WO2023185103A1 - 信息发送方法、信息接收方法及相关装置、系统 - Google Patents

信息发送方法、信息接收方法及相关装置、系统 Download PDF

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Publication number
WO2023185103A1
WO2023185103A1 PCT/CN2022/139418 CN2022139418W WO2023185103A1 WO 2023185103 A1 WO2023185103 A1 WO 2023185103A1 CN 2022139418 W CN2022139418 W CN 2022139418W WO 2023185103 A1 WO2023185103 A1 WO 2023185103A1
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WIPO (PCT)
Prior art keywords
information
data packet
coordinate
roadside
coordinate system
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PCT/CN2022/139418
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English (en)
French (fr)
Inventor
费雯凯
蒋言
刘建琴
伍勇
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华为技术有限公司
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Publication of WO2023185103A1 publication Critical patent/WO2023185103A1/zh

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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
    • G01S5/02—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
    • H04L63/00—Network architectures or network communication protocols for network security
    • H04L63/04—Network architectures or network communication protocols for network security for providing a confidential data exchange among entities communicating through data packet networks
    • H04L63/0428—Network architectures or network communication protocols for network security for providing a confidential data exchange among entities communicating through data packet networks wherein the data content is protected, e.g. by encrypting or encapsulating the payload
    • 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
    • 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
    • H04L67/50—Network services
    • H04L67/52—Network services specially adapted for the location of the user terminal
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
    • H04L9/00—Cryptographic mechanisms or cryptographic arrangements for secret or secure communications; Network security protocols
    • H04L9/40—Network security protocols
    • 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
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/12—Messaging; Mailboxes; Announcements
    • 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]
    • 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]

Definitions

  • the present application relates to the field of intelligent transportation, and more specifically, to information sending methods, information receiving methods and related devices and systems.
  • ITS intelligent transportation system
  • This application provides information sending methods, information receiving methods and related devices and systems, with a view to transmitting high-precision location information safely and accurately.
  • this application provides an information sending method, which can be executed by the first roadside device, or can also be executed by components (such as chips, chip systems, etc.) configured in the first roadside device, Alternatively, it can also be implemented by a logic module or software that can realize all or part of the functions of the first roadside device, which is not limited in this application.
  • the method includes: sending a first data packet to the server, the first data packet being used to determine first coordinate conversion information, the first coordinate conversion information being used to convert between the first coordinate system and the second coordinate system. Perform coordinate conversion; generate first position information of the first position point based on the first coordinate system; send a second data packet, the second data packet carrying the above-mentioned first position information.
  • first roadside equipment and its corresponding first coordinate conversion information, first location point, first location information, etc. are only defined for convenience of distinction and explanation. Without loss of generality, the information transmission provided in this application The method can be applied to any roadside device.
  • the first coordinate system may be a local coordinate system of a device with a relatively fixed position (such as a first roadside device).
  • each roadside device may correspond to a local coordinate system, such as a coordinate system based on which a sensing device within the roadside device collects data or processes data.
  • the local coordinate system of the first roadside equipment is recorded as the first coordinate system.
  • the second coordinate system may be a global coordinate system, such as a geographical coordinate system, a geodetic coordinate system, etc.
  • the second coordinate system is the 1984 world geodetic system-1984 coordinated system (WGS-84) coordinate system.
  • the first location point is the location point that needs to be reported by the first roadside device.
  • the first data packet may be sent by the roadside device using a point-to-point sending method to send the first data packet to the server.
  • the roadside device may encrypt the first data packet and then send it to the server.
  • the second data packet may be sent by the roadside device through broadcasting, that is, any other roadside device, any terminal device, and any server that has a communication connection with the roadside device can receive the second data. Bag.
  • the first data packet can be sent through the Uu port or optical fiber between the roadside device and the server, and the second data packet can be sent through the PC5 port.
  • the first data packet in the first aspect may, for example, correspond to the data packet A exemplified below with reference to FIG. 4
  • the second data packet in the first aspect may, for example, correspond to the data packet B exemplified below with reference to FIG. 4 .
  • the first roadside device uses the first coordinate system of the first roadside device with a relatively fixed position as a reference, the first roadside device converts the position information of the location point into first position information relative to the first coordinate system and sends it through the second data packet. ;
  • the first roadside device sends data that can be used to determine the first coordinate conversion information between the first coordinate system and the second coordinate system to the server through the first data packet.
  • the device that receives the first location information can parse the first location information based on the first coordinate conversion information, thereby obtaining the coordinates of the first location point in the second coordinate system.
  • the position information and the coordinate conversion information are transmitted using two different data packets, that is, two channels are used for transmission, and the position information and the coordinate conversion information are not coordinates in the second coordinate system, the position information and the coordinate conversion information are not There is no need for deflection, which will not cause any loss in the accuracy of location information. At the same time, it also takes into account the compliance and data security of high-precision location information. In addition, it can also reduce the amount of data transmission of location information and save bandwidth.
  • the first coordinate conversion information may be generated by the first roadside device or may be generated by the server. Therefore, the information carried in the first data packet sent by the first roadside device to the server may have the following two possible designs.
  • the first data packet carries first coordinate conversion information.
  • the first roadside device can generate the first coordinate conversion information by itself, and carry the first coordinate conversion information used for coordinate conversion between the first coordinate system and the second coordinate system in the first data packet. Sent to the server, so that the server can directly parse the first location information based on the first coordinate conversion information without having to determine the first coordinate conversion information, which is beneficial to improving the efficiency of the server in parsing location information.
  • the first data packet carries original data
  • the original data is data collected based on the first coordinate system and is used to determine the first coordinate transformation information.
  • the original data may include, but is not limited to, point cloud data collected by the lidar sensor or radar sensor in the first roadside device, image data collected by the visual sensor, etc.
  • the first roadside device can carry the original data in the first data packet and send it to the server, and the server determines the first coordinate transformation information based on the original data. Therefore, for the first roadside device, there is no need to determine the first coordinate transformation information locally, but the calculation is transferred to a server with strong computing power, which reduces the computing pressure on the first roadside device. At the same time, since the first roadside device does not directly transmit the first coordinate conversion information, but transmits original data, it can also prevent the leakage of the first coordinate conversion information and ensure data security.
  • the server determines the design of the first coordinate conversion information. Further, the method further includes: receiving the first coordinate conversion information from the server.
  • the roadside device may be equipped with multiple sensors, and each sensor may correspond to a different coordinate system, the roadside device may also need to Use the above coordinate conversion information.
  • the server After the server determines the coordinate conversion information based on the original data, the server can send the first coordinate conversion information to the first roadside device, so that the first roadside device generates location information.
  • the second data packet further carries a version number of the coordinate transformation parameter used to generate the location information.
  • the second data packet carries the version number of the coordinate transformation parameter, so that the device that receives the second data packet can obtain the coordinate transformation parameter of the corresponding version based on the version number, or the coordinate transformation of a version that is compatible with the version number.
  • Parameters use the correct version of the coordinate conversion parameters to parse the first position information, thereby achieving high-precision parsing of the position information.
  • the sending frequency of the second data packet is higher than the sending frequency of the first data packet.
  • the following provides two implementation methods for the first roadside device to send the first data packet and the second data packet.
  • the first data packet is a data packet sent with a first preset duration as a period
  • the second data packet is a data packet sent with a second preset duration as a period. The duration is longer than the second preset duration.
  • Another possible implementation is that the second data packet is sent after the coordinate transformation information in the first data packet is successfully obtained.
  • the server may return a reception confirmation message to the first roadside device. After the first roadside device receives the reception confirmation information, it will no longer send the first data. Bag.
  • the first coordinate conversion information carried in the first data packet is updated less frequently.
  • the first location point that needs to be reported changes frequently, and the first location information of the first location point carried in the second data packet is updated more frequently. Therefore, the sending frequency of the second data packet is higher than the sending frequency of the first data packet, which can meet actual needs and at the same time save signaling overhead.
  • the method further includes: obtaining second coordinate conversion information, the second coordinate conversion information being used to convert between the second coordinate system and the third coordinate system. Perform coordinate conversion; receive a third data packet carrying second position information, where the second position information is the position information of the second position point generated based on the third coordinate system; convert the information according to the second position information and the second coordinate , determine the coordinates of the second position point in the second coordinate system.
  • the third data packet may be a data packet from other roadside devices and/or terminal devices, and the third data packet may carry second location information of the second location information.
  • the third data packet may be a data packet sent by other roadside devices and/or terminal devices to the server, and then forwarded by the server to the first roadside device; it may also be a data packet that the first roadside device directly receives from other roadside devices. and/or packets received by the end device. This application does not limit this.
  • the first roadside device can obtain more comprehensive road condition information, which is beneficial to obtaining reasonable path planning.
  • the first roadside device directly receives the fourth data packet from other roadside devices and/or terminal devices, and can determine the second coordinate conversion information based on the fourth data packet.
  • the obtaining the second coordinate transformation information includes: receiving a fourth data packet, the fourth data packet being used to determine the second coordinate transformation information; and determining the second coordinate transformation information based on the fourth data packet. Coordinate conversion information.
  • the first roadside device receives correspondence information from the server, and obtains the second coordinate conversion information from the correspondence information.
  • the third data packet carries information of a second roadside device, corresponding to the second coordinate conversion information
  • obtaining the second coordinate conversion information includes: receiving correspondence information from the server, so
  • the correspondence relationship information is used to indicate the correspondence relationship between roadside equipment and coordinate conversion information
  • the roadside equipment includes a second roadside equipment
  • the coordinate conversion relationship includes a second coordinate conversion relationship
  • the information of the side device and the corresponding relationship information are used to determine the second coordinate conversion information.
  • third data packet may, for example, correspond to the data packet C exemplified below in connection with FIG. 4
  • fourth data packet may, for example, correspond to the data packet D exemplified below in connection with FIG. 4 .
  • this application provides an information receiving method.
  • This method can be executed by a server, or it can also be executed by components (such as chips, chip systems, etc.) configured in the server, or it can also be executed by a server that can realize all Or the logic module or software implementation of some server functions, which is not limited by this application.
  • the method includes: receiving a first data packet from a first roadside device; and determining, based on the first data packet, a first coordinate transformation for coordinate transformation between the first coordinate system and the second coordinate system. information; receiving a second data packet from the roadside device, the second data packet carrying the first position information of the first position point generated based on the first coordinate system; determining based on the first coordinate conversion information and the first position information The coordinates of the first position point in the second coordinate system.
  • the first data packet in the second aspect may, for example, correspond to the data packet A exemplified below with reference to FIG. 4
  • the second data packet in the second aspect may, for example, correspond to the data packet B exemplified below with reference to FIG. 4 .
  • first roadside equipment and its corresponding first coordinate conversion information, first location point, first location information, etc. are only defined for convenience of distinction and explanation. Without loss of generality, the information transmission provided in this application The method can be applied to any roadside device.
  • the roadside device carries the coordinate conversion information or the original data and location information used to determine the coordinate conversion information in different data packets and sends them.
  • the server can determine the first coordinate conversion information based on the first data packet to parse the second data packet.
  • the first position information is used to obtain the coordinates of the first position point in the second coordinate system.
  • the first coordinate conversion information may be generated by the first roadside device or may be generated by the server. Therefore, the information carried in the first data packet received by the server can have the following two possible designs.
  • the first data packet carries first coordinate conversion information.
  • the server After receiving the first coordinate conversion information, the server can directly parse the first location information based on the first coordinate conversion information without having to determine the first coordinate conversion information, which is beneficial to improving the efficiency of the server in parsing location information.
  • the first data packet carries original data
  • the original data is data collected by the first roadside device based on the first coordinate system.
  • the method further includes: determining the first coordinate transformation information based on the original data.
  • the server determines the first coordinate conversion information based on the original data, leakage of the first coordinate conversion information can be prevented and data security is ensured.
  • the first roadside device does not need to determine the first coordinate transformation information locally, but transfers the calculation to a server with strong computing power, the calculation pressure of the first roadside device is reduced.
  • the server determines the design of the first coordinate conversion information. Further, the method further includes: sending the first coordinate conversion information to the first roadside device.
  • the first roadside device may be equipped with multiple sensors, and each sensor may correspond to a different coordinate system, when the first roadside device generates position information (for example, including but not limited to the above-mentioned first position information), it may It is also necessary to use the above-mentioned first coordinate conversion information.
  • the server may send the first coordinate conversion information to the first roadside device, so that the first roadside device generates location information.
  • the method further includes: determining a first coordinate transformation parameter according to the first coordinate transformation information; when the first coordinate transformation parameter is different from the local When storing the second coordinate transformation parameter regarding the first roadside device, the locally stored second coordinate transformation parameter is replaced with the first coordinate transformation parameter.
  • first coordinate transformation parameter may correspond to the coordinate transformation parameter A in the process illustrated below with reference to FIG. 4
  • second coordinate conversion parameter may correspond to the coordinate transformation parameter B in the process illustrated below with reference to FIG. 4 .
  • the first data packet may also carry the version of the coordinate conversion parameter.
  • the version of the coordinate conversion parameter can be a version number, timestamp, update time, update indication flag bit or other information that can be used to indicate the version.
  • the server replaces the locally stored coordinate transformation parameters by saving the received coordinate transformation parameters so that the locally stored coordinate transformation information can be used for updating. Accurately parse the location information; when the two are consistent, there is no need to save the received coordinate transformation parameters, and the coordinate transformation parameters stored locally on the server can still be used as the latest coordinate transformation parameters. Since the server determines whether to update the locally stored coordinate transformation parameters by comparing the received coordinate transformation parameters with the locally stored coordinate transformation parameters, this ensures that the server's locally stored coordinate transformation parameters are always the latest coordinate transformation parameters, so that it can be used The latest coordinate conversion parameters are used to analyze location information to ensure high-precision analysis of location information.
  • the second data packet also carries the version number of the first coordinate transformation parameter used to generate the first position information; the method further includes: If the coordinate conversion parameter corresponding to the version number is not obtained, a request message is sent to the first roadside device to request to obtain the coordinate conversion parameter corresponding to the version number.
  • each updated coordinate transformation parameter may correspond to a version number. Since the coordinate transformation parameter is part of the coordinate transformation information, the coordinate transformation information to which the coordinate transformation parameter belongs also corresponds to a version number.
  • the server can determine whether the corresponding version of the coordinate conversion parameter is stored locally based on the version number, thereby ensuring that the correct version of the coordinate conversion parameter is used to parse the location information, that is, High-precision analysis of location information can be achieved.
  • the method further includes: sending correspondence information to the terminal device and/or the roadside device, the correspondence information being used to indicate the coordinates of the roadside device and the Correspondence between converted information.
  • the correspondence information may include a correspondence between the first identification of the first roadside equipment and the first coordinate conversion information, and a correspondence between the information of the first roadside equipment and the first identification of the first roadside equipment. ; Alternatively, the correspondence information may also include the correspondence between the information of the first roadside equipment, the first identification of the first roadside equipment, and the first coordinate conversion information. This application includes but is not limited to.
  • the server sends the correspondence information to the terminal device and/or the roadside device, so that the terminal device and/or the roadside device can obtain the required information from the correspondence information according to the information of the roadside device (such as the first roadside device).
  • the coordinate conversion information can then be used to analyze the position information.
  • the reception frequency of the second data packet is higher than the reception frequency of the first data packet.
  • the following provides two implementation methods for the server to receive the first data packet and the second data packet.
  • the first data packet is a data packet received with a first preset duration as a period
  • the second data packet is a data packet received with a second preset duration as a period. The duration is longer than the second preset duration.
  • Another possible implementation is that the second data packet is received after the first coordinate transformation information in the first data packet is successfully obtained.
  • the server may return a reception confirmation message to the first roadside device. After the first roadside device receives the reception confirmation information, it will no longer send the first data. Bag.
  • the reception frequency of the second data packet is higher than the reception frequency of the first data packet, which can meet actual needs and at the same time save signaling overhead.
  • the method further includes: receiving a third data packet, the third data packet being used to determine the distance between the second coordinate system and the third coordinate system. second coordinate conversion information; receiving a fourth data packet carrying second position information, the second position information being position information of a second position point generated based on the third coordinate system; sending a fourth data packet.
  • the server may also receive data from other roads.
  • the side device and/or the terminal device uses a third data packet to determine the second coordinate transformation information and a fourth data packet carrying the second location information.
  • the server can determine the second coordinate transformation information based on the third data packet for analysis.
  • the second location information in the fourth data packet is used to perform reasonable planning control.
  • the server can also forward the fourth data packet, so that the device that receives the fourth data packet can obtain more comprehensive traffic information, which is beneficial to obtaining reasonable path planning.
  • third data packet may, for example, correspond to the data packet D exemplified below in connection with FIG. 4
  • fourth data packet may, for example, correspond to the data packet C exemplified below in connection with FIG. 4 .
  • this application provides an information receiving method, which can be executed by a terminal device or other roadside device (such as a second roadside device), or can also be configured in the terminal device or other roadside device. It can be executed by components (such as chips, chip systems, etc.), or it can also be implemented by logic modules or software that can realize all or part of the functions of terminal equipment or other roadside equipment, which is not limited in this application.
  • the roadside device that sends the first location information of the first location point in the first to second aspects is here referred to as the first roadside device.
  • the coordinate conversion information sent by the first roadside device can be recorded as the first coordinate conversion information; the roadside device that can receive the position information from the first roadside device can be recorded as the second roadside device.
  • the method includes: receiving a first data packet from the first roadside device, the first data packet carrying first location information of the first location point generated based on the first coordinate system; obtaining the first location information corresponding to the first location point generated based on the first coordinate system; First coordinate conversion information of the roadside equipment, the first coordinate conversion information is used to perform coordinate conversion between the first coordinate system and the second coordinate system; based on the first coordinate conversion information and the first position information, the first position point is determined Coordinates in the second coordinate system.
  • the first data packet in the third aspect may, for example, correspond to the data packet B exemplified below in conjunction with FIG. 4 .
  • the terminal device and/or the second roadside device may obtain the first coordinate conversion information from the server, and parse the first location information in the first data packet received from the first roadside device according to the first coordinate conversion information. , therefore, the terminal device and/or the second roadside device can determine the coordinates of the first location point in the second coordinate system.
  • the position information and the coordinate conversion information are transmitted using two different transmission channels, and the position information and the coordinate conversion information are not coordinates in the second coordinate system, the position information and the coordinate conversion information do not need to be deflected. It will not cause any loss in the accuracy of location information, while taking into account the compliance and data security of high-precision location information. In addition, it can also reduce the amount of data transmission of location information and save bandwidth.
  • the second roadside device or terminal device can directly receive the second data packet from the first roadside device, and can determine the second coordinate transformation information based on the second data packet.
  • the obtaining the first coordinate conversion information corresponding to the first roadside device includes: receiving a second data packet; and determining the first coordinate conversion information based on the second data packet.
  • the second data packet in the third aspect may be, for example, the data packet A exemplified below in conjunction with FIG. 4 .
  • the second roadside device or terminal device receives correspondence information from the server, and obtains the first coordinate conversion information from the correspondence information.
  • the first data packet also carries information about the first roadside device.
  • the obtaining the first coordinate conversion information corresponding to the first roadside device includes: receiving correspondence relationship information from a server, the The correspondence information is used to indicate the correspondence between roadside equipment and coordinate conversion information, the roadside equipment includes the first roadside equipment, and the coordinate conversion information includes the first coordinate conversion information; based on the first The information and correspondence information of the roadside equipment are used to obtain the first coordinate conversion information.
  • the terminal device and/or the second roadside device that receives the first data packet can identify the first roadside device based on the information about the first roadside device.
  • the device further obtains the corresponding first coordinate conversion information based on the corresponding relationship information.
  • the correspondence information may include at least one pair of correspondences between the first identification of the roadside equipment and the coordinate conversion information, and at least one pair of correspondence between the information of the roadside equipment and the first identification of the roadside equipment; or, The correspondence information may also include at least one pair of correspondence between the information of the roadside equipment, the first identification of the roadside equipment, and the coordinate conversion information. This application includes but is not limited to this.
  • the server can deliver the correspondence information to each device using the map through processes such as map update.
  • the terminal device or the second roadside device that receives the first data packet can find the required coordinate conversion information based on the information of the first roadside device, thereby realizing the analysis of the location information.
  • the first data packet also carries the version number of the coordinate conversion parameter used to generate the first location information; the first coordinate conversion information is obtained based on the information of the first roadside device and the corresponding relationship information, Including: based on the information of the first roadside equipment, determining the version number of the coordinate conversion parameter in the first coordinate conversion information corresponding to the first roadside equipment obtained from the server; in the version number of the coordinate conversion parameter obtained from the server If the version number carried in the first data packet is not compatible, the first coordinate conversion information is re-obtained from the server.
  • the method further includes: sending a third data packet, the third data packet being used to determine the second coordinate system and the third coordinate system second coordinate conversion information between them; sending a fourth data packet carrying second position information, where the second position information is position information of a second position point generated based on the third coordinate system.
  • the second roadside device and the terminal device can also generate a data packet for determining coordinate conversion information and a data packet carrying location information based on the method provided in the first aspect, and use two different secure channel for transmission. Therefore, there is no need to deflect the position information and coordinate conversion information, which will not cause any loss in the accuracy of the position information. At the same time, it also takes into account the compliance and data security of high-precision position information. In addition, it can also reduce the amount of data transmission of position information. , save bandwidth.
  • the server can receive data packets from multiple roadside devices and/or terminal devices to obtain more comprehensive road condition information and conduct reasonable planning and control.
  • the first data packet and the second data packet are transmitted based on different secure channels.
  • the third data packet and the fourth data packet are transmitted based on different secure channels.
  • secure channels can be used to ensure the confidentiality and integrity of the communication process.
  • Different secure channels can adopt different information security protection mechanisms, such as using different certificate mechanisms, authentication mechanisms or encryption mechanisms.
  • the authentication mechanism may include, but is not limited to, authentication methods, authentication algorithms, etc.
  • Encryption mechanisms may include, but are not limited to, encryption algorithms, encryption modes, etc.
  • two secure channels use different versions of digital certificates, or the two channels use different keys and/or different encryption algorithms, etc. This application includes but is not limited to this.
  • For the specific content of the safe channel please refer to the existing technology and will not be repeated here.
  • the first data packet and the second data packet also carry information of the first roadside device, and the information of the first roadside device Corresponds to the first coordinate conversion information.
  • the information of the first roadside equipment includes: the second identification of the first roadside equipment or the location coordinates of the first roadside equipment.
  • the second identification may be a self-reported identification of the first roadside device.
  • the first roadside device generates and reports a self-reported identification by itself, or it can also report its own location information.
  • the information of the first roadside device corresponds to the first identification of the first roadside device.
  • the first identification of the first roadside device may be the identification of the first roadside device in the map, and the first identification may be used to uniquely identify one roadside device in the map.
  • the server may pre-establish a correspondence between the information of the roadside equipment, the first identification of the roadside equipment and the coordinate transformation information.
  • the device that receives the first data packet and/or the second data packet can obtain the information according to the first data packet.
  • the information of the roadside device identifies the first roadside device, and then the corresponding first coordinate conversion information can be quickly obtained from the above correspondence information.
  • this application provides an information sending method, which can be executed by the first terminal device, or can also be executed by components (such as chips, chip systems, etc.) configured in the first terminal device, or, It can also be implemented by a logic module or software that can realize all or part of the functions of the first terminal device, which is not limited in this application.
  • first terminal equipment the first roadside equipment and the corresponding first coordinate conversion information are only defined for the convenience of distinction and explanation.
  • the information sending method provided in this application can be applied to any A terminal device.
  • the method includes: obtaining first coordinate conversion information, which is used to perform coordinate conversion between the first coordinate system and the second coordinate system; based on the first coordinate conversion information, and the position point at The coordinates in the second coordinate system generate position information of the position point; send the position information.
  • the first terminal equipment can also select the coordinate system of the roadside equipment with a relatively fixed position as a reference.
  • the first terminal device may select a nearby roadside device, or the first coordinate system of a roadside device that is currently communicating with itself as a reference. For example, the first coordinate system of the first roadside equipment is selected as the reference.
  • location information in the fourth aspect may correspond to the location information C exemplified below in conjunction with FIG. 6 .
  • the first terminal device When the first terminal device recognizes the position point, it converts the coordinates of the position point in its own coordinate system to the coordinates of the target position point in the second coordinate system. In order to ensure the security of information transmission, the terminal device converts the coordinates of the location point in the second coordinate system to the coordinates of the selected fixed first roadside device in the first coordinate system, thereby generating the location point location information.
  • the first terminal device uses the first coordinate system of the first roadside device whose position is relatively fixed as a reference to convert the position information of the location point into position information relative to the first coordinate system and send it. Based on the above solution, the device that receives the location information can parse the location information based on the first coordinate conversion information, thereby obtaining the coordinates of the location point in the second coordinate system.
  • the position information is not the coordinates in the second coordinate system, there is no need for deflection, which will not cause any loss in the accuracy of the position information.
  • the compliance and data security of high-precision position information are taken into account, and the data of the position information can also be reduced. Transmission volume, saving bandwidth.
  • sending the location information includes: sending a first data packet, the first data packet carrying the location information.
  • the first data packet in the fourth aspect may correspond to the data packet E exemplified below in conjunction with FIG. 6 .
  • obtaining the first coordinate conversion information includes: receiving correspondence information from a server, the correspondence information being used to indicate the roadside equipment and the coordinate conversion information based on the information of the first roadside equipment, obtain the first coordinate conversion information, and the first coordinate conversion information corresponds to the first roadside equipment.
  • the server Since the server has pre-stored the correspondence information, the server can deliver the correspondence information to each device using the map through processes such as map update.
  • the first terminal device needs to send location information, it can find the required coordinate conversion information based on the information of the selected fixed-position roadside device, thereby realizing the generation of high-precision location information and taking into account high-precision location information. Compliance and data security for precise location information.
  • obtaining the first coordinate transformation information includes: receiving a second data packet from the first roadside device, the second data packet being used to determine The first coordinate conversion information.
  • the present application provides an information receiving method, which can be performed by a roadside device or other terminal device (such as a second terminal device), or can also be performed by a device configured in the roadside device or other terminal device. It can be executed by components (such as chips, chip systems, etc.), or it can also be implemented by logic modules or software that can realize all or part of the functions of roadside equipment or other terminal equipment, which is not limited in this application. It should be understood that the roadside equipment may be any one of multiple roadside equipments, and may be the first roadside equipment or the second roadside equipment.
  • the method includes: receiving location information from the first terminal device, where the location information is information for generating a location point based on the first coordinate system; and obtaining first coordinate transformation information, which is used to generate the location point in the first coordinate system. Coordinate conversion is performed between a first coordinate system and a second coordinate system; based on the first coordinate conversion information and position information, the coordinates of the position point in the second coordinate system are determined.
  • location information in the fifth aspect may correspond to the location information C exemplified below in conjunction with FIG. 6 .
  • the first terminal device sends the position information generated based on the first coordinate system.
  • the roadside equipment and/or other terminal equipment can parse the location information according to the first coordinate conversion information, thereby obtaining the coordinates of the location point in the second coordinate system. Since the first coordinate conversion information and the position information are not coordinates in the second coordinate system and are not transmitted together, there is no need for deflection and no loss of accuracy of the position information. At the same time, the compliance of high-precision position information is also taken into account. security and data security. In addition, it can also reduce the amount of data transmission of location information and save bandwidth.
  • the obtaining the first coordinate conversion information includes: obtaining correspondence information from the server, the correspondence information being used to indicate the roadside equipment and the coordinate conversion information The corresponding relationship between them; based on the information of the first roadside device, the first coordinate conversion information is obtained.
  • the server can deliver the correspondence information to each device using the map through processes such as map update.
  • the roadside equipment and/or other terminal equipment that receives the location information can find the required first coordinate conversion information from the correspondence information based on the information of the first roadside equipment, thereby realizing the analysis of high-precision location information and taking into account Ensures compliance and data security for high-precision location information.
  • receiving location information from the first terminal device includes: receiving a first data packet from the first terminal device, the first data packet carrying location information.
  • the first data packet may correspond to data packet E in the example below in connection with FIG. 6 .
  • the first data packet also carries the version number of the coordinate conversion parameter used to generate the location information, and the information based on the first roadside device , obtaining the first coordinate conversion information corresponding to the first roadside equipment, including: based on the information of the first roadside equipment, determining the coordinate conversion parameters in the first coordinate conversion information corresponding to the first roadside equipment obtained from the server version number; when the version number of the coordinate transformation parameter obtained from the server is not compatible with the version number carried in the first data packet, obtain the coordinate transformation parameter from the server again.
  • the present application provides an information receiving method, which can be executed by a server, or can be executed by components (such as chips, chip systems, etc.) configured in the server, or can also be executed by a server that can realize all Or the logic module or software implementation of some server functions, which is not limited by this application.
  • the method includes: receiving location information from the first terminal device, where the location information is information about a location point generated based on the first coordinate system; determining a point for performing the operation between the first coordinate system and the second coordinate system. First coordinate transformation information of coordinate transformation; based on the first coordinate transformation information and position information, determine the coordinates of the position point in the second coordinate system.
  • location information in the sixth aspect may correspond to the location information C exemplified below in conjunction with FIG. 6 .
  • the server can parse the location information based on the locally stored first coordinate conversion information, thereby obtaining the coordinates of the location point in the second coordinate system. . Since the position information is not coordinates in the second coordinate system, the position information does not need to be deflected, and the accuracy of the position information will not be lost. At the same time, the compliance and data security of high-precision position information are taken into account. In addition, it can also reduce Data transmission volume of location information, saving bandwidth.
  • receiving location information includes: receiving a first data packet, the first data packet carrying location information.
  • the first data packet also carries a version number of the coordinate transformation parameter used to generate the position information, and the determination is used to calculate the coordinate conversion parameter in the first coordinate system.
  • the first coordinate transformation information for coordinate transformation between the second coordinate system and the second coordinate system includes: determining the first coordinate transformation parameter according to the version number of the coordinate transformation parameter; when the first coordinate transformation parameter is different from the locally stored When the version number of the second coordinate conversion parameter of the first roadside device is determined, a request message is sent to the first roadside device to request acquisition of the first coordinate conversion parameter.
  • the server can determine whether the corresponding version of the coordinate conversion parameter is stored locally based on the version number, thereby ensuring that the correct version of the coordinate conversion parameter is used to parse the location information, that is, High-precision analysis of location information can be achieved.
  • the method further includes: sending correspondence information to the terminal device and/or the roadside device, the correspondence information being used to indicate the coordinates of the roadside device and the Correspondence between converted information.
  • the server sends the corresponding relationship information to the terminal device and/or the roadside device, so that the terminal device and/or the roadside device can obtain the required coordinate conversion information from the corresponding relationship information according to the information of the roadside device, thereby achieving Parsing of location information.
  • the first data packet also carries information of the first roadside device, and the information of the first roadside device is the same as that of the first roadside device.
  • the first coordinate conversion information corresponds.
  • the information of the first roadside equipment includes: the second identification of the first roadside equipment or the location coordinates of the first roadside equipment.
  • the second identification may be a self-reported identification of the first roadside device.
  • the first roadside device generates and reports a self-reported identification by itself, or it can also report its own location information.
  • the information of the first roadside device corresponds to the first identification of the first roadside device.
  • the identification of the first roadside equipment on the map is recorded as the first identification.
  • the server pre-establishes a corresponding relationship between the information of the roadside equipment, the first identification of the roadside equipment and the coordinate conversion information.
  • the device that receives the first data packet can identify the first road-side device based on the information of the first road-side device, and thus can quickly The corresponding first coordinate conversion information is obtained from the above correspondence information.
  • the first identification of the first roadside device includes a first field and a second field
  • the first field is The second field is used to carry the area identification of the area where the roadside equipment is located
  • the second field is used to carry the equipment identification of the roadside equipment in the area.
  • the first identification of each roadside device may include a first field and a second field. Since the first field is used to carry the area identification, the first identification of different roadside equipment in the same area carries The area identifiers may be the same, and the area identifiers carried by the first field in the first identifier of the roadside equipment in different areas may be different. And because the second field is used to carry the equipment identification of the roadside equipment in the area, the equipment identification carried by the second field in the first identification of the roadside equipment in different areas may be the same or different.
