能模块划分可以与前述图8中所描述的发送单元、接收单元、获得单元等单元的功能模块划分方式类似，此处不再赘述。
请参阅图12，本申请实施例中终端设备的一个实施例，可以包括一个或一个以上中央处理器1201，存储器1202，通信接口1203。
存储器1202可以是短暂存储或持久存储。更进一步地，中央处理器1201可以配置为与存储器1202通信，在终端设备上执行存储器1202中的一系列指令操作。
本实施例中，中央处理器1201可以执行前述图4、图5或图6所示实施例中目标客户端所执行操作，具体此处不再赘述。
本实施例中，中央处理器1201中的具体功能模块划分可以与前述图9中所描述的接收单元、处理单元或发送单元的功能模块划分方式类似，此处不再赘述。
本申请实施例还提供了一种动态信息的获取系统，包括：第一使能服务器、业务客户端和终端设备，第一使能服务器为上述图7所示实施例任意一种可能的实现方式所述的第 一使能服务器；业务服务器为上述图8所示实施例任意一种可能的实现方式所述的业务服务器；终端设备为上述图8所示实施例任意一种可能的实现方式所述的目标客户端。
本申请实施例还提供了一种芯片或者芯片系统，该芯片或者芯片系统包括至少一个处理器和通信接口，通信接口和至少一个处理器通过线路互联，至少一个处理器用于运行计算机程序或指令，以进行图4、图5或图6实现方式中任一项所描述的一种动态信息的获取方法；
其中，芯片中的通信接口可以为输入/输出接口、管脚或电路等。
在一种可能的实现中，本申请中上述描述的芯片或者芯片系统还包括至少一个存储器，该至少一个存储器中存储有指令。该存储器可以为芯片内部的存储单元，例如，寄存器、缓存等，也可以是该芯片的存储单元(例如，只读存储器、随机存取存储器等)。
本申请实施例还提供了一种计算机存储介质，该计算机存储介质用于储存为上述第一使能服务器、业务服务器、目标客户端的计算机软件指令，其包括用于执行为第一使能服务器、业务服务器、目标客户端所设计的程序。
该第一使能服务器可以如前述图7所描述的第一使能服务器。
该业务服务器可以如前述图8所描述的业务服务器。
本申请实施例还提供了一种计算机程序产品，该计算机程序产品包括计算机软件指令，该计算机软件指令可通过处理器进行加载来实现上述图4至图6中任意一项的动态信息获取方法中的流程。
在上述实施例中，可以全部或部分地通过软件、硬件、固件或者其任意组合来实现。当使用软件实现时，可以全部或部分地以计算机程序产品的形式实现。
所述计算机程序产品包括一个或多个计算机指令。在计算机上加载和执行所述计算机程序指令时，全部或部分地产生按照本申请所述的流程或功能。所述计算机可以是通用计算机、专用计算机、计算机网络、或者其他可编程装置。所述计算机指令可以存储在计算机可读存储介质中，或者从一个计算机可读存储介质向另一计算机可读存储介质传输，例如，所述计算机指令可以从一个网站站点、计算机、服务器或数据中心通过有线(例如同轴电缆、光纤、数字用户线(Digital Subscriber Line，DSL))或无线(例如红外、无线、微波等)方式向另一个网站站点、计算机、服务器或数据中心进行传输。所述计算机可读存储介质可以是计算机能够存储的任何可用介质或者是包含一个或多个可用介质集成的服务器、数据中心等数据存储设备。所述可用介质可以是磁性介质，(例如，软盘、硬盘、磁带)、光介质(例如，DVD)、或者半导体介质(例如固态硬盘Solid State Disk(SSD))等。
所属领域的技术人员可以清楚地了解到，为描述的方便和简洁，上述描述的系统，装置和单元的具体工作过程，可以参考前述方法实施例中的对应过程，在此不再赘述。
在本申请所提供的几个实施例中，应该理解到，所揭露的系统，装置和方法，可以通过其它的方式实现。例如，以上所描述的装置实施例仅仅是示意性的，例如，所述单元的划分，仅仅为一种逻辑功能划分，实际实现时可以有另外的划分方式，例如多个单元或组件可以结合或者可以集成到另一个系统，或一些特征可以忽略，或不执行。另一点，所显 示或讨论的相互之间的耦合或直接耦合或通信连接可以是通过一些接口，装置或单元的间接耦合或通信连接，可以是电性，机械或其它的形式。
所述作为分离部件说明的单元可以是或者也可以不是物理上分开的，作为单元显示的部件可以是或者也可以不是物理单元，即可以位于一个地方，或者也可以分布到多个网络单元上。可以根据实际的需要选择其中的部分或者全部单元来实现本实施例方案的目的。
另外，在本申请各个实施例中的各功能单元可以集成在一个处理单元中，也可以是各个单元单独物理存在，也可以两个或两个以上单元集成在一个单元中。上述集成的单元既可以采用硬件的形式实现，也可以采用软件功能单元的形式实现。
