A data interaction method, system, device, terminal device and storage medium

Abstract

The present application is applicable to the field of positioning technology, and provides a data interaction method, system, device, terminal equipment and storage medium. The above-mentioned data interaction system includes a vehicle-mounted unit and a roadside unit; after the vehicle-mounted unit enters the perception range of the roadside unit, the vehicle-mounted unit sends a positioning flag to the roadside unit; when the positioning flag is the first flag, the roadside unit obtains the positioning data and / or mileage data stored in the vehicle-mounted unit, wherein the first flag is used to indicate that the vehicle-mounted unit stores the positioning data recorded after the previous data upload and / or the mileage data recorded after the previous data upload. The embodiments of the present application can reduce the power consumption of the data interaction system.

Description

Technical Field

[0001] The present application belongs to the field of positioning technology, and in particular relates to a data interaction method, system, device, terminal equipment and storage medium. Background Art

[0002] In the field of smart transportation, the on-board unit (OBU) installed on the vehicle and the road side unit (RSU) installed on the road are often used to automatically sense and identify the vehicle and interact with related data to achieve various functions. For example, the Electronic Toll Collection (ETC) system uses OBU and RSU to complete the wireless data communication between the vehicle and the toll station using the vehicle automatic identification technology.

[0003] In order to realize the interaction of positioning data, at present, OBU will be connected with RSU in real time, and OBU will upload positioning data to RSU in real time. In this way, OBU is continuously connected with RSU, continuously communicating and reporting positioning data, and the power consumption of the system is high. Summary of the invention

[0004] Embodiments of the present application provide a data interaction method, system, apparatus, terminal device, and storage medium, which can reduce system power consumption.

[0005] A first aspect of an embodiment of the present application provides a data interaction method, which is applied to a vehicle-mounted unit. The data interaction method includes: after entering the perception range of the roadside unit, sending a positioning flag to the roadside unit; when the positioning flag is a first flag, sending positioning data and / or mileage data to the roadside unit, the first flag being used to indicate that the vehicle-mounted unit stores the positioning data recorded after the previous data upload and / or the mileage data recorded after the previous data upload.

[0006] A second aspect of an embodiment of the present application provides a data interaction method, which is applied to a roadside unit. The data interaction method includes: receiving a positioning flag sent by a vehicle-mounted unit after entering the perception range of the roadside unit; if the positioning flag is a first flag, obtaining the positioning data and / or mileage data stored in the vehicle-mounted unit, wherein the first flag is used to indicate that the vehicle-mounted unit stores the positioning data recorded after the previous data upload and / or the mileage data recorded after the previous data upload.

[0007] A third aspect of an embodiment of the present application provides a data interaction system, including a vehicle-mounted unit and a roadside unit; after the vehicle-mounted unit enters the perception range of the roadside unit, the vehicle-mounted unit sends a positioning flag to the roadside unit; when the positioning flag is a first flag, the roadside unit obtains the positioning data and / or mileage data stored in the vehicle-mounted unit, wherein the first flag is used to indicate that the vehicle-mounted unit stores the positioning data recorded after the previous data upload and / or the mileage data recorded after the previous data upload.

[0008] A data interaction device provided in the fourth aspect of an embodiment of the present application is configured on a vehicle-mounted unit, and the data interaction device includes: a positioning flag sending unit, used to send a positioning flag to the roadside unit after entering the perception range of the roadside unit; a positioning data sending unit, used to send positioning data and / or mileage data to the roadside unit when the positioning flag is a first flag, and the first flag is used to indicate that the vehicle-mounted unit stores the positioning data recorded after the previous data upload and / or the mileage data recorded after the previous data upload.

[0009] A data interaction device provided in the fifth aspect of an embodiment of the present application is configured on a roadside unit, and the data interaction device includes: a positioning flag receiving unit, used to receive a positioning flag sent by a vehicle-mounted unit after entering the perception range of the roadside unit; a positioning data acquisition unit, used to acquire the positioning data and / or mileage data stored in the vehicle-mounted unit if the positioning flag is a first flag, wherein the first flag is used to indicate that the vehicle-mounted unit stores the positioning data recorded after the previous data upload and / or the mileage data recorded after the previous data upload.

[0010] A sixth aspect of an embodiment of the present application provides a terminal device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the steps of the above-mentioned data interaction method when executing the computer program.

[0011] A seventh aspect of an embodiment of the present application provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the steps of the above-mentioned data interaction method are implemented.

[0012] An eighth aspect of an embodiment of the present application provides a computer program product, which, when executed on a terminal device, enables the terminal device to execute the above-mentioned data interaction method.

[0013] In an embodiment of the present application, after the on-board unit enters the perception range of the roadside unit, the positioning flag is sent to the roadside unit, and the roadside unit obtains the positioning data and / or mileage data stored in the on-board unit when the positioning flag is the first flag, wherein the first flag is used to indicate that the on-board unit stores positioning data recorded after the previous data upload or mileage data recorded after the previous data upload, that is, the on-board unit and the roadside unit will only interact with the positioning data and / or mileage data when new data is generated between the two previous upload time points. When the positioning flag is not the first flag, the roadside unit does not need to be unicast connected to the on-board unit, which can reduce the connection time between the roadside unit and the on-board unit, thereby reducing the power consumption of the system. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative labor.