  • the first coordinate transformation information includes coordinate transformation parameters.
  • the coordinate transformation parameter can be a matrix, or a quaternion plus a translation vector.
  • the coordinate transformation information may include one set of coordinate transformation parameters or multiple sets of coordinate transformation parameters.
  • the coordinate transformation information corresponding to the first roadside device includes a set of coordinate transformation parameters, which can be used to coordinate between the first coordinate system and the second coordinate system. Coordinate conversion between.
  • the coordinate transformation information corresponding to the first roadside device includes one set of coordinate transformation parameters, or multiple sets of coordinate transformation parameters.
  • the original data is fused, and the fusion result is converted to the first coordinate system of a certain sensor.
  • the coordinate systems corresponding to multiple sensors are divided into several groups, and each group can include one or more sensors.
  • the raw data obtained by the sensors in each group can be fused and transformed based on the coordinate system of a certain sensor in the group.
  • the first coordinate transformation information also includes: the identification of the source coordinate system of the coordinate transformation parameters, and/or the identification of the target coordinate system of the coordinate transformation parameters.
  • the identifier of the source coordinate system and the identifier of the target coordinate system can be used to distinguish the identifiers of different coordinate systems.
  • the first coordinate transformation information also includes one or more of the following: a version number of the coordinate transformation parameter, an update time of the coordinate transformation parameter, and a compatible version number of the coordinate transformation parameter.
  • the present application provides an information sending device, including modules or units for implementing the method in the first aspect or the fourth aspect, and any possible implementation manner of the first aspect or the fourth aspect. It should be understood that each module or unit can implement the corresponding function by executing a computer program.
  • the present application provides an information sending device, including a processor and a memory, the memory is coupled to the processor, the memory is used to store a computer program, and the processor executes the computer program, so that the The device implements the first aspect or the fourth aspect, and the information sending method described in any possible implementation of the first aspect or the fourth aspect.
  • the device may further include a communication interface, which is used for the device to communicate with other devices.
  • the communication interface may be a transceiver, a circuit, a bus, a module, or other types of communication interfaces.
  • the information sending device described in the first and fourth aspects may be a roadside device or a terminal device, where the roadside device is, for example, a roadside unit, a software module, a hardware module, a chip or a device in the roadside unit.
  • Chip system the terminal device is, for example, a vehicle, a software module, a hardware module, a chip or a chip system in the vehicle. This application includes but is not limited to this.
  • the present application provides an information receiving device, including a device for realizing the second aspect, the third aspect, the fifth aspect or the sixth aspect, and the second aspect, the third aspect, the fifth aspect or the sixth aspect.
  • the present application provides an information receiving device, including a processor and a memory, the memory is coupled to the processor, the memory is used to store a computer program, and the processor is used to execute the computer program, So that the device can realize the information reception described in any of the possible implementations of the second aspect, the third aspect, the fifth aspect or the sixth aspect, and the second aspect, the third aspect, the fifth aspect or the sixth aspect. method.
  • the device may further include a communication interface, which is used for the device to communicate with other devices.
  • the communication interface may be a transceiver, a circuit, a bus, a module, or other types of communication interfaces.
  • the information receiving device described in the second aspect, the third aspect, the fifth aspect and the sixth aspect can be a server, and the terminal device can obtain the roadside device, where the server is, for example, a map server, a software module within the map server, Hardware module, chip or chip system, the roadside equipment is, for example, a roadside unit, a software module, a hardware module, a chip or a chip system in a roadside unit, and the terminal equipment is, for example, a vehicle, a software module, a hardware module, a chip or a chip in the vehicle. Chip systems, etc.
  • the server is, for example, a map server, a software module within the map server, Hardware module, chip or chip system
  • the roadside equipment is, for example, a roadside unit, a software module, a hardware module, a chip or a chip system in a roadside unit
  • the terminal equipment is, for example, a vehicle, a software module, a hardware module, a chip or a chip in the vehicle. Chip
  • the present application provides a chip system.
  • the chip system includes a processor and a memory.
  • the memory is coupled to the processor.
  • the memory is used to store a computer program.
  • the processor is used to execute the computer program. , so that the chip system implements the functions involved in any of the above-mentioned first to sixth aspects and any possible implementation manner of the first to sixth aspects, for example, for example, receiving or processing the data involved in the above method and /or information.
  • the chip system further includes a memory, the memory is used to store program instructions and data, and the memory is located within the processor or outside the processor.
  • the chip system can be composed of chips or include chips and other discrete devices.
  • the present application provides a vehicle, which may include the information sending device described in the seventh or eighth aspect, or the information receiving device described in the ninth or tenth aspect.
  • this application provides a communication system, including: a first roadside device and a server, wherein the first roadside device is used to perform the method in the first aspect and any possible implementation of the first aspect. ;
  • the server is used to execute the method in the second aspect and any possible implementation manner of the second aspect.
  • this application provides a communication system, including: a terminal device and a server, wherein the terminal device is used to perform the method in the third aspect and any possible implementation manner of the third aspect; the server is used to perform the third aspect.
  • Methods in the second aspect and any possible implementation of the second aspect are described in detail below.
  • this application provides a communication system, including: a first roadside device, a terminal device and a server, wherein the roadside device is used to perform the first aspect and any possible implementation of the first aspect.
  • the roadside device is used to perform the first aspect and any possible implementation of the first aspect.
  • the terminal device is used to perform the third aspect and the method in any possible implementation manner of the third aspect
  • the server is used to perform the second aspect and the method in any possible implementation manner of the second aspect.
  • the communication system also includes a second road-side device for performing the third aspect and any possible implementation of the third aspect. method within the method.
  • this application provides a communication system, including: a roadside device, a first terminal device and a server, wherein the first terminal device is used to perform the fourth aspect and any one of the fourth aspects may be an implementation manner
  • the roadside device is configured to perform the method in the fifth aspect and any possible implementation manner of the fifth aspect
  • the server is configured to perform the method in the sixth aspect and any possible implementation manner of the sixth aspect.
  • the communication system further includes a second terminal device, configured to perform the method in the fifth aspect and any possible implementation of the fifth aspect.
  • the present application provides a computer-readable storage medium, including a computer program that, when run on a computer, causes the computer to implement any one of the first to sixth aspects and the first to sixth aspects. Methods in possible implementations.
  • the present application provides a computer program product.
  • the computer program product includes: a computer program (which may also be called a code, or an instruction).
  • a computer program which may also be called a code, or an instruction.
  • the computer program When the computer program is run, it causes the computer to execute the first aspect. to the sixth aspect and the method in any possible implementation manner of the first aspect to the sixth aspect.
  • Figure 1 is a schematic diagram of the system architecture provided by the embodiment of the present application.
  • Figure 2 is a schematic diagram of a coordinate conversion parameter list provided by an embodiment of the present application.
  • Figure 3 is a schematic diagram of coordinate transformation information provided by an embodiment of the present application.
  • Figure 4 is a schematic flow chart of an information transmission method and an information receiving method provided by an embodiment of the present application
  • Figure 5 is a schematic diagram of information transmission and reception between the server, terminal equipment and roadside equipment provided by the embodiment of the present application;
  • Figure 6 is a schematic flow chart of an information transmission method and an information receiving method provided by another embodiment of the present application.
  • Figure 7 is a schematic block diagram of a device provided by an embodiment of the present application.
  • Figure 8 is another schematic block diagram of a device provided by an embodiment of the present application.
  • sending in the embodiment of this application can be performed between devices, for example, it can be performed between different vehicles, or it can be performed between different roadside devices, or it can be performed between between different servers. It can also be done between the roadside equipment and the server, between the roadside equipment and the vehicle, or between the server and the vehicle. For another example, it can be carried out within the device, for example, transmitted between components in the device, between modules, between chips, software modules or hardware modules through buses, wires or interfaces. For example, sending coordinate conversion information may be performed within the same roadside device.
  • “Receiving” in the embodiment of this application may be performed between devices, for example, it may be performed between different vehicles, it may be performed between different roadside devices, or it may be performed between different servers. carried out in between. It can also be done between the roadside equipment and the server, between the roadside equipment and the vehicle, or between the server and the vehicle equipment. For another example, it can be performed within the device, for example, between components, modules, chips, software modules or hardware modules in the device through buses, wires or interfaces. For example, receiving coordinate conversion information may be performed within the same server or within the same vehicle.
  • the number of described objects is not limited by the prefix, and can be one or more. Taking “first device” as an example, the number of "devices” can be one or more.
  • the objects modified by different prefixes can be the same or different. For example, if the described object is “device”, then the “first device” and the “second device” can be the same device, the same type of device, or different types of devices. ; For another example, if the described object is "information”, then the "first information” and the “second information” may be information with the same content or information with different contents.
  • the use of prefixes used to distinguish the described objects in the embodiments of this application does not constitute a limitation on the described objects. For the description of the described objects, please refer to the claims or the context description in the embodiments. The use of such words should not be used. Prefix words constitute redundant restrictions.
  • At least one refers to one or more, and “multiple” refers to two or more.
  • “And/or” describes the association of associated objects, indicating that there can be three relationships, for example, A and/or B, which can mean: A exists alone, A and B exist simultaneously, and B exists alone, where A, B can be singular or plural.
  • the character "/” generally indicates that the related objects are in an "or” relationship.
  • “At least one of the following” or similar expressions thereof refers to any combination of these items, including any combination of a single item (items) or a plurality of items (items).
  • At least one of a, b, or c can represent: a; b; c; a and b; a and c; b and c; or a and b and c.
  • a, b, c can be single or multiple.
  • intelligent transportation systems also known as intelligent transportation systems.
  • Intelligent transportation systems effectively apply information technology, data communication technology, sensor technology, artificial intelligence, etc. to transportation and service control, which can effectively improve the safety and efficiency of transportation.
  • Figure 1 is a schematic diagram of a system architecture suitable for embodiments of the present application.
  • the system 100 includes at least one of a roadside device 110 , a server 120 and a terminal device 130 .
  • the roadside equipment 110 includes a roadside unit (RSU), a multi-access edge computing (MEC) or a sensor.
  • RSU roadside unit
  • MEC multi-access edge computing
  • the roadside equipment 110 can be an RSU, MEC or sensor, or it can be A system composed of RSU and MEC, or a system composed of RSU and sensors, or a system composed of RSU, MEC and sensors.
  • Server 120 may be a device with computing capabilities, such as an application server or a map server.
  • the server 120 can be, for example, a server deployed in a cloud environment, that is, a cloud server, or it can also be deployed in an edge environment, that is, an edge computing server.
  • the server 120 may be an integrated device or multiple distributed devices, which are not specifically limited in the embodiment of this application.
  • the terminal device 130 may be, for example, a vehicle, an on-board unit (OBU), a smart wearable device (such as a sports bracelet, a watch, etc.), a portable mobile device (such as a mobile phone, a tablet, etc.), or a component within a portable mobile device. Or chips in the above-mentioned various devices, which are not specifically limited in the embodiments of this application.
  • OBU on-board unit
  • a smart wearable device such as a sports bracelet, a watch, etc.
  • a portable mobile device such as a mobile phone, a tablet, etc.
  • chips in the above-mentioned various devices which are not specifically limited in the embodiments of this application.
  • FIG. 1 only shows one roadside device 110, one server 120 and one terminal device 130, it should be understood that the embodiment of the present application does not limit the number of roadside devices 110, servers 120 and terminal devices 130.
  • the system 100 may also include a larger number of roadside devices, servers and terminal devices, or may also include one or more of them, which is not limited in this application.
  • the communication between the server and the terminal device, between the terminal device and the roadside device, and between the server and the roadside device can use cellular communication technology, such as 2G cellular communication, such as Global Mobile Communications. System (global system for mobile communication, GSM), general packet radio service (GPRS); or 3G cellular communications, such as wideband code division multiple access (WCDMA), time division synchronous code division multiple access address access (time division-synchronous code division multiple access, TS-SCDMA), code division multiple access (code division multiple access, CDMA), or 4G cellular communications, such as long term evolution (long term evolution, LTE). Or 5G cellular communications, or other evolving cellular communications technologies.
  • 2G cellular communication such as Global Mobile Communications. System (global system for mobile communication, GSM), general packet radio service (GPRS); or 3G cellular communications, such as wideband code division multiple access (WCDMA), time division synchronous code division multiple access address access (time division-synchronous code division multiple access, TS-SCDMA), code division multiple access (code division multiple access
  • Wireless communication systems can also utilize non-cellular communication technologies, such as Wi-Fi and wireless local area network (WLAN) communications.
  • the communication between the above-mentioned devices may also utilize infrared links, Bluetooth or Zigbee for direct communication.
  • other wireless protocols may also be used for communication between the above devices, such as various vehicle communication systems.
  • the system may include one or more dedicated short range communications (DSRC) devices. These devices It may include public and/or private data communications between vehicles and/or roadside stations, and is not specifically limited in this application.
  • DSRC dedicated short range communications
  • the terminal device can communicate with the roadside device and the server in a wireless manner respectively.
  • the terminal device can communicate with the roadside device through the PC5 port, and the terminal device can communicate with the server through the Uu port.
  • the server and the roadside device can communicate through wireless or wired methods.
  • the server can communicate with the roadside device through the Uu port or the PC5 port, and the server can also communicate with the roadside device through an optical fiber link.
  • Figure 1 is only an exemplary architecture diagram, but does not limit the number of network elements included in the system shown in Figure 1 .
  • FIG. 1 may also include other functional entities.
  • the method provided by the embodiment of the present application can be applied to the system shown in Figure 1.
  • the method provided by the embodiment of the present application can also be applied to other communication systems, which is not limited by the embodiment of the present application.
  • this application provides an information sending method and an information receiving method, which uses the local coordinate system of a relatively fixed roadside device as a reference to convert position information into position information relative to the local coordinate system for transmission.
  • the roadside device sends coordinate transformation information for coordinate transformation between the local coordinate system and the global coordinate system to the server, so that the server can update the coordinate transformation information to the device using the electronic map.
  • the device using the electronic map can parse the location information based on the coordinate conversion information, and then obtain the location of the location point in the global coordinate system. Since the position information and coordinate conversion information are transmitted using different data packets, they can be transmitted based on different secure channels.
  • the position information and coordinate conversion information are not coordinates in the global coordinate system and do not need to be deflected, which takes into account compliance. security and data security, and can reduce the accuracy loss of location information. It can also reduce the amount of data transmission of location information and save bandwidth.
  • Regional identification The road network structure data in the map can be divided into tile level, road level and lane level. Each tile in the map has a unique tile identification (ID). Each tile includes multiple roads. Each road has a unique road ID. Each road includes multiple lanes. Each lane Have a unique lane ID.
  • tiles can be understood as: cutting a map within a certain range into a rectangular raster image of several rows and columns according to a certain size and format and different map resolutions. The sliced rectangular raster image is called Tile.
  • the area ID may be, for example, the above-mentioned tile ID, a road ID, or a lane ID.
  • the embodiments of this application include but are not limited to this.
  • First coordinate system and third coordinate system In the embodiment of this application, the local coordinate system of the first roadside equipment is recorded as the first coordinate system, and the local coordinate system of the second roadside equipment is recorded as the third coordinate system. .
  • the so-called local coordinate system that is, the coordinate system takes the center of the object (such as roadside equipment) as the coordinate origin.
  • the rotation, translation and other operations of the object are performed around the local coordinate system.
  • the local coordinate system also performs corresponding rotation or translation operations. That is, the local coordinate system can be used to describe the position of the target position point in the local coordinate system. Therefore, each roadside device can correspond to a local coordinate system.
  • the roadside device may be equipped with one or more sensors.
  • the local coordinate system may be the coordinate system of a certain sensor among the sensors installed in the roadside equipment, or may be a coordinate system based on the fusion of coordinate systems of multiple sensors. The embodiments of the present application do not limit this.
  • Second coordinate system In this embodiment of the present application, the position of the target location point in the map can be determined by the coordinates in the second coordinate system.
  • the second coordinate system may be a global coordinate system. For any device, the coordinates of the same target position point in the second coordinate system are fixed.
  • This universal coordinate system can be understood as a coordinate system that is conventional and universal and does not change basically. For any device, the coordinates of the same target position point in the universal coordinate system are fixed. To facilitate distinction and explanation, this universal coordinate system is referred to as the second coordinate system in this article.
  • the second coordinate system may be a geographical coordinate system, a geodetic coordinate system, etc.
  • the geographical coordinate system is a coordinate system that uses a three-dimensional sphere to define the position of the earth's surface to reference points on the earth's surface through longitude and latitude.
  • the geodetic coordinate system is a coordinate system established with the reference ellipsoid as the datum plane in geodetic surveying.
  • the second coordinate system is the WGS-84 coordinate system.
  • Coordinate conversion information The information used for coordinate conversion between the local coordinate system and the global coordinate system is the coordinate conversion information.
  • the first coordinate transformation information mentioned below for coordinate transformation between the first coordinate system and the second coordinate system and the second coordinate transformation information for coordinate transformation between the third coordinate system and the second coordinate system. Coordinate conversion information.
  • each roadside equipment corresponds to its own local coordinate system, and therefore also has its own coordinate conversion information for coordinate conversion between the corresponding local coordinate system and the global coordinate system, thereby facilitating the generation of and parsing the location information used to describe the location point.
  • the coordinate transformation information may include coordinate transformation parameters.
  • This coordinate transformation parameter can be used to transform coordinates between two coordinate systems.
  • the coordinate transformation parameter can be a matrix, such as a 3 ⁇ 3 coordinate transformation matrix, or the coordinate transformation parameter can also be a quaternion plus a translation vector.
  • the two coordinate systems can be a local coordinate system and a global coordinate system, or they can be two or even more local coordinate systems, which are not limited in the embodiments of the present application.
  • the coordinate transformation parameters that can be directly used to perform coordinate transformation between two coordinate systems are recorded as a set of coordinate transformation parameters.
  • it can be directly used to perform coordinate transformation between two coordinate systems, which means that based on this set of coordinate transformation parameters, one coordinate system can be transformed into another coordinate system without introducing other coordinate transformation parameters or coordinates.
  • the coordinate transformation information in the embodiment of the present application may include but is not limited to a set of coordinate transformation parameters. In other words, the coordinate transformation information may include more sets of coordinate transformation parameters.
  • the first roadside device is only equipped with one sensor, then the first roadside device can use the coordinate system of the sensor as the first coordinate system, and the coordinate conversion information corresponding to the first roadside device can include A set of coordinate transformation parameters that can be directly used to perform coordinate transformation between the first coordinate system and the second coordinate system.
  • the first roadside device is equipped with multiple sensors.
  • the first roadside device can use the coordinate system of a certain sensor as the first coordinate system, and the sensor can be any one of multiple sensors of the roadside device. For ease of distinction and explanation, it is recorded as the first sensor.
  • the coordinate transformation information corresponding to the first roadside device may include a set of coordinate transformation parameters, and this set of coordinate transformation parameters may be directly used to perform coordinate transformation between the first coordinate system and the second coordinate system. In this method, after other sensors except the first sensor obtain their respective original data, the original data obtained by each sensor can be fused, and the fusion result can be converted into the first coordinate system.
  • the first roadside device can divide the coordinate systems respectively corresponding to the multiple sensors into several groups, and each group can include one or more sensors.
  • the raw data obtained by the sensors in each group can be fused and transformed based on the coordinate system of a certain sensor in the group.
  • the specific method is as described in the previous method and will not be described again here.
  • the coordinate system used to fuse and transform the raw data acquired by the sensors in a group is referred to as the coordinate system of the group.
  • a set of coordinate transformation parameters can be determined for each group, denoted as C1.
  • the roadside equipment divides multiple sensors into two groups, namely group 1 and group 2.
  • a set of coordinate conversion parameters is determined for group 1, marked as C1, which can be used in the coordinate system of group 1 and the coordinate system of group 2.
  • C2 another coordinate transformation parameter for group 2
  • roadside equipment is usually equipped with multiple sensors, and the coordinate conversion parameters between the coordinate systems of some sensors have been obtained by the roadside equipment in advance, such as the coordinate system of group 1 and the coordinate system of group 2 mentioned above.
  • the coordinate conversion parameter C1 between coordinate systems can be obtained in advance.
  • the roadside equipment can directly determine the coordinate conversion parameters between another part of the sensor (such as the coordinate system of group 2) and the second coordinate system (such as C2 above). In this way, the computational complexity caused by determining the coordinate transformation parameters can be reduced.
  • the first roadside device includes two sensors, namely a lidar sensor (lidar) and a radar sensor (radar). Both sensors have their own coordinate systems. Among them, assuming that the coordinate transformation parameter from the coordinate system of the radar sensor to the coordinate system of the lidar sensor has been obtained in advance, it can be used as C1, and then the coordinate transformation from the coordinate system of the lidar sensor to the second coordinate system can be determined parameter, as C2. Alternatively, the inverse matrix of the coordinate conversion parameters from the coordinate system of the radar sensor to the coordinate system of the lidar sensor can be used as C1, and then the coordinate conversion parameters of the radar sensor to the second coordinate system can be determined as C2. Therefore, two sets of coordinate transformation parameters C1 and C2 can be obtained.
  • the first roadside device knows in advance the coordinate conversion parameters from the coordinate system of the radar sensor to the coordinate system of the lidar sensor, or the coordinates from the coordinate system of the lidar sensor to the coordinate system of the radar sensor. conversion parameters, so the coordinate conversion parameter C1 can be obtained without calculation, which reduces the computational complexity caused by determining the coordinate conversion parameters.
  • the sensors can also be divided into more groups, and more groups can be determined for more groups of sensors.
  • coordinate transformation parameters For example, the sensors are divided into three groups, namely group 1, group 2 and group 3, and the coordinate conversion parameters C1, C2 and C3 can be determined respectively.
  • C1 can be used between the coordinate system of group 1 and the coordinate system of group 2.
  • C2 can be used for coordinate transformation between the coordinate system of group 2 and the coordinate system of group 3, and
  • C3 can be used for coordinate transformation between the coordinate system of group 3 and the second coordinate system. Therefore, the coordinate systems of group 1, group 2 and group 3 can all be used as the first coordinate system.
  • the above coordinate transformation information also includes the identification of the source coordinate system of the coordinate transformation parameters and/or the identification of the target coordinate system of the coordinate transformation parameters.
  • coordinate transformation parameters are not limited to one set.
  • the source coordinate system and target coordinate system of the coordinate transformation parameters can be used to identify them.
  • the source coordinate system of C1 is the coordinate system of group 1, and the target coordinate system is the coordinate system of group 2; the source coordinate system of C2 is the coordinate system of group 2.
  • the coordinate system of C3 is the coordinate system of group 3, and the target coordinate system is the coordinate system of group 3; the source coordinate system of C3 is the coordinate system of group 3, and the target coordinate system is the second coordinate system.
  • the above coordinate transformation information may respectively include the identifiers of the source coordinate system and the target coordinate system of C1 and C1, the identifiers of the source coordinate system and the target coordinate system of C2 and C2, C3 and C3. The identity of the source coordinate system and the identity of the target coordinate system.
  • the source coordinate system of C2 is the target coordinate system of C1
  • the source coordinate system of C3 is also the target coordinate system of C2
  • the target coordinate system of C3 is the second coordinate system. Therefore, if the sequence of conversions between C1, C2, and C3 can be indicated in other ways, the target coordinate systems of C1, C2, and C3 may not be marked, or the source coordinate system of C2, and the coordinate system of C3 may be marked.
  • the source coordinate system and target coordinate system are not marked. In other words, as long as the order of conversion between several sets of coordinate conversion parameters can be determined by other means, for example, if C1, C2 and C3 are respectively carried in the coordinate conversion information according to the order of conversion, it is not necessary to separate each set of coordinate conversion parameters.
  • the source coordinate system and target coordinate system are all identified.
  • the coordinate transformation information includes a set of coordinate transformation parameters
  • the source coordinate system of the set of coordinate transformation parameters is the first coordinate system
  • the target coordinate system is the second coordinate system.
  • the set of coordinate transformation parameters can be directly Used to perform coordinate conversion between the first coordinate system and the second coordinate system. Even if the corresponding source coordinate system and target coordinate system are not identified for this set of coordinate transformation parameters, its use will not be affected. In this case, the identification of the source coordinate system and the identification of the target coordinate system can also be omitted.
  • the identifier of the source coordinate system and the identifier of the target coordinate system can be identifiers used to distinguish different coordinate systems, such as different numbers, different names, etc. This application does not limit this.
  • FIG. 2 is a schematic diagram of a coordinate transformation parameter list provided by an embodiment of the present application.
  • the coordinate transformation parameter list includes one or more sets of coordinate transformation parameters and their corresponding identifiers of the source coordinate system and the identifier of the target coordinate system.
  • Figure 2 shows the fields: the identification of the source coordinate system and the identification of the target coordinate system, the identification of the source coordinate system
  • the identification of the target coordinate system and the target coordinate system does not need to carry information, that is, the field can be an empty field. It should be understood that the embodiment of the present application does not limit the order of the fields shown in Figure 2.
  • the above coordinate transformation information also includes the version number of the coordinate transformation parameters.
  • the coordinate conversion parameters may change, for example, as the position of the sensor in the roadside equipment changes, the direction is adjusted, etc., different coordinate conversion parameters in the same coordinate system can be distinguished by different version numbers.
  • the information used to indicate the version of the coordinate transformation parameter may be, for example, a version number, a timestamp, an update indication flag bit, or other information that may be used to indicate the version.
  • the embodiments of the present application do not limit this.
  • the above coordinate transformation information also includes the update time of the coordinate transformation parameters.
  • the update time can be carried in the coordinate transformation information.
  • the update time used to indicate the coordinate transformation parameter may be a timestamp, for example. It is understandable that the time of each version update is different, so the update time of the coordinate transformation parameters can be regarded as a form of expression of the version number of the coordinate transformation parameters.
  • the above-mentioned coordinate transformation information also includes a version number with which the coordinate transformation parameters are compatible.
  • the coordinate conversion parameters may only change slightly, for example, with a slight adjustment of the position of the roadside equipment, a slight change in the coordinate conversion parameters will not affect the determined target position point at the first position.
  • the accuracy of the coordinates in the second coordinate system has too much impact, and its impact can even be ignored.
  • the version number with which the coordinate transformation parameters are compatible can be carried in the coordinate transformation information, so that the device using the coordinate transformation information can determine whether it needs to obtain the latest version of the coordinate transformation parameters.
  • the compatible version numbers of the coordinate transformation parameters currently used by the first roadside device are V1.0.1.2 and V1.0.1.3
  • the version number of the terminal device that uses the coordinate transformation parameters of the roadside device is the locally stored version number. is: V1.0.1.2
  • the terminal device does not need to obtain the coordinate conversion parameters of the latest version, but can also obtain the high-precision coordinates of the target position point in the second coordinate system.
  • Figure 3 is a schematic diagram of coordinate transformation information provided by an embodiment of the present application.
  • the coordinate transformation information shown in Figure 3 includes a coordinate transformation parameter list, version number, update time, and compatible version numbers. Among them, please refer to Figure 2 for the detailed setting method of the coordinate transformation parameter list. It should be understood that the version number, update time and compatible version number do not necessarily need to be included in the coordinate conversion information at the same time, and this application does not limit this. In addition, this application does not limit the order of the fields shown in Figure 3.
  • this article introduces the information of roadside equipment and the identification of roadside equipment.
  • Identification of roadside equipment including a first identification and a second identification.
  • roadside equipment is also used as one of the map elements, and each roadside equipment in the map can be distinguished by different logos.
  • the identification of the roadside equipment in the map is recorded as the first identification, which can be used to uniquely identify a roadside equipment in the map.
  • each roadside device corresponds to an identifier, which is unique in the map, and the identifiers of each roadside device are different from each other.
  • the first identification of each roadside device may include a first field and a second field.
  • the first field is used to carry the area identification of the area where the roadside equipment is located
  • the second field is used to carry the area identification of the roadside device.
  • the device identification of the device in the area That is, the map can be divided into multiple areas (such as tiles) according to the area, a regional identifier (such as a tile identifier) is set for each area, and a device identifier is set for the roadside device in each area.
  • the device The identifier is unique within the area corresponding to the area identifier. It should be understood that the above-mentioned division of areas may not be based on tiles. For example, it may also be roads, lanes, administrative districts, etc. This application does not limit this. It should also be understood that the identification of roadside equipment in any two areas may be the same or different. This application does not limit this.
  • the second identification of the roadside equipment may be a self-reported identification of the roadside equipment.
  • the self-reporting identification can be generated and reported by the roadside equipment.
  • Roadside equipment information It can be used by the roadside equipment to identify itself so that other equipment can identify the roadside equipment.
  • the information of the roadside equipment may include the second identification of the roadside equipment or the location coordinates of the roadside equipment. Since the second identifier can be generated and reported by the roadside device itself, the second identifier received from the same roadside device is the same for different map dealers. Since the location of the roadside equipment usually does not change, the roadside equipment can also identify itself through its own location coordinates.
  • the embodiment shown in Figure 4 describes the specific process of the first roadside device sending location information and the server, the second roadside device and the terminal device receiving the location information.
  • the embodiment shown in Figure 6 describes the first terminal device The specific process of sending location information and receiving location information by the server, roadside equipment and second terminal equipment.
  • the location point indicated by the location information sent by the first roadside device in the embodiment shown in Figure 4 is recorded as location point A, and the location information corresponding to the location point is recorded as location information A; through the third
  • the location point indicated by the location information sent by the second-channel side device is recorded as the second location point B, and the location information corresponding to the location point B is recorded as location information B.
  • Location point A and location point B are only location points corresponding to location information A and location information B sent by two different devices to facilitate the distinction. They may be the same or different, and this application does not limit this.
  • the server is, for example, a map server, a software module, a hardware module, a chip or a chip system within the map server.
  • the roadside device is, for example, a roadside unit, a software module, a hardware module, a chip or a chip system within the roadside unit.
  • the terminal device is, for example, a software module, a hardware module, a chip or a chip system within the terminal device. This application includes but is not limited to this.
  • Figure 4 is a schematic flow chart of an information sending method and an information receiving method provided by an embodiment of the present application.
  • the method 400 shown in Figure 4 may include S401 to S410. Each step in the method 400 shown in Figure 4 is described in detail below.
  • the first roadside device sends data packet A to the server.
  • the data packet A is used to determine the first coordinate conversion information. Accordingly, the server receives data packet A from the first roadside device.
  • the server Based on the data packet A, the server determines the first coordinate transformation information used for coordinate transformation between the first coordinate system and the second coordinate system.
  • the first roadside device may be any one of the plurality of roadside devices.
  • the roadside device that sends the location information A of the location point A is recorded as the first roadside device.
  • Other roadside devices can receive the location information A from the first roadside device, denoted as the second roadside device.
  • the first roadside device can encrypt data packet A before sending it to the server.
  • the data packet A may be sent by the first roadside device using a point-to-point transmission method to send the data packet A to the server.
  • the first road side device can send data packet A through the Uu port or optical fiber between the server and the server.
  • the coordinate transformation information may be used to perform coordinate transformation between the first coordinate system and the second coordinate system.
  • the coordinate transformation information may include the coordinate transformation parameters, and may also include the identification of the source coordinate system of the coordinate transformation parameters and/or the identification of the target coordinate system of the coordinate transformation parameters. It may also include the version number of the coordinate transformation parameters and the update time of the coordinate transformation parameters. , and one or more of the version numbers that the coordinate transformation parameters are compatible with.
  • the coordinate transformation parameters may be one set of coordinate transformation parameters or multiple sets of coordinate transformation parameters.
  • the coordinate conversion information corresponding to the first roadside equipment is recorded as the first coordinate conversion information to distinguish it from the coordinate conversion information of other roadside equipment.
  • the first coordinate conversion information may be generated by the first roadside device or may be generated by the server. Therefore, the information carried in the data packet A sent by the first road-side device to the server can have the following two situations:
  • the data packet A carries the first coordinate conversion information.
  • the first roadside device After the first roadside device generates the coordinate conversion parameters itself, it sends them to the server.
  • the server receives data packet A, it can obtain the coordinate conversion information.
  • data packet A carries original data, which is data collected based on the first coordinate system and can be used to determine the first coordinate conversion information.
  • original data is data collected based on the first coordinate system and can be used to determine the first coordinate conversion information.