所述集成的单元如果以软件功能单元的形式实现并作为独立的产品销售或使用时，可以存储在一个计算机可读取存储介质中。基于这样的理解，本申请的技术方案本质上或者说对现有技术做出贡献的部分或者该技术方案的全部或部分可以以软件产品的形式体现出来，该计算机软件产品存储在一个存储介质中，包括若干指令用以使得一台计算机设备(可以是个人计算机，服务器，或者网络设备等)执行本申请各个实施例所述方法的全部或部分步骤。而前述的存储介质包括：U盘、移动硬盘、只读存储器(ROM，read-only memory)、随机存取存储器(RAM，random access memory)、磁碟或者光盘等各种可以存储程序代码的介质。

Claims (33)

  1. 一种动态信息的获取方法，其特征在于，所述方法包括：
    第一使能服务器获取目标客户端的目标区域内的使能客户端的信息；
    所述第一使能服务器向所述使能客户端发送第一消息，所述第一消息用于所述使能客户端上报第一信息；
    其中，所述第一信息包括所述使能客户端的本地动态信息，所述第一信息用于获得所述目标客户端关联的动态信息。
  2. 根据权利要求1所述的方法，其特征在于，所述目标客户端关联的动态信息包括第一动态信息或第二动态信息；所述第一动态信息为所述目标客户端的高清地图动态层的动态信息，所述第二动态信息为所述目标客户端的高清地图信息。
  3. 根据权利要求1至2任一项所述的方法，其特征在于，所述方法还包括：
    所述第一使能服务器接收来自业务服务器的所述目标区域的信息。
  4. 根据权利要求1至2任一项所述的方法，其特征在于，所述方法还包括：
    所述第一使能服务器接收来自业务服务器的所述目标客户端的标识和所述目标客户端的范围信息；
    所述第一使能服务器根据所述目标客户端的标识和所述范围信息，确定所述目标区域。
  5. 根据权利要求1至2任一项所述的方法，其特征在于，所述方法还包括：
    所述第一使能服务器接收来自所述业务服务器的所述目标客户端的标识和所述目标客户端的辅助信息；
    所述第一使能服务器根据所述目标客户端的标识和所述辅助信息，确定所述目标区域。
  6. 根据权利要求5所述的方法，其特征在于，所述辅助信息包括：所述目标客户端参与的业务类型、所述目标客户端对应的传感器测量范围、所述目标客户端对应的终端设备的能力信息、所述目标客户端的速度、所述目标客户端的方向和所述目标客户端的规划路径中的至少一项。
  7. 根据权利要求1至6任一项所述的方法，其特征在于，所述方法还包括：
    所述第一使能服务器接收更新策略，所述更新策略用于更新所述动态信息。
  8. 根据权利要求1至7任一项所述的方法，其特征在于，所述第一使能服务器获取目标客户端的目标区域内的使能客户端的信息，包括：
    所述第一使能服务器向位置管理服务器发送第一请求消息，所述第一请求消息包括所述目标区域的信息；
    所述第一使能服务器接收来自所述位置管理服务器的所述目标区域内的所述使能客户端的信息。
  9. 根据权利要求1至7任一项所述的方法，其特征在于，所述第一使能服务器获取目标客户端的目标区域内的使能客户端的信息，包括：
    所述第一使能服务器从第二使能服务器获取位于所述目标区域内的使能客户端的信息。
  10. 根据权利要求1至9任一项所述的方法，其特征在于，所述第一消息包括所述第 一信息的上报策略；所述第一使能服务器向所述使能客户端发送第一消息，包括：
    所述第一使能服务器根据所述更新策略，向所述使能客户端发送所述第一消息，其中，所述上报策略与所述更新策略关联。
  11. 根据权利要求1至10任一项所述的方法，其特征在于，所述第一消息用于指示所述使能客户端向所述使能服务器上报所述第一信息，所述方法还包括：
    所述第一使能服务器接收所述第一信息，并根据所述第一信息向所述目标客户端发送所述动态信息。
  12. 根据权利要求11所述的方法，其特征在于，所述第一使能服务器根据所述第一信息向所述目标客户端发送所述动态信息，包括：
    所述使能服务器通过所述业务服务器向所述目标客户端发送所述动态信息。
  13. 根据权利要求1至10任一项所述的方法，其特征在于，所述第一消息用于指示所述使能客户端向所述目标客户端上报所述第一信息。
  14. 一种动态信息的获取方法，其特征在于，所述方法包括：
    第一使能服务器向位置管理服务器发送订阅请求，所述订阅请求包括所述目标客户端的标识和所述目标客户端对应的范围信息，所述订阅请求用于订阅所述目标客户端对应的使能客户端的信息；
    所述第一使能服务器接收来自所述位置管理服务器的所述使能客户端的信息；
    所述第一使能服务器向所述使能客户端发送第一消息，所述第一消息用于所述使能客户端上报第一信息；
    其中，所述第一信息包括所述使能客户端的本地动态信息，所述第一信息用于获得所述目标客户端关联的动态信息。