[0015] Figure 1 This is a schematic diagram of a data interaction system provided in an embodiment of the present application. Figure 1 ;

[0016] Figure 2 It is a structural diagram of a data interaction system provided in an embodiment of the present application;

[0017] Figure 3 It is a schematic diagram of the structure of the backend server provided in the embodiment of the present application;

[0018] Figure 4 is a schematic diagram of the structure of a roadside unit provided in an embodiment of the present application;

[0019] Figure 5 is a schematic diagram of the structure of the vehicle-mounted unit provided in an embodiment of the present application;

[0020] Figure 6 It is a schematic diagram of the implementation process of the interaction process between the roadside unit and the vehicle-mounted unit provided in an embodiment of the present application;

[0021] Figure 7 is a schematic diagram of data flow during the interaction between the roadside unit and the vehicle-mounted unit provided in an embodiment of the present application;

[0022] Figure 8 This is a schematic diagram of a specific implementation process of determining a positioning wake-up period provided in an embodiment of the present application;

[0023] Fig. 9This is a schematic diagram of a data interaction system provided in an embodiment of the present application. Figure 2 ;

[0024] Fig.10 This is a schematic diagram of the specific implementation process of storing positioning data provided in the embodiment of the present application. Figure 1 ;

[0025] Fig.11 This is a schematic diagram of the specific implementation process of storing positioning data provided in the embodiment of the present application. Figure 2 ;

[0026] Fig.12 is a schematic diagram of the implementation flow of the data interaction method applied to the vehicle-mounted unit provided in an embodiment of the present application;

[0027] Fig.13 It is a schematic diagram of the implementation flow of the data interaction method applied to the roadside unit provided in the embodiment of the present application;

[0028] Fig.14 It is a structural schematic diagram of a data interaction device configured in a vehicle-mounted unit provided in an embodiment of the present application;

[0029] Fig.15 It is a structural schematic diagram of a data interaction device configured in a roadside unit provided in an embodiment of the present application;

[0030] Fig.16 It is a schematic diagram of the structure of the terminal device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0031] In order to make the purpose, technical solutions and advantages of the present application more clearly understood, the present application is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not intended to limit the present application. Based on the embodiments of the present application, all other embodiments obtained by those skilled in the art without making creative work are protected by the present application.

[0032] To facilitate understanding, some terms that appear in this application are first introduced.

[0033] OBU: On Board Unit, on-board unit.

[0034] RSU: Road Side Unit.

[0035] DSRC: Dedicated Short Range Communication, dedicated short-range communication technology.

[0036] LTE-V: Long Term Evolution V2X, long-term evolution technology.

[0037] 5G: The fifth generation of wireless communication technology.

[0038] 5.8G ETC: specifically refers to the electronic toll collection technology that uses the 5.8G wireless frequency band.

[0039] MAC: Media Access Control, media access control address.

[0040] PSAM: Purchase Secure Access Module, terminal security control module, used for security encryption.

[0041] ESAM: Embedded Secure Access Module, embedded security control module, used for security encryption.

[0042] In order to illustrate the technical solution of the present application, a specific embodiment is provided below for illustration.

[0043] Please refer to Figure 1 and Figure 2 , Figure 1 A schematic diagram of a scenario of a data interaction system of the present application is shown. Figure 2 The schematic diagram of the structure of the data interaction system of the present application is shown. The data interaction system may include an OBU and an RSU.

[0044] In a specific application scenario, a gantry can be set at a certain interval on the road, and an RSU can be deployed on each gantry. A roadside side pole can be set at a certain interval between two adjacent gantries, and RSU can also be deployed on the roadside side pole. The road can be different types of sections such as expressways, national roads, provincial roads, and urban roads. When a vehicle passes through the RSU, the RSU can communicate with the OBU configured in the vehicle, and the OBU can report positioning data and / or mileage data during the communication process with the RSU. Among them, the positioning data obtained by the OBU can be the positioning data obtained by communicating with the Beidou satellite, or it can be the positioning data obtained by the global positioning system (Global Positioning System, GPS) or by other commonly used positioning methods, and this application does not limit this.

[0045] In some embodiments of the present application, the data interaction system may further include a background server, and the OBU supports obtaining positioning data and / or mileage data and reporting it to the RSU via wireless communication. The wireless communication method used includes but is not limited to DSRC, 5.8G ETC, LTE-V and other wireless communication technologies, preferably 5.8G ETC wireless communication technology. After the RSU obtains the positioning data and / or mileage data sent by the OBU, it can report the positioning data and / or mileage data to the background server by wireless communication or wired communication, preferably using wired communication technology.

[0046] The backend server can refer to a cloud computing service center, an edge computing center, etc., and can realize a variety of intelligent transportation functions based on positioning data. For example, the positioning data reported by vehicles on various road sections can be integrated to splice the vehicle's driving trajectory, and then the mileage fee can be calculated based on the vehicle's driving trajectory, or the number of vehicles in the scene can be counted, or the vehicle can be tracked based on the vehicle's driving trajectory, etc.

[0047] In some implementations of the present application, the structural diagram of the backend server is as follows: Figure 3 As shown. The background server may include at least a first communication unit and a data processing unit. The first communication unit may be used to communicate with the second communication module of the RSU, and the communication content includes but is not limited to the first configuration information sent by the background server to the RSU and the positioning data and / or mileage data obtained from the OBU and sent by the RSU to the background server. The data processing unit may be used to integrate the positioning data and mileage data of the same vehicle reported by different RSUs to obtain a complete driving trajectory of the vehicle, and distinguish the corresponding travel distances of the vehicle in different types of roads (such as highways, national roads, provincial roads, urban roads, etc.) according to the vehicle trajectory, and then calculate the mileage fee of the vehicle according to the rates of different types of roads and the corresponding travel distances. In some embodiments, the background server may also include a configuration unit, which may be used to generate the first configuration information and send it to the second communication unit of the specified RSU through the first communication unit.

[0048] In some embodiments of the present application, the structural diagram of RSU is as follows: Figure 4 The RSU may include at least a second communication unit, a first control unit, a third communication unit, a first power supply unit, a first safety unit, and the like.

[0049] Among them, the second communication unit can be used to communicate with the first communication unit of the background server, and the communication content includes but is not limited to receiving the first configuration information issued by the background server, and reporting the positioning data and / or mileage data obtained from the OBU to the background server. The first control unit can be used to control other units of the RSU to realize the basic functions of the RSU. The third communication unit can be used to communicate wirelessly with the OBU, and the communication methods adopted include but are not limited to DSRC, 5.8GETC, LTE-V, 5G, etc., preferably 5.8G ETC. The first power supply unit can be used to supply power to each unit of the RSU; the first security unit: used to provide security authentication encryption for wireless communication, preferably PSAM.