  • the original data is sent directly to the server, and the server determines the first coordinate conversion information based on the original data.
  • the original data may include, for example, but is not limited to, point cloud data collected by lidar sensors or radar sensors, images collected by visual sensors, etc.
  • the raw data in this example may be images, for example.
  • the first roadside device or server can find feature points from the image.
  • the feature points may include, for example, but are not limited to, the left endpoint and right endpoint of the center line of the stop line's physical marking, the intersection of the stop line and the lane line, the intersection of the physical line of the road edge, and so on.
  • the roadside device or server can respectively obtain the coordinates of these feature points in the image and the coordinates in the second coordinate system to form multiple coordinate pairs, and then based on the coordinates of the multiple coordinate pairs, use algorithms such as the least squares method, The above coordinate transformation parameters are calculated.
  • the raw data can also include data collected by other sensors such as point cloud data.
  • point cloud data For different types of data, different methods can be used to calculate coordinate transformation parameters, which will not be described here.
  • the server can also update the coordinate transformation parameters in the first coordinate transformation information based on the original data reported each time by the first roadside device. Therefore, the server can further obtain the version number, update time, and compatibility of the coordinate transformation parameters. version number and other information.
  • the server may further send the first coordinate conversion information to the first roadside device to facilitate use by the first roadside device in the subsequent step of generating location information.
  • the first roadside device is any one of the plurality of roadside devices.
  • Each road-side device can send data packet A to the server in the above manner, so that the server can determine the coordinate conversion information corresponding to each road-side device.
  • data packet A may also carry information about the first roadside device.
  • the information of the first roadside equipment may be, for example, the second identification of the first roadside equipment, such as a self-reported identification, or the location coordinates of the first roadside equipment.
  • the server assigns a first identifier to the first roadside device based on the information thereof, so as to uniquely identify the first roadside device in the entire map. In this way, the server can establish a corresponding relationship between the first identification of the first roadside device and the information of the first roadside device.
  • the first identification of the first roadside device may be determined based on the information of the first roadside device carried therein.
  • the server can establish a corresponding relationship between the first identification of the roadside device (eg, the first roadside device) and the self-reported identification of the roadside device (eg, the first roadside device) in advance.
  • the first road-side device Before the self-reported identification of the first road-side device and the first identification of the first road-side device have not yet established a corresponding relationship, that is, when the first road-side device sends data packet A for the first time, the first road-side device can report Its own position coordinates so that the server can determine the first roadside device on the map.
  • the location coordinates may be coordinates generated based on the first coordinate system, and the server may determine the coordinates of the first roadside device in the second coordinate system in combination with the coordinate conversion parameters of the first roadside device, and then The first roadside equipment is identified on the map.
  • the position coordinates may also be coordinates generated based on the second coordinate system.
  • the first roadside device can predetermine its own coordinates in the second coordinate system (for example, it can obtain the first roadside device through the global positioning system (GPS) in advance). coordinates of the device in the geographical coordinate system), the server can directly determine the first roadside device on the map after receiving the location coordinates.
  • GPS global positioning system
  • the location coordinates reported by the first roadside device do not need to be highly accurate, as long as the server can determine the location coordinates from the map based on the location coordinates.
  • the server may also locally save the first coordinate transformation information of the first roadside equipment.
  • the server can establish a corresponding relationship between the first identification of the first roadside equipment and the first coordinate conversion information, or the server can establish a corresponding relationship between the first identification of the first roadside equipment and the information of the first roadside equipment.
  • it is further associated with the first coordinate conversion information to obtain the corresponding relationship between the information of the first roadside equipment, the first identification of the first roadside equipment and the first coordinate conversion information.
  • This application provides the corresponding relationship
  • the specific form is not limited.
  • the corresponding relationship between the first identification of the first roadside equipment and the first coordinate conversion information, the information of the first roadside equipment, the first identification of the first roadside equipment and the first coordinate conversion information are
  • the correspondence system is called the correspondence between the first roadside equipment and the first coordinate conversion information.
  • the coordinate transformation information may also include one or more of the version number, update time and compatible version number of the coordinate transformation parameters.
  • the server may further use the version number or update time of the coordinate conversion parameter. time, compared with the version number or update time of the locally saved coordinate transformation parameters, in order to update the locally saved coordinate transformation information, so that the locally saved coordinate transformation parameters are the latest version of the coordinate transformation of the first roadside device parameter.
  • the method also includes:
  • the server determines the coordinate transformation parameter A according to the first coordinate transformation information
  • the server replaces the locally stored coordinate transformation parameter B with the coordinate transformation parameter A.
  • the first coordinate transformation information carries the version number of the coordinate transformation parameter A
  • the server can determine whether the newly acquired coordinate transformation parameter A and the locally saved coordinate transformation parameter B are the same version; if If they are the same version, it means that the coordinate transformation parameter A obtained this time has been saved locally on the server, and the coordinate transformation parameter A can be ignored; if they are different versions, it means that the coordinate transformation parameter A obtained this time is saved locally on the server. It has not been saved. You can replace the locally stored coordinate transformation parameter B with the coordinate transformation parameter A.
  • the server may also store the received first coordinate transformation information (including the coordinate transformation parameter B and one or more of the following: the version number, update time and compatible version number of the coordinate transformation parameter) locally, and the previous Coordinate transformation parameters saved locally can be discarded or not processed. This application does not limit this.
  • the server can obtain the coordinate transformation information based on each received data packet A, and then obtain the latest version of the coordinate transformation parameters.
  • process of the server updating the locally saved coordinate transformation information is the process of updating the locally saved correspondence between the first roadside device and the first coordinate transformation information.
  • the first roadside device generates position information A of location point A based on the first coordinate system.
  • the first roadside device may generate location information A of location point A according to the first coordinate system.
  • the location information A may include location coordinates.
  • the position information A may be position coordinates relative to the first coordinate system.
  • S404 The first roadside device sends data packet B, where data packet B carries location information A of location point A.
  • the first roadside device may send data packet B in a broadcast manner.
  • any other roadside device, any terminal device, and any server that has a communication connection with the first roadside device can receive the data packet B.
  • data packet B can be sent through the PC5 port.
  • the first roadside device can also send data packet B through other methods, such as unicast or multicast, etc.
  • data packet B can be transmitted through the PC5 port or other interfaces, such as the Uu port or other interfaces. This application does not limit this.
  • the first roadside device can send data packet B to the server through the Uu port, and the server can broadcast the data packet B through the Uu port.
  • the first roadside device is any one of multiple roadside devices, and other roadside devices can also send data packets B carrying location information based on the same method described above, in order to distinguish the data packets from different roadside devices, Data packet B can carry roadside device information in data packet B.
  • the data packet B may also carry information about the first roadside device.
  • the information of the first roadside equipment corresponds to the first identification of the first roadside equipment
  • the first identification of the first roadside equipment corresponds to the first coordinate conversion information. Therefore, the device that receives the data packet B can obtain the first coordinate conversion information of the first roadside device based on the above corresponding relationship.
  • data packet B may also carry the self-reported identification of the first roadside device.
  • the server pre-stores the correspondence between the information of the roadside device, the first identification of the roadside device and the coordinate conversion information, based on Based on the self-reported identification of the first roadside device, the server can query the coordinate conversion parameters corresponding to the first roadside device.
  • the other devices can also obtain the first road-side device from the server based on the self-reported identification of the first road-side device.
  • the first coordinate conversion information is also carry the self-reported identification of the first roadside device.
  • data packet B may also carry the version number of the coordinate conversion parameters used to generate location information A.
  • the version number of the coordinate conversion parameters used to generate position information is marked as the target version number.
  • each device that receives data packet B can also obtain the coordinate conversion information of the corresponding version based on the target version number to analyze the location information A in data packet B.
  • the version number of the coordinate transformation parameters is also the version number of the coordinate transformation information.
  • the first roadside device sends the data packet A used to determine the first coordinate conversion information and the data packet B carrying the location information A separately. Therefore, the two data packets can be transmitted based on two different secure channels. .
  • secure channels can be used to ensure the confidentiality and integrity of the communication process.
  • Different secure channels can adopt different information security protection mechanisms, such as using different certificate mechanisms, authentication mechanisms or encryption mechanisms.
  • the authentication mechanism may include, but is not limited to, authentication methods, authentication algorithms, etc.
  • Encryption mechanisms may include, but are not limited to, encryption algorithms, encryption modes, etc.
  • two secure channels use different versions of digital certificates, or the two channels use different keys and/or different encryption algorithms, etc. This application includes but is not limited to this.
  • For the specific content of the safe channel please refer to the existing technology and will not be repeated here.
  • the frequency at which the first roadside device sends data packet A may be lower than the frequency at which data packet B is sent.
  • the server can receive packet A less frequently than it receives packet B.
  • the following provides two implementation methods for the first roadside device to send data packet A and data packet B.
  • data packet A is a data packet sent with a first preset time period as a period
  • data packet B is a data packet sent with a second preset time period as a period.
  • the first preset time period is The duration is longer than the second preset duration.
  • the location point carried in data packet B The location information of A is usually updated more frequently. Therefore, the sending frequency of data packet B can be set to be higher than the sending frequency of data packet A, that is, the first preset duration is longer than the second preset duration.
  • data packet B is sent after the coordinate transformation information in data packet A is successfully obtained.
  • the first roadside device can send data packet A with a first preset time period.
  • the server receives data packet A, it returns a reception confirmation message to the first roadside device.
  • the first roadside device receives the receipt.
  • packet A is no longer sent.
  • the first roadside device may send data packet B at a second preset time period, and the server receives data packet B.
  • the first preset time length may be different from the second preset time length.
  • Each device that receives the data packet B can determine the coordinates of the location point A in the second coordinate system based on the first coordinate conversion information of the first roadside device and the location information A in the data packet B.
  • S405 describes the processing of the received data packet B by the server
  • S406 to S407 describe the processing of the received data packet B by the terminal device and other roadside devices (such as the second roadside device). Each step will be described separately below.
  • S405 The server determines the coordinates of location point A in the second coordinate system based on the first coordinate conversion information and location information A.
  • the server may obtain the first coordinate transformation information of the first roadside device based on the received data packet A. After the server receives the data packet B from the first roadside device in S404, it can determine the position point A at the first coordinate conversion information of the first roadside device and the location information A in the data packet B. Coordinates in the second coordinate system.
  • the coordinate transformation parameters in the first coordinate transformation information of the first roadside device may be one set or multiple sets. If there is a set of coordinate conversion parameters, the server can directly convert the position of position point A in the first coordinate system to the second coordinate system based on the set of coordinate conversion parameters to obtain the coordinates in the second coordinate system. If there are multiple sets of coordinate conversion parameters, the server can convert the position information A one by one according to the source coordinate system and target coordinate system of the multiple sets of coordinate conversion parameters. Only after multiple conversions can the location point A be at the first coordinate. The position information A in the coordinate system is converted to the second coordinate system to obtain the coordinates in the second coordinate system.
  • data packet B can also carry the target version number of the coordinate transformation parameters used to generate location information A
  • the server can determine whether the corresponding version of the coordinate transformation parameters is stored locally based on the target version number, and then use Correct version of coordinate transformation parameters to parse position information A.
  • the method further includes: if the server does not obtain the coordinate transformation parameter corresponding to the target version number, sending a request message to the first roadside device to request to obtain the coordinate transformation parameter corresponding to the target version number.
  • version A the version number of the coordinate conversion parameters used to generate location information A carried in data packet B is denoted as version A here.
  • the server can search the locally saved first coordinate transformation information according to the target version number of the coordinate transformation parameter based on which the location information is generated. If the coordinate transformation parameter consistent with the target version number is found, then the server can use The queried coordinate conversion parameters are used to parse the location information; if no coordinate conversion parameters consistent with the target version number are found, it means that the coordinate conversion parameters of the latest version of the first roadside device may not have been received, and then the coordinate conversion parameters of the first roadside device can be retrieved. The device sends a request message to request the first roadside device to send coordinate conversion parameters corresponding to the target version number.
  • the first roadside device carries the first coordinate conversion information or the original data and location information A used to determine the first coordinate conversion information in different data packets and sends them in different ways, , that is, sent through two different secure channels.
  • the two pieces of information are either coordinate conversion parameters, raw data with low accuracy, or relative coordinates, neither of which are coordinates in the second coordinate system, so there is no need for deflection encryption.
  • the server can locally obtain the coordinates of location point A in the second coordinate system through coordinate conversion, thereby achieving safe, accurate and high-precision transmission of location information.
  • roadside devices such as the second roadside device
  • terminal devices can also receive the data packet B from the first roadside device in S404, and can parse the data by executing S406 and S407 as described below.
  • Location information A in package B can also be received from the first roadside device in S404, and can parse the data by executing S406 and S407 as described below.
  • the second road-side device and the terminal device are devices capable of receiving the data packet B sent by the first road-side device.
  • the second roadside device may be any roadside device among the plurality of roadside devices except the first roadside device.
  • the second roadside equipment and the first roadside equipment are different roadside equipment.
  • the data packet B sent by the first roadside device can also carry the information of the first roadside device and the location of the location point A generated by the first roadside device.
  • the target version number of the coordinate transformation parameters used by information A can also carry the information of the first roadside device and the location of the location point A generated by the first roadside device.
  • the second roadside device and/or terminal device obtains the first coordinate conversion information corresponding to the first roadside device.
  • the server receives the data packet A from the first roadside device and obtains the first coordinate conversion information of the first roadside device, it can locally save the first coordinates of the first roadside device. Convert information.
  • the second roadside device and/or the terminal device may obtain the first coordinate conversion information of the first roadside device from the server.
  • S406 may further include:
  • the second roadside device and/or terminal device obtains correspondence information from the server.
  • the correspondence information is used to indicate the correspondence between the roadside device and the coordinate conversion information;
  • the second roadside device and/or the terminal device obtains the first coordinate conversion information corresponding to the first roadside device based on the information of the first roadside device.
  • the correspondence information may include, for example, at least one pair of correspondences between the first identification of the roadside equipment and the coordinate conversion information, and at least one pair of correspondence between the information of the roadside equipment and the first identification of the roadside equipment; or, corresponding
  • the relationship information may also include at least one pair of correspondence between the information of the roadside equipment, the first identification of the roadside equipment, and the coordinate conversion information.
  • the second roadside device and/or the terminal device can obtain the first coordinate conversion information corresponding to the first roadside device from the server.
  • the server sends the correspondence information.
  • the server can update the map, such as through over-the-air technology (OTA) upgrade, map differential update or other dynamic update processes, etc.
  • OTA over-the-air technology
  • the locally saved correspondence information is delivered to the device using the map.
  • the devices that receive the correspondence information such as the second roadside device and the terminal device, can obtain the first data of the first roadside device from the correspondence information based on the information of the first roadside device. Coordinate conversion information.
  • S4062 may further include the following process:
  • the second roadside device and/or the terminal device determines the version number of the coordinate transformation parameter in the first coordinate transformation information corresponding to the first roadside device obtained from the server based on the information of the first roadside device;
  • the coordinate transformation parameter of the corresponding version number is re-obtained from the server.
  • the second roadside device and/or the terminal device can determine the first coordinate transformation corresponding to the first roadside device from the correspondence information based on the information of the first roadside device carried in the data packet B. information, and then determine the version number of the coordinate transformation parameter based on the first coordinate transformation information.
  • the coordinate transformation parameters most recently obtained by the second roadside device and/or the terminal device from the server do not necessarily It must be the coordinate conversion parameter of the latest version.
  • the coordinate conversion information may further carry a compatible version number. If the version number of the coordinate conversion parameter most recently obtained by the second roadside device and/or terminal device from the server is a version compatible with the target version number, it can continue to be used; otherwise, it needs to obtain the version corresponding to the coordinate conversion parameter from the server again. Coordinate transformation parameters of the target version number.
  • determine whether the version number of the coordinate transformation parameter obtained from the server is compatible with the target version number may include: determining whether the version numbers of the two are the same, or determining whether the version that the target version number is compatible with includes the obtained version number.
  • the version number of the coordinate transformation parameters may include: determining whether the version numbers of the two are the same, or determining whether the version that the target version number is compatible with includes the obtained version number.
  • the second roadside device and/or terminal device can also obtain the first coordinate conversion information through other methods.
  • the above S4061 can also be replaced with: the second roadside device and/or the terminal device receives the data packet A from the first roadside device.
  • the second roadside device and/or the terminal device may also determine the first coordinate transformation information based on the data packet A.
  • the data packet A may be received from the first roadside device, or may be forwarded by the server. This application does not limit this.
  • the second roadside device and/or terminal device determines the coordinates of the location point A in the second coordinate system based on the first coordinate conversion information and the location information A of the first roadside device.
  • the coordinate conversion parameters can be used to change the position point A from the first coordinate system.
  • the coordinates under are converted to coordinates under the second coordinate system.
  • the first roadside device since the first roadside device carries the location information A in the data packet B and sends it, the first coordinate conversion information corresponding to the first roadside device can be obtained from the corresponding relationship of the server.
  • the two pieces of information do not involve coordinates in the second coordinate system, coordinate conversion parameters, raw data with low accuracy, or relative coordinates, so there is no need for deflection encryption.
  • the second roadside device and/or terminal device can obtain the coordinates of the location point A in the second coordinate system through coordinate conversion, thereby achieving safe, accurate and high-precision transmission of location information.
  • the second roadside device, the terminal device and the server can parse the location information A of the first roadside device.
  • the first roadside device can also parse location information from other devices.
  • the following describes the parsing process of the first roadside device for the location information B from the second roadside device.
  • the location information B is the location information sent by the second roadside device to indicate the location information of location point B.
  • the second roadside device sends the data packet C carrying the location information B.
  • the location information B is the location information of the location point B generated based on the third coordinate system.
  • the first roadside device receives the data packet C carrying the location information B.
  • the third coordinate system is the coordinate system based on which the second roadside device generates position information B.
  • the second roadside device may generate location information B of location point B according to the third coordinate system, and the location information B may include location information of location point B.
  • the second roadside device may send the data packet C carrying the location information B in a broadcast manner. That is, any other roadside device, any terminal device, or any server that has a communication connection with the second roadside device can receive the data packet C. Therefore, the first roadside device will also receive the data packet C.
  • the second roadside device can also send the data packet C through other methods, such as unicast or multicast, etc.
  • data packet B can be transmitted through the PC5 port or other interfaces, such as the Uu port or other interfaces.
  • the second roadside device can send data packet C to the server through the Uu port, and the server can broadcast the data packet C through the Uu port.
  • the data packet C also carries information about the second road-side device. This makes it easy for the device that receives the data packet C to determine which roadside device the location information B in the data packet C is generated based on.
  • the first roadside device obtains second coordinate conversion information, and the second coordinate conversion information is used to perform coordinate conversion between the second coordinate system and the third coordinate system.
  • the first roadside device wants to determine the coordinates of location point B in the second coordinate system, it needs to obtain the second coordinate conversion information corresponding to the second roadside device.
  • S409 can be specifically implemented through one of S4091a or S4091b and S4092 below.
  • the first roadside device receives the data packet D from the second roadside device, and the data packet D is used to determine the second coordinate conversion information.
  • the second roadside device sends the data packet D to the first roadside device.
  • the second coordinate conversion information may be generated by the second roadside device or the first roadside device. Therefore, the information carried by the data packet D received by the first roadside device can be in the following two situations: the data packet D carries the second coordinate conversion information, or the data packet D carries original data, and the original data is based on the first The data collected in the three-coordinate system can be used to determine the second coordinate transformation information.
  • the first roadside device may receive the data packet D from the second roadside device or may receive the data packet D from the server, which is not limited in this application.
  • the data packet C and data packet D can also be transmitted through different secure channels to improve transmission security.
  • the specific content of the safe channel please refer to the previous description and will not be repeated here.
  • the first roadside device receives correspondence information from the server.
  • the correspondence information is used to indicate the correspondence between the roadside device and the coordinate conversion information.
  • the roadside device includes the second roadside device, and the coordinate conversion information Includes second coordinate transformation information.
  • the first roadside device can obtain the second coordinate conversion information corresponding to the second roadside device from the server.
  • the server sends the correspondence information.
  • the first roadside device determines the second coordinate conversion information.
  • S4092 may specifically include: the first roadside device determines the second coordinate conversion information based on the data packet D.
  • the first roadside device After receiving the data packet D, the first roadside device can obtain the second coordinate conversion information from the data packet D, or determine the second coordinate conversion information based on the original data.
  • the first roadside device determining the second coordinate transformation information based on the data packet D please refer to the previous description of the server determining the first coordinate transformation information based on the data packet A, which will not be described again here.
  • S4092 may include: the first roadside device determines the second coordinate conversion information based on the information of the second roadside device and the correspondence information.
  • the data packet C can also carry the information of the second road-side device, after the first road-side device receives the correspondence information from the server, it can find the second road-side device in the correspondence information based on the information of the second road-side device.
  • the second coordinate transformation information of the roadside equipment is used to determine the coordinate transformation parameters corresponding to the second roadside equipment.
  • the first roadside device determines the coordinates of location point B in the second coordinate system based on the second coordinate conversion information and location information B.
  • the first roadside device After the first roadside device obtains the coordinate conversion parameters and position information B corresponding to the second roadside device, it can use the coordinate conversion parameters to convert the coordinates of location point B in the third coordinate system to the second coordinate system. coordinate of.
  • the process in which the first roadside device determines the coordinates of location point B in the second coordinate system based on the second coordinate conversion information and location information B is the same as the process in which the server determines location point A based on the first coordinate transformation information and location information B in S405 above.
  • the coordinates in the second coordinate system are similar. Please refer to the relevant instructions in S405 and will not be repeated here.
  • the first roadside device may also receive location information from other roadside devices and/or terminal devices, and may also receive location information from the server. .
  • the first roadside device can also analyze the received location information by referring to the similar method mentioned above.
  • the terminal device can also generate location information of the location point based on the local coordinate system of a certain roadside device and send the location information.
  • the roadside device and/or server can receive the location information and parse the location information based on a similar method as above.
  • data packet C and data packet D are only defined to facilitate the differentiation of different location information, and should not constitute any limitation on this application.
  • Figure 5 is a schematic diagram of information transceiver between the server, terminal equipment and roadside equipment provided by the embodiment of the present application.
  • the roadside device can send data packet A to the server through the Uu port or optical fiber.
  • the roadside device can broadcast data packet B through the PC5 port, that is, the server and terminal equipment can receive data packet B through the PC5 port.
  • the server can also send data packet D to the roadside device and terminal device through the Uu port.
  • the terminal device can send data packet C to the server through the Uu port, or to the roadside device through the PC5 port.
  • data packet A, data packet B, data packet D and data packet C may refer to the explanation of process 400 in FIG. 4 .
  • S401 and S404 can be executed at the same time, S401 can be executed first and then S404, or S404 can be executed first and then S401.
  • S402 and S405 can be executed sequentially after S401, S403 and S404 are executed, or S402 can be executed after S401, and then S405 can be executed after S404.
  • S403 can be executed synchronously with S401, or can be executed after S401 or S402.
  • S408 to S409 can be executed at the same time, or S408 can be executed first and then S409, or S409 can be executed first and then S408. This application does not limit this.
  • the first coordinate system of the first roadside device with a relatively fixed position is used as a reference to convert the position information into the first position information relative to the first coordinate system and send it through a data packet;
  • the roadside device sends data that can be used to determine the first coordinate conversion information between the first coordinate system and the second coordinate system to other devices, such as a server, through another data packet, so that other devices can convert the information based on the first coordinate system. to parse the first location information.
  • the device that receives the first location information can obtain the coordinates of the first location point in the second coordinate system through coordinate conversion.
  • the position information and coordinate conversion information are transmitted using two different data packets, that is, two different paths can be used for transmission, and neither the position information nor the coordinate conversion information are coordinates in the second coordinate system, and there is no need to carry out the transmission. Deflection will not cause any loss in the accuracy of location information. It also takes into account the compliance and data security of high-precision location information. In addition, it can also reduce the amount of data transmission of location information and save bandwidth.
  • Figure 6 is a schematic flow chart of an information sending method and an information receiving method provided by another embodiment of the present application.
  • location point C the location point indicated by the location information sent by the first terminal device in the embodiment shown in FIG. 6
  • location information C the location information corresponding to location point C
  • the data packet carrying the location information C is recorded as data packet E.
  • position point C is defined only for the convenience of distinguishing it from the position point A and the position point B in the previous embodiment. It may be the same or different, and is not limited in this application.
  • data packet E is only defined to facilitate differentiation from data packet A, data packet B, data packet C and data packet D in the previous embodiments, and should not constitute any limitation.
  • the embodiment shown in FIG. 6 takes the first terminal device transmitting location information as an example to describe the information sending method and the information receiving method provided by the embodiment of the present application.
  • the first terminal device can be any terminal device, or any terminal device can send location information based on the following method.
  • the method 600 shown in Figure 6 may include S601 to S609. Each step in the method 600 shown in Figure 6 is described in detail below.
  • the first terminal device obtains first coordinate conversion information, which is used to perform coordinate conversion between the first coordinate system and the second coordinate system.
  • the first terminal device is any terminal device among multiple terminal devices, such as any vehicle.
  • the terminal device that sends the location information C is recorded as the first terminal device.
  • Other terminal devices can receive the location information C from the first terminal device, which is recorded as the second terminal device.
  • the first terminal device since the first terminal device itself can know its own posture and position, the first terminal device can also generate location information C. In order to ensure the security of location information transmission, the first terminal device may convert the coordinates of location point C into another coordinate system to generate location information for sending.
  • the first terminal device can select a relatively fixed coordinate system as a reference to generate position information C.
  • the first terminal device selects the first coordinate system of the roadside device whose position is relatively fixed as a reference. In this way, the position information C can be generated based on the first coordinate system of the roadside device.
  • the first terminal device may first obtain coordinate transformation information corresponding to the first coordinate system.
  • the first terminal device can query the information of roadside devices near the first terminal device based on the map and its own location, or can obtain the information of the roadside device that currently has a communication connection with the first terminal device.
  • the first terminal device can obtain the coordinate conversion information corresponding to the roadside device from the server based on the acquired information of the roadside device.
  • the coordinate system selected by the first terminal device is the first coordinate system of the first roadside device.
  • S601 may further include:
  • the first terminal device obtains correspondence information from the server.
  • the correspondence information is used to indicate at least one pair of correspondences between the roadside device and the coordinate conversion information;
  • the first terminal device obtains first coordinate conversion information based on the information of the first roadside device.
  • the first coordinate conversion information corresponds to the first roadside device.
  • the server stores the correspondence information between the roadside equipment and the coordinate conversion information.
  • the first terminal device can query or obtain the information of the first roadside equipment.
  • the first coordinate conversion information corresponding to the first roadside equipment is determined from the correspondence information.
  • the first terminal device generates location information C based on the first coordinate conversion information and the coordinates of the location point C in the second coordinate system.
  • the first terminal device can identify its own coordinate system (for example, for a car, the coordinate system is the vehicle body coordinate system) and the second coordinate system through the sensor installed on itself, and can realize the coordination between its own coordinate system and the third coordinate system. Coordinate conversion between two coordinate systems. Therefore, the first terminal device can determine the coordinates of the location point C in the second coordinate system. Therefore, the first terminal device can convert the coordinates of the location point C in the second coordinate system to the coordinates of the location point C in the first coordinate system based on the first coordinate conversion information, thereby obtaining the location information C.
  • the coordinate system for example, for a car, the coordinate system is the vehicle body coordinate system
  • the first terminal device can convert the coordinates of the location point C in the second coordinate system to the coordinates of the location point C in the first coordinate system based on the first coordinate conversion information, thereby obtaining the location information C.
  • the coordinate conversion parameters when the roadside device sends coordinate conversion information to the server, the coordinate conversion parameters usually sent can be used to convert from the first coordinate system to the second coordinate system. Therefore, when the first terminal device uses the coordinate transformation parameters in the first coordinate transformation information, the coordinate transformation parameters need to be mathematically transformed before use. For example, assuming that the coordinate conversion parameter is a matrix, when the first terminal device generates the position information C of the location point C based on the coordinate conversion parameter, it needs to first determine its inverse matrix, and then generate the position information C based on the inverse matrix.
  • S603 The first terminal device sends location information C of location point C.
  • the first terminal device may carry the location information C in the data packet and send it out.
  • S603 may specifically be:
  • Send data packet E which carries location information C.
  • the first terminal device may send the data packet E by broadcasting.
  • any other roadside device, any second terminal device, and any server that has a communication connection with the first terminal device can receive the data packet E.
  • the first terminal device can also send the data packet E through other methods, such as unicast or multicast, etc.
  • data packet E can be transmitted through the PC5 port or other interfaces, such as the Uu port or other interfaces. This application does not limit this.
  • the first terminal device can send the data packet E to the server through the Uu port, and the server can broadcast the data packet E through the Uu port.
  • the data packet E may also carry information about the first roadside device.
  • the information of the first roadside equipment corresponds to the first identification of the first roadside equipment
  • the first identification of the first roadside equipment corresponds to the first coordinate conversion information. Therefore, the device that receives the data packet E can obtain the first coordinate conversion information of the first roadside device based on the information of the first roadside device and the above-mentioned corresponding relationship.
  • the data packet E also carries the version number of the coordinate transformation parameters used to generate the location information.
  • the version number of the coordinate conversion parameters used to generate position information is marked as the target version number.
  • each device that receives the data packet E can also obtain the coordinate conversion parameters of the corresponding version based on the target version number to analyze the location information C in the data packet E.
  • S604 to S605 describe the processing process of the received data packet E by the server
  • S606 to S607 describe the processing process of the received data packet E by the roadside device and/or other terminal equipment (ie, the second terminal device).
  • Each step will be described separately below.
  • the server determines first coordinate transformation information used for coordinate transformation between the first coordinate system and the second coordinate system.
  • the server After receiving the data packet E in S603, the server can search for the corresponding first coordinate conversion information in the locally saved correspondence information according to the information of the first roadside device carried in the data packet E.
  • S604 may include:
  • the server Based on the information of the first roadside device and the target version number, the server searches for the corresponding coordinate transformation parameters among the locally stored coordinate transformation parameters;
  • a request message is sent to the first roadside device to request acquisition of the first coordinate conversion information corresponding to the target version number.
  • the server can search the locally saved coordinate transformation information according to the target version number. If the coordinate transformation parameters consistent with the target version number are found, the queried coordinate transformation parameters can be used. To determine the coordinates of the second target position point in the second coordinate system; if no coordinate conversion parameters consistent with the target version number are found, it means that the coordinate conversion parameters of the latest version of the first roadside equipment may not have been received. Send a request message to the first road-side device to request the first road-side device to send coordinate conversion parameters corresponding to the target version number.
  • the server determines the coordinates of the location point C in the second coordinate system based on the first coordinate conversion information and the location information C.
  • the server can obtain the position information of the location point C in the first coordinate system from the received data packet E, and after obtaining the first coordinate conversion information, based on the first coordinate conversion information of the first roadside device and the position Information C determines the coordinates of position point C in the second coordinate system.
  • the server can obtain the coordinates of the location point C in the second coordinate system based on the first coordinate conversion information through coordinate conversion, thereby achieving safe, accurate and high-precision transmission of the location information.
  • the roadside device and/or other terminal devices may also receive the data packet E from the terminal device in S603, and may parse the data packet E by performing S606 and S607 as described below. location information C.
  • the roadside device and the second terminal device are devices capable of receiving the data packet E sent by the first terminal device.
  • the roadside equipment may be any one of the plurality of roadside equipments, it may be the first roadside equipment, or it may be any other roadside equipment except the first roadside equipment (i.e., the second roadside equipment). side equipment).
  • the second terminal device may be any terminal device among the plurality of terminal devices except the first terminal device. In other words, the second terminal device and the first terminal device are different terminal devices.
  • the data packet E sent by the first terminal device may also carry information about the first roadside device and the target of the coordinate conversion parameters used by the first terminal device to generate the location information C. version number.
  • the roadside device and/or the second terminal device obtains first coordinate conversion information, which is used to perform coordinate conversion between the first coordinate system and the second coordinate system.
  • S606 may include:
  • the roadside device and/or the second terminal device obtains correspondence information from the server.