  15. 一种动态信息的获取方法，其特征在于，所述方法包括：
    业务服务器向使能服务器发送请求消息，所述请求消息用于获取目标客户端关联的动态信息；
    所述业务服务器接收所述动态信息。
  16. 根据权利要求15所述的方法，其特征在于，所述动态信息包括第一动态信息或第二动态信息；所述第一动态信息为所述目标客户端的高清地图动态层的动态信息，所述第二动态信息为所述目标客户端的高清地图信息。
  17. 根据权利要求15至16任一项所述的方法，其特征在于，所述请求信息中携带以下信息的至少一种：
    所述目标客户端的目标区域的信息；或
    所述目标客户端的标识和范围信息；或
    所述目标客户端的标识和所述目标客户端的辅助信息。
  18. 根据权利要求15至17任一项所述的方法，其特征在于，所述方法还包括：
    所述业务服务器根据所述第一动态信息获得所述第二动态信息。
  19. 根据权利要求15至18任一项所述的方法，其特征在于，所述方法还包括：
    所述业务服务器向所述目标客户端发送所述第一动态信息或所述第二动态信息。
  20. 一种动态信息的获取方法，其特征在于，所述方法包括：
    目标客户端接收使能客户端的第一信息；
    所述目标客户端根据所述第一信息，获得所述目标客户端关联的动态信息，所述第一信息包括所述使能客户端的本地动态信息。
  21. 根据权利要求20所述的方法，其特征在于，所述动态信息包括第一动态信息或第二动态信息；所述第一动态信息为所述目标客户端的高清地图动态层的动态信息，所述第二动态信息为所述目标客户端的高清地图信息。
  22. 根据权利要求20至21任一项所述的方法，其特征在于，所述目标客户端根据所述第一信息，获得所述目标客户端关联的动态信息，包括：
    所述目标客户端根据所述第一信息和第二信息，获得所述动态信息；其中，所述第二信息为所述目标客户端的本地动态信息。
  23. 根据权利要求20至22任一项所述的方法，其特征在于，所述方法还包括：
    所述目标客户端根据所述第一动态信息，获得所述第二动态信息。
  24. 根据权利要求20至23任一项所述的方法，其特征在于，所述方法还包括：
    所述目标客户端向业务客户端发送所述第一动态信息或所述第二动态信息。
  25. 一种第一使能服务器，其特征在于，所述第一使能服务器包括：
    获取单元，用于获取目标客户端的目标区域内的使能客户端的信息；
    发送单元，用于向所述使能客户端发送第一消息，所述第一消息用于所述使能客户端上报第一信息；
    其中，所述第一信息包括所述使能客户端的本地动态信息，所述第一信息用于获得所述目标客户端关联的动态信息。
  26. 一种业务服务器，其特征在于，所述业务服务器包括：
    发送单元，用于向使能服务器发送请求消息，所述请求消息用于获取目标客户端关联的动态信息；
    接收单元，用于接收所述动态信息。
  27. 一种目标客户端，其特征在于，所述目标客户端包括：
    接收单元，用于接收使能客户端的第一信息；
    处理单元，用于根据所述第一信息，获得所述目标客户端关联的动态信息，所述第一信息包括所述使能客户端的本地动态信息。
  28. 一种第一使能服务器，其特征在于，包括处理器，所述处理器与存储器耦合；
    所述存储器，用于存储程序；
    所述处理器，用于执行所述存储器中的程序，使得所述第一使能服务器执行如权利要求1至14中任一项所述的方法。
  29. 一种业务服务器，其特征在于，包括处理器，所述处理器与存储器耦合；
    所述存储器，用于存储程序；
    所述处理器，用于执行所述存储器中的程序，使得所述业务服务器执行如权利要求15至19中任一项所述的方法。
  30. 一种终端设备，其特征在于，包括处理器，所述处理器与存储器耦合；
    所述存储器，用于存储程序；
    所述处理器，用于执行所述存储器中的程序，使得所述终端设备执行如权利要求20至24中任一项所述的方法。
  31. 一种动态信息的获取系统，其特征在于，包括第一使能服务器、业务客户端和终端设备；所述第一使能服务器为上述权利要求28所述的第一使能服务器，所述业务服务器为上述权利要求29所述的业务服务器，所述终端设备为上述权利要求30所述的终端设备。
  32. 一种存储一个或多个计算机执行指令的计算机可读存储介质，其特征在于，当所述计算机执行指令被处理器执行时，所述处理器执行如上述权利要求1至24任一项所述的方法。
  33. 一种存储一个或多个计算机执行指令的计算机程序产品，其特征在于，当所述计算机执行指令被所述处理器执行时，所述处理器执行如上述权利要求1至24任一项所述的方法。
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