[0050] In some implementations of the present application, the structural diagram of the OBU is as follows: Figure 5 The OBU may include at least a fourth communication unit, a second control unit, a positioning unit, a second power supply unit, a second safety unit, and the like.

[0051] The fourth communication unit can be used for communicating with the third communication module of RSU, and the communication mode includes but is not limited to DSRC, 5.8G ETC, LTE-V, 5G, etc., preferably 5.8G ETC. The second control unit can be used for controlling other units of OBU, performing data processing, and forming positioning data and mileage data. The positioning unit can be used for obtaining positioning data, for example, the positioning data of OBU can be obtained by communicating with Beidou satellite, or the positioning data can be obtained by GPS. Wherein, the positioning unit can be composed of Beidou chip, filter, low-noise amplifier and antenna, and the antenna can be either a built-in antenna or an external antenna. The second security unit can be used for providing security authentication encryption for wireless communication, preferably ESAM. The second power supply unit can be used for powering other units of OBU.

[0052] In the implementation mode of the present application, after the OBU enters the sensing range of the RSU, it can send a positioning flag to the RSU. When the positioning flag is the first flag, the RSU can obtain the positioning data and / or mileage data stored by the OBU. Wherein, the first flag is used to indicate that the OBU stores the positioning data recorded after the previous upload of data and / or the mileage data recorded after the previous upload of data.

[0053] Specifically, the OBU can be configured to periodically acquire positioning data according to the positioning wake-up cycle, determine mileage data according to the positioning data, and after uploading data last time, if positioning data is acquired, then the positioning flag can be updated to the first flag. After entering the sensing range of the RSU next time, the positioning flag can be sent to the RSU, thereby establishing communication, and sending the newly acquired positioning data and / or mileage data determined based on the newly acquired positioning data to the RSU.

[0054] The specific interaction process between OBU and RSU in the data interaction system is described below. Figure 6 A flowchart of the interaction process is shown.

[0055] Step S601: The OBU establishes a communication connection with the RSU.

[0056] Specifically, the OBU and the RSU can establish a communication connection based on the aforementioned third communication unit and the fourth communication unit. It should be understood that establishing a communication connection means that the OBU has entered the perception range of the RSU. At this time, the OBU can send the positioning flag to the RSU to confirm whether the positioning data and / or mileage data needs to be transmitted.

[0057] Step S602: OBU and RSU perform two-way authentication.

[0058] Specifically, in order to ensure the security of communication between the OBU and the RSU and prevent an illegal OBU from uploading erroneous data to the RSU, the OBU may perform a two-way authentication based on the aforementioned second security unit and the first security unit of the RSU to confirm each other's identities.

[0059] Step S603: After authentication is passed, the OBU reports positioning data and / or mileage data to the RSU.

[0060] The positioning data may include the vehicle identification, current location, and historical location of the vehicle where the OBU is located. The mileage data may be obtained by combining multiple historical locations of the vehicle.

[0061] For details, please refer to Figure 7 , Figure 7 A schematic diagram showing the data flow during the interaction between OBU and RSU.

[0062] In some implementations of the present application, the interaction process between the OBU and the RSU may specifically include the following steps S701 to S708.

[0063] Step S701: The RSU broadcasts a first message instruction within a sensing range.

[0064] Among them, the first message instruction can be used to instruct the OBU that receives the first message instruction to establish a communication connection, and can carry a frame control byte, an RSU location identifier, pre-read information, a frame check bit, etc. Among them, the frame control byte at least includes four bytes of all F, which is used to characterize that the first message instruction is a broadcast message. The RSU location identifier can be used to characterize the road type of the section where the RSU is located. In an optional manner, the location identifiers corresponding to the RSU located on the highway, national highway, provincial highway, tourist road, and urban road are 01, 02, 03, 04, 05, and 06 respectively. The pre-read information at least includes a pre-read positioning information flag bit, and the OBU can read the positioning information after judging this pre-read positioning information flag bit. The frame check bit can be used to verify whether the frame is complete and correct.

[0065] In some other embodiments of the present application, the first message instruction may also carry surrounding roadside unit information of surrounding RSUs, i.e., other RSUs deployed within a certain distance range of the RSU. Optionally, the surrounding roadside unit information may include first configuration information, the encoding method may adopt ASN.1 encoding method, and the first configuration message may include the number and serial number of the surrounding RSUs, their longitudes, their latitudes, and the distances between them and the RSUs.

[0066] Step S702: After receiving the first message instruction, the OBU feeds back a second message instruction.

[0067] In the implementation of the present application, after receiving the first message instruction, the OBU can pre-store the location identifier of the RSU and the surrounding roadside unit information, and then reply to the second message instruction. To ensure that the RSU can receive the second message instruction replied by the OBU, the OBU can resend the second message instruction after a random delay.

[0068] The second message instruction is used to instruct the RSU to perform authentication and communication, and may carry a frame control byte, a system information file, an OBU status, and a frame check bit. Among them, the frame control byte may at least include the unique identification of the OBU. The system information file may at least include the service provider code, protocol type, protocol version, etc. of the OBU, which is mainly used to determine whether the OBU is legal. The OBU status may at least include whether it contains an anti-disassembly bit and a positioning flag bit. Among them, the anti-disassembly bit indicates whether the OBU has been reassembled. In some implementation methods, if the anti-disassembly bit is an identification corresponding to the reassembly, the data sent by the OBU can be discarded. The frame check bit can be used to verify whether the frame is complete and correct.