  • the correspondence information is used to indicate at least one pair of correspondences between the roadside device and the coordinate conversion information;
  • the roadside device and/or the second terminal device obtains the first coordinate conversion information based on the information of the first roadside device corresponding to the first coordinate conversion information.
  • the server can deliver the locally saved correspondence information to the device using the map by updating the map, such as through OTA upgrade, map differential update or other dynamic update processes.
  • the roadside equipment and/or the second terminal equipment receive the correspondence information, they can obtain the first coordinate conversion information corresponding to the first roadside equipment.
  • S6062 may include:
  • the roadside device and/or the second terminal device determines, based on the information of the first roadside device, the version number of the coordinate conversion parameter in the first coordinate conversion information corresponding to the first roadside device obtained from the server;
  • the first coordinate transformation information is re-obtained from the server.
  • the roadside device and/or the second terminal device may perform the operation based on the compatibility of the version number of the coordinate transformation parameter in the first coordinate transformation information obtained from the server and the target version number carried in the received data packet E. It is judged that when the two are compatible, the coordinate transformation parameters in the first coordinate transformation information can be used to determine the coordinates of the position point C in the second coordinate system; when the two are incompatible, a new request can be made to the server to obtain The latest first coordinate conversion information. Alternatively, the roadside device and/or the second terminal device may also determine whether the coordinate transformation parameter in the obtained first coordinate transformation information can be obtained by determining whether the target version number is the same as the version number of the obtained coordinate transformation parameter. Use directly.
  • the specific process for the roadside device and/or the second terminal device to obtain the first coordinate conversion information is similar to the process in S409 in the method 400 mentioned above, and is not limited to the determination of the first coordinate conversion information through the correspondence information mentioned in S6061 and S6062.
  • the method of coordinate conversion information will not be described here for the sake of brevity.
  • the roadside device that receives the data packet E is the first roadside device determined by the terminal device in S601 since the first roadside device knows its first coordinate conversion information, the first roadside device There is no need to obtain the first coordinate transformation information from the server. Therefore, the first roadside device can skip the above-mentioned S6061 and S6062 and directly obtain the first coordinate conversion information locally.
  • the roadside device and/or the second terminal device determine the coordinates of the location point C in the second coordinate system based on the first coordinate conversion information and the location information.
  • the roadside device and/or the second terminal device obtains the coordinate conversion parameters corresponding to the first roadside device and receives the location information carried in the data packet E, they can use the coordinate conversion parameters to The position point C is converted from the coordinates in the first coordinate system to the coordinates in the second coordinate system.
  • the first coordinate conversion information corresponding to the first roadside device can be obtained from the corresponding server.
  • the two pieces of information are either coordinate conversion parameters, low-precision raw data, or relative coordinates. They do not involve coordinates in the second coordinate system, so there is no need for deflection encryption.
  • the roadside device and/or the second terminal device can obtain the coordinates of the location point C in the second coordinate system through coordinate conversion, thereby achieving safe, accurate and high-precision transmission of location information.
  • the server may also receive location information from other roadside devices and/or terminal devices. Therefore, the received location information can be forwarded if necessary.
  • the first terminal device may also receive location information from other roadside devices (ie, the second roadside device). Therefore, the first terminal device can receive a data packet with location information from any roadside device, and can also receive a data packet from any roadside device through the server.
  • the first terminal device uses the first coordinate system of the nearby first roadside device as a reference, and the position information is converted into position information relative to the first coordinate system and sent through a data packet.
  • the server also locally stores coordinate transformation information used to determine the transformation between the first coordinate system and the second coordinate system, so that the server can parse the location information based on the coordinate transformation information. Based on the above solution, the server can obtain the coordinates of the position point in the second coordinate system through coordinate conversion.
  • the roadside equipment and/or other terminal equipment can also obtain the corresponding relationship information from the server to determine the corresponding first coordinate conversion information, and then obtain the coordinates of the position point in the second coordinate system through coordinate conversion.
  • the position information is not coordinates in the second coordinate system, there is no need for deflection, and the accuracy of the position information will not be lost. At the same time, the compliance and data security of high-precision position information are taken into account, and the data of the position information can also be reduced. Transmission volume, saving bandwidth.
  • Figure 7 is a schematic block diagram of a device provided by an embodiment of the present application.
  • the device 700 may include: a transceiver unit 710 and a processing unit 720 .
  • the device 700 can execute various processes and/or steps corresponding to the roadside equipment in any of the foregoing embodiments.
  • the transceiver unit 710 may be configured to perform one of S401, S404, S408, and S4091 or S4091b in the method 400, and the processing unit 720 may be configured to perform S403, S4092b, and S410 in the method 400.
  • the transceiving unit 710 may be configured to perform S404, S4061, S408, and S4091a in the method 400, and the processing unit 720 may be configured to perform S4062 and S407 in the method 400.
  • the transceiving unit 710 may be configured to perform S603 and S6061 in the method 600, and the processing unit 720 may be configured to perform S6062 and S607 in the method 600.
  • the device 700 can also execute various processes and/or steps corresponding to the server in any of the foregoing embodiments.
  • the transceiving unit 710 may be configured to perform S401, S404, S4061, S408, and S4091b in the method 400, and the processing unit 720 may be configured to perform S402 and S405 in the method 400.
  • the transceiving unit 710 may be configured to perform S6011, S603 and S6061 in the method 600, and the processing unit 720 may be configured to perform S604 to S605 in the method 600.
  • the device 700 can also execute various processes and/or steps corresponding to the terminal device in any of the foregoing embodiments.
  • the transceiving unit 710 may be configured to perform S404, S4061 and S408 in the method 400, and the processing unit 720 may be configured to perform S4062 and S407 in the method 400.
  • processing unit 720 may be used to perform S6012 and S602 in the method 600, and the transceiving unit 710 may be used to perform S603 in the method 600.
  • the transceiving unit 710 may be configured to perform S603 and S6061 in the method 600, and the processing unit 720 may be configured to perform S6062 and S607 in the method 600.
  • the processes performed by the transceiver unit 710 and the processing unit 720 are similar to the various processes and/or steps in the third embodiment corresponding to the device 700 executing the roadside equipment. Again.
  • each functional unit in various embodiments of the present application may be integrated into one processor, may exist independently, or may have two or more units integrated into one unit.
  • the above integrated units can be implemented in the form of hardware or software functional units.
  • FIG 8 is another schematic block diagram of a device provided by an embodiment of the present application.
  • the device 800 can be used to implement the functions of roadside equipment, server or terminal equipment in the above method.
  • the device 800 may be a chip system.
  • the chip system may be composed of chips, or may include chips and other discrete devices.
  • the device 800 may include a processor 810 and a memory 820 .
  • Processor 810 and memory 820 can be used to store a computer program, and the processor 810 can be used to call and execute the computer program, so that the device implements the functions of the roadside device, server or terminal device in the method provided by the embodiment of the present application.
  • the device 800 also includes a communication interface 830 for communicating with other devices through a transmission medium, so that the device 800 can communicate with other devices.
  • the processor 810 can be used to control the communication interface 830 to send the first data packet to the server.
  • the first coordinate conversion information is used to perform coordinate conversion between the first coordinate system and the second coordinate system;
  • the processor 810 can also be used to generate a first position point based on the first coordinate system the first location information;
  • the processor 810 may also be configured to control the communication interface 830 to send a second data packet, where the second data packet carries the first location information.
  • the processor 810 can be used to control the communication interface 830 to receive the first data packet from the first roadside device; the processor 810 also The first coordinate transformation information used for coordinate transformation between the first coordinate system and the second coordinate system can be determined based on the first data packet; the processor 810 can also be used to control the communication interface 830 to receive data from the first coordinate system.
  • the second data packet of the roadside device the second data packet carries the first position information of the first position point generated based on the first coordinate system; the processor 810 may also use the first coordinate conversion information and The first position information determines the coordinates of the first position point in the second coordinate system.
  • the processor 810 can be used to control the communication interface 830 to receive the first signal from the first roadside device.
  • a data packet the first data packet carries the first position information of the first position point generated based on the first coordinate system; the processor 810 may also be used to obtain the first coordinate conversion information corresponding to the first roadside device , the first coordinate conversion information is used to perform coordinate conversion between the first coordinate system and the second coordinate system; and is used to determine the first coordinate conversion information based on the first coordinate conversion information and the first position information.
  • the coupling in the embodiment of this application is an indirect coupling or communication connection between devices, units or modules, which may be in electrical, mechanical or other forms, and is used for information interaction between devices, units or modules.
  • Processor 810 may cooperate with memory 820.
  • Processor 810 may execute program instructions stored in memory 820 .
  • At least one of the at least one memory may be included in the processor.
  • the device 800 may also include a communication interface 830 for communicating with other devices through a transmission medium, so that the device 800 can communicate with other devices.
  • the other device may be other roadside device, server or terminal device;
  • the communication interface 830 may be, for example, a transceiver, Interface, bus, circuit or device capable of transmitting and receiving functions.
  • the processor 810 can use the communication interface 830 to send and receive data and/or information, and is used to implement the method performed by the roadside device, server or terminal device in the embodiment corresponding to FIG. 4 or FIG. 6 .
  • connection medium between the processor 810, the memory 820 and the communication interface 830 is not limited in the embodiment of the present application.
  • the processor 810, the memory 820 and the communication interface 830 are connected through a bus.
  • the bus is represented by a thick line in Figure 8, and the connection methods between other components are only schematically illustrated and are not limiting.
  • the bus can be divided into address bus, data bus, control bus, etc. For ease of presentation, only one thick line is used in Figure 8, but it does not mean that there is only one bus or one type of bus.
  • the processor in the embodiment of the present application may be an integrated circuit chip with signal processing capabilities.
  • each step of the above method embodiment can be completed through an integrated logic circuit of hardware in the processor or instructions in the form of software.
  • the above-mentioned processor can be a general processor, a digital signal processor (DSP), an application specific integrated circuit (ASIC), a field programmable gate array (field programmable gate array, FPGA), or other available processors.
  • DSP digital signal processor
  • ASIC application specific integrated circuit
  • FPGA field programmable gate array
  • Programmd logic devices discrete gate or transistor logic devices, discrete hardware components.
  • a general-purpose processor may be a microprocessor or the processor may be any conventional processor, etc.
  • the steps of the method disclosed in conjunction with the embodiments of the present application can be directly implemented by a hardware decoding processor, or executed by a combination of hardware and software modules in the decoding processor.
  • the software module can be located in random access memory, flash memory, read-only memory, programmable read-only memory or electrically erasable programmable memory, registers and other mature storage media in this field.
  • the storage medium is located in the memory, and the processor reads the information in the memory and completes the steps of the above method in combination with its hardware.
  • non-volatile memory may be volatile memory or non-volatile memory, or may include both volatile and non-volatile memory.
  • non-volatile memory can be read-only memory (ROM), programmable ROM (PROM), erasable programmable read-only memory (erasable PROM, EPROM), electrically removable memory. Erase electrically programmable read-only memory (EPROM, EEPROM) or flash memory.
  • Volatile memory can be random access memory (RAM), which is used as an external cache.
  • RAM static random access memory
  • DRAM dynamic random access memory
  • SDRAM synchronous dynamic random access memory
  • double data rate SDRAM double data rate SDRAM
  • DDR SDRAM double data rate SDRAM
  • ESDRAM enhanced synchronous dynamic random access memory
  • SLDRAM synchronous link dynamic random access memory
  • direct rambus RAM direct rambus RAM
  • the roadside device includes a processor, and the processor is used to execute the program code, so that the roadside device implements the method executed by the first roadside device in the embodiment shown in Figure 4 Or the method performed by the second roadside device, or the method performed by the roadside device in the embodiment shown in FIG. 4 .
  • This application also provides a server, which includes a processor configured to execute the program code, so that the server implements the method executed by the server in the embodiment shown in FIG. 4 or FIG. 6 .
  • the terminal device includes a processor.
  • the processor is used to execute program codes, so that the terminal device implements the method executed by the terminal device in the embodiment shown in Figure 4, or in the embodiment shown in Figure 6.
  • This application also provides a vehicle that can be used to implement the method executed by the terminal device in the embodiment shown in FIG. 4, or the method executed by the first terminal device or the method executed by the second terminal device in the embodiment shown in FIG. 6.
  • This application also provides a communication system, including: a first roadside device and a server, wherein the first roadside device is used to implement the method performed by the first roadside device in the embodiment shown in Figure 4; the server is used to implement Figure 4 shows the method executed by the server in the embodiment.
  • the communication system also includes a second roadside device for implementing the method performed by the second roadside device in the embodiment shown in FIG. 4 .
  • This application also provides a communication system, including: a terminal device and a server, wherein the terminal device is used to implement the method performed by the terminal device in the embodiment shown in Figure 4; the server is used to implement the method performed by the server in the embodiment shown in Figure 4 method of execution.
  • the communication system also includes a second roadside device for implementing the method performed by the second roadside device in the embodiment shown in FIG. 4 .
  • This application also provides a communication system, including: a first roadside device, a terminal device and a server, wherein the roadside device is used to implement the method performed by the first roadside device in the embodiment shown in Figure 4; the terminal device is used The method is used to implement the method executed by the terminal device in the embodiment shown in Figure 4; the server is used to implement the method executed by the server in the embodiment shown in Figure 4.
  • the communication system also includes a second roadside device for implementing the method performed by the second roadside device in the embodiment shown in FIG. 4 .
  • This application also provides a communication system, including: a roadside device, a first terminal device and a server, wherein the first terminal device is used to implement the method performed by the first terminal device in the embodiment shown in Figure 6, and the roadside device
  • the server is used to implement the method executed by the roadside device in the embodiment shown in FIG. 6
  • the server is used to implement the method executed by the server in the embodiment shown in FIG. 6
  • the system also includes a second terminal device for implementing the method performed by the second terminal device in the embodiment shown in FIG. 6 .
  • This application also provides a computer-readable storage medium.
  • a computer program is stored on the computer-readable storage medium.
  • the computer program is executed by the processor, the method executed by the first roadside device in the embodiment shown in Figure 4 is implemented. , the method executed by the server, the method executed by the second roadside device and the method executed by the terminal device, or, in the embodiment shown in Figure 6, the method executed by the first terminal device, the method executed by the server, the method executed by the roadside device The method and the method executed by the second terminal device.
  • This application also provides a computer program product, which includes a computer program.
  • the computer program When the computer program is run, it implements the method executed by the first roadside device, the method executed by the server, and the method executed by the second roadside device in the embodiment shown in Figure 4
  • the method and the method executed by the terminal device or, in the embodiment shown in Figure 6, the method executed by the first terminal device, the method executed by the server, the method executed by the roadside device and the method executed by the second terminal device.
  • the terms "unit”, “module” and the like are used to refer to a computer-related entity, hardware, firmware, a combination of hardware and software, software, or software in execution.
  • the unit described as a separate component may or may not be physically separated, and the component shown as a unit may or may not be a physical unit, that is, it may be located in one place, or may be distributed to multiple network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of this embodiment.
  • each functional unit in each embodiment of the present application can be integrated into one processing unit, each unit can exist physically alone, or two or more units can be integrated into one unit.
  • each functional unit may be implemented in whole or in part by software, hardware, firmware, or any combination thereof.
  • software When implemented using software, it may be implemented in whole or in part in the form of a computer program product.
  • the computer program product includes one or more computer instructions (programs). When the computer program instructions (program) are loaded and executed on the computer, the processes or functions according to the embodiments of the present application are generated in whole or in part.
  • the computer may be a general purpose computer, a special purpose computer, a 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 transmitted over a wired connection from a website, computer, server, or data center (such as coaxial cable, optical fiber, digital subscriber line (DSL)) or wireless (such as infrared, wireless, microwave, etc.) to another website, computer, server or data center.
  • the computer-readable storage medium can be any available medium that can be accessed by a computer or a data storage device such as a server or data center integrated with one or more available media.
  • the available media may be magnetic media (such as floppy disks, hard disks, tapes), optical media (such as digital video discs (DVD), or semiconductor media (such as solid state disks (SSD)), etc. .
  • this function is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium.
  • the technical solution of the present application is essentially or the part that contributes to the existing technology or the part of the technical solution can be embodied in the form of a software product.
  • the computer software product is stored in a storage medium, including Several instructions are used to cause 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 of various embodiments of the present application.
  • the aforementioned storage media include: U disk, mobile hard disk, ROM, RAM, magnetic disk or optical disk and other media that can store program codes.

Abstract

本申请实施例提供了信息发送方法、信息接收方法及相关装置、系统。该方法包括：向服务器发送第一数据包，第一数据包用于确定第一坐标转换信息，第一坐标转换信息用于在第一坐标系和第二坐标系之间进行坐标转换；基于第一坐标系，生成第一位置点的第一位置信息；发送第二数据包，第二数据包中携带第一位置信息。通过将第一位置信息和第一坐标转换信息携带在不同的数据包中发送，故可以通过两个不同的安全通道来传输，无需对两项信息进行偏转，不会对位置信息的精度造成损失，同时兼顾了合规性和数据安全，另外也可以减少位置信息的数据传输量，节省带宽。

Description

信息发送方法、信息接收方法及相关装置、系统
本申请要求于2022年3月28日递交中国国家知识产权局、申请号为202210311928.6、申请名称为“信息发送方法、信息接收方法及相关装置、系统”的中国专利申请的优先权，其全部内容通过引用结合在本申请中。
技术领域
本申请涉及智能交通领域，并且更具体地，涉及信息发送方法、信息接收方法及相关装置、系统。
背景技术
随着智能交通系统(intelligent transportation system，ITS)的发展，高精定位成为一种需求。路侧端、云端、车端等可结合高精度地图进行位置信息的传输和交换。
目前，出于安全的考虑，若要传输高精度的位置坐标，则需要对该位置坐标进行偏转加密后再发送。但是，偏转加密又会使得位置坐标的精度下降，无法真正实现高精度位置的传输。因此，希望提供一种方法，能够安全、准确地传输高精度的位置信息。
发明内容
本申请提供了信息发送方法、信息接收方法及相关装置、系统，以期能够安全、准确地传输高精度的位置信息。
第一方面，本申请提供了一种信息发送方法，该方法可以由第一路侧设备执行，或者，也可以由配置在第一路侧设备中的部件(如芯片、芯片系统等)执行，或者，还可以由能够实现全部或部分第一路侧设备功能的逻辑模块或软件实现，本申请对此不作限定。
示例性地，该方法包括：向服务器发送第一数据包，该第一数据包用于确定第一坐标转换信息，该第一坐标转换信息用于在第一坐标系和第二坐标系之间进行坐标转换；基于第一坐标系，生成第一位置点的第一位置信息；发送第二数据包，该第二数据包中携带上述第一位置信息。
应理解，第一路侧设备以及与之相对应的第一坐标转换信息、第一位置点、第一位置信息等仅为便于区分和说明而定义，不失一般性，本申请提供的信息发送方法可应用于任意一个路侧设备。
其中，第一坐标系可以为位置相对固定的设备(如第一路侧设备)的局部坐标系。对于每个路侧设备而言，每个路侧设备可对应于一个局部坐标系，例如路侧设备内的感知设备采集数据或处理数据所基于的坐标系。这里将第一路侧设备的局部坐标系记为第一坐标系。第二坐标系可以为全局坐标系，例如地理坐标系(geographic coordinate  system)、大地坐标系(geodetic coordinate system)等。一示例，该第二坐标系为1984年世界大地(world geodetic system-1984 coordinated system，WGS－84)坐标系。
第一位置点为第一路侧设备需要上报的位置点。
第一数据包的发送可以是路侧设备采用点对点发送的方式，将第一数据包发送给服务器。路侧设备可以对第一数据包加密后再向服务器发送。第二数据包的发送可以是路侧设备通过广播的方式发送，即，与路侧设备具有通信连接的其它任意一个路侧设备、任意一个终端设备、任意一个服务器，均可接收到第二数据包。其中，可通过路侧设备与服务器之间的Uu口或光纤发送第一数据包，可以通过PC5口发送第二数据包。
其中，第一方面中的第一数据包例如可以对应于下文结合图4示例的数据包A，第一方面中的第二数据包例如可以对于下文结合图4示例的数据包B。
使用位置相对固定的第一路侧设备的第一坐标系作为参照，由第一路侧设备将位置点的位置信息转换为相对于该第一坐标系的第一位置信息通过第二数据包发送；第一路侧设备通过第一数据包将可用于确定第一坐标系和第二坐标系之间的第一坐标转换信息的数据发送给服务器。基于上述方案，接收到第一位置信息的设备就可基于第一坐标转换信息来解析该第一位置信息，从而得到第一位置点在第二坐标系下的坐标。
由于位置信息和坐标转换信息采用两个不同的数据包进行传输，也即采用两条通路进行传输，且位置信息和坐标转换信息都不是第二坐标系下的坐标，因此位置信息和坐标转换信息都无需进行偏转，不会对位置信息的精度造成损失，同时还兼顾了高精度位置信息的合规性和数据安全，另外也可以减少位置信息的数据传输量，节省带宽。
结合第一方面，在第一方面的某些可能的实现方式中，第一坐标转换信息可以由第一路侧设备生成，也可以由服务器生成。因此，第一路侧设备向服务器所发送的第一数据包所携带的信息可以有如下两种可能的设计。
在一种可能的设计中，所述第一数据包中携带第一坐标转换信息。
也就是说，第一路侧设备可以自行生成第一坐标转换信息，并将用于在第一坐标系和第二坐标系之间进行坐标转换的第一坐标转换信息携带在第一数据包中发送给服务器，使得服务器可直接根据该第一坐标转换信息来解析第一位置信息，无需再去确定第一坐标转换信息，有利于提高服务器解析位置信息的效率。
在另一种可能的设计中，所述第一数据包中携带原始数据，该原始数据是基于第一坐标系采集到的数据，用于确定第一坐标转换信息。
其中，原始数据可以包括但不限于，第一路侧设备中的激光雷达传感器或雷达传感器等采集到的点云数据，视觉传感器采集到的图片数据等。
在这种设计中，第一路侧设备可以将原始数据携带在第一数据包中发送给服务器，由服务器基于原始数据来确定出第一坐标转换信息。因此，对于第一路侧设备而言，无需在本地确定第一坐标转换信息，而是将计算转移到算力较强的服务器，降低了对第一路侧设备的计算压力。同时，由于第一路侧设备并不直接传输第一坐标转换信息，而是传输原始数据，也可以防止第一坐标转换信息的泄露，保证数据安全。
基于上述通过第一数据包携带原始数据，服务器确定第一坐标转换信息的设计， 进一步地，所述方法还包括：接收来自服务器的第一坐标转换信息。
由于第一路侧设备可能安装了多个传感器，各传感器可能对应了互不相同的坐标系，因此路侧设备在生成位置信息(例如包括但不限于上述第一位置信息)时，可能也需要使用到上述坐标转换信息。服务器根据原始数据确定出坐标转换信息后，可以将第一坐标转换信息发送给第一路侧设备，以便于第一路侧设备生成位置信息。
结合第一方面，在第一方面的某些可能的实现方式中，所述第二数据包还携带用于生成位置信息的坐标转换参数的版本号。
在第二数据包中携带坐标转换参数的版本号，使得接收到该第二数据包的设备可以基于该版本号，来获取相应版本的坐标转换参数，或该版本号能够兼容的版本的坐标转换参数，使用正确版本的坐标转换参数来解析第一位置信息，也就可实现对位置信息的高精度解析。
结合第一方面，在第一方面的某些可能的实现方式中，所述第二数据包的发送频率高于所述第一数据包的发送频率。
下文提供了第一路侧设备发送第一数据包和第二数据包的两种实现方式。
一种可能的实现方式是，第一数据包是以第一预设时长为周期而发送的数据包，第二数据包是以第二预设时长为周期而发送的数据包，第一预设时长大于第二预设时长。
另一种可能的实现方式是，第二数据包在第一数据包中的坐标转换信息成功被获取后发送。
其中，服务器可以在接收到第一数据包并获取到第一坐标转换信息后，向第一路侧设备返回接收确认消息，第一路侧设备接收到接收确认信息后，不再发送第一数据包。
由于第一路侧设备的位置不常发生变化，故第一数据包携带的第一坐标转换信息更新频率较低。与此相对，需要上报的第一位置点频繁变化，第二数据包携带的第一位置点的第一位置信息更新频率较高。因此，第二数据包的发送频率高于第一数据包的发送频率，可在满足实际需求的同时又可以节省信令开销。
结合第一方面，在第一方面的某些可能的实现方式中，所述方法还包括：获取第二坐标转换信息，第二坐标转换信息用于在第二坐标系与第三坐标系之间进行坐标转换；接收携带有第二位置信息的第三数据包，所述第二位置信息是基于第三坐标系生成的第二位置点的位置信息；根据第二位置信息和第二坐标转换信息，确定第二位置点在第二坐标系下的坐标。
其中，第三数据包可以为来自其它路侧设备和/或终端设备的数据包，该第三数据包中可以携带有第二位置信息的第二位置信息。该第三数据包具体可以是由其他路侧设备和/或终端设备发送至服务器，再由服务器转发至第一路侧设备的数据包；也可以是第一路侧设备直接从其它路侧设备和/或终端设备接收到的数据包。本申请对此不作限定。
通过获取其他路侧设备和/或终端设备的携带有位置信息的数据包，使得第一路侧设备可以获得更加全面的路况信息，有利于获得合理的路径规划。
一种可能的情况是，第一路侧设备直接从其他路侧设备和/或终端设备接收到第四 数据包，并可根据该第四数据包确定第二坐标转换信息。
可选地，所述获取第二坐标转换信息，包括：接收第四数据包，所述第四数据包用于确定所述第二坐标转换信息；基于所述第四数据包确定所述第二坐标转换信息。
另一种可能的情况是，第一路侧设备从服务器接收对应关系信息，从该对应关系信息中获取到该第二坐标转换信息。
可选地，所述第三数据包携带第二路侧设备的信息，与所述第二坐标转换信息对应，所述获取第二坐标转换信息，包括：从所述服务器接收对应关系信息，所述对应关系信息用于指示路侧设备与坐标转换信息之间的对应关系，所述路侧设备包括第二路侧设备，所述坐标转换关系包括第二坐标转换关系；基于所述第二路侧设备的信息和对应关系信息，确定第二坐标转换信息。
应理解，上述第三数据包例如可对应于下文结合图4示例的数据包C，第四数据包例如可对应于下文结合图4示例的数据包D。
第二方面，本申请提供了一种信息接收方法，该方法可以由服务器执行，或者，也可以由配置在服务器中的部件(如芯片、芯片系统等)执行，或者，还可以由能够实现全部或部分服务器功能的逻辑模块或软件实现，本申请对此不作限定。
示例性地，该方法包括：接收来自第一路侧设备的第一数据包；基于第一数据包，确定用于在第一坐标系和第二坐标系之间进行坐标转换的第一坐标转换信息；接收来自路侧设备的第二数据包，该第二数据包中携带基于第一坐标系生成的第一位置点的第一位置信息；基于第一坐标转换信息和第一位置信息，确定第一位置点在第二坐标系下的坐标。
其中，第二方面中的第一数据包例如可以对应于下文结合图4示例的数据包A，第二方面中的第二数据包例如可以对于下文结合图4示例的数据包B。
应理解，第一路侧设备以及与之相对应的第一坐标转换信息、第一位置点、第一位置信息等仅为便于区分和说明而定义，不失一般性，本申请提供的信息发送方法可应用于任意一个路侧设备。
路侧设备将坐标转换信息或用于确定坐标转换信息的原始数据和位置信息携带在不同的数据包中发送，服务器可基于第一数据包确定第一坐标转换信息来解析第二数据包中的第一位置信息，从而得到第一位置点在第二坐标系下的坐标。基于上述方案，由于位置信息和坐标转换信息采用两个不同的数据包进行传输，也即采用两条通路进行传输，且位置信息和坐标转换信息都不是第二坐标系下的坐标，因此位置信息和坐标转换信息都无需进行偏转，不会对位置信息的精度造成损失，同时还兼顾了高精度位置信息的合规性和数据安全，另外也可以减少位置信息的数据传输量，节省带宽。
结合第二方面，在第二方面的某些可能的实现方式中，第一坐标转换信息可以由第一路侧设备生成，也可以由服务器生成。因此，服务器接收的第一数据包所携带的信息可以有如下两种可能的设计。
在一种可能的设计中，所述第一数据包中携带第一坐标转换信息。
服务器在接收到第一坐标转换信息后，就可直接根据第一坐标转换信息来解析第一位置信息，无需再去确定第一坐标转换信息，这有利于提高服务器解析位置信息的效率。
在另一种可能的设计中，所述第一数据包中携带原始数据，该原始数据是第一路侧设备基于第一坐标系采集到的数据。该方法还包括：基于所述原始数据，确定所述第一坐标转换信息。
由于第一路侧设备并不直接传输第一坐标转换信息，而是传输原始数据，由服务器根据原始数据再去确定第一坐标转换信息，可以防止第一坐标转换信息的泄露，保证数据安全。另外，由于第一路侧设备无需在本地确定第一坐标转换信息，而是将计算转移到算力较强的服务器，降低了第一路侧设备的计算压力。
基于上述通过第一数据包携带原始数据，服务器确定第一坐标转换信息的设计，进一步地，所述方法还包括：向第一路侧设备发送所述第一坐标转换信息。
由于第一路侧设备可能安装了多个传感器，各传感器可能对应了互不相同的坐标系，因此第一路侧设备在生成位置信息(例如包括但不限于上述第一位置信息)时，可能也需要使用到上述第一坐标转换信息。服务器根据原始数据确定出第一坐标转换信息后，可以将第一坐标转换信息发送给第一路侧设备，以便于第一路侧设备生成位置信息。
结合第二方面，在第二方面的某些可能的实现方式中，所述方法还包括：根据所述第一坐标转换信息确定第一坐标转换参数；当所述第一坐标转换参数不同于本地存储的关于所述第一路侧设备的第二坐标转换参数时，将本地存储的所述第二坐标转换参数替换为所述第一坐标转换参数。
应理解，该第一坐标转换参数可对应于下文结合图4示例的流程中的坐标转换参数A，第二坐标抓好参数可对应于下文结合图4示例的流程中的坐标转换参数B。
其中，第一数据包中还可以携带坐标转换参数的版本。坐标转换参数的版本可以为版本号、时间戳、更新时间、更新指示标记位或其它可用于指示版本的信息。
在服务器接收到的坐标转换参数和本地保存的坐标转换参数的版本不一致时，服务器通过保存接收到的坐标转换参数来替换本地存储的坐标转换参数，以使得本地存储的坐标转换信息能够用于更准确地解析位置信息；在二者一致时，则无需保存接收到的坐标转换参数，服务器本地存储的坐标转换参数还是可以作为最新的坐标转换参数。由于服务器通过比较接收到的坐标转换参数与本地存储的坐标转换参数，来决定是否要对本地存储的坐标转换参数进行更新，从而保证了服务器本地存储的总是最新的坐标转换参数，从而可以使用最新的坐标转换参数来解析位置信息，保证对位置信息的高精度解析。
结合第二方面，在第二方面的某些可能的实现方式中，所述第二数据包还携带用于生成第一位置信息的第一坐标转换参数的版本号；所述方法还包括：在未获取到对应于所述版本号的坐标转换参数的情况下，向第一路侧设备发送请求消息，以请求获取对应于该版本号的坐标转换参数。
应理解，每一次更新的坐标转换参数可对应于一个版本号，由于坐标转换参数属于坐标转换信息的一部分，故坐标转换参数所属的坐标转换信息也对应于一个版本号。
在第二数据包中携带坐标转换参数的版本号时，服务器可以基于该版本号，确定本地是否保存有相应版本的坐标转换参数，从而确保使用正确版本的坐标转换参数来解析位置信息，也就可实现对位置信息的高精度解析。
结合第二方面，在第二方面的某些可能的实现方式中，所述方法还包括：向终端设备和/或路侧设备发送对应关系信息，该对应关系信息用于指示路侧设备与坐标转换信息之间的对应关系。
示例性地，该对应关系信息可以包括第一路侧设备的第一标识与第一坐标转换信息的对应关系，以及第一路侧设备的信息与第一路侧设备的第一标识的对应关系；或者，对应关系信息也可以包括第一路侧设备的信息、第一路侧设备的第一标识与第一坐标转换信息的对应关系。本申请包含但不限于。
服务器将对应关系信息发送给终端设备和/或路侧设备，使得终端设备和/或路侧设备可以根据路侧设备(如第一路侧设备)的信息，从对应关系信息中获取到所需要的坐标转换信息，进而可实现对位置信息的解析。
结合第二方面，在第二方面的某些可能的实现方式中，所述第二数据包的接收频率高于所述第一数据包的接收频率。
下文提供了服务器接收第一数据包和第二数据包的两种实现方式。
一种可能的实现方式是，第一数据包是以第一预设时长为周期而接收的数据包，第二数据包是以第二预设时长为周期而接收的数据包，第一预设时长大于第二预设时长。
另一种可能的实现方式是，第二数据包在第一数据包中的第一坐标转换信息成功被获取后接收。
其中，服务器可以在接收到第一数据包并获取到第一坐标转换信息后，向第一路侧设备返回接收确认消息，第一路侧设备接收到接收确认信息后，不再发送第一数据包。
由于第一路侧设备的位置不常发生变化，故第一数据包携带的第一坐标转换信息更新频率较低。与此相对，需要上报的第一位置点频繁变化，第二数据包携带的第一位置点的第一位置信息更新频率较高。因此，第二数据包的接收频率高于第一数据包的接收频率，可在满足实际需求的同时又可以节省信令开销。
结合第二方面，在第二方面的某些可能的实现方式中，所述方法还包括：接收第三数据包，该第三数据包用于确定第二坐标系和第三坐标系之间的第二坐标转换信息；接收携带有第二位置信息的第四数据包，该第二位置信息是基于第三坐标系生成的第二位置点的位置信息；发送第四数据包。
由于服务器除了可能接收到来自第一路侧终端的用于确定第一坐标转换关系的第一数据包和携带有第一位置信息的第二数据包之外，还可能也会接收到来自其它路侧设备和/或终端设备的用于确定第二坐标转换信息的第三数据包和携带有第二位置信息的第四数据包，服务器可基于第三数据包确定第二坐标转换信息，以便解析第四数据包中的第二位置信息，进而进行合理的规划控制。服务器还可将第四数据包转发出去，使得接收到第四数据包的设备可以获得更加全面的路况信息，有利于获得合理的路径规划。
应理解，上述第三数据包例如可对应于下文结合图4示例的数据包D，第四数据包例如可对应于下文结合图4示例的数据包C。
第三方面，本申请提供了一种信息接收方法，该方法可以由终端设备或其它路侧 设备(如第二路侧设备)执行，或者，也可以由配置在终端设备或其他路侧设备中的部件(如芯片、芯片系统等)执行，或者，还可以由能够实现全部或部分终端设备或其他路侧设备功能的逻辑模块或软件实现，本申请对此不作限定。
为便于区分和说明，这里将第一方面至第二方面中发送第一位置点的第一位置信息的路侧设备记为第一路侧设备。第一路侧设备所发送的坐标转换信息可以记为第一坐标转换信息；可接收到来自第一路侧设备的位置信息的路侧设备记为第二路侧设备。
示例性地，该方法包括：接收来自第一路侧设备的第一数据包，该第一数据包中携带基于第一坐标系生成的第一位置点的第一位置信息；获取对应于第一路侧设备的第一坐标转换信息，第一坐标转换信息用于在第一坐标系和第二坐标系之间进行坐标转换；基于第一坐标转换信息和第一位置信息，确定第一位置点在第二坐标系下的坐标。
应理解，第三方面中的第一数据包例如可以对应于下文结合图4示例的数据包B。
终端设备和/或第二路侧设备可以从服务器中获取到第一坐标转换信息，并根据第一坐标转换信息来解析从第一路侧设备接收到的第一数据包中的第一位置信息，因此，终端设备和/或第二路侧设备可以确定第一位置点在第二坐标系下的坐标。基于上述方案，由于位置信息和坐标转换信息采用两条不同的传输通路进行传输，且位置信息和坐标转换信息都不是第二坐标系下的坐标，因此位置信息和坐标转换信息都无需进行偏转，不会对位置信息的精度造成损失，同时还兼顾了高精度位置信息的合规性和数据安全，另外也可以减少位置信息的数据传输量，节省带宽。
一种可能的情况是，第二路侧设备或终端设备可以直接从第一路侧设备接收到第二数据包，并可根据该第二数据包确定第二坐标转换信息。
可选地，所述获取对应于所述第一路侧设备的第一坐标转换信息，包括：接收第二数据包；基于第二数据包，确定第一坐标转换信息。
应理解，第三方面中的第二数据包例如可以对于下文结合图4示例的数据包A。
另一种可能的情况是，第二路侧设备或终端设备从服务器接收对应关系信息，从该对应关系信息中获取到该第一坐标转换信息。
可选地，所述第一数据包还携带第一路侧设备的信息，所述获取对应于所述第一路侧设备的第一坐标转换信息，包括：从服务器接收对应关系信息，所述对应关系信息用于指示路侧设备与坐标转换信息之间的对应关系，所述路侧设备包括所述第一路侧设备，所述坐标转换信息包括所述第一坐标转换信息；基于第一路侧设备的信息和对应关系信息，获取第一坐标转换信息。
由于第一数据包还可携带第一路侧设备的信息，使得接收到第一数据包的终端设备和/或第二路侧设备可根据第一路侧设备的信息，识别出第一路侧设备，进而基于对应关系信息获取到对应的第一坐标转换信息。
示例性地，对应关系信息可以包括路侧设备的第一标识与坐标转换信息的至少一对对应关系，以及路侧设备的信息与路侧设备的第一标识的至少一对对应关系；或者，对应关系信息也可以包括路侧设备的信息、路侧设备的第一标识与坐标转换信息的至少一对对应关系。本申请包含但不限于此。
由于服务器预先存储了对应关系信息，服务器可以通过地图更新等流程将对应关 系信息下发到地图的各个使用设备。接收到第一数据包的终端设备或第二路侧设备可以根据第一路侧设备的信息从中查找出所需要的坐标转换信息，从而实现对位置信息的解析。
进一步地，所述第一数据包还携带用于生成所述第一位置信息的坐标转换参数的版本号；所述基于第一路侧设备的信息和对应关系信息，获取第一坐标转换信息，包括：基于第一路侧设备的信息，确定从服务器获取到的对应于第一路侧设备的第一坐标转换信息中坐标转换参数的版本号；在从服务器获取到的坐标转换参数的版本号不被所述第一数据包中携带的版本号兼容的情况下，重新从服务器获取第一坐标转换信息。
通过获取到正确的版本号的坐标转换参数，或能够被该版本号兼容的坐标转换参数，可以保证对位置信息的高精度解析。
结合第三方面，在第三方面的某些可能的实现方式中，所述方法还包括：发送第三数据包，所述第三数据包用于确定所述第二坐标系和第三坐标系之间的第二坐标转换信息；发送携带有第二位置信息的第四数据包，所述第二位置信息是基于所述第三坐标系生成的第二位置点的位置信息。
应理解，上述第三数据包例如可对应于下文示例中的数据包C，第四数据包例如可对应于下文示例中的数据包D。与第一路侧设备相似，第二路侧设备和终端设备也可以基于第一方面所提供的方法来生成用于确定坐标转换信息的数据包和携带位置信息的数据包，并通过两个不同的安全通道来传输。因此，对位置信息和坐标转换信息都无需进行偏转，不会对位置信息的精度造成损失，同时还兼顾了高精度位置信息的合规性和数据安全，另外也可以减少位置信息的数据传输量，节省带宽。此外，服务器可以接收来自多个路侧设备和/或终端设备的数据包，可以获得更加全面的路况信息，进行合理的规划控制。
结合上述各方面，在某些可能的实现方式中，第一数据包和第二数据包基于不同的安全通道传输。
结合上述各方面，在某些可能的实现方式中，第三数据包和第四数据包基于不同的安全通道传输。