[0069] Specifically, the positioning flag may include a positioning data flag and a mileage data flag. Optionally, if the OBU stores positioning data, the positioning data flag and is the first flag, such as TRUE. If the OBU does not store Beidou positioning information, the positioning data flag and is the fourth flag, such as FALSE. Similarly, if the OBU stores positioning data, the mileage data flag is the first flag, such as TRUE; if the OBU does not store positioning data, the mileage data flag is the fourth flag, such as FALSE.

[0070] Step S703: When the positioning flag is the first flag, the RSU sends a third message instruction to the OBU.

[0071] Specifically, after receiving the second message instruction, the RSU may determine whether the positioning flag bit in the OBU state is the first flag bit, and if so, issue the third message instruction, otherwise, issue the seventh message instruction.

[0072] Wherein, the third message instruction is used for security authentication, and may carry a frame control header, a first authentication data, a frame check, etc. The frame control header may include at least the MAC address of the OBU, which may be used to implement unicast communication with the OBU. The first authentication data may be a random number generated by a PSAM. The frame check may be used to verify whether the frame is complete and correct.

[0073] Step S704: After receiving the third message instruction, the OBU feeds back a fourth message instruction according to the first authentication data.

[0074] The fourth message instruction is used for bidirectional authentication between the OBU and the RSU, and may carry a frame control header, second authentication data, and frame check. The frame control header may include at least the MAC address of the OBU, which is used to implement unicast communication with the OBU; the second authentication data may be ciphertext data of vehicle information, etc., and may be data generated by the ESAM. The frame check may be used to verify whether the frame is complete and correct.

[0075] Step S705: The RSU authenticates the OBU based on the second authentication data, and sends a fifth message instruction to the OBU when the authentication is successful.

[0076] In the implementation manner of the present application, after the RSU receives the fourth message instruction, the fourth message instruction can be parsed and authenticated through the second authentication data therein. If the authentication fails, an authentication failure message can be sent to the OBU, or other data sent by the OBU can be discarded. If the authentication succeeds, a fifth message instruction can be sent to the OBU.

[0077] Among them, the fifth message instruction is mainly used to obtain the positioning data and / or mileage data stored by the OBU, and can carry a frame control header, a request message, and a frame check. The frame control header can include the MAC address of the OBU, which can be used to implement unicast communication with the OBU. The request message is used to request the OBU to upload the positioning data and / or mileage data; the frame check can be used to check whether the frame is complete and correct.

[0078] Of course, in other implementations, OBU and RSU can be authenticated by other means. Specifically, RSU can directly obtain the authenticated identification sent by the surrounding RSU. If the authenticated identification is obtained, it can be confirmed that the OBU authentication is successful, and the positioning data and / or mileage data can be obtained. Among them, the authenticated identification is an identification sent by the surrounding RSU after completing the authentication of the OBU to characterize the successful authentication of the OBU. In this way, after the OBU completes the authentication with any RSU in the scene, the surrounding RSU can communicate directly without authentication, thereby improving communication efficiency.

[0079] Step S706: The OBU feeds back a sixth message instruction according to the fifth message instruction.

[0080] In an implementation manner of the present application, after receiving the fifth message instruction, the OBU may perform data analysis, and after obtaining the request message through analysis, may frame the positioning data and / or mileage data and reply to the RSU in the form of a sixth message instruction.

[0081] Among them, the sixth message instruction may carry a frame control header, positioning data, mileage data, frame check, etc. The frame control header may include at least the MAC address of the OBU, which can be used to implement unicast communication with the OBU. The positioning data may include at least the total number of positioning points, positioning data number, time, longitude, latitude, and may also include information such as direction and speed. The mileage data may include at least a mileage record flag, mileage segment number, mileage number, mileage time, and mileage length; the mileage record flag is used to indicate whether mileage statistical data is reported, the mileage segment number is used to indicate how many segments of mileage there are, the mileage time indicates the time corresponding to this mileage segment, and the mileage length indicates the total length of this segment of mileage. Frame check can be used to verify whether the frame is complete and correct.

[0082] Considering the limitation of the amount of transmitted data, if the total amount of data exceeds the maximum amount of data transmitted in a single frame when transmitting positioning data and / or mileage data, sub-packet transmission is required. Therefore, the sixth message instruction may also carry a sub-packet flag. If sub-packet transmission is required, the sub-packet flag is the second flag, such as TRUE. Otherwise, the sub-packet flag is the third flag, such as FALSE.

[0083] After receiving the sixth message instruction, the RSU parses it. If the subpacket flag is the second flag, it returns to the step of sending the fifth message instruction to the OBU and receiving the sixth message instruction fed back by the OBU based on the fifth message instruction, until the complete positioning data and / or mileage data is obtained.

[0084] Step S707: The RSU stores the positioning data and / or mileage data, sends a seventh message instruction to the OBU, and releases the link after completing the sending of the seventh message instruction.

[0085] Specifically, the RSU can organize the positioning data and mileage data to form the path data of the vehicle on the road section, and send it to the backend server through the second communication module. The path data may include the vehicle license plate, OBU unique identifier, total number of positioning points, positioning data number, time, longitude, latitude, direction, speed, etc.

[0086] The seventh message instruction can be used to instruct the OBU to clear the positioning data and / or mileage data. After completing the sending of the seventh message instruction, the RSU can release the link and then suspend interaction with the OBU. More specifically, within the preset time, if a message instruction sent by the same OBU is received, no reply can be made.

[0087] Step S708: After receiving the seventh message instruction, the OBU clears the positioning data and / or mileage data and suspends interaction with the RSU.

[0088] Specifically, after receiving the seventh message instruction, if the OBU receives the first message instruction broadcast by the same RSU again, it will not process it, thereby suppressing communication with the same RSU, avoiding high power consumption caused by long-term communication with the RSU.

[0089] In order to reduce the storage pressure of the OBU, since the OBU has uploaded the positioning data and / or mileage data, after receiving the seventh message instruction, the stored positioning data and / or mileage data can be cleared. Then, new positioning data and / or new mileage data are stored, and the new positioning data and / or new mileage data are uploaded when entering the sensing range of any RSU next time.