应理解，安全通道可用于保证通信过程的机密性和完整性。不同的安全通道可以采用不同的信息安全保护机制，例如使用不同的证书机制、鉴权机制或加密机制等。其中，鉴权机制可以包括但不限于，认证方式、认证算法等。加密机制可以包括但不限于，加密算法、加密模式等。比如，两个安全通道使用不同版本的数字证书，或两个通道使用不同的密钥和/或不同的加密算法等。本申请包含但不限于此。关于安全通道的具体内容可参看已有技术，此处不再赘述。
通过将用于确定坐标转换信息的数据包和携带位置信息的两个数据包基于不同的安全通道来传输，便可以使用不同的证书机制、鉴权机制或加密机制等来对信息进行加密，提高了传输的安全性。因此不必对位置信息和坐标转换信息进行偏转，且不会对位置信息的精度造成损失，同时还兼顾了高精度位置信息的合规性和数据安全，另外也可以减少位置信息的数据传输量，节省带宽。
结合第一方面至第三方面，在某些可能的实现方式中，所述第一数据包和所述第 二数据包还分别携带第一路侧设备的信息，该第一路侧设备的信息与第一坐标转换信息对应。
其中，第一路侧设备的信息包括：第一路侧设备的第二标识或第一路侧设备的位置坐标。其中，第二标识可以为第一路侧设备的自报标识。第一路侧设备自行生成并上报自报标识，或者也可以上报自己的位置信息。
结合第一方面至第三方面，在某些可能的实现方式中，所述第一路侧设备的信息与所述第一路侧设备的第一标识对应。
第一路侧设备的第一标识可以为第一路侧设备在地图中的标识，第一标识可用于在地图中唯一地标识一个路侧设备。为了便于区分不同的路侧设备及其对应的坐标转换信息，服务器可以预先建立路侧设备的信息、路侧设备的第一标识和坐标转换信息之间的对应关系。
由于第一路侧设备发送的第一数据包和第二数据包中还可携带第一路侧设备的信息，使得接收到第一数据包和/或第二数据包的设备可根据第一路侧设备的信息识别出第一路侧设备，进而可快速地从上述对应关系信息中获取到对应的第一坐标转换信息。
第四方面，本申请提供了一种信息发送方法，该方法可以由第一终端设备执行，或者，也可以由配置在第一终端设备中的部件(如芯片、芯片系统等)执行，或者，还可以由能够实现全部或部分第一终端设备功能的逻辑模块或软件实现，本申请对此不作限定。
应理解，第一终端设备、第一路侧设备以及与之相对应的第一坐标转换信息等仅为便于区分和说明而定义，不失一般性，本申请提供的信息发送方法可应用于任意一个终端设备。
示例性地，该方法包括：获取第一坐标转换信息，该第一坐标转换信息用于在第一坐标系和第二坐标系之间进行坐标转换；基于第一坐标转换信息，以及位置点在第二坐标系下的坐标，生成位置点的位置信息；发送该位置信息。
由于终端设备的高移动性，第一终端设备也可以选择位置较为固定的路侧设备的坐标系作为参照。其中，第一终端设备可选择附近的路侧设备，或者在当前与自身存在通信连接的路侧设备的第一坐标系作为参照。如，选择第一路侧设备的第一坐标系作为参照。
应理解，第四方面中的位置信息可对应于下文结合图6示例的位置信息C。
第一终端设备在识别到位置点时，将位置点在自身的坐标系下的坐标转换到目标位置点在第二坐标系下的坐标。为了保证信息传输的安全性，终端设备再将该位置点在第二坐标系下的坐标，转换到所选择的固定的第一路侧设备的第一坐标系下的坐标，从而可生成该位置点的位置信息。第一终端设备使用位置相对固定的第一路侧设备的第一坐标系作为参照，将位置点的位置信息转化为相对于该第一坐标系的位置信息发送出去。基于上述方案，接收到位置信息的设备就可基于第一坐标转换信息来解析位置信息，从而得到位置点在第二坐标系下的坐标。
由于位置信息不是第二坐标系下的坐标，无需进行偏转，不会对位置信息的精度造成损失，同时还兼顾了高精度位置信息的合规性和数据安全，另外也可以减少位置信息的数据传输量，节省带宽。
结合第四方面，在第四方面的某些可能的实现方式中，所述发送位置信息，包括：发送第一数据包，该第一数据包中携带位置信息。
应理解，第四方面中的第一数据包可对应于下文结合图6示例的数据包E。
结合第四方面，在第四方面的某些可能的实现方式中，所述获取第一坐标转换信息，包括：从服务器接收对应关系信息，该对应关系信息用于指示路侧设备与坐标转换信息之间的对应关系；基于第一路侧设备的信息，获取第一坐标转换信息，该第一坐标转换信息与第一路侧设备对应。
由于服务器预先存储了对应关系信息，服务器可以通过地图更新等流程将对应关系信息下发到地图的各个使用设备。在第一终端设备有发送位置信息的需求时，可以根据所选择的固定位置的路侧设备的信息，从中查找出所需要的坐标转换信息，从而实现对高精度位置信息的生成，且兼顾了高精度位置信息的合规性和数据安全。
结合第四方面，在第四方面的某些可能的实现方式中，所述获取第一坐标转换信息，包括：从第一路侧设备接收第二数据包，所述第二数据包用于确定第一坐标转换信息。
第五方面，本申请提供了一种信息接收方法，该方法可以由路侧设备或其它终端设备(如第二终端设备)执行，或者，也可以由配置在路侧设备或其它终端设备中的部件(如芯片、芯片系统等)执行，或者，还可以由能够实现全部或部分路侧设备或其它终端设备功能的逻辑模块或软件实现，本申请对此不作限定。应理解，路侧设备可以为多个路侧设备中的任意一个路侧设备，可以为第一路侧设备，也可以为第二路侧设备。
示例性地，该方法包括：接收来自第一终端设备的位置信息，该位置信息是基于第一坐标系生成位置点的信息；获取第一坐标转换信息，该第一坐标转换信息用于在第一坐标系和第二坐标系之间进行坐标转换；基于第一坐标转换信息和位置信息，确定该位置点在第二坐标系下的坐标。
应理解，第五方面中的位置信息可对应于下文结合图6示例的位置信息C。
由于第一终端设备将基于第一坐标系生成的位置信息发送了出去。路侧设备和/或其它终端设备可以在获取第一坐标转换信息后，根据第一坐标转换信息来解析该位置信息，从而可得到该位置点在第二坐标系下的坐标。由于第一坐标转换信息和位置信息都不是第二坐标系下的坐标，且并未一同传输，无需进行偏转，不会对位置信息的精度造成损失，同时还兼顾了高精度位置信息的合规性和数据安全，另外也可以减少位置信息的数据传输量，节省带宽。
结合第五方面，在第五方面的某些可能的实现方式中，所述获取第一坐标转换信息，包括：从服务器获取对应关系信息，该对应关系信息用于指示路侧设备与坐标转换信息之间的对应关系；基于第一路侧设备的信息，获取第一坐标转换信息。
由于服务器预先存储了对应关系信息，服务器可以通过地图更新等流程将对应关系信息下发到地图的各个使用设备。接收到位置信息的路侧设备和/或其它终端设备可以根据第一路侧设备的信息从对应关系信息中查找出所需要的第一坐标转换信息，从而实现对高精度位置信息的解析，且兼顾了高精度位置信息的合规性和数据安全。
结合第五方面，在第五方面的某些可能的实现方式中，所述接收来自第一终端设 备的位置信息，包括：接收来自第一终端设备的第一数据包，该第一数据包携带位置信息。
应理解，该第一数据包可对应于下文结合图6示例中的数据包E。
结合第五方面，在第五方面的某些可能的实现方式中，所述第一数据包还携带用于生成位置信息的坐标转换参数的版本号，以及所述基于第一路侧设备的信息，获取对应于第一路侧设备的第一坐标转换信息，包括：基于第一路侧设备的信息，确定从服务器获取到的对应于第一路侧设备的第一坐标转换信息中坐标转换参数的版本号；在从服务器获取到的坐标转换参数的版本号不被第一数据包中携带的版本号兼容的情况下，重新从服务器获取述坐标转换参数。
通过获取到用于生成位置信息的坐标转换参数，或能够被该坐标转换参数的版本号兼容的坐标转换参数，可以保证对位置信息的高精度解析。
第六方面，本申请提供了一种信息接收方法，该方法可以由服务器执行，或者，也可以由配置在服务器中的部件(如芯片、芯片系统等)执行，或者，还可以由能够实现全部或部分服务器功能的逻辑模块或软件实现，本申请对此不作限定。
示例性地，该方法包括：接收来自第一终端设备的位置信息，该位置信息是基于第一坐标系生成的位置点的信息；确定用于在第一坐标系和第二坐标系之间进行坐标转换的第一坐标转换信息；基于第一坐标转换信息和位置信息，确定该位置点在所述第二坐标系下的坐标。
应理解，第六方面中的位置信息可对应于下文结合图6示例的位置信息C。
由于第一终端设备将基于第一坐标系生成的位置信息广播了出去，服务器就可基于本地存储的第一坐标转换信息来解析该位置信息，从而得到该位置点在第二坐标系下的坐标。由于该位置信息不是第二坐标系下的坐标，对位置信息无需进行偏转，不会对位置信息的精度造成损失，同时还兼顾了高精度位置信息的合规性和数据安全，另外也可以减少位置信息的数据传输量，节省带宽。
结合第六方面，在第六方面的某些可能的实现方式中，所述接收位置信息，包括：接收第一数据包，该第一数据包携带位置信息。
结合第六方面，在第六方面的某些可能的实现方式中，所述第一数据包还携带用于生成位置信息的坐标转换参数的版本号，以及所述确定用于在第一坐标系和第二坐标系之间进行坐标转换的第一坐标转换信息，包括：根据所述坐标转换参数的版本号，确定第一坐标转换参数；当所述第一坐标转换参数不同于本地存储的关于所述第一路侧设备的第二坐标转换参数的版本号时，向第一路侧设备发送请求消息，以请求获取第一坐标转换参数。
在第一数据包中携带坐标转换参数的版本号时，服务器可以基于该版本号，确定本地是否保存有相应版本的坐标转换参数，从而确保使用正确版本的坐标转换参数来解析位置信息，也就可实现对位置信息的高精度解析。
结合第六方面，在第六方面的某些可能的实现方式中，所述方法还包括：向终端设备和/或路侧设备发送对应关系信息，该对应关系信息用于指示路侧设备与坐标转换信息之间的对应关系。
服务器将对应关系信息发送给终端设备和/或路侧设备，使得终端设备和/或路侧设 备可以根据路侧设备的信息，从对应关系信息中获取到所需要的坐标转换信息，进而可实现对位置信息的解析。
结合第四方面至第六方面，在第四方面至第六方面的某些可能的实现方式中，所述第一数据包还携带第一路侧设备的信息，第一路侧设备的信息与第一坐标转换信息对应。
其中，第一路侧设备的信息包括：第一路侧设备的第二标识或第一路侧设备的位置坐标。其中，第二标识可以为第一路侧设备的自报标识。第一路侧设备自行生成并上报自报标识，或者也可以上报自己的位置信息。
结合第四方面至第六方面，在某些可能的实现方式中，所述第一路侧设备的信息与所述第一路侧设备的第一标识对应。
第一路侧设备在地图中的标识记为第一标识。为了便于区分不同的路侧设备及其对应的坐标转换信息。服务器预先建立有路侧设备的信息、路侧设备的第一标识和坐标转换信息之间的对应关系。
由于终端设备发送的第一数据包中还可携带第一路侧设备的信息，使得接收到第一数据包的设备可根据第一路侧设备的信息识别出第一路侧设备，进而可快速地从上述对应关系信息中获取到对应的第一坐标转换信息。
结合第一方面至第六方面，在第一方面至第六方面的某些可能的实现方式中，所述第一路侧设备的第一标识包括第一字段和第二字段，第一字段用于承载路侧设备所在区域的区域标识，第二字段用于承载路侧设备在该区域内的设备标识。
其中，每个路侧设备的第一标识可以包括第一字段和第二字段，由于第一字段用于承载区域标识，故同一区域内的不同路侧设备的第一标识中第一字段所承载的区域标识可能相同，不同区域内的路侧设备的第一标识中第一字段所承载的区域标识可能不同。又由于第二字段用于承载路侧设备在区域内的设备标识，故不同区域内的路侧设备的第一标识中第二字段所承载的设备标识可能相同，也可能不同。
结合第一方面至第六方面，在第一方面至第六方面的某些可能的实现方式中，所述第一坐标转换信息包括坐标转换参数。
其中，坐标转换参数可以是矩阵，或四元数加平移向量。坐标转换信息可以包括一组坐标转换参数，也可以包括多组坐标转换参数。
在一种可能的实现方式中，在第一路侧设备仅包括一个传感器时，第一路侧设备对应的坐标转换信息包括一组坐标转换参数，可用于在第一坐标系和第二坐标系之间进行坐标转换。
在另一种可能的实现方式中，在第一路侧设备包括多个传感器时，第一路侧设备对应的坐标转换信息包括一组坐标转换参数，或多组坐标转换参数。
对于包括一组坐标转换参数的实现方式，各传感器获取到原始数据后，将原始数据融合，并将融合结果转换到某传感器的第一坐标系下。
对于包括多组坐标转换参数的实现方式，将多个传感器分别对应的坐标系分为若干个组，每个组可以包括一个或多个传感器。每个组内的传感器获取到的原始数据可基于组内某一个传感器的坐标系进行融合和转换。
进一步地，所述第一坐标转换信息还包括：坐标转换参数的源坐标系的标识，和/ 或，坐标转换参数的目标坐标系的标识。
其中，源坐标系的标识和目标坐标系的标识可以用于区分不同坐标系的标识。
进一步地，所述第一坐标转换信息还包括如下一项或多项：坐标转换参数的版本号，坐标转换参数的更新时间，以及坐标转换参数能够兼容的版本号。
应理解，上文中第一坐标转换信息的相关内容也可适用于第二坐标转换信息。为了简洁，此处不再赘述。
第七方面，本申请提供了一种信息发送装置，包括用于实现第一方面或第四方面，以及第一方面或第四方面任一种可能实现方式中的方法的模块或单元。应理解，各个模块或单元可通过执行计算机程序来实现相应的功能。
第八方面，本申请提供了一种信息发送装置，包括处理器和存储器，所述存储器与所述处理器耦合，所述存储器用于存储计算机程序，所述处理器执行计算机程序，以使得所述装置实现第一方面或第四方面，以及第一方面或第四方面任一种可能实现方式中所述的信息发送方法。
可选地，所述装置还可以包括通信接口，所述通信接口用于该装置与其它设备进行通信，示例性地，通信接口可以是收发器、电路、总线、模块或其它类型的通信接口。
应理解，第一方面和第四方面中所述的信息发送装置可以是路侧设备或者终端设备，其中，路侧设备例如为路侧单元、路侧单元内的软件模块、硬件模块、芯片或芯片系统，终端设备例如为车辆、车辆内的软件模块、硬件模块、芯片或芯片系统。本申请包含但不限于此。
第九方面，本申请提供了一种信息接收装置，包括用于实现第二方面、第三方面、第五方面或第六方面，以及第二方面、第三方面、第五方面或第六方面任一种可能实现方式中的方法的模块或单元。应理解，各个模块或单元可通过执行计算机程序来实现相应的功能。
第十方面，本申请提供了一种信息接收装置，包括处理器和存储器，所述存储器与所述处理器耦合，所述存储器用于存储计算机程序，所述处理器用于执行所述计算机程序，以使得所述装置实现第二方面、第三方面、第五方面或第六方面，以及第二方面、第三方面、第五方面或第六方面任一种可能实现方式中所述的信息接收方法。
可选地，所述装置还可以包括通信接口，所述通信接口用于该装置与其它设备进行通信，示例性地，通信接口可以是收发器、电路、总线、模块或其它类型的通信接口。
应理解，第二方面、第三方面、第五方面和第六方面中所述的信息接收装置可以是服务器、终端设备获知路侧设备，其中服务器例如为地图服务器、地图服务器内的软件模块、硬件模块、芯片或芯片系统，路侧设备例如为路侧单元、路侧单元内的软件模块、硬件模块、芯片或芯片系统，终端设备例如为车辆、车辆内的软件模块、硬件模块、芯片或芯片系统等。本申请包含但不限于此。
第十一方面，本申请提供了一种芯片系统，该芯片系统包括处理器和存储器，所述存储器与所述处理器耦合，所述存储器用于存储计算机程序，所述处理器用于执行计算机程序，以使得所述芯片系统实现上述第一方面至第六方面以及第一方面至第六 方面任一种可能实现方式中所涉及的功能，例如，例如接收或处理上述方法中所涉及的数据和/或信息。
在一种可能的设计中，所述芯片系统还包括存储器，所述存储器用于保存程序指令和数据，存储器位于处理器之内或处理器之外。
该芯片系统可以由芯片构成，也可以包含芯片和其他分立器件。
第十二方面，本申请提供了一种车辆，该车辆可以包括前述第七或第八方面中所述的信息发送装置，或者，包括前述第九或第十方面中所述的信息接收装置。
第十三方面，本申请提供了一种通信系统，包括：第一路侧设备和服务器，其中，第一路侧设备用于执行第一方面以及第一方面任一种可能实现方式中的方法；服务器用于执行第二方面以及第二方面任一种可能实现方式中的方法。
第十四方面，本申请提供了一种通信系统，包括：终端设备和服务器，其中，终端设备用于执行第三方面以及第三方面任一种可能实现方式中的方法；服务器用于执行第二方面以及第二方面任一种可能实现方式中的方法。
第十五方面，本申请提供了一种通信系统，包括：第一路侧设备、终端设备和服务器，其中，路侧设备用于执行第一方面以及第一方面任一种可能实现方式中的方法；终端设备用于执行第三方面以及第三方面任一种可能实现方式中的方法；服务器用于执行第二方面以及第二方面任一种可能实现方式中的方法。
结合第十三方面、第十四方面和第十五方面，在一些可能的实现方式中，该通信系统还包括第二路侧设备，用于执行第三方面以及第三方面任一种可能实现方式中的方法。
第十六方面，本申请提供了一种通信系统，包括：路侧设备、第一终端设备和服务器，其中，第一终端设备用于执行第四方面以及第四方面任一种可能是实现方式中的方法，路侧设备用于执行第五方面以及第五方面任一种可能实现方式中的方法，服务器用于执行第六方面及第六方面任一种可能实现方式中的方法。
结合第十七方面，在一些可能的实现方式中，该通信系统还包括第二终端设备，用于执行第五方面以及第五方面任一种可能实现方式中的方法。
第十八方面，本申请提供了一种计算机可读存储介质，包括计算机程序，当其在计算机上运行时，使得计算机实现第一方面至第六方面以及第一方面至第六方面任一种可能实现方式中的方法。
第十九方面，本申请提供了一种计算机程序产品，所述计算机程序产品包括：计算机程序(也可以称为代码，或指令)，当所述计算机程序被运行时，使得计算机执行第一方面至第六方面以及第一方面至第六方面任一种可能实现方式中的方法。
附图说明
图1是本申请实施例提供的系统架构的示意图；
图2是本申请实施例提供的坐标转换参数列表的示意图；
图3是本申请实施例提供的坐标转换信息的示意图；
图4是本申请一实施例提供的信息传输方法和信息接收方法的示意性流程图；
图5是本申请实施例提供的服务器、终端设备和路侧设备之间的信息收发示意图；
图6是本申请另一实施例提供的信息传输方法和信息接收方法的示意性流程图；
图7是本申请实施例提供的装置的示意性框图；
图8是本申请实施例提供的装置的另一示意性框图。
具体实施方式
下面将结合附图，对本申请中的技术方案进行描述。
为了便于理解本申请实施例，首先做出如下几点说明：
第一，本申请实施例中的“发送”可以是在设备之间进行的，例如，可以是在不同车辆之间进行的，也可以是在不同路侧设备之间进行的，也可以是在不同服务器之间进行的。还可以是路侧设备和服务器之间进行的，还可以是路侧设备和车辆之间进行的，还可以是服务器和车辆之间进行的。再比如，可以是在设备内进行的，例如，通过总线、走线或接口在设备内的部件之间、模组之间、芯片之间、软件模块或者硬件模块之间发送。例如，发送坐标转换信息可以是同一路侧设备内进行的。
本申请实施例中的“接收”可以是在设备之间进行的，例如，可以是在不同车辆之间进行的，也可以是在不同路侧设备之间进行的，也可以是在不同服务器之间进行的。还可以是路侧设备和服务器之间进行的，还可以是路侧设备和车辆之间进行的，还可以是服务器和车辆设备之间进行的。再比如，可以是在设备内进行的，例如，通过总线、走线或接口在设备内的部件之间、模组之间、芯片之间、软件模块或者硬件模块之间进行。例如，接收坐标转换信息可以是同一服务器内进行的，也可以是同一车辆内进行的。
第二，本申请实施例中采用诸如“第一”、“第二”的前缀词，仅仅为了区分不同的描述对象，对被描述对象的位置、顺序、优先级、数量或内容等没有任何限定作用。例如，被描述对象为“字段”，则“第一字段”和“第二字段”中“字段”之前的序数词并不限制“字段”之间的位置或顺序，“第一”和“第二”并不限制其修饰的“字段”是否在同一个消息中，也不限制“第一字段”和“第二字段”的先后顺序。再如，被描述对象为“等级”，则“第一等级”和“第二等级”中“等级”之前的序数词并不限制“等级”之间的优先级。再如，被描述对象的数量并不受前缀词的限制，可以是一个或者多个，以“第一设备”为例，其中“设备”的数量可以是一个或者多个。此外，不同前缀词修饰的对象可以相同或不同，例如，被描述对象为“设备”，则“第一设备”和“第二设备”可以是同一个设备、相同类型的设备或者不同类型的设备；再如，被描述对象为“信息”，则“第一信息”和“第二信息”可以是相同内容的信息或者不同内容的信息。总之，本申请实施例中对用于区分描述对象的前缀词的使用不构成对所描述对象的限制，对所描述对象的陈述参见权利要求或实施例中上下文的描述，不应因为使用这种前缀词而构成多余的限制。
第三，在本申请实施例中，“至少一个”是指一个或者多个，“多个”是指两个或两个以上。“和/或”，描述关联对象的关联关系，表示可以存在三种关系，例如，A和/或B，可以表示：单独存在A，同时存在A和B，单独存在B的情况，其中A，B可以是单数或者复数。字符“/”一般表示前后关联对象是一种“或”的关系。“以下至少一项(个)”或其类似表达，是指的这些项中的任意组合，包括单项(个)或复数项(个) 的任意组合。例如，a，b，或c中的至少一项(个)，可以表示：a；b；c；a和b；a和c；b和c；或a和b和c。其中a，b，c可以是单个，也可以是多个。
第四，在本申请实施例中，“当…时”、“若”以及“如果”均指在某种客观情况下装置会做出相应的处理，并非是限定时间，且也不要求装置实现时一定要有判断的动作，也不意味着存在其它限定。
第五，本申请实施例中的“同时”可以理解为在相同的时间点，也可以理解为在一段时间段内，还可以理解为在同一个周期内，具体可以结合上下文进行理解。
本申请提供的技术方案可以应用于智能交通系统，又称智能运输系统(intelligent transportation system)。智能交通系统将信息技术、数据通信技术、传感器技术、人工智能等有效运用于交通运输和服务控制，可有效提高交通运输的安全和效率。
图1是适用于本申请实施例提供的系统架构的示意图。如图1所示，该系统100包括路侧设备110、服务器120和终端设备130中的至少一项。
其中，路侧设备110包括路侧单元(road side unit，RSU)、多接入边缘计算(multi-access edge computing，MEC)或者传感器等装置，例如，可以是RSU、MEC或者传感器，也可以是由RSU和MEC组成的系统，或者是由RSU和传感器组成的系统，还可以是由RSU、MEC和传感器组成的系统。
服务器120可以是具有计算功能的设备，例如应用服务器或地图服务器。该服务器120例如可以是部署在云环境中的服务器，即云端服务器，或者也可以部署在边缘环境中，即边缘计算服务器。服务器120可以是集成的一个设备，也可以是分布式的多个设备，本申请实施例不做具体限定。
终端设备130例如可以是车辆、车载单元(on board unit，OBU)、智能穿戴设备(例如，运动手环、手表等)、便携移动设备(例如，手机、平板等)、便携移动设备内的部件或上述多种设备内的芯片，本申请实施例不做具体限定。
图1虽然仅示出了一个路侧设备110、一个服务器120和一个终端设备130，但应理解，本申请实施例对于路侧设备110、服务器120和终端设备130的数量均不作限定。该系统100中还可以包括更多数量的路侧设备、服务器和终端设备，或者也可以包括其中的一个或多个设备，本申请对此不作限定。
需要说明的是，上述各系统中，服务器与终端设备之间，终端设备与路侧设备之间，服务器与路侧设备之间的通信可使用蜂窝通信技术，例如2G蜂窝通信，例如全球移动通信系统(global system for mobile communication，GSM)、通用分组无线业务(general packet radio service，GPRS)；或者3G蜂窝通信，例如宽带码分多址(wideband code division multiple access，WCDMA)、时分同步码分多址接入(time division-synchronous code division multiple access，TS-SCDMA)、码分多址接入(code division multiple access，CDMA)，或者4G蜂窝通信，例如长期演进(long term evolution，LTE)。或者5G蜂窝通信，或者其他演进的蜂窝通信技术。无线通信系统也可利用非蜂窝通信技术，如Wi-Fi与无线局域网(wireless local area network，WLAN)通信。在一些实施例中，上述设备之间通信还可利用红外链路、蓝牙或紫蜂(zigbee)进行直接通信。在一些实施例中，上述设备之间通信还可以采用其他无线协议，例如各种车辆通信系统，例如，系统中可包括一个或多个专用短程通信(dedicated short range  communications，DSRC)设备，这些设备可包括车辆和/或路边台站之间的公共和/或私有数据通信，本申请不做具体限定。
在本申请实施例中，终端设备可以分别与路侧设备、服务器以无线的方式进行通信。示例性地，终端设备可通过PC5口与路侧设备通信，终端设备可通过Uu口与服务器通信。服务器与路侧设备可以通过无线或者有线的方式进行通信。示例性地，服务器可以Uu口或PC5口与路侧设备通信，服务器也可以通过光纤链路与路侧设备通信。
需要说明的是，图1仅为示例性架构图，但不限定图1所示系统包括的网元的数量。虽然图1未示出，但除图1所示的功能实体外，图1还可以包括其他功能实体。另外，本申请实施例提供的方法可以应用于图1所示的系统，当然本申请实施例提供的方法也可以适用其他通信系统，本申请实施例对此不予限制。
目前，在设备之间传输和交换位置信息时，通常需要发送设备将位置坐标进行偏转加密后再发送出去。对位置信息进行偏转加密虽然能够保证信息的安全，但是却使得接收设备所接收到的位置坐标的精度有所下降，无法实现高精度位置的传输。因此，需要安全、准确地传输高精度的位置信息。
鉴于此，本申请提供一种信息发送方法和信息接收方法，使用位置相对固定的路侧设备的局部坐标系作为参照，将位置信息转化为相对于该局部坐标系的位置信息来发送。另一方面，路侧设备将用于在局部坐标系和全局坐标系之间进行坐标转换的坐标转换信息发送给服务器，以便于服务器将此坐标转换信息更新至电子地图的使用设备中。如此一来，该电子地图的使用设备便可以基于坐标转换信息来解析位置信息，进而获得位置点在全局坐标系中的位置。由于对位置信息和坐标转换信息采用不同的数据包传输，故可以基于不同的安全通道传输，且位置信息和坐标转换信息都不是全局坐标系下的坐标，都无需进行偏转，既兼顾了合规性和数据安全，又可以减小位置信息的精度损失，还可以减少位置信息的数据传输量，节省带宽。
下面将结合附图对本申请实施例提供的信息发送方法和信息接收方法做详细说明。
为方便理解下文的实施例，首先对下文涉及到的术语进行介绍。
1、区域标识(identification，ID)：地图中的路网结构数据可分为瓦片级、道路级和车道级。地图中的每个瓦片有唯一的瓦片标识(identification，ID)，每个瓦片内包括多条道路，每条道路有唯一的道路ID，每条道路又包括多条车道，每条车道有唯一的车道ID。其中，瓦片可以理解为：将一定范围内的地图按照一定的尺寸和格式，以及不同的地图分辨率，切成若干行和列的矩形栅格图片，对切片后的矩形栅格图片称为瓦片(Tile)。
区域ID例如可以是上述的瓦片ID，也可以是道路ID，或者还可以是车道ID。本申请实施例包含但不限于此。
2、第一坐标系、第三坐标系：在本申请实施例中，第一路侧设备的局部坐标系记为第一坐标系，第二路侧设备的局部坐标系记为第三坐标系。所谓局部坐标系，也就是坐标系以物体(如路侧设备)的中心为坐标原点，物体的旋转、平移等操作都是围绕局部坐标系进行的，当物体进行旋转或平移等操作时，局部坐标系也执行相应的旋转或平移操作。即，局部坐标系可用于描述目标位置点在该局部坐标系下的位置。因 此，每个路侧设备可对应于一个局部坐标系。
应理解，路侧设备可以安装有一个或多个传感器。该局部坐标系可以是该路侧设备中安装的传感器中的某一传感器的坐标系，也可以是基于多个传感器的坐标系融合得到的坐标系。本申请实施例对此不作限定。
3、第二坐标系：在本申请实施例中，目标位置点在地图中的位置可以由第二坐标系下的坐标来确定。该第二坐标系可以是全局坐标系。对于任意一个设备来说，同一目标位置点在该第二坐标系下的坐标是固定不变的。
服务器、车辆等需要根据目标位置点的位置信息确定该目标位置点在全局坐标系下的坐标。该通用坐标系可以理解为常规通用、且基本不发生变动的坐标系。对于任意一个设备来说，同一目标位置点在通用坐标系下的坐标是固定不变的。为便于区分和说明，本文中将该通用坐标系记为第二坐标系。示例性地，第二坐标系可以为地理坐标系(geographic coordinate system)、大地坐标系等。其中，地理坐标系是使用三维球面来定义地球表面位置，以实现通过经纬度对地球表面点位引用的坐标系。大地坐标系是大地测量中以参考椭球面为基准面建立起来的坐标系。一示例，该第二坐标系为WGS－84坐标系。
4、坐标转换信息：用于在局部坐标系和全局坐标系之间进行坐标转换的信息为坐标转换信息。例如下文所提及的用于在第一坐标系和第二坐标系之间进行坐标转换的第一坐标转换信息，用于在第三坐标系和第二坐标系之间进行坐标转换的第二坐标转换信息。
应理解，每个路侧设备都对应有各自的局部坐标系，因此也都有各自的坐标转换信息，以用于在各自对应的局部坐标系与全局坐标系之间进行坐标转换，从而便于生成和解析用于描述位置点的位置信息。
其中，坐标转换信息可以包括坐标转换参数。该坐标转换参数可用于在两个坐标系之间进行坐标转换。比如，该坐标转换参数可以为矩阵，如3×3的坐标转换矩阵，或者，该坐标转换参数也可以为四元数加平移向量。应理解，这两个坐标系可以为局部坐标系和全局坐标系，也可以为两个甚至更多个局部坐标系，本申请实施例对此不作限定。
为了便于区分和说明，本文中将可直接用于在两个坐标系之间进行坐标转换的坐标转换参数记为一组坐标转换参数。这里，可直接用于在两个坐标系之间进行坐标转换，是指，基于这一组坐标转换参数，便可由一个坐标系转换到另一坐标系，而无需引入其他的坐标转换参数或坐标系。应注意，本申请实施例中的坐标转换信息可以包含但不限于一组坐标转换参数。换言之，该坐标转换信息可以包括更多组坐标转换参数。
以第一路侧设备为例：
一种可能的情况是，第一路侧设备仅安装有一个传感器，则第一路侧设备可以以该传感器的坐标系为第一坐标系，该第一路侧设备对应的坐标转换信息可包括一组坐标转换参数，这一组坐标转换参数可直接用于在第一坐标系和第二坐标系之间进行坐标转换。
另一种可能的情况是，第一路侧设备安装多个传感器。
一种可能的方式是，该第一路侧设备可以将其中的某一个传感器的坐标系作为第一坐标系，该传感器可以是路侧设备的多个传感器中的任意一个。为便于区分和说明，将其记为第一传感器。该第一路侧设备对应的坐标转换信息可包括一组坐标转换参数，这一组坐标转换参数可直接用于在第一坐标系和第二坐标系之间进行坐标转换。在这种方式中，除了第一传感器之外的其他传感器获取到各自的原始数据后，可将各传感器获取到的原始数据融合，并将融合结果转换到第一坐标系下。
另一种可能的方式为，该第一路侧设备可以将多个传感器分别对应的坐标系分为若干个组，每个组可以包括一个或多个传感器。每个组内的传感器获取到的原始数据可基于组内某一个传感器的坐标系进行融合和转换，具体方式如前一种方式中所述，此处不再赘述。下文为便于描述，将用于对一个组内的传感器获取的原始数据进行融合和转换所基于的坐标系记为该组的坐标系。
针对每个组可以确定一组坐标转换参数，记为C1。例如，路侧设备将多个传感器分为两个组，分别为组1和组2，针对组1确定了一组坐标转换参数，记为C1，可用于在组1的坐标系和组2的坐标系之间进行坐标转换；针对组2确定另一坐标转换参数，记为C2，可用于在组2的坐标系和第二坐标系之间进行坐标转换。如此，不论是基于组1的坐标系生成的位置信息还是基于组2的坐标系生成的位置信息，都可最终转换到第二坐标系下。可以理解，组1所对应的坐标系和组2所对应的坐标系都可以作为第一坐标系。
需要说明的是，在实际使用中，路侧设备通常安装多个传感器，且有些传感器的坐标系之间的坐标转换参数路侧设备已预先获得，如上述的组1的坐标系与组2的坐标系之间的坐标转换参数C1可预先获得。在这种情况下，路侧设备可直接确定另一部分传感器(如组2的坐标系)与第二坐标系之间的坐标转换参数(如上述C2)。如此一来，可以降低坐标转换参数的确定所带来的计算复杂度。
一示例，第一路侧设备包含两个传感器，分别为激光雷达传感器(lidar)和雷达传感器(radar)，两个传感器均有各自的坐标系。其中，假设由雷达传感器的坐标系到激光雷达传感器的坐标系的坐标转换参数已预先获得，则可将其作为C1，进而可确定出由激光雷达传感器的坐标系到第二坐标系的坐标转换参数，作为C2。或者，可以将由雷达传感器的坐标系到激光雷达传感器的坐标系的坐标转换参数的逆矩阵作为C1，进而可以确定出雷达传感器到第二坐标系的坐标转换参数作为C2。因此，可以得到C1和C2两组坐标转换参数。
可知的是，在通常情况下，第一路侧设备预先已知雷达传感器的坐标系到激光雷达传感器的坐标系的坐标转换参数，或由激光雷达传感器的坐标系到雷达传感器的坐标系的坐标转换参数，因此坐标转换参数C1无需计算便可获得，降低了坐标转换参数的确定所带来的计算复杂度。
应理解，上文所示例的两组传感器及两组坐标转换参数的示例仅为示例，基于相同的构思，还可以将传感器分为更多个组，并针对更多组的传感器确定更多组的坐标转换参数。比如，将传感器分为三组，分别为组1、组2和组3，并分别可确定坐标转换参数C1、C2和C3，其中，C1可用于组1的坐标系与组2的坐标系之间的坐标转换，C2可用于组2的坐标系与组3的坐标系之间的坐标转换，C3可用于组3的坐标 系与第二坐标系之间的坐标转换。因此，组1、组2和组3的坐标系都可以作为第一坐标系。
可选地，上述坐标转换信息还包括坐标转换参数的源坐标系的标识和/或坐标转换参数的目标坐标系的标识。
如前所述，坐标转换参数并不限于一组，为了便于区分不同的坐标转换参数，可以使用坐标转换参数的源坐标系和目标坐标系加以标识。
例如，在上文示例的C1、C2和C3这三组坐标转换参数中，C1的源坐标系为组1的坐标系，目标坐标系为组2的坐标系；C2的源坐标系为组2的坐标系，目标坐标系为组3的坐标系；C3的源坐标系为组3的坐标系，目标坐标系为第二坐标系。
针对该三组坐标转换参数，上述坐标转换信息可分别包括C1以及C1的源坐标系的标识和目标坐标系的标识、C2以及C2的源坐标系的标识和目标坐标系的标识、C3以及C3的源坐标系的标识和目标坐标系的标识。
应理解，C2的源坐标系即为C1的目标坐标系，C3的源坐标系也为C2的目标坐标系，C3的目标坐标系又为第二坐标系。因此，如果能够通过其他方式来指示C1、C2和C3之间的转换的先后顺序，则可以对C1、C2和C3的目标坐标系不作标识，或者，也可以对C2的源坐标系、C3的源坐标系和目标坐标系不作标识。换言之，只要能够通过其他方式来确定几组坐标转换参数之间转换的先后顺序，比如，在坐标转换信息中按照转换的先后顺序分别携带C1、C2和C3，则可不必将各组坐标转换参数的源坐标系和目标坐标系全部标识。
还应理解，若坐标转换信息中包括一组坐标转换参数，则该组坐标转换参数的源坐标系即为第一坐标系，目标坐标系即为第二坐标系，该组坐标转换参数可直接用于在第一坐标系和第二坐标系之间进行坐标转换。即便对该组坐标转换参数不标识相应的源坐标系和目标坐标系，也不影响它的使用。在这种情况下，源坐标系的标识和目标坐标系的标识也可以省略。
其中，源坐标系的标识和目标坐标系的标识可以是用于区分不同坐标系的标识，比如可以是不同的编号、不同的名称，等等。本申请对此不作限定。
在本申请实施例中，上述多组坐标转换参数以及各组坐标转换参数分别对应的源坐标系的标识和目标坐标系的标识可以记为坐标转换参数列表(list)。图2是本申请实施例提供的坐标转换参数列表的示意图。如图2所示，该坐标转换参数列表包括一组或多组坐标转换参数及其对应的源坐标系的标识和目标坐标系的标识。其中，对于前文提及的可以不指示源坐标系和/或目标坐标系的情况，图2中虽然示出了字段：源坐标系的标识和目标坐标系的标识，但是在源坐标系的标识和目标坐标系的标识中可不携带信息，即字段可以为空字段。应理解，本申请实施例对图2所示的各个字段的先后顺序不作限定。
可选地，上述坐标转换信息还包括坐标转换参数的版本号。
由于坐标转换参数可能会发生变化，例如可能随着路侧设备中传感器的位置变化、方向调整等而发生变化，故可以通过不同的版本号来对同一坐标系下的不同坐标转换参数加以区分。
用于指示坐标转换参数的版本的信息例如可以是版本号、时间戳、更新指示标记 位或其它可用于指示版本的信息。本申请实施例对此不加以限制。
可选地，上述坐标转换信息还包括坐标转换参数的更新时间。
坐标转换参数的版本更新时，可以将更新时间携带在坐标转换信息中。用于指示坐标转换参数的更新时间例如可以是时间戳。可以理解的是，每一次版本更新的时间是不同的，因此坐标转换参数的更新时间可以视为坐标转换参数的版本号的一种表现形式。
可选地，上述坐标转换信息还包括坐标转换参数能够兼容的版本号。
由于坐标转换参数可能仅会发生微小幅度的变化，例如随着路侧设备的位置的轻微调节而相应产生轻微的变化，而轻微改变的坐标转换参数并不会对所确定的目标位置点在第二坐标系下的坐标的精度产生太大影响，其影响甚至可以忽略。
因此，可以将坐标转换参数能够兼容的版本号携带在坐标转换信息中，以便于使用该坐标转换信息的设备判断是否需要获取最新版本的坐标转换参数。
比如，第一路侧设备当前使用的坐标转换参数的能够兼容的版本号为V1.0.1.2和V1.0.1.3，而使用该路侧设备的坐标转换参数的终端设备本地存储的版本号为：V1.0.1.2，则该终端设备不必获取最新版本的坐标转换参数，也可获得目标位置点在第二坐标系下的高精度坐标。
图3是本申请实施例提供的坐标转换信息的示意图。图3所示的坐标转换信息包括坐标转换参数列表、版本号、更新时间以及能够兼容的版本号。其中，关于坐标转换参数列表的详细设置方式可参照图2。应理解，版本号、更新时间及能够兼容的版本号也并不一定需要同时包含在坐标转换信息中，本申请对此不加以限制。另外，本申请对于图3所示的各个字段的先后顺序也不作限定。
5、路侧设备的信息与标识：
为了区分不同的路侧设备，本文中引入了路侧设备的信息和路侧设备的标识。
路侧设备的标识：包括第一标识和第二标识。
在服务器和车辆所搭载的地图中，路侧设备也作为地图元素之一，则对地图中的各路侧设备可通过不同的标识加以区分。
路侧设备在地图中的标识记为第一标识，可用于在地图中唯一地标识一个路侧设备。
下文提供了第一标识的两种可能的形式。
一种可能的形式是，每个路侧设备对应一个标识，该标识在地图中唯一，各个路侧设备的标识互不相同。
另一种可能的形式是，每个路侧设备的第一标识可以包括第一字段和第二字段，第一字段用于承载路侧设备所在区域的区域标识，第二字段用于承载路侧设备在区域内的设备标识。即，可以将地图按照区域划分成多个区域(如，瓦片)，针对每个区域设置区域标识(如，瓦片标识)，针对每个区域内的路侧设备分别设置设备标识，该设备标识在该区域标识所对应的区域内唯一。应理解，上述关于区域的划分也可以不以瓦片为粒度，例如，也可以为道路、或车道、或行政区，等等。本申请对此不作限定。还应理解，任意两个区域内的路侧设备的标识可以相同，也可以不同。本申请对此不作限定。
路侧设备的第二标识可以为路侧设备的自报标识。自报标识可以由该路侧设备自行生成并上报。
路侧设备的信息：可用于路侧设备标识自身，以便于其他设备识别该路侧设备。路侧设备的信息可以包括上述路侧设备的第二标识或路侧设备的位置坐标。由于第二标识可以由路侧设备自行生成且上报，则对于不同的图商来说，接收到的来自同一路侧设备的第二标识是相同的。由于路侧设备的位置通常不会改变，因此，路侧设备也可以通过自身的位置坐标来标识自身。
下面结合图4和图6来描述本申请实施例提供的信息发送方法和信息接收方法。其中，图4所示的实施例描述了第一路侧设备发送位置信息以及服务器、第二路侧设备和终端设备接收位置信息的具体过程，图6所示的实施例描述了第一终端设备发送位置信息以及服务器、路侧设备和第二终端设备接收位置信息的具体过程。
为了便于区分和说明，下文中将图4所示实施例中第一路侧设备发送的位置信息所指示的位置点记为位置点A，位置点对应的位置信息记为位置信息A；通过第二路侧设备发送的位置信息所指示的位置点记为第二位置点B，位置点B对应的位置信息记为位置信息B。位置点A和位置点B仅为便于区分两个不同的设备发送的位置信息A和位置信息B所分别对应的位置点，二者可以相同，也可以不同，本申请对此不作限定。
图4和图6所示的流程图分别从设备交互的角度来描述了本申请实施例提供的方法。图4和图6所示的实施例中，服务器例如为地图服务器、地图服务器内的软件模块、硬件模块、芯片或芯片系统。路侧设备例如为路侧单元、路侧单元内的软件模块、硬件模块、芯片或芯片系统。终端设备例如为终端设备内的软件模块、硬件模块、芯片或芯片系统。本申请包含但不限于此。
参看图4，图4是本申请一实施例提供的信息发送方法和信息接收方法的示意性流程图。图4所示的方法400可以包括S401至S410。下面详细说明图4所示的方法400中的各个步骤。
S401，第一路侧设备向服务器发送数据包A，该数据包A用于确定第一坐标转换信息。相应地，服务器接收来自第一路侧设备的数据包A。
S402，服务器基于数据包A，确定用于在第一坐标系和第二坐标系之间进行坐标转换的第一坐标转换信息。
其中，第一路侧设备可以为多个路侧设备中的任意一个路侧设备。在本实施例中，为了便于区分和说明，将发送位置点A的位置信息A的路侧设备记为第一路侧设备。其他路侧设备可以接收来自该第一路侧设备的位置信息A，记为第二路侧设备。
为了提高信息传输的安全性，可选地，第一路侧设备可以对数据包A加密后再向服务器发送。
在本申请实施例中，数据包A的发送可以是第一路侧设备采用点对点发送的方式，将数据包A发送给服务器。第一路侧设备可通过与服务器之间的Uu口或光纤来发送数据包A。
如前所述，坐标转换信息可用于在第一坐标系和第二坐标系之间进行坐标转换。坐标转换信息可以包括坐标转换参数，还可以包括坐标转换参数的源坐标系的标识和/ 或坐标转换参数的目标坐标系的标识，还可以包括坐标转换参数的版本号、坐标转换参数的更新时间、以及坐标转换参数能够兼容的版本号中的一项或多项。其中，坐标转换参数可以为一组坐标转换参数，也可以为多组坐标转换参数。关于坐标转换信息的详细内容可参看前文结合图2和图3的相关说明，此处不再赘述。下文中为了便于区分和说明，将对应于第一路侧设备的坐标转换信息记为第一坐标转换信息，以与其他路侧设备的坐标转换信息加以区分。
在本申请实施例中，第一坐标转换信息可以由第一路侧设备生成，也可以由服务器生成。因此，第一路侧设备向服务器所发送的数据包A所携带的信息可以有如下两种情况：
一种情况可以为，数据包A中携带第一坐标转换信息。换言之，由第一路侧设备自己生成坐标转换参数后，将其发送给服务器。服务器接收到数据包A，便可从中获取到该坐标转换信息。
另一种情况可以为，数据包A中携带原始数据，该原始数据是基于第一坐标系采集到的数据，可用于确定第一坐标转换信息。换言之，由第一路侧设备的传感器基于自己的第一坐标系获取到原始数据后，将原始数据直接发送给服务器，由服务器根据原始数据来确定第一坐标转换信息。其中，该原始数据例如可以包括但不限于，激光雷达传感器或雷达传感器等采集到的点云数据，视觉传感器采集到的图像等。
下文示出了基于第一路侧设备采集到的原始数据确定坐标转换参数的一个示例。该示例中的原始数据例如可以是图像。第一路侧设备或服务器可以从图像中寻找特征点。该特征点例如可以包括但不限于，停止线物理标线的中心线的左端点、右端点，停止线与车道线的交点，道路边线的物理线交点，等等。路侧设备或服务器可以分别获得这些特征点在图像中的坐标，以及在第二坐标系下的坐标，形成多个坐标对，进而基于该多个坐标对的坐标，利用最小二乘法等算法，计算得到上述坐标转换参数。
应理解，上文所示例的确定坐标转换参数的方法仅为一种可能的实现方式，并不应对本申请构成任何限定。
可以理解的是，原始数据还可以包括点云数据等其他传感器采集到的数据。对于不同类型的数据，可以采用不同的方式来计算坐标转换参数，此处不再赘述。
服务器还可以基于该第一路侧设备每一次上报的原始数据，对第一坐标转换信息中的坐标转换参数进行更新，因此还可进一步得到该坐标转换参数的版本号、更新时间，以及能够兼容的版本号等信息。
服务器在确定第一坐标转换信息之后，还可进一步将第一坐标转换信息发送给第一路侧设备，以方便第一路侧设备在后续生成位置信息的步骤中使用。
如前所述，第一路侧设备为多个路侧设备中的任意一个。各路侧设备都可通过上述方式向服务器发送数据包A，以用于服务器确定各路侧设备所对应的坐标转换信息。
为了便于区分不同的路侧设备及其对应的坐标转换信息，数据包A中还可携带第一路侧设备的信息。
该第一路侧设备的信息例如可以是第一路侧设备的第二标识，如自报标识，或第一路侧设备的位置坐标。服务器基于第一路侧设备的信息，为其分配第一标识，以便于在整个地图中唯一地标识该第一路侧设备。如此，服务器可以建立第一路侧设备的 第一标识和第一路侧设备的信息的对应关系。在下一次接收到来自第一路侧设备的数据包时，可以根据其中携带的第一路侧设备的信息来确定该第一路侧设备的第一标识。
可以理解，对于不同图商来说，虽然对同一路侧设备分配的第一标识可能不同，但是同一路侧设备所上报给各图商的自报标识是一致的。因此，服务器可预先将路侧设备(如第一路侧设备)的第一标识与路侧设备(如第一路侧设备)的自报标识建立对应关系。
而在第一路侧设备的自报标识与第一路侧设备的第一标识还未建立对应关系之前，也即，第一路侧设备首次发送数据包A时，第一路侧设备可以上报自身的位置坐标，以便于服务器在地图中确定出该第一路侧设备。
可选地，该位置坐标可以是基于第一坐标系生成的坐标，服务器可结合第一路侧设备的坐标转换参数来确定出该第一路侧设备在第二坐标系下的坐标，进而在地图中确定出第一路侧设备。
可选地，该位置坐标也可以是基于第二坐标系所生成的坐标。由于第二坐标系是通用的坐标系，第一路侧设备可以预先确定自己在第二坐标系下的坐标(如预先通过全球定位系统(global positioning system，GPS)就可获知该第一路侧设备在地理坐标系中的坐标)，则服务器在接收到该位置坐标后，可直接在地图中确定出该第一路侧设备。
可以理解，该第一路侧设备上报的位置坐标无需很高的精度，只要服务器可以根据该位置坐标从地图中将其确定出来即可。
另一方面，服务器在确定出第一路侧设备对应的第一坐标转换信息之后，还可在本地保存该第一路侧设备的第一坐标转换信息。比如，服务器可以建立第一路侧设备的第一标识与第一坐标转换信息的对应关系，或者，服务器可以在上述第一路侧设备的第一标识与第一路侧设备的信息的对应关系的基础上，将其进一步与第一坐标转换信息关联，得到第一路侧设备的信息、第一路侧设备的第一标识与第一坐标转换信息的对应关系，本申请对此对应关系的具体形式不作限定。下文中为了方便说明，将上述第一路侧设备的第一标识与第一坐标转换信息的对应关系、第一路侧设备的信息、第一路侧设备的第一标识与第一坐标转换信息的对应关系统称为第一路侧设备与第一坐标转换信息的对应关系。
如前所述，坐标转换信息除了包括坐标转换参数之外，还可包括坐标转换参数的版本号、更新时间和能够兼容的版本号中的一项或多项。在本实施例中，在该第一坐标转换信息包括版本号和/或更新时间的情况下，服务器在基于数据包A获取到坐标转换信息之后，还可进一步根据坐标转换参数的版本号或更新时间，与本地保存的坐标转换参数的版本号或更新时间进行比较，以便对本地保存的坐标转换信息进行更新，以使得本地保存的坐标转换参数为该第一路侧设备的最新版本的坐标转换参数。
可选地，该方法还包括：
服务器根据所述第一坐标转换信息确定坐标转换参数A；
当坐标转换参数A不同于本地存储的关于第一路侧设备的坐标转换参数B时，服务器将本地存储的坐标转换参数B替换为坐标转换参数A。
在一种可能的实现方式中，第一坐标转换信息中携带坐标转换参数A的版本号， 服务器可以根据新获取到的坐标转换参数A与本地保存的坐标转换参数B是否为相同的版本；若为相同的版本，则表示此次获取到的坐标转换参数A在服务器本地已经保存，可以忽略该坐标转换参数A；若为不同的版本，则表示此次获取到的坐标转换参数A在服务器本地并未保存，可将本地存储的坐标转换参数B替换为坐标转换参数A。服务器还可以将接收到的第一坐标转换信息(包括坐标转换参数B以及以下一项或多项：该坐标转换参数的版本号、更新时间以及能够兼容的版本号)保存在本地，而对此前在本地保存的坐标转换参数可以丢弃，或者不作处理。本申请对此不做限定。
应理解，服务器可以基于每一次接收到的数据包A获取到坐标转换信息，进而获取最新版本的坐标转换参数。
还应理解，服务器更新本地保存的坐标转换信息的过程，也就是更新本地保存的第一路侧设备与第一坐标转换信息的对应关系的过程。
S403，第一路侧设备基于第一坐标系，生成位置点A的位置信息A。
第一路侧设备可以根据第一坐标系，生成位置点A的位置信息A。其中，位置信息A可以包括位置坐标。在本申请实施例中，该位置信息A可以是相对于第一坐标系的位置坐标。
S404，第一路侧设备发送数据包B，数据包B中携带位置点A的位置信息A。
示例性地，第一路侧设备可以通过广播的方式发送数据包B。换言之，与该第一路侧设备具有通信连接的其它任意一个路侧设备、任意一个终端设备、任意一个服务器，均可接收到该数据包B。在本申请实施例中，数据包B可通过PC5口发送。
应理解，第一路侧设备也可以通过其他方式来发送数据包B，比如单播或组播等，本申请包含但不限于此。此外，数据包B可以通过PC5口传输，也可通过其他接口传输，比如Uu口或其他接口。本申请对此不予限制。一个示例，第一路侧设备可通过Uu口向服务器发送数据包B，服务器可通过Uu口广播该数据包B。
由于第一路侧设备为多个路侧设备中的任意一个，而其他路侧设备也可以基于上文所述相同的方法来发送携带位置信息的数据包B，为了区分来自不同路侧设备的数据包B，可以在数据包B中携带路侧设备的信息。
在本实施例中，该数据包B还可以携带第一路侧设备的信息。
前已述及，第一路侧设备的信息与第一路侧设备的第一标识对应，第一路侧设备的第一标识与第一坐标转换信息对应。因此，接收到该数据包B的设备，便可以基于上述对应关系获取第一路侧设备的第一坐标转换信息。
示例性地，数据包B中同样可以携带第一路侧设备的自报标识，由于服务器预先存储有路侧设备的信息、路侧设备的第一标识和坐标转换信息之间的对应关系，基于第一路侧设备的自报标识，服务器就可查询到该第一路侧设备所对应的坐标转换参数。而对于其它设备(如终端设备)接收到第一路侧设备所发送的数据包B的情况，其它设备也可基于第一路侧设备的自报标识，从服务器获取到该第一路侧设备的第一坐标转换信息。
为了保证对位置点A的位置信息A进行转换的坐标转换参数是所需求版本的坐标转换参数。可选地，数据包B还可携带用于生成位置信息A的坐标转换参数的版本号。下文中为方便说明，将用于生成位置信息的坐标转换参数的版本号记为目标版本号。
因此，接收到数据包B的各设备还可以基于该目标版本号去获取相应版本的坐标转换信息，来对数据包B中的位置信息A进行解析。
需要说明的是，由于每一次坐标转换参数的更新，会使得相关的其他信息也随之更新，比如版本号、更新时间等，因此坐标转换参数的版本号也即坐标转换信息的版本号。
由上可见，第一路侧设备将用于确定第一坐标转换信息的数据包A和携带位置信息A的数据包B分开发送，因此可以将该两个数据包基于两个不同的安全通道传输。
其中，安全通道可用于保证通信过程的机密性和完整性。不同的安全通道可以采用不同的信息安全保护机制，例如使用不同的证书机制、鉴权机制或加密机制等。其中，鉴权机制可以包括但不限于，认证方式、认证算法等。加密机制可以包括但不限于，加密算法、加密模式等。比如，两个安全通道使用不同版本的数字证书，或两个通道使用不同的密钥和/或不同的加密算法等。本申请包含但不限于此。关于安全通道的具体内容可参看已有技术，此处不再赘述。
通过将数据包A和数据包B基于不同的安全通道来传输，便可以使用不同的证书机制、鉴权机制或加密机制等来对数据包中的信息进行加密，提高了传输的安全性。因此不必对位置信息和坐标转换信息进行偏转，且不会对位置信息的精度造成损失，同时还兼顾了高精度位置信息的合规性和数据安全，另外也可以减少位置信息的数据传输量，节省带宽。
在上述流程中，第一路侧设备发送数据包A的频率可以低于发送数据包B的频率。换言之，服务器接收数据包A的频率可以低于接收数据包B的频率。
下文提供了第一路侧设备发送数据包A和数据包B的两种实现方式。
在第一种可能的实现方式中，数据包A是以第一预设时长为周期而发送的数据包，数据包B是以第二预设时长为周期而发送的数据包，第一预设时长大于第二预设时长。
由于数据包A中所携带的坐标转换参数通常更新的频率较低(如路侧设备的位置通常不会发生变化，坐标转换参数也就通常不会改变)，数据包B中所携带的位置点A的位置信息A通常更新的频率较高。因此，可以设置数据包B的发送频率高于数据包A的发送频率，即第一预设时长大于第二预设时长。
在第二种可能的实现方式中，数据包B在数据包A中的坐标转换信息成功被获取后发送。
一示例，第一路侧设备可以以第一预设时长为周期发送数据包A，在服务器接收到数据包A时，向第一路侧设备返回接收确认消息，第一路侧设备接收到接收确认信息时，不再发送数据包A。此后，第一路侧设备可以以第二预设时长为周期发送数据包B，服务器接收数据包B。其中，第一预设时长可以与第二预设时长不同。
接收到数据包B的各设备分别可以基于第一路侧设备的第一坐标转换信息，以及数据包B中的位置信息A，确定位置点A在第二坐标系下的坐标。
下面将结合不同的步骤分别对接收到数据包B的各个设备的处理流程进行说明。其中，S405描述了服务器对接收到的数据包B的处理过程，S406至S407描述了终端设备和其他路侧设备(如第二路侧设备)对接收到的数据包B的处理过程。下面将分别描述各个步骤。
S405，服务器基于第一坐标转换信息和位置信息A，确定位置点A在第二坐标系下的坐标。
服务器可以基于接收到的数据包A获取到第一路侧设备的第一坐标转换信息。服务器在S404中接收到来自该第一路侧设备的数据包B后，便可基于该第一路侧设备的第一坐标转换信息和数据包B中的位置信息A，确定位置点A在第二坐标系下的坐标。
前已述及，第一路侧设备的第一坐标转换信息中坐标转换参数可能为一组，也可能为多组。若坐标转换参数为一组，服务器可以直接根据该组坐标转换参数，将位置点A在第一坐标系下的位置转换到在第二坐标系下，得到在第二坐标系下的坐标。若坐标转换参数为多组，服务器可以根据该多组坐标转换参数各自的源坐标系和目标坐标系，来对位置信息A进行逐一转换，在转换多次后才能将位置点A在第一坐标系下的位置信息A转换到在第二坐标系下，得到在第二坐标系下的坐标。
应理解，上文所示例的服务器基于第一路侧设备的第一坐标转换信息和位置信息A，确定位置点A在第二坐标系下的坐标的过程仅为一种可能的实现方式，而不应对本申请构成任何限定。本领域的技术人员基于相同的构思，可以采用不同的方式来确定位置点A在第二坐标系下的坐标，或对各个步骤的执行先后顺序做出变化。本申请包含但不限于此。
如前所述，数据包B中还可以携带用于生成位置信息A的坐标转换参数的目标版本号时，服务器可以基于该目标版本号，确定本地是否保存有相应版本的坐标转换参数，进而使用正确版本的坐标转换参数来解析位置信息A。
可选地，该方法还包括：在服务器未获取到对应于目标版本号的坐标转换参数的情况下，向第一路侧设备发送请求消息，以请求获取对应于目标版本号的坐标转换参数。
为方便说明，这里将数据包B中携带的用于生成位置信息A的坐标转换参数的版本号记为版本A。
示例性地，服务器可根据生成位置信息所基于的坐标转换参数的目标版本号，在本地保存的第一坐标转换信息中查找，若查找到与目标版本号一致的坐标转换参数，则就可使用查询到的坐标转换参数来解析位置信息；若没有查找到与目标版本号一致的坐标转换参数，说明可能还未接收到第一路侧设备最新版本的坐标转换参数，则可以向第一路侧设备发送请求消息，以请求第一路侧设备发送目标版本号所对应的坐标转换参数。
可知的是，S401至S405中，由于第一路侧设备将第一坐标转换信息或用于确定第一坐标转换信息的原始数据和位置信息A携带在不同的数据包中、通过不同的方式发送，也即通过两个不同的安全通道发送。且两项信息或者为坐标转换参数，或者为精度不高的原始数据，或者为相对坐标，均不是第二坐标系下的坐标，因此无需偏转加密。而服务器可以在本地通过坐标转换得到位置点A在第二坐标系下的坐标，由此，实现了位置信息的安全、准确且高精度的传输。
除了服务器，其他路侧设备(如第二路侧设备)和/或终端设备也可以在S404中接收来自第一路侧设备的数据包B，并可通过执行下述的S406和S407来解析数据包 B中的位置信息A。
其中，第二路侧设备和终端设备是能够接收到第一路侧设备发送的数据包B的设备。第二路侧设备可以为多个路侧设备中除第一路侧设备之外的任意一个路侧设备。换言之，第二路侧设备与第一路侧设备是不同的路侧设备。
第一路侧设备所发送的数据包B除了携带位置点A的位置信息A外，如前所述，还可以携带第一路侧设备的信息，以及第一路侧设备生成位置点A的位置信息A所使用的坐标转换参数的目标版本号。
S406，第二路侧设备和/或终端设备获取对应于第一路侧设备的第一坐标转换信息。
前已述及，服务器在接收到来自第一路侧设备的数据包A，获取出第一路侧设备的第一坐标转换信息之后，便可以在本地保存该第一路侧设备的第一坐标转换信息。第二路侧设备和/或终端设备可以从服务器获取该第一路侧设备的第一坐标转换信息。
可选地，S406可以进一步包括：
S4061，第二路侧设备和/或终端设备从服务器获取对应关系信息，该对应关系信息用于指示路侧设备与坐标转换信息之间的对应关系；以及
S4062，第二路侧设备和/或终端设备基于第一路侧设备的信息，获取对应于第一路侧设备的第一坐标转换信息。
其中，对应关系信息例如可以包括路侧设备的第一标识与坐标转换信息的至少一对对应关系，以及路侧设备的信息与路侧设备的第一标识的至少一对对应关系；或者，对应关系信息也可以包括路侧设备的信息、路侧设备的第一标识与坐标转换信息的至少一对对应关系。
由于服务器预先保存了对应关系信息，第二路侧设备和/或终端设备就可从服务器处获取到该第一路侧设备对应的第一坐标转换信息。相应地，服务器发送该对应关系信息。
服务器发送该对应关系信息的一种可能的设计是，服务器可通过更新地图的方式，比如通过空中下载技术(over-the-air technology，OTA)升级、地图差分更新或其他动态更新流程等，将本地保存的对应关系信息下发至该地图的使用设备中。如此一来，接收到该对应关系信息的设备，如第二路侧设备和终端设备，便可以根据第一路侧设备的信息，从该对应关系信息中获取到第一路侧设备的第一坐标转换信息。
在数据包B还携带用于生成位置信息A的坐标转换参数的版本号时，可选地，S4062可进一步包括如下过程：
第二路侧设备和/或终端设备基于第一路侧设备的信息，确定从服务器获取到的对应于第一路侧设备的第一坐标转换信息中坐标转换参数的版本号；
在从服务器获取到的第一路侧设备的第一坐标转换信息中坐标转换参数的版本号不被目标版本号兼容的情况下，重新从服务器获取相应版本号的坐标转换参数。
如前所述，第二路侧设备和/或终端设备可根据数据包B中携带的第一路侧设备的信息，从对应关系信息中确定出第一路侧设备所对应的第一坐标转换信息，进而基于第一坐标转换信息来确定坐标转换参数的版本号。
由于服务器并不一定会在每一次坐标转换信息更新后就立即将更新后的坐标转换信息下发，因此，第二路侧设备和/或终端设备最近一次从服务器获取到的坐标转换参 数并不一定是最新版本的坐标转换参数。
为了避免第二路侧设备和/或终端设备频繁地进行地图更新，坐标转换信息还可以进一步携带能够兼容的版本号。若第二路侧设备和/或终端设备最近一次从服务器获取到的坐标转换参数的版本号是目标版本号所能够兼容的版本，则可以继续使用；否则，则需要重新从服务器获取到对应于目标版本号的坐标转换参数。
这里，确定从服务器获取到的坐标转换参数的版本号是否能够被目标版本号兼容，具体可以包括：确定二者的版本号是否相同，或确定目标版本号能够兼容的版本是否包含了获取到的坐标转换参数的版本号。
应理解，第二路侧设备和/或终端设备也可通过其他方式来获取第一坐标转换信息。上述S4061也可替换为：第二路侧设备和/或终端设备接收来自第一路侧设备的数据包A。在这种实现方式中，第二路侧设备和/或终端设备也可基于数据包A确定第一坐标转换信息。
其中，该数据包A可以是从第一路侧设备接收到的，也可以是由服务器转发的。本申请对此不作限定。
S407，第二路侧设备和/或终端设备基于第一路侧设备的第一坐标转换信息和位置信息A，确定位置点A在第二坐标系下的坐标。
与服务器类似，在第二路侧设备和/或终端设备在获取到第一路侧设备所对应的坐标转换参数和位置信息A后，就可利用坐标转换参数将位置点A从第一坐标系下的坐标转换到第二坐标系下的坐标。
可知的是，在S404及S406至S407中，由于第一路侧设备将位置信息A携带在数据包B中发送，而对应于第一路侧设备的第一坐标转换信息可以从服务器的对应关系信息中得到，且两项信息均不涉及第二坐标系下的坐标，或者坐标转换参数，或者精度不高的原始数据，或者相对坐标，因此无需偏转加密。第二路侧设备和/或终端设备可以通过坐标转换得到位置点A在第二坐标系下的坐标，由此，实现了位置信息的安全、准确且高精度的传输。
以上介绍了第二路侧设备、终端设备和服务器可对第一路侧设备的位置信息A进行解析的过程。同样地，第一路侧设备也可对来自其它设备的位置信息进行解析。下面介绍第一路侧设备对来自第二路侧设备的位置信息B的解析过程。其中，位置信息B是第二路侧设备发送的位置信息用于指示位置点B的位置信息。
S408，第二路侧设备发送携带有位置信息B的数据包C，该位置信息B是基于第三坐标系生成的位置点B的位置信息。相应地，第一路侧设备接收携带有位置信息B的数据包C。
其中，第三坐标系为第二路侧设备生成位置信息B所基于的坐标系。第二路侧设备可根据第三坐标系，生成位置点B的位置信息B，该位置信息B可以包括位置点B的位置信息。
示例性地，第二路侧设备可以通过广播的方式发送携带有位置信息B的数据包C。即，与第二路侧设备具有通信连接的其它任意一个路侧设备、任意一个终端设备、任意一个服务器，均可接收到该数据包C。因此，第一路侧设备也会接收到该数据包C。
当然，第二路侧设备也可以通过其他方式来发送数据包C，比如单播或组播等， 本申请包含但不限于此。此外，数据包B可以通过PC5口传输，也可通过其他接口传输，比如Uu口或其他接口。本申请对此不予限制。一个示例，第二路侧设备可通过Uu口向服务器发送数据包C，服务器可通过Uu口广播该数据包C。
可选地，数据包C中还携带第二路侧设备的信息。从而可以便于接收到数据包C的设备确定该数据包C中的位置信息B是基于对应于哪个路侧设备的坐标系来生成的。
S409，第一路侧设备获取第二坐标转换信息，该第二坐标转换信息用于在第二坐标系和第三坐标系之间进行坐标转换。
第一路侧设备若要确定出位置点B在第二坐标系下的坐标，就需要获取到对应于第二路侧设备的第二坐标转换信息。
可选地，S409具体可以通过下文S4091a或S4091b中的一项及S4092来实现。
在S4091a中，第一路侧设备接收来自第二路侧设备的数据包D，该数据包D用于确定第二坐标转换信息。相应地，第二路侧设备向第一路侧设备发送数据包D。
第二坐标转换信息可由第二路侧设备生成，也可由第一路侧设备生成。因此，第一路侧设备接收的数据包D所携带的信息可有如下两种情况：数据包D中携带第二坐标转换信息，或者，数据包D中携带原始数据，该原始数据是基于第三坐标系采集到的数据，该原始数据可用于确定第二坐标转换信息。
应理解，第一路侧设备可能从第二路侧设备接收该数据包D，也可能从服务器接收该数据包D，本申请对此不作限定。
另外，与前文数据包A和数据包B相似，该数据包C和数据包D也可以通过不同的安全通道传输，以提高传输的安全性。关于安全通道的具体内容可参看前文的相关描述，此处不再赘述。
在S4091b，第一路侧设备从服务器接收对应关系信息，该对应关系信息用于指示路侧设备与坐标转换信息之间的对应关系，该路侧设备包括第二路侧设备，该坐标转换信息包括第二坐标转换信息。
由于服务器预先保存了对应关系信息，第一路侧设备就可从服务器处获取到第二路侧设备对应的第二坐标转换信息。相应地，服务器发送该对应关系信息。
在S4092中，第一路侧设备确定第二坐标转换信息。
在S4091通过S4091a实现时，S4092具体可以包括：第一路侧设备基于数据包D，确定第二坐标转换信息。
第一路侧设备接收到数据包D后，就可从数据包D中获取到第二坐标转换信息，或者根据原始数据确定出第二坐标转换信息。第一路侧设备基于数据包D确定第二坐标转换信息的过程可参看前文中服务器基于数据包A确定第一坐标转换信息的相关描述，此处不再赘述。
在S4091通过S4091b实现时，S4092可以包括：第一路侧设备基于第二路侧设备的信息和对应关系信息，确定第二坐标转换信息。
由于数据包C还可以携带第二路侧设备的信息，第一路侧设备在从服务器接收到对应关系信息后，根据第二路侧设备的信息，就可在对应关系信息中查找到第二路侧设备的第二坐标转换信息，进而确定出第二路侧设备所对应的坐标转换参数。
S410，第一路侧设备基于第二坐标转换信息和位置信息B，确定位置点B在第二 坐标系下的坐标。
在第一路侧设备获取到第二路侧设备所对应的坐标转换参数和位置信息B后，就可利用坐标转换参数将位置点B在第三坐标系下的坐标转换到第二坐标系下的坐标。第一路侧设备基于第二坐标转换信息和位置信息B，确定位置点B在第二坐标系下的坐标的过程与前文S405中服务器基于第一坐标转换信息和位置信息B，确定位置点A在第二坐标系下的坐标相似，可参看S405中的相关说明，此处不再赘述。
可以理解，第一路侧设备除了接收到来自第二路侧设备的位置信息之外，还可能接收到来自其他路侧设备和/或终端设备的位置信息，也可以接收到来自服务器的位置信息。第一路侧设备同样可以参照前述相似的方式来对接收到的位置信息进行解析。另外，基于上文相似的方法，终端设备也可以基于某一路侧设备的局部坐标系，生成位置点的位置信息，并发送该位置信息。
相应地，路侧设备和/或服务器可以接收该位置信息，并基于上文相似的方法，解析该位置信息。
应理解，数据包C和数据包D仅为便于区分不同的位置信息而定义，不应对本申请构成任何限定。
结合前述描述，各设备之间的信息收发可如图5所示。
参照图5，图5是本申请实施例提供的服务器、终端设备和路侧设备之间的信息收发示意图。其中，路侧设备可通过Uu口或光纤向服务器发送数据包A。路侧设备可通过PC5口广播数据包B，即，服务器和终端设备可通过PC5口接收到数据包B。服务器也可以通过Uu口向路侧设备和终端设备发送数据包D。同样地，终端设备可通过Uu口向服务器发送数据包C，也可通过PC5口向路侧设备发送数据包C。应理解，关于数据包A、数据包B、数据包D和数据包C的说明可参照图4中的流程400的解释。
应理解，图5中各设备之间的传输所使用的接口仅为示例，不应对本申请构成任何限定。本申请对于各个数据包的传输接口不予限制。
还应理解，上述各步骤的序号的大小并不意味着执行顺序的先后，各过程的执行顺序应以其功能和内在逻辑确定，而不应对本申请实施例的实施过程构成任何限定。例如，S401和S404可以同时执行，也可先执行S401再执行S404，还可以先执行S404再执行S401。又例如，S402和S405可以在执行完S401、S403和S404之后依次执行，也可以在S401后执行S402，再在S404之后执行S405。再例如，S403，可以与S401同步执行，也可以在S401，或S402之后执行。还再例如，S408至S409可以同时执行，也可以先执行S408再执行S409，还可以先执行S409再执行S408。本申请对此不加以限制。
在本申请实施例中，使用位置相对固定的第一路侧设备的第一坐标系作为参照，将位置信息转化为相对于该第一坐标系的第一位置信息通过一个数据包发送；第一路侧设备通过另一数据包将可用于确定第一坐标系和第二坐标系之间的第一坐标转换信息的数据发送给其他设备，比如服务器，以便于其他设备基于该第一坐标转换信息来解析第一位置信息。接收到第一位置信息的设备就可通过坐标转换得到第一位置点在第二坐标系下的坐标。由于对位置信息和坐标转换信息采用两个不同的数据包进行传 输，也即可以采用两条不同的通路进行传输，且位置信息和坐标转换信息都不是第二坐标系下的坐标，都无需进行偏转，不会对位置信息的精度造成损失，同时还兼顾了高精度位置信息的合规性和数据安全，另外也可以减少位置信息的数据传输量，节省带宽。
参看图6，图6是本申请另一实施例提供的信息发送方法和信息接收方法的示意性流程图。
为了便于区分和说明，下文中将图6所示实施例中第一终端设备发送的位置信息所指示的位置点记为位置点C，位置点C对应的位置信息记为位置信息C。将携带该位置信息C的数据包记为数据包E。应理解，该位置点C仅为便于与前文实施例中的位置点A和位置点B区分而定义，可以相同，也可以不同，本申请对此不作限定。与之对应，数据包E仅为便于与前文实施例中的数据包A、数据包B、数据包C和数据包D区分而定义，不应构成任何限定。
还应理解，图6所示的实施例中以第一终端设备发送位置信息为例来描述了本申请实施例提供的信息发送方法和信息接收方法。不失一般性，该第一终端设备可以是任意一个终端设备，或者说，任意一个终端设备都可以基于如下方法来发送位置信息。
图6所示的方法600可以包括S601至S609。下面详细说明图6所示的方法600中的各个步骤。
S601，第一终端设备获取第一坐标转换信息，该第一坐标转换信息用于在第一坐标系和第二坐标系之间进行坐标转换。
其中，第一终端设备为多个终端设备中的任意一个终端设备，如任意一个车辆。在本实施例中，为了便于区分和说明，将发送位置信息C的终端设备记为第一终端设备。其他终端设备可以接收来自第一终端设备的位置信息C，记为第二终端设备。
由于第一终端设备本身可以知道自己的姿态和位置，因此第一终端设备也可以生成位置信息C。为了保证位置信息传输的安全性，第一终端设备可以将位置点C的坐标转换到另一坐标系下生成位置信息来发送。
可以理解的是，由于第一终端设备的高移动性，故第一终端设备本身的坐标系会随着移动而变化，因此若使用第一终端设备本身的坐标系来生成位置信息，可能不便于对该位置信息的解析。因此，第一终端设备可以选择较为固定的坐标系作为参照，来生成位置信息C。例如，第一终端设备选择的位置较为固定的路侧设备的第一坐标系作为参照。如此一来，该位置信息C可以基于该路侧设备的第一坐标系生成。
第一终端设备要生成位置信息C，可以先获取第一坐标系对应的坐标转换信息。
示例性地，第一终端设备可根据地图和自身位置，查询到第一终端设备附近的路侧设备的信息，或者，可获取在当前与自身存在通信连接的路侧设备的信息。第一终端设备根据所获取到的路侧设备的信息，就可从服务器中获知到路侧设备所对应的坐标转换信息。本实施例中为了方便说明，假设第一终端设备选择的坐标系为第一路侧设备的第一坐标系。
可选地，S601可以进一步包括：
S6011，第一终端设备从服务器获取对应关系信息，该对应关系信息用于指示路侧设备与坐标转换信息之间的至少一对对应关系；
S6012，第一终端设备基于第一路侧设备的信息，获取第一坐标转换信息，该第一坐标转换信息与第一路侧设备对应。
如前所述，服务器中保存有路侧设备与坐标转换信息之间的对应关系信息，第一终端设备可以在从服务器获取对应关系信息后，根据查询或获取到的第一路侧设备的信息(如，第一路侧设备的第二标识)，从对应关系信息中确定出与该第一路侧设备所对应的第一坐标转换信息。其中，关于坐标转换信息的详细内容可参看前文结合图2和图3的相关说明，此处不再赘述。
S602，第一终端设备基于第一坐标转换信息，以及位置点C在第二坐标系下的坐标，生成位置信息C。
由于第一终端设备可通过自身所安装的传感器识别到自身的坐标系(比如，对于车而言，该坐标系为车体坐标系)和第二坐标系，并能够实现自身的坐标系与第二坐标系之间的坐标转换。因此，第一终端设备可以确定位置点C在第二坐标系下的坐标。因此，第一终端设备可以基于第一坐标转换信息，将位置点C在第二坐标系下的坐标转换到位置点C在第一坐标系下的坐标，从而得到位置信息C。
应注意，路侧设备在向服务器发送坐标转换信息时，通常所发送的坐标转换参数可用于从第一坐标系转换到第二坐标系。因此，在第一终端设备所使用第一坐标转换信息中的坐标转换参数时，需要对该坐标转换参数进行数学变换后再使用。例如，假设该坐标转换参数为矩阵，则第一终端设备在基于该坐标转换参数生成位置点C的位置信息C时，需要先确定其逆矩阵，再基于该逆矩阵来生成位置信息C。
S603，第一终端设备发送位置点C的位置信息C。
第一终端设备可将位置信息C携带在数据包中发送出去，S603具体可以为：
发送数据包E，该数据包E中携带位置信息C。
示例性地，第一终端设备可以通过广播的方式发送数据包E。换言之，与该第一终端设备具有通信连接的其它任意一个路侧设备、任意一个第二终端设备、任意一个服务器，均可接收到数据包E。
应理解，第一终端设备也可以通过其他方式来发送数据包E，比如单播或组播等，本申请包含但不限于此。此外，数据包E可以通过PC5口传输，也可通过其他接口传输，比如Uu口或其他接口。本申请对此不予限制。一个示例，第一终端设备可通过Uu口向服务器发送数据包E，服务器可通过Uu口广播该数据包E。
在本实施例中，该数据包E还可以携带第一路侧设备的信息。
前已述及，第一路侧设备的信息与第一路侧设备的第一标识对应，第一路侧设备的第一标识与第一坐标转换信息对应。因此，接收到该数据包E的设备，便可以基于该第一路侧设备的信息，和上述对应关系获取第一路侧设备的第一坐标转换信息。
为了保证对位置信息C进行转换的坐标转换参数是正确版本的坐标转换参数，可选地，数据包E还携带用于生成位置信息的坐标转换参数的版本号。下文中为便于区分和说明，将用于生成位置信息的坐标转换参数的版本号记为目标版本号。
因此，接收到数据包E的各设备还可以基于该目标版本号去获取相应版本的坐标转换参数，来对数据包E中的位置信息C进行解析。
下面将结合不同的步骤分别对接收到数据包E的各个设备的处理流程进行说明。 其中，S604至S605描述了服务器对接收到的数据包E的处理过程，S606至S607描述了路侧设备和/或其它终端设备(即第二终端设备)对接收到的数据包E的处理过程。下面将分别描述各个步骤。
S604，服务器确定用于在第一坐标系和第二坐标系之间进行坐标转换的第一坐标转换信息。
服务器在S603中接收到数据包E后，就可根据数据包E中携带的第一路侧设备的信息在本地保存的对应关系信息中查找对应的第一坐标转换信息。
可选地，在数据包E还可以携带用于生成位置信息C的坐标转换参数的目标版本号时，S604可以包括：
服务器基于第一路侧设备的信息和目标版本号，在本地存储的坐标转换参数中查找对应的坐标转换参数；
在未查找到对应于该目标版本号的第一坐标转换信息的情况下，向第一路侧设备发送请求消息，以请求获取对应于该目标版本号的第一坐标转换信息。
与图4中的方法400类似地，服务器可根据目标版本号，在本地保存的坐标转换信息中查找，若查找到与目标版本号一致的坐标转换参数，则就可使用查询到的坐标转换参数来确定第二目标位置点在第二坐标系下的坐标；若没有查找到与目标版本号一致的坐标转换参数，说明可能还未接收到第一路侧设备最新版本的坐标转换参数，则可以向第一路侧设备发送请求消息，以请求第一路侧设备发送目标版本号所对应的坐标转换参数。
S605，服务器基于第一坐标转换信息和位置信息C，确定位置点C在第二坐标系下的坐标。
服务器可以从接收到的数据包E中获取位置点C在第一坐标系下的位置信息，并在获取到第一坐标转换信息后，基于第一路侧设备的第一坐标转换信息和的位置信息C，确定位置点C在第二坐标系下的坐标。
可知的是，S603至S605中，由于第一终端设备将位置点C在第一坐标系下的坐标携带在数据包中发送，且该信息为相对坐标，不是第二坐标系下的坐标，因此无需偏转加密。而服务器可以基于第一坐标转换信息，通过坐标转换得到位置点C在第二坐标系下的坐标，由此，实现了位置信息的安全、准确且高精度的传输。
除了服务器，路侧设备和/或其他终端设备(即，第二终端设备)也可以在S603中接收来自终端设备的数据包E，并可通过执行下述的S606和S607来解析数据包E中的位置信息C。
其中，路侧设备和第二终端设备是能够接收到第一终端设备发送的数据包E的设备。路侧设备可以为多个路侧设备中的任意一个路侧设备，可以为第一路侧设备，也可以为除第一路侧设备之外的其它任意一个路侧设备(即，第二路侧设备)。第二终端设备可以为多个终端设备中除第一终端设备之外的任意一个终端设备。换言之的，第二终端设备和第一终端设备是不同的终端设备。
如前所述，第一终端设备所发送的数据包E除了携带位置信息C外，还可以携带第一路侧设备的信息，以及第一终端设备生成位置信息C所使用的坐标转换参数的目标版本号。
S606，路侧设备和/或第二终端设备获取第一坐标转换信息，该第一坐标转换信息用于在第一坐标系和第二坐标系之间进行坐标转换。
其中，路侧设备和/或第二终端设备在接收到数据包E后，就可根据数据包E中携带的第一路侧设备的信息从服务器的对应关系信息中查找对应的第一坐标转换信息。可选地，S606可以包括：
S6061，路侧设备和/或第二终端设备从服务器获取对应关系信息，该对应关系信息用于指示路侧设备与坐标转换信息之间的至少一对对应关系；
S6062，路侧设备和/或第二终端设备基于对应于第一坐标转换信息的第一路侧设备的信息，获取第一坐标转换信息。
如前所述，服务器可通过更新地图的方式，比如通过OTA升级、地图差分更新或其他动态更新流程等，将本地保存的对应关系信息下发至该地图的使用设备中。路侧设备和/或第二终端设备接收到该对应关系信息，就可从中获取到该第一路侧设备对应的第一坐标转换信息。
可选地，在数据包E还携带用于生成位置信息的坐标转换参数的目标版本号时，S6062可以包括：
路侧设备和/或第二终端设备基于第一路侧设备的信息，确定从服务器获取到的对应于第一路侧设备的第一坐标转换信息中坐标转换参数的版本号；