[0090] In an embodiment of the present application, after the OBU enters the perception range of the RSU, the OBU sends a positioning flag to the OBU, and the RSE obtains the positioning data and / or mileage data stored in the OBU when the positioning flag is the first flag, wherein the first flag is used to indicate that the OBU stores positioning data recorded after the previous upload of data and / or mileage data recorded after the previous upload of data, that is, only when new data is generated between the two previous upload time points will the OBU and RSU interact with the positioning data and / or mileage data, and when the positioning flag is not the first flag, the RSU does not need to be connected to the OBU in unicast, which can reduce the connection time between the RSU and the OBU, thereby reducing the power consumption of the system.

[0091] In some implementations of the present application, the backend server may configure the RSU and OBU based on actual needs. For example, when the location of the RSU changes or a new RSU is added, the RSU and surrounding RSUs may be configured.

[0092] Specifically, the background server may send a first configuration instruction to the RSU, and the first configuration instruction may carry the first configuration information. The RSU may be updated according to the first configuration information, such as updating the location identifier, updating the surrounding roadside unit information, etc. At the same time, the RSU may also send the first configuration information to the connected OBU. Then, the configuration update of the OBU and the RSU can be realized, and the location identifier of the RSU and the surrounding roadside unit information can be ensured to be accurate.

[0093] Accordingly, after receiving the seventh message instruction, the OBU can calculate and determine the positioning wake-up period before uploading data next time according to the surrounding roadside unit information carried in the first message instruction. The positioning wake-up period is the period during which the OBU records positioning data.

[0094] Specifically, Figure 8 As shown, in some implementations of the present application, determining the positioning wake-up period may include the following steps S801 to S804.

[0095] Step S801: Determine the target surrounding RSU farthest from the RSU according to the surrounding roadside unit information.

[0096] It should be understood that the surrounding roadside unit information includes the distance between the RSU and each surrounding RSU, so the surrounding RSU with the farthest distance can be determined as the target surrounding RSU.

[0097] Step S802, obtaining the upper limit number of positioning points when storing positioning data.

[0098] Among them, when storing positioning data, OBU often stores it one by one. That is, when OBU reaches the positioning wake-up cycle, it can collect and store the positioning data of the current location, and the current location is a positioning point. As time goes by, the number of positioning points gradually increases. However, the storage space of OBU is limited. Therefore, the upper limit number N can be pre-set based on the limitation of storage space.

[0099] Step S803: Calculate the collection spacing of adjacent positioning points according to the distance between the RSUs around the target and the upper limit number.

[0100] Among them, the collection interval average positioning interval L per =L max / N.

[0101] Step S804: Determine the positioning wake-up period according to the current moving speed and collection interval recorded by the OBU.

[0102] Among them, the positioning wake-up period T per =L per / V. After that, the OBU can perform timing based on the timer inside the second control unit, and when each cycle reaches Tper, send a control instruction to the positioning unit, start the positioning unit to obtain satellite signals, calculate positioning data, and send the positioning data to the second control unit, which will filter and store the data.

[0103] It should be understood that, according to the current moving speed, when the OBU moves to the vicinity of the target surrounding RSU (that is, enters the sensing range of the target surrounding RSU), the number of positioning points stored in it is less than or equal to the upper limit. At this time, it will interact with the target surrounding RSU, upload positioning data and / or mileage data, and clear the positioning data and / or mileage data after uploading. For the specific interaction process, please refer to Figure 6 and Figure 7 The description of the above is omitted in this application. The distance between other surrounding RSUs is smaller than the distance between the target surrounding RSUs. Therefore, when the OBU moves to the vicinity of other surrounding RSUs, the number of positioning points stored by it should theoretically be less than the upper limit. In this way, when the OBU moves between each RSU, the number of positioning points stored by it will remain within the upper limit, avoiding data loss caused by overload storage.

[0104] For easier understanding, please refer to Fig. 9 Schematic diagram of the scenario, when the vehicle drives near RSU1, it interacts with RSU1, and RSU1 sends the surrounding roadside unit information of surrounding RUS (RSU0, RSU2, RSU3, RSU4) to the OBU in the vehicle. The longest distance L max =max{L 10 , L12 , L 13 , L 14};L 10 Indicates the distance between RSU1 and RSU0; L 12 Indicates the distance between RSU1 and RSU2, L 13 Indicates the distance between RSU1 and RSU3, L 14 represents the distance between RSU1 and RSU4. Assume that L max =L 13 , then, the collection interval average positioning interval L per =L 13 / N. Positioning wake-up cycle T per =L per / V. If the vehicle travels at a constant speed towards RSU3, then the positioning data of N positioning points can be obtained when it reaches RSU3. Of course, in actual scenarios, when the vehicle travels at a constant speed near RSU3, that is, when the positioning data of less than N positioning points is obtained, it has entered the perception range of RSU3, so it can directly interact with RSU3 and upload positioning data and / or mileage data.

[0105] In some cases, for example, when the vehicle stops for a period of time between two RSUs, or when the vehicle slows down between two RSUs, etc., when the number of positioning points increases to the upper limit N, the vehicle may not have entered the sensing range of the next RSU. Therefore, the positioning data cannot be uploaded. In order to ensure the integrity of the mileage, the stored positioning data needs to be processed.

[0106] Specifically, the OBU may determine a data storage strategy before uploading data next time according to the location identifier of the RSU.

[0107] When the RSU is located on a highway, since vehicles cannot turn around or stop at will on the highway, the driving direction of the vehicle is unique when it is traveling on the highway. The OBU can integrate the positioning data according to the corresponding data storage strategy.

[0108] Specifically, Fig.10 As shown, the OBU can store the positioning data through steps S1001 to S1004.

[0109] Step S1001: acquiring and storing positioning data of a positioning point according to a positioning wake-up cycle.