在从服务器获取到的第一坐标转换信息中坐标转换参数的版本号不被目标版本号兼容的情况下，重新从服务器获取第一坐标转换信息。
同样地，路侧设备和/或第二终端设备可根据对从服务器获取到的第一坐标转换信息中坐标转换参数的版本号与接收到的数据包E中携带的目标版本号的兼容性进行判断，在两者兼容时，可使用该第一坐标转换信息中的坐标转换参数来确定位置点C在第二坐标系下的坐标；在两者不兼容时，就可向服务器重新请求以获取最新的第一坐标转换信息。或者，路侧设备和/或第二终端设备也可通过确定目标版本号与获取到的坐标转换参数的版本号是否相同的方式来确定获取到的第一坐标转换信息中的坐标转换参数能否直接使用。
应理解，路侧设备和/或第二终端设备获取第一坐标转换信息的具体过程与前文方法400中S409中的过程相似，不仅限于S6061和S6062中所提及的通过对应关系信息来确定第一坐标转换信息的方式，为了简洁，此处不再赘述。
还应理解，在接收数据包E的路侧设备为S601中终端设备所确定的第一路侧设备时，由于第一路侧设备知道自己的第一坐标转换信息，因此，第一路侧设备无需从服务器获取第一坐标转换信息。因此，第一路侧设备可跳过上述S6061和S6062，直接从本地获取第一坐标转换信息即可。
S607，路侧设备和/或第二终端设备基于第一坐标转换信息和位置信息，确定位置点C在第二坐标系下的坐标。
与服务器类似，在路侧设备和/或第二终端设备在获取到第一路侧设备所对应的坐标转换参数和接收到数据包E中携带的位置信息后，就可利用该坐标转换参数将位置点C从第一坐标系下的坐标转换到第二坐标系下的坐标。
可知的是，S603、S607至S607中，由于第一终端设备将位置点C的位置信息携 带在数据包E中发送，而对应于第一路侧设备的第一坐标转换信息可以从服务器的对应关系信息中得到，且两项信息或者为坐标转换参数，或者为精度不高的原始数据，或者为相对坐标，均不涉及第二坐标系下的坐标，因此无需偏转加密。而路侧设备和/或第二终端设备可以通过坐标转换得到位置点C在第二坐标系下的坐标，由此，实现了位置信息的安全、准确且高精度的传输。
如前所述，服务器除了接收到来自第一路侧设备的位置信息之外，还可能接收到来自其它路侧设备和/或终端设备的位置信息。因此，在有必要的情况下，将接收到的位置信息可转发出去。同样地，第一终端设备除了接收来自第一路侧设备的数据包B外，还可能接收到来自其它路侧设备(即，第二路侧设备)的位置信息。因此，第一终端设备可从任一路侧设备接收到带有位置信息的数据包，也可通过服务器接收到来自任一路侧设备的数据包。
还应理解，上述各步骤的序号的大小并不意味着执行顺序的先后，各过程的执行顺序应以其功能和内在逻辑确定，而不应对本申请实施例的实施过程构成任何限定。例如，S604至S605，与S606至S607可同时执行，也可不同时执行。本申请对此不加以限制。
第一终端设备使用附近的第一路侧设备的第一坐标系作为参照，位置信息转换为相对于该第一坐标系的位置信息通过一个数据包发送。服务器本地也保存有用于确定第一坐标系和第二坐标系之间转换的坐标转换信息，以便于服务器基于该坐标转换信息来解析位置信息。基于上述方案，服务器就可通过坐标转换得到位置点在第二坐标系下的坐标。路侧设备和/或其它终端设备也可通过从服务器获取对应关系信息以确定出对应的第一坐标转换信息后，通过坐标转换得到位置点在第二坐标系下的坐标。由于对位置信息不是第二坐标系下的坐标，无需进行偏转，不会对位置信息的精度造成损失，同时兼顾了高精度位置信息的合规性和数据安全，另外也可以减少位置信息的数据传输量，节省带宽。
以上，结合图2至图6详细描述了本申请实施例提供的方法。以下，结合图7至图8详细说明本申请实施例提供的装置。
图7是本申请实施例提供的装置的示意性框图。如图7所示，该装置700可以包括：收发单元710和处理单元720。
在第一种可能的设计中，该装置700可以执行前述任意一个实施例中与路侧设备对应的各个流程和/或步骤。
在一个实施例中，收发单元710可用于执行方法400中的S401、S404、S408、以及S4091或S4091b中的一个，处理单元720可用于执行方法400中的S403、S4092b和S410。
在另一个实施例中，收发单元710可用于执行方法400中的S404、S4061、S408和S4091a，处理单元720可用于执行方法400中的S4062和S407。
在另一个实施例中，收发单元710可用于执行方法600中的S603和S6061，处理单元720可用于执行方法600中的S6062和S607。
在第二种可能的设计中，该装置700也可以执行前述任意一个实施例中与服务器对应的各个流程和/或步骤。
在一个实施例中，收发单元710可用于执行方法400中的S401、S404、S4061、S408和S4091b，处理单元720可用于执行方法400中的S402和S405。
在另一个实施例中，收发单元710可用于执行方法600中的S6011、S603和S6061，处理单元720可用于执行方法600中的S604至S605。
在第三种可能的设计中，该装置700也可以执行前述任意一个实施例中与终端设备对应的各个流程和/或步骤。
在一个实施例中，收发单元710可用于执行方法400中的S404、S4061和S408，处理单元720可用于执行方法400中的S4062和S407。
在另一个实施例中，处理单元720可用于执行方法600中的S6012和S602，收发单元710可用于执行方法600中的S603。
在又一个实施例中，收发单元710可用于执行方法600中的S603和S6061，处理单元720可用于执行方法600中的S6062和S607。
应理解，在该种可实现的方式中，收发单元710和处理单元720所执行的过程与装置700可执行路侧设备所对应的第三个实施例中的各个流程和/或步骤相似，不再赘述。
应理解，本申请实施例中对单元的划分是示意性的，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。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器中，也可以是单独物理存在，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。
图8是本申请实施例提供的装置的另一示意性框图。该装置800可用于实现上述方法中路侧设备、服务器或终端设备的功能。该装置800可以为芯片系统。本申请实施例中，芯片系统可以由芯片构成，也可以包含芯片和其他分立器件。
如图8所示，该装置800可以包括处理器810和存储器820。处理器810和存储器820。存储器820可用于存储计算机程序，处理器810可用于调用并执行计算机程序，以使得装置实现本申请实施例提供的方法中路侧设备、服务器或终端设备的功能。
可选地，该装置800还包括通信接口830，用于通过传输介质和其它设备进行通信，从而用于装置800可以和其它设备进行通信。
示例性地，当该装置800用于实现本申请实施例提供的方法中第一路侧设备的功能时，处理器810可用于控制通信接口830向服务器发送第一数据包，该第一数据包用于确定第一坐标转换信息，该第一坐标转换信息用于在第一坐标系和第二坐标系之间进行坐标转换；处理器810还可用于基于第一坐标系，生成第一位置点的第一位置信息；处理器810还可用于控制通信接口830发送第二数据包，该第二数据包中携带第一位置信息。
示例性地，当该装置800用于实现本申请实施例提供的方法中服务器的功能时，处理器810可用于控制通信接口830接收来自第一路侧设备的第一数据包；处理器810还可用基于所述第一数据包，确定用于在第一坐标系和第二坐标系之间进行坐标转换的第一坐标转换信息；处理器810还可用于控制通信接口830接收来自所述第一路侧设备的第二数据包，所述第二数据包中携带基于所述第一坐标系生成的第一位置点的 第一位置信息；处理器810还可用基于所述第一坐标转换信息和所述第一位置信息，确定所述第一位置点在所述第二坐标系下的坐标。
示例性地，当该装置800用于实现本申请实施例提供的方法中第二路侧设备或终端设备的功能时，处理器810可用于控制通信接口830接收来自第一路侧设备的第一数据包，所述第一数据包中携带基于第一坐标系生成的第一位置点的第一位置信息；处理器810还可用于获取对应于所述第一路侧设备的第一坐标转换信息，所述第一坐标转换信息用于在所述第一坐标系和第二坐标系之间进行坐标转换；并用于基于所述第一坐标转换信息和所述第一位置信息，确定所述第一位置点在所述第二坐标系下的坐标。
本申请实施例中的耦合是装置、单元或模块之间的间接耦合或通信连接，可以是电性，机械或其它的形式，用于装置、单元或模块之间的信息交互。处理器810可能和存储器820协同操作。处理器810可能执行存储器820中存储的程序指令。该至少一个存储器中的至少一个可以包括于处理器中。
该装置800还可以包括通信接口830，用于通过传输介质和其它设备进行通信，从而用于装置800可以和其它设备进行通信。示例性地，当该装置800用于实现本申请实施例提供的方法中路侧设备的功能时，该其他设备可以是其他路侧设备、服务器或终端设备；该通信接口830例如可以是收发器、接口、总线、电路或者能够实现收发功能的装置。处理器810可利用通信接口830收发数据和/或信息，并用于实现图4或图6对应的实施例中的路侧设备、服务器或终端设备所执行的方法。
本申请实施例中不限定上述处理器810、存储器820以及通信接口830之间的具体连接介质。本申请实施例在图8中以处理器810、存储器820以及通信接口830之间通过总线连接。总线在图8中以粗线表示，其它部件之间的连接方式，仅是进行示意性说明，并不引以为限。该总线可以分为地址总线、数据总线、控制总线等。为便于表示，图8中仅用一条粗线表示，但并不表示仅有一根总线或一种类型的总线。
应理解，本申请实施例中的处理器可以是一种集成电路芯片，具有信号的处理能力。在实现过程中，上述方法实施例的各步骤可以通过处理器中的硬件的集成逻辑电路或者软件形式的指令完成。上述的处理器可以是通用处理器、数字信号处理器(digital signal processor，DSP)、专用集成电路(application specific integrated circuit，ASIC)、现场可编程门阵列(field programmable gate array，FPGA)或者其他可编程逻辑器件、分立门或者晶体管逻辑器件、分立硬件组件。可以实现或者执行本申请实施例中的公开的各方法、步骤及逻辑框图。通用处理器可以是微处理器或者该处理器也可以是任何常规的处理器等。结合本申请实施例所公开的方法的步骤可以直接体现为硬件译码处理器执行完成，或者用译码处理器中的硬件及软件模块组合执行完成。软件模块可以位于随机存储器，闪存、只读存储器，可编程只读存储器或者电可擦写可编程存储器、寄存器等本领域成熟的存储介质中。该存储介质位于存储器，处理器读取存储器中的信息，结合其硬件完成上述方法的步骤。
还应理解，本申请实施例中的存储器可以是易失性存储器或非易失性存储器，或可包括易失性和非易失性存储器两者。其中，非易失性存储器可以是只读存储器(read-only memory，ROM)、可编程只读存储器(programmable ROM，PROM)、 可擦除可编程只读存储器(erasable PROM，EPROM)、电可擦除可编程只读存储器(electrically EPROM，EEPROM)或闪存。易失性存储器可以是随机存取存储器(random access memory，RAM)，其用作外部高速缓存。通过示例性但不是限制性说明，许多形式的RAM可用，例如静态随机存取存储器(static RAM，SRAM)、动态随机存取存储器(dynamic RAM，DRAM)、同步动态随机存取存储器(synchronous DRAM，SDRAM)、双倍数据速率同步动态随机存取存储器(double data rate SDRAM，DDR SDRAM)、增强型同步动态随机存取存储器(enhanced SDRAM，ESDRAM)、同步连接动态随机存取存储器(synchlink DRAM，SLDRAM)和直接内存总线随机存取存储器(direct rambus RAM，DR RAM)。应注意，本文描述的系统和方法的存储器旨在包括但不限于这些和任意其它适合类型的存储器。
本申请还提供一种路侧设备，该路侧设备包括处理器，该处理器用于执行所述程序代码，以使得路侧设备实现图4所示实施例中第一路侧设备所执行的方法或第二路侧设备所执行的方法，或图4所示实施例中路侧设备所执行的方法。
本申请还提供一种服务器，该服务器包括处理器，该处理器用于执行所述程序代码，以使得服务器实现图4或图6所示实施例中服务器所执行的方法。
本申请还提供一种终端设备，该终端设备包括处理器，该处理器用于执行程序代码，以使得终端设备实现图4所示实施例中终端设备执行的方法，或图6所示实施例中第一终端设备所执行的方法或第二终端设备所执行的方法。
本申请还提供一种车辆，该车辆可用于实现图4所示实施例中终端设备执行的方法，或图6所示实施例中第一终端设备执行的方法或第二终端设备执行的方法。
本申请还提供一种通信系统，包括：第一路侧设备和服务器，其中，第一路侧设备用于实现图4所示实施例中第一路侧设备所执行的方法；服务器用于实现图4所示实施例中服务器所执行的方法。可选地，该通信系统还包括第二路侧设备，用于实现图4所示实施例中第二路侧设备所执行的方法。本申请还提供一种通信系统，包括：终端设备和服务器，其中，终端设备用于实现图4所示实施例中终端设备所执行的方法；服务器用于实现图4所示实施例中服务器所执行的方法。可选地，该通信系统还包括第二路侧设备，用于实现图4所示实施例中第二路侧设备所执行的方法。
本申请还提供一种通信系统，包括：第一路侧设备、终端设备和服务器，其中，路侧设备用于实现图4所示实施例中第一路侧设备所执行的方法；终端设备用于实现图4所示实施例中终端设备所执行的方法；服务器用于实现图4所示实施例中服务器所执行的方法。可选地，该通信系统还包括第二路侧设备，用于实现图4所示实施例中第二路侧设备所执行的方法。
本申请还提供一种通信系统，包括：路侧设备、第一终端设备和服务器，其中，第一终端设备用于实现图6所示实施例中第一终端设备所执行的方法，路侧设备用于实现图6所示实施例中路侧设备所执行的方法，服务器用于实现图6所示实施例中服务器所执行的方法。可选地，该系统还包括第二终端设备，用于实现图6所示实施例中第二终端设备所执行的方法。
本申请还提供一种计算机可读存储介质，该计算机可读存储介质上存储有计算机程序，当该计算机程序被处理器执行时，实现图4所示实施例中第一路侧设备执行的 方法、服务器执行的方法、第二路侧设备执行的方法及终端设备执行的方法，或，实现图6所示实施例中，第一终端设备执行的方法、服务器执行的方法、路侧设备执行的方法及第二终端设备执行的方法。
本申请还提供一种计算机程序产品，包括计算机程序，当该计算机程序被运行时，实现图4所示实施例中第一路侧设备执行的方法、服务器执行的方法、第二路侧设备执行的方法及终端设备执行的方法，或，实现图6所示实施例中，第一终端设备执行的方法、服务器执行的方法、路侧设备执行的方法及第二终端设备执行的方法本说明书中使用的术语“单元”、“模块”等，可用于表示计算机相关的实体、硬件、固件、硬件和软件的组合、软件、或执行中的软件。
本领域普通技术人员可以意识到，结合本文中所公开的实施例描述的各种说明性逻辑块(illustrative logical block)和步骤(step)，能够以电子硬件、或者计算机软件和电子硬件的结合来实现。这些功能究竟以硬件还是软件方式来执行，取决于技术方案的特定应用和设计约束条件。专业技术人员可以对每个特定的应用来使用不同方法来实现所描述的功能，但是这种实现不应认为超出本申请的范围。在本申请所提供的几个实施例中，应该理解到，所揭露的装置、设备和方法，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，该单元的划分，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。
该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。
在上述实施例中，各功能单元的功能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。该计算机程序产品包括一个或多个计算机指令(程序)。在计算机上加载和执行该计算机程序指令(程序)时，全部或部分地产生按照本申请实施例该的流程或功能。该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。该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个计算机可读存储介质传输，例如，该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。该计算机可读存储介质可以是计算机能够存取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。该可用介质可以是磁性介质，(例如，软盘、硬盘、磁带)、光介质(例如，数字视频光盘(digital video disc，DVD)、或者半导体介质(例如固态硬盘(solid state disk，SSD)) 等。
该功能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、ROM、RAM、磁碟或者光盘等各种可以存储程序代码的介质。
以上所述，仅为本申请的具体实施方式，但本申请的保护范围并不局限于此，任何熟悉本技术领域的技术人员在本申请揭露的技术范围内，可轻易想到变化或替换，都应涵盖在本申请的保护范围之内。因此，本申请的保护范围应以所述权利要求的保护范围为准。

Claims (83)

  1. 一种信息发送方法，其特征在于，包括：
    向服务器发送第一数据包，所述第一数据包用于确定第一坐标转换信息，所述第一坐标转换信息用于在第一坐标系和第二坐标系之间进行坐标转换；
    基于所述第一坐标系，生成第一位置点的第一位置信息；
    发送第二数据包，所述第二数据包中携带所述第一位置信息。
  2. 如权利要求1所述的方法，其特征在于，所述第一数据包和所述第二数据包基于不同的安全通道传输。
  3. 如权利要求1或2所述的方法，其特征在于，所述第一数据包中携带所述第一坐标转换信息。
  4. 如权利要求1或2所述的方法，其特征在于，所述第一数据包中携带原始数据，所述原始数据是基于所述第一坐标系采集到的数据，用于确定所述第一坐标转换信息。
  5. 如权利要求4所述的方法，其特征在于，所述方法还包括：
    接收来自所述服务器的所述第一坐标转换信息。
  6. 如权利要求3至5中任一项所述的方法，其特征在于，所述第一数据包和所述第二数据包还分别携带第一路侧设备的信息，所述第一路侧设备的信息与所述坐标转换信息对应。
  7. 如权利要求6所述的方法，其特征在于，所述第一路侧设备的信息与所述第一路侧设备的第一标识对应，所述第一标识包括第一字段和第二字段，所述第一字段用于承载所述第一路侧设备所在区域的区域标识，所述第二字段用于承载所述第一路侧设备在所述区域内的设备标识。
  8. 如权利要求1至7中任一项所述的方法，其特征在于，所述第一坐标转换信息包括坐标转换参数，以及以下内容中的一项或多项：
    所述坐标转换参数的源坐标系的标识，
    所述坐标转换参数的目标坐标系的标识，
    所述坐标转换参数的版本号，
    所述坐标转换参数的更新时间，以及
    所述坐标转换参数能够兼容的版本号。
  9. 如权利要求1至8中任一项所述的方法，其特征在于，所述第二数据包还携带用于生成所述第一位置信息的坐标转换参数的版本号。
  10. 如权利要求1至9中任一项所述的方法，其特征在于，所述第二数据包的发送频率高于所述第一数据包的发送频率。
  11. 如权利要求1至10中任一项所述的方法，其特征在于，所述方法还包括：
    获取第二坐标转换信息，所述第二坐标转换信息用于在所述第二坐标系和第三坐标系之间进行坐标转换；
    接收携带有第二位置信息的第三数据包，所述第二位置信息是基于所述第三坐标系生成的第二位置点的第二位置信息；
    根据所述第二位置信息和所述第二坐标转换信息，确定所述第二位置点在所述第 二坐标系下的坐标。
  12. 如权利要求11所述的方法，其特征在于，所述获取第二坐标转换信息，包括：
    接收第四数据包，所述第四数据包用于确定所述第二坐标转换信息；
    基于所述第四数据包，确定所述第二坐标转换信息。
  13. 如权利要求12所述的方法，其特征在于，所述第三数据包和所述第四数据包基于不同的安全通道传输。
  14. 如权利要求11所述的方法，其特征在于，所述第三数据包携带第二路侧设备的信息，所述获取第二坐标转换信息，所述第二路侧设备与所述第二坐标转换信息对应，包括：
    从所述服务器接收对应关系信息，所述对应关系信息用于指示路侧设备与坐标转换信息之间的对应关系，所述对应关系信息用于指示路侧设备与坐标转换信息之间的对应关系，所述路侧设备包括所述第二路侧设备，所述坐标转换关系包括所述第二坐标转换关系
    基于所述第二路侧设备的信息和所述对应关系信息，确定所述第二坐标转换信息。
  15. 一种信息接收方法，其特征在于，包括：
    接收来自第一路侧设备的第一数据包；
    基于所述第一数据包，确定用于在第一坐标系和第二坐标系之间进行坐标转换的第一坐标转换信息；
    接收来自所述第一路侧设备的第二数据包，所述第二数据包中携带基于所述第一坐标系生成的第一位置点的第一位置信息；
    基于所述第一坐标转换信息和所述第一位置信息，确定所述第一位置点在所述第二坐标系下的坐标。
  16. 如权利要求15所述的方法，其特征在于，所述第一数据包和所述第二数据包基于不同的安全通道传输。
  17. 如权利要求15或16所述的方法，其特征在于，所述第一数据包中携带所述第一坐标转换信息。
  18. 如权利要求15或16所述的方法，其特征在于，所述第一数据包中携带原始数据，所述原始数据是所述第一路侧设备基于所述第一坐标系采集到的数据；
    所述方法还包括：
    基于所述原始数据，确定所述第一坐标转换信息。
  19. 如权利要求18所述的方法，其特征在于，所述方法还包括：
    向所述第一路侧设备发送所述第一坐标转换信息。
  20. 如权利要求17至19中任一项所述的方法，其特征在于，所述第一数据包和所述第二数据包还分别携带所述第一路侧设备的信息，所述第一路侧设备的信息与所述第一坐标转换信息对应。
  21. 如权利要求20所述的方法，其特征在于，所述第一路侧设备的信息与所述第一路侧设备的第一标识对应，所述第一标识包括第一字段和第二字段，所述第一字段用于承载所述第一路侧设备所在区域的区域标识，所述第二字段用于承载所述第一路侧设备在所述区域内的设备标识。
  22. 如权利要求15至21中任一项所述的方法，其特征在于，所述第一坐标转换信息包括坐标转换参数，以及以下内容中的一项或多项：
    所述坐标转换参数的源坐标系的标识，
    所述坐标转换参数的目标坐标系的标识，
    所述坐标转换参数的版本号，
    所述坐标转换参数的更新时间，以及
    所述坐标转换参数能够兼容的版本号。
  23. 如权利要求15至22中任一项所述的方法，其特征在于，所述方法还包括：
    根据所述第一坐标转换信息确定第一坐标转换参数；
    当所述第一坐标转换参数不同于本地存储的关于所述第一路侧设备的第二坐标转换参数时，将本地存储的所述第二坐标转换参数替换为所述第一坐标转换参数。
  24. 如权利要求15至23中任一项所述的方法，其特征在于，所述第二数据包还携带用于生成所述第一位置信息的坐标转换参数的版本号；以及
    所述方法还包括：
    在未获取到对应于所述版本号的坐标转换参数的情况下，向所述第一路侧设备发送请求消息，以请求获取对应于所述版本号的坐标转换参数。
  25. 如权利要求15至24中任一项所述的方法，其特征在于，所述方法还包括：
    向终端设备和/或路侧设备发送对应关系信息，所述对应关系信息用于指示路侧设备与坐标转换信息之间的对应关系。
  26. 如权利要求15至25中任一项所述的方法，其特征在于，所述第二数据包的接收频率高于所述第一数据包的接收频率。
  27. 如权利要求13至24中任一项所述的方法，其特征在于，所述方法还包括：
    接收第三数据包，所述第三数据包用于确定所述第二坐标系和第三坐标系之间的第二坐标转换信息；
    接收携带有第二位置信息的第四数据包，所述第二位置信息是基于所述第三坐标系生成的第二位置点的位置信息；
    发送所述第四数据包。
  28. 如权利要求27所述的方法，其特征在于，所述第三数据包和所述第四数据包基于不同的安全通道传输。
  29. 一种信息接收方法，其特征在于，包括：
    接收来自第一路侧设备的第一数据包，所述第一数据包中携带基于第一坐标系生成的第一位置点的第一位置信息；
    获取对应于所述第一路侧设备的第一坐标转换信息，所述第一坐标转换信息用于在所述第一坐标系和第二坐标系之间进行坐标转换；
    基于所述第一坐标转换信息和所述第一位置信息，确定所述第一位置点在所述第二坐标系下的坐标。
  30. 如权利要求29所述的方法，其特征在于，所述获取对应于所述第一路侧设备的第一坐标转换信息，包括：
    接收第二数据包；
    基于所述第二数据包，确定所述第一坐标转换信息。
  31. 如权利要求30所述的方法，其特征在于，所述第一数据包和所述第二数据包基于不同的安全通道传输。
  32. 如权利要求29所述的方法，其特征在于，第一数据包还携带所述第一路侧设备的信息，所述获取对应于所述第一路侧设备的第一坐标转换信息，包括：
    从服务器接收对应关系信息，所述对应关系信息用于指示路侧设备与坐标转换信息之间的对应关系，所述路侧设备包括所述第一路侧设备，所述坐标转换信息包括所述第一坐标转换信息；
    基于所述第一路侧设备的信息和所述对应关系信息，获取所述第一坐标转换信息。
  33. 如权利要求29至32中任一项所述的方法，其特征在于，所述第一坐标转换信息包括坐标转换参数，以及以下内容中的一项或多项：
    所述坐标转换参数的源坐标系的标识，
    所述坐标转换参数的目标坐标系的标识，
    所述坐标转换参数的版本号，
    所述坐标转换参数的更新时间，以及
    所述坐标转换参数能够兼容的版本号。
  34. 如权利要求29至33中任一项所述的方法，其特征在于，所述第一数据包还携带所述第一路侧设备的信息，所述第一路侧设备的信息与所述第一坐标转换信息对应。
  35. 如权利要求32或34所述的方法，其特征在于，所述第一路侧设备的信息包括所述第一路侧设备的第一标识，所述第一标识包括第一字段和第二字段，所述第一字段用于承载所述第一路侧设备所在区域的区域标识，所述第二字段用于承载所述第一路侧设备在所述区域内的设备标识。
  36. 如权利要求29至35中任一项所述的方法，其特征在于，所述方法还包括：
    发送第三数据包，所述第三数据包用于确定所述第二坐标系和第三坐标系之间的第二坐标转换信息；
    发送携带有第二位置信息的第四数据包，所述第二位置信息是基于所述第三坐标系生成的第二位置点的位置信息。
  37. 如权利要求36所述的方法，其特征在于，所述第三数据包和所述第四数据包基于不同的安全通道传输。
  38. 一种信息发送装置，其特征在于，包括处理器和存储器，所述存储器用于存储计算机程序，所述处理器用于执行所述计算机程序，以使得所述装置实现如权利要求1至14中任一项所述的方法。
  39. 一种信息发送装置，其特征在于，包括：
    收发单元，用于向服务器发送第一数据包，所述第一数据包用于确定第一坐标转换信息，所述第一坐标转换信息用于在第一坐标系和第二坐标系之间进行坐标转换；
    处理单元，用于基于所述第一坐标系，生成第一位置点的第一位置信息；
    所述收发单元，还用于发送第二数据包，所述第二数据包中携带所述第一位置信息。
  40. 如权利要求39所述的装置，其特征在于，所述第一数据包和所述第二数据包基于不同的安全通道传输。
  41. 如权利要求39或40所述的装置，其特征在于，所述第一数据包中携带所述第一坐标转换信息。
  42. 如权利要求39或40所述的装置，其特征在于，所述第一数据包中携带原始数据，所述原始数据是基于所述第一坐标系采集到的数据，用于确定所述第一坐标转换信息。
  43. 如权利要求42所述的装置，其特征在于，所述收发单元还用于接收所述第一坐标转换信息。
  44. 如权利要求41至43中任一项所述的装置，其特征在于，所述第一数据包和所述第二数据包还分别携带所述装置的信息，所述装置的信息与所述第一坐标转换信息对应。
  45. 如权利要求44所述的装置，其特征在于，所述装置的信息与所述装置的第一标识对应，所述第一标识包括第一字段和第二字段，所述第一字段用于承载所述装置所在区域的区域标识，所述第二字段用于承载所述装置在所述区域内的设备标识。
  46. 如权利要求38至45中任一项所述的装置，其特征在于，所述第一坐标转换信息包括坐标转换参数，以及以下内容中的一项或多项：
    所述坐标转换参数的源坐标系的标识，
    所述坐标转换参数的目标坐标系的标识，
    所述坐标转换参数的版本号，
    所述坐标转换参数的更新时间，以及
    所述坐标转换参数能够兼容的版本号。
  47. 如权利要求38至46中任一项所述的装置，其特征在于，所述第二数据包还携带用于生成所述第一位置信息的坐标转换参数的版本号。
  48. 如权利要求38至47中任一项所述的装置，其特征在于，所述第二数据包的发送频率高于所述第一数据包的发送频率。
  49. 如权利要求38至48中任一项所述的装置，其特征在于，所述收发单元还用于：
    获取第二坐标转换信息，所述第二坐标转换信息用于在所述第二坐标系和第三坐标系之间进行坐标转换；
    接收携带有第二位置信息的第三数据包，所述第二位置信息是基于所述第三坐标系生成的第二位置点的位置信息；
    所述处理单元还用于根据所述第二位置信息和所述第二坐标转换信息，确定所述第二位置点在所述第二坐标系下的坐标。
  50. 如权利要求49所述的装置，其特征在于，所述收发单元还用于接收第四数据包，所述第四数据包用于确定所述第二坐标转换信息。
  51. 如权利要求50所述的装置，其特征在于，所述第三数据包和所述第四数据包基于不同的安全通道传输。
  52. 如权利要求49所述的装置，其特征在于，所述收发单元还用于从所述服务器 接收对应关系信息，所述对应关系信息用于指示路侧设备与坐标转换信息之间的对应关系。
  53. 一种信息接收装置，其特征在于，包括处理器和存储器，所述存储器用于存储计算机程序，所述处理器用于执行所述计算机程序，以使得所述装置实现如权利要求15至28中任一项所述的方法。
  54. 一种信息接收装置，其特征在于，包括：
    收发单元，用于接收来自第一路侧设备的第一数据包；
    处理单元，用于基于所述第一数据包，确定用于在第一坐标系和第二坐标系之间进行坐标转换的第一坐标转换信息；
    所述收发单元，还用于接收来自所述第一路侧设备的第二数据包，所述第二数据包中携带基于所述第一坐标系生成的第一位置点的第一位置信息；
    所述处理单元，还用于基于所述第一坐标转换信息和所述第一位置信息，确定所述第一位置点在所述第二坐标系下的坐标。
  55. 如权利要求54所述的装置，其特征在于，所述第一数据包和所述第二数据包基于不同的安全通道传输。
  56. 如权利要求54或55所述的装置，其特征在于，所述第一数据包中携带所述第一坐标转换信息。
  57. 如权利要求54或55所述的装置，其特征在于，所述第一数据包中携带原始数据，所述原始数据是所述第一路侧设备基于所述第一坐标系采集到的数据；
    所述处理单元还用于基于所述原始数据，确定所述第一坐标转换信息。
  58. 如权利要求56所述的装置，其特征在于，所述收发单元还用于向所述第一路侧设备发送所述第一坐标转换信息。
  59. 如权利要求56至58中任一项所述的装置，其特征在于，所述第一数据包和所述第二数据包还分别携带所述第一路侧设备的信息，所述第一路侧设备的信息与所述第一坐标转换信息对应。
  60. 如权利要求59所述的装置，其特征在于，所述第一路侧设备的信息与所述第一路侧设备的第一标识对应，所述第一标识包括第一字段和第二字段，所述第一字段用于承载所述第一路侧设备所在区域的区域标识，所述第二字段用于承载所述第一路侧设备在所述区域内的设备标识。
  61. 如权利要求54至60中任一项所述的装置，其特征在于，所述第一坐标转换信息包括坐标转换参数，以及以下内容中的一项或多项：
    所述坐标转换参数的源坐标系的标识，
    所述坐标转换参数的目标坐标系的标识，
    所述坐标转换参数的版本号，
    所述坐标转换参数的更新时间，以及
    所述坐标转换参数能够兼容的版本号。
  62. 如权利要求54至61中任一项所述的装置，其特征在于，所述处理单元还用于：
    根据所述第一坐标转换信息确定第一坐标转换参数；
    当所述第一坐标转换参数不同于本地存储的关于所述第一路侧设备的第二坐标转换参数时，将本地存储的所述第二坐标转换参数替换为所述第一坐标转换参数。
  63. 如权利要求54至62中任一项所述的装置，其特征在于，所述第二数据包还携带用于生成所述第一位置信息的坐标转换参数的版本号；
    所述收发单元还用于在未获取到对应于所述版本号的坐标转换参数的情况下，向所述第一路侧设备发送请求消息，以请求获取对应于所述版本号的坐标转换参数。
  64. 如权利要求54至63中任一项所述的装置，其特征在于，所述收发单元还用于：
    向终端设备和/或路侧设备发送对应关系信息，所述对应关系信息用于指示路侧设备与坐标转换信息之间的对应关系。
  65. 如权利要求54至64中任一项所述的装置，其特征在于，所述第二数据包的接收频率高于所述第一数据包的接收频率。
  66. 如权利要求54至65中任一项所述的装置，其特征在于，所述收发单元还用于：
    接收第三数据包，所述第三数据包用于确定所述第二坐标系和第三坐标系之间的第二坐标转换信息；
    接收携带有第二位置信息的第四数据包，所述第二位置信息是基于所述第三坐标系生成的第二位置点的位置信息；
    发送所述第四数据包。
  67. 如权利要求66所述的装置，其特征在于，所述第三数据包和所述第四数据包基于不同的安全通道传输。
  68. 一种信息接收装置，其特征在于，包括处理器和存储器，所述存储器用于存储计算机程序，所述处理器用于执行所述计算机程序，以使得所述装置实现如权利要求27至35中任一项所述的方法。
  69. 一种信息接收装置，其特征在于，包括：
    收发单元，用于接收来自第一路侧设备的第一数据包，所述第一数据包中携带基于第一坐标系生成的第一位置点的第一位置信息；
    处理单元，用于获取对应于所述第一路侧设备的第一坐标转换信息，所述第一坐标转换信息用于在所述第一坐标系和第二坐标系之间进行坐标转换；基于所述第一坐标转换信息和所述第一位置信息，确定所述第一位置点在所述第二坐标系下的坐标。
  70. 如权利要求69所述的装置，其特征在于，所述收发单元还用于接收第二数据包，所述第二数据包用于确定所述第一坐标转换信息；
    所述处理单元具体用于基于所述第二数据包，确定所述第一坐标转换信息。
  71. 如权利要求70所述的装置，其特征在于，所述第一数据包和所述第二数据包基于不同的安全通道传输。
  72. 如权利要求69所述的装置，其特征在于，第一数据包还携带所述第一路侧设备的信息，所述收发单元还用于从服务器接收对应关系信息，所述对应关系信息用于指示路侧设备与坐标转换信息之间的对应关系，所述路侧设备包括所述第一路侧设备，所述坐标转换信息包括所述第一坐标转换信息；
    所述处理单元具体用于基于所述第一路侧设备的信息和所述对应关系信息，获取所述第一坐标转换信息。
  73. 如权利要求69至72中任一项所述的装置，其特征在于，所述第一坐标转换信息包括坐标转换参数，以及以下内容中的一项或多项：
    所述坐标转换参数的源坐标系的标识，
    所述坐标转换参数的目标坐标系的标识，
    所述坐标转换参数的版本号，
    所述坐标转换参数的更新时间，以及
    所述坐标转换参数能够兼容的版本号。
  74. 如权利要求69至73中任一项所述的装置，其特征在于，所述第一数据包还携带所述第一路侧设备的信息，所述第一路侧设备的信息与所述第一坐标转换信息对应。
  75. 如权利要求72或74所述的装置，其特征在于，所述第一路侧设备的信息包括所述第一路侧设备的第一标识，所述第一标识包括第一字段和第二字段，所述第一字段用于承载所述第一路侧设备所在区域的区域标识，所述第二字段用于承载所述第一路侧设备在所述区域内的设备标识。
  76. 如权利要求69至75中任一项所述的装置，其特征在于，所述收发单元还用于：
    发送第三数据包，所述第三数据包用于确定所述第二坐标系和第三坐标系之间的第二坐标转换信息；
    发送携带有第二位置信息的第四数据包，所述第二位置信息是基于所述第三坐标系生成的第二位置点的位置信息。
  77. 如权利要求76所述的装置，其特征在于，所述第三数据包和所述第四数据包基于不同的安全通道传输。
  78. 一种通信系统，包括：
    路侧设备，用于执行如权利要求1至14中任一项所述的方法；和
    服务器，用于执行如权利要求15至28中任一项所述的方法。
  79. 一种通信系统，包括：
    终端设备，用于执行如权利要求29至37中任一项所述的方法；和
    服务器，用于执行如权利要求15至28中任一项所述的方法。
  80. 一种通信系统，包括：
    路侧设备，用于执行如权利要求1至14中任一项所述的方法；
    终端设备，用于执行如权利要求29至37中任一项所述的方法；和
    服务器，用于执行如权利要求15至28中任一项所述的方法。
  81. 一种计算机可读存储介质，所述计算机可读存储介质上存储有计算机程序，其特征在于，所述计算机程序被处理器执行时，实现如权利要求1至37中任一项所述的方法。
  82. 一种计算机程序产品，其特征在于，包括计算机程序，当所述计算机程序被运行时，实现如权利要求1至37中任一项所述的方法。
  83. 一种车辆，其特征在于，包括如权利要求68至77中任一项所述的信息接收装置。
PCT/CN2022/139418 2022-03-28 2022-12-15 信息发送方法、信息接收方法及相关装置、系统 WO2023185103A1 (zh)

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