[0110] Step S1002: If the location identifier is the first identifier, and the number of positioning points included in the positioning data is equal to the upper limit, then in the next positioning wake-up cycle, the two closest positioning points in the positioning data are determined.

[0111] Step S1003: merging the positioning data of the two closest positioning points.

[0112] Step S1004, obtaining and storing positioning data of a new positioning point generated in the next positioning wake-up cycle.

[0113] The first identifier indicates that the road section where the RSU is located has uniqueness of the vehicle driving direction, for example, indicating that the road type of the road section where the RSU is located is a highway.

[0114] OBU periodically acquires and records positioning data according to the positioning wake-up cycle. When the number of positioning points contained in the positioning data is equal to the upper limit number N, in order to integrate the positioning data and make the integrated data more completely represent the path data, the positioning data of the two closest positioning points can be merged.

[0115] The merging method used can be selected according to actual needs. In some embodiments, the positioning data of one of the positioning points can be deleted. In other embodiments, the position of the midpoint of the two positioning points can also be calculated to replace the positioning data of the two positioning points.

[0116] In this way, the positioning data of new positioning points generated in the next positioning wake-up cycle can be acquired and stored, so that the number of stored positioning points does not exceed the upper limit.

[0117] Specifically, Table 1 shows the storage topology of the positioning point, M N The positioning data representing the Nth positioning point, based on the positioning data of each positioning point, can calculate the distance D between two adjacent positioning points. Table 2 shows the storage topology of the positioning point distance.

[0118] Table 1

[0119] <![CDATA[M1]]> <![CDATA[M2]]> <![CDATA[M3]]> … <![CDATA[M N-2 ]]> <![CDATA[M N-1 ]]> <![CDATA[M N ]]>

[0120] Table 2

[0121] <![CDATA[D 1,2 ]]> <![CDATA[D 2,3 ]]> <![CDATA[D 3,4 ]]> … <![CDATA[D N-2，N-1 ]]> <![CDATA[D N-1，N ]]>

[0122] in,

[0123] Indicates the distance between the N-1th positioning point and the Nth positioning point. Nlat Indicates the latitude of the Nth positioning point, M Nlong Indicates the longitude of the Nth positioning point, M Nh Indicates the elevation of the Nth point.

[0124] In some embodiments of the present application, the OBU may traverse the storage topology of the positioning point distance to find the minimum distance D min =min{D1,2 , D 2,3 , D 3,4 ,…,D N-2，N-1 , D N-1,N}. According to positioning D min The corresponding two positioning points are processed as above, and the positioning data is stored in the storage position M of the earlier positioning point. x , and M x The positioning data of the subsequent positioning points is moved forward by one storage position, such as M N The positioning data is moved to M N-1 The location of the new positioning point is then stored in M N The storage location of is recorded as the positioning data of the Nth positioning point. In this way, it can be ensured that the positioning point data will not exceed the storage upper limit.

[0125] In other implementations, if the driving direction of the vehicle on the road section where the RSU is located is not unique, then the various positioning data are not suitable for merging, because the positioning point corresponding to each positioning data may be the turning point of the vehicle's driving trajectory. Therefore, the OBU can be combined through Fig.11 The method shown integrates positioning data and mileage data.

[0126] Step S1101: acquiring and storing positioning data of a positioning point according to a positioning wake-up cycle.

[0127] Step S1102: If the location identifier is the second identifier and the number of positioning points included in the positioning data is equal to the upper limit, new mileage data is determined according to the positioning data, and the new mileage data is stored in the mileage data storage space.

[0128] Step S1103, clearing the storage space for positioning data.

[0129] Step S1104: storing the positioning data of the new positioning point generated in the next positioning wake-up cycle in the positioning data storage space.

[0130] The positioning data storage space is used to store positioning data, and the mileage data storage space is used to store mileage data. The positioning data storage space is different from the mileage data storage space.

[0131] The second identifier can be used to indicate that the road section where the RSU is located does not have the uniqueness of the vehicle's driving direction. In other words, if the vehicle's driving direction on the road section where the RSU is located is not unique, then when the number of positioning points contained in the positioning data is equal to the upper limit number N, that is, when the positioning data storage space reaches the storage upper limit, the stored positioning data can be integrated to obtain new mileage data and stored in the mileage data storage space. Then, the positioning data storage space is cleared so that the positioning data of the new positioning point can be stored in the positioning data storage space.

[0132] Specifically, the OBU can add the distances of the positioning points stored in the previous section to obtain the mileage L of the i-th section. i .in, j is taken from (1, 2, 3,…, N).

[0133] In the implementation of the present application, by integrating data, it is possible to avoid reaching the upper limit of the location data storage, thereby avoiding data loss. At the same time, based on different location identifiers, different data storage strategies are adopted, and corresponding methods can be selected in different scenarios to integrate the location data, ensuring that the stored location data and / or mileage data can accurately represent the driving path of the vehicle on the corresponding road section.

[0134] Accordingly, Fig.12 The present invention provides a data interaction method according to an embodiment of the present invention. The method can be applied to an OBU of a data interaction system and can be applied to situations where the power consumption of the data interaction system needs to be reduced. Specifically, the data interaction method can include the following steps S1201 to S1202.

[0135] Step S1201: after entering the sensing range of the RSU, a positioning flag is sent to the RSU.

[0136] Step S1202: When the positioning flag is the first flag, the positioning data and / or mileage data is sent to the RSU.

[0137] The first flag bit is used to indicate that the OBU stores positioning data recorded after the previous data upload and / or mileage data recorded after the previous data upload.

[0138] Optionally, the OBU may receive a first message instruction broadcasted by the RSU within the sensing range to confirm that it has entered the sensing range of the RSU; and feed back a second message instruction to the RSU, where the second message instruction carries a positioning flag.

[0139] Optionally, the OBU can receive a third message instruction sent by the RSU, the third message instruction carries the first authentication data; feedback a fourth message instruction to the RSU based on the first authentication data, the fourth message instruction carries the second authentication data; the second authentication data is used for authentication between the RSU and the OBU; receive a fifth message instruction sent by the RSU after successful authentication; feedback a sixth message instruction to the RSU based on the fifth message instruction, the sixth message instruction carries positioning data and / or mileage data.

[0140] Optionally, the OBU may receive the seventh message instruction sent by the RSU; according to the seventh message instruction, clear the positioning data and / or mileage data, and suspend interaction with the RSU.

[0141] Optionally, the first message instruction carries surrounding roadside unit information of surrounding RSUs; the OBU can determine the positioning wake-up period before uploading data next time according to the surrounding roadside unit information.

[0142] Optionally, the OBU can determine the target surrounding RSU farthest from the RSU based on the surrounding roadside unit information; obtain the upper limit number of positioning points when storing positioning data; calculate the collection interval of adjacent positioning points based on the distance between the target surrounding RSU and the RSU, and the upper limit number; determine the positioning wake-up period based on the current moving speed and collection interval recorded by the OBU.

[0143] Optionally, the first message instruction carries a location identifier of the RSU, and the location identifier is used to identify the road type of the section where the RSU is located; the OBU can determine a data storage strategy before uploading data next time according to the location identifier.

[0144] Optionally, the OBU can obtain and store the positioning data of the positioning point according to the positioning wake-up cycle; if the position identifier is the first identifier and the number of positioning points contained in the positioning data is equal to the upper limit, then in the next positioning wake-up cycle, determine the two closest positioning points in the positioning data; merge the positioning data of the two closest positioning points; obtain and store the positioning data of the new positioning point generated in the next positioning wake-up cycle.

[0145] Optionally, the positioning data is stored in the positioning data storage space, and the mileage data is stored in the mileage data storage space; the OBU can obtain and store the positioning data of the positioning point according to the positioning wake-up cycle; if the position identifier is the second identifier, and the number of positioning points included in the positioning data is equal to the upper limit, then determine the new mileage data according to the positioning data, and store the new mileage data in the mileage data storage space; clear the positioning data storage space; store the positioning data of the new positioning point generated in the next positioning wake-up cycle in the positioning data storage space.

[0146] Accordingly, Fig.13 The present invention provides a data interaction method according to an embodiment of the present invention. The method can be applied to the RSU of the data interaction system and can be applied to the situation where the power consumption of the data interaction system needs to be reduced. Specifically, the data interaction method can include the following steps S1301 to S1302.

[0147] Step S1301, receiving the positioning flag sent by the OBU after entering the sensing range of the RSU.

[0148] Step S1302: If the positioning flag is the first flag, the positioning data and / or mileage data stored in the OBU is obtained.

[0149] The first flag bit is used to indicate that the OBU stores positioning data recorded after the previous data upload and / or mileage data recorded after the previous data upload.

[0150] Optionally, the RSU may broadcast a first message instruction within a sensing range; and receive a second message instruction fed back by the OBU after receiving the first message instruction, wherein the second message instruction carries a positioning flag.

[0151] Optionally, the RSU may send a third message instruction to the OBU, the third message instruction carries the first authentication data; receive a fourth message instruction fed back by the OBU according to the first authentication data after receiving the third message instruction, the fourth message instruction carries the second authentication data; authenticate the OBU based on the second authentication data, and obtain the positioning data and / or mileage data when the authentication is successful. Optionally, if an authenticated identifier sent by a surrounding RSU is obtained, the RSU may confirm that the OBU authentication is successful and obtain the positioning data and / or mileage data. The authenticated identifier is an identifier sent by the surrounding RSU after the OBU authentication is completed to indicate that the OBU authentication is successful.

[0152] Optionally, the RSU may send a fifth message instruction to the OBU, the fifth message instruction being used to instruct the OBU to feedback positioning data and / or mileage data; and receive a sixth message instruction fed back by the OBU based on the fifth message instruction, the sixth message instruction carrying the positioning data and / or mileage data.

[0153] Optionally, the sixth message instruction also carries a subpacket flag; if the subpacket flag is the second flag, the RSU can return to execute the step of sending the fifth message instruction to the OBU, and the step of receiving the sixth message instruction fed back by the OBU based on the fifth message instruction, until the complete positioning data and / or mileage data is obtained.

[0154] Optionally, the RSU may store the positioning data and / or mileage data; send a seventh message instruction to the OBU, and release the link after completing the sending of the seventh message instruction, wherein the seventh message instruction is used to instruct the OBU to clear the positioning data and / or mileage data and suspend interaction with the RSU.

[0155] It should be noted that the specific implementation process of the above data interaction method can refer to the description of the data interaction system in this application. For the aforementioned method embodiments, for the sake of simple description, they are all expressed as a series of action combinations, but those skilled in the art should know that this application is not limited to the described order of actions, because according to this application, some steps can be performed in other orders.

[0156] like Fig.14The figure is a schematic diagram of the structure of a data interaction device 1400 provided in an embodiment of the present application, wherein the data interaction device 1400 is configured on an OBU.

[0157] Specifically, the data interaction device 1400 may include:

[0158] The positioning flag sending unit 1401 is used to send the positioning flag to the RSU after entering the perception range of the RSU; the positioning data sending unit 1402 is used to send positioning data and / or mileage data to the RSU when the positioning flag is the first flag, and the first flag is used to indicate that the OBU stores the positioning data recorded after the previous data upload and / or the mileage data recorded after the previous data upload.

[0159] Among them, the positioning flag sending unit 1401 and the positioning data sending unit 1402 can be composed of Figure 5 The fourth communication unit implementation shown.

[0160] like Fig.15 The figure is a schematic diagram of the structure of a data interaction device 1500 provided in an embodiment of the present application, wherein the data interaction device 1500 is configured on the RSU.

[0161] Specifically, the data interaction device 1500 may include:

[0162] The positioning flag receiving unit 1501 is used to receive the positioning flag sent by the OBU after entering the perception range of the RSU; the positioning data acquisition unit 1502 is used to acquire the positioning data and / or mileage data stored in the OBU if the positioning flag is the first flag, wherein the first flag is used to indicate that the OBU stores the positioning data recorded after the previous data upload and / or the mileage data recorded after the previous data upload.

[0163] Among them, the positioning flag receiving unit 1501 and the positioning data acquiring unit 1502 can be composed of Figure 4 The third communication unit implementation shown.

[0164] It should be noted that, for the convenience and simplicity of description, the specific working process of the above-mentioned data interaction device 1400 and the data interaction device 1500 can refer to the corresponding process of the aforementioned data interaction system, and will not be repeated here.

[0165] like Fig.16FIG. 1 is a schematic diagram of a terminal device provided in an embodiment of the present application, and the terminal device may be the aforementioned OBU or RSU. The terminal device 16 may include: a processor 160, a memory 161, and a computer program 162 stored in the memory 161 and executable on the processor 160, such as a positioning program. When the processor 160 executes the computer program 162, the steps in the above-mentioned data interaction method embodiments are implemented, such as Fig.12 Steps S1201 to S1202 shown, or, Fig.13 Steps S1301 to S1302 are shown.

[0166] Alternatively, when the processor 160 executes the computer program 162, the functions of the modules / units in the above-mentioned device embodiments are realized, for example Fig.14 The positioning flag sending unit 1401 and the positioning data sending unit 1402 shown, or, Fig.15 The positioning flag receiving unit 1501 and the positioning data acquiring unit 1502 are shown.

[0167] The computer program may be divided into one or more modules / units, which are stored in the memory 161 and executed by the processor 160 to complete the present application. The one or more modules / units may be a series of computer program instruction segments capable of completing specific functions, which are used to describe the execution process of the computer program in the terminal device.

[0168] For example, the computer program can be divided into: a positioning flag sending unit and a positioning data sending unit. The specific functions of each unit are as follows: a positioning flag sending unit, used to send a positioning flag to the RSU after entering the sensing range of the RSU; a positioning data sending unit, used to send positioning data and / or mileage data to the RSU when the positioning flag is a first flag, and the first flag is used to indicate that the OBU stores the positioning data recorded after the previous data upload and / or the mileage data recorded after the previous data upload.

[0169] Alternatively, for example, the computer program can be divided into: a positioning flag receiving unit and a positioning data acquisition unit. The specific functions of each unit are as follows: a positioning flag receiving unit, used to receive the positioning flag sent by the OBU after entering the sensing range of the RSU; a positioning data acquisition unit, used to acquire the positioning data and / or mileage data stored in the OBU if the positioning flag is a first flag, wherein the first flag is used to indicate that the OBU stores the positioning data recorded after the previous data upload and / or the mileage data recorded after the previous data upload.

[0170] The terminal device may include, but is not limited to, a processor 160 and a memory 161. Those skilled in the art will appreciate that Fig.16 It is only an example of a terminal device and does not constitute a limitation of the terminal device. It may include more or fewer components than shown in the figure, or a combination of certain components, or different components. For example, the terminal device may also include input and output devices, network access equipment, buses, etc.

[0171] The processor 160 may be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field-programmable gate arrays (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general-purpose processor may be a microprocessor or any conventional processor, etc.

[0172] The memory 161 may be an internal storage unit of the terminal device, such as a hard disk or memory of the terminal device. The memory 161 may also be an external storage device of the terminal device, such as a plug-in hard disk, a smart media card (SMC), a secure digital (SD) card, a flash card, etc. equipped on the terminal device. Further, the memory 161 may also include both an internal storage unit of the terminal device and an external storage device. The memory 161 is used to store the computer program and other programs and data required by the terminal device. The memory 161 may also be used to temporarily store data that has been output or is to be output.

[0173] It should be noted that, for the convenience and brevity of description, the structure of the above-mentioned terminal device can also refer to the specific description of the structure in the method embodiment, which will not be repeated here.

[0174] The technicians in the relevant field can clearly understand that for the convenience and simplicity of description, only the division of the above-mentioned functional units and modules is used as an example for illustration. In practical applications, the above-mentioned function allocation can be completed by different functional units and modules as needed, that is, the internal structure of the device can be divided into different functional units or modules to complete all or part of the functions described above. The functional units and modules in the embodiment can be integrated in a processing unit, or each unit can exist physically separately, or two or more units can be integrated in one unit. The above-mentioned integrated unit can be implemented in the form of hardware or in the form of software functional units. In addition, the specific names of the functional units and modules are only for the convenience of distinguishing each other, and are not used to limit the scope of protection of this application. The specific working process of the units and modules in the above-mentioned system can refer to the corresponding process in the aforementioned method embodiment, which will not be repeated here.

[0175] In the above embodiments, the description of each embodiment has its own emphasis. For parts that are not described or recorded in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0176] Those of ordinary skill in the art will appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of this application.

[0177] In the embodiments provided in the present application, it should be understood that the disclosed devices / terminal equipment and methods can be implemented in other ways. For example, the device / terminal equipment embodiments described above are only schematic. For example, the division of the modules or units is only a logical function division. There may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0178] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0179] In addition, each functional unit in each embodiment of the present application may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of software functional units.

[0180] If the integrated module / unit 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. Based on this understanding, the present application implements all or part of the processes in the above-mentioned embodiment method, and can also be completed by instructing the relevant hardware through a computer program. The computer program can be stored in a computer-readable storage medium, and the computer program can implement the steps of the above-mentioned various method embodiments when executed by the processor. Among them, the computer program includes computer program code, and the computer program code can be in source code form, object code form, executable file or some intermediate form. The computer-readable medium may include: any entity or device capable of carrying the computer program code, recording medium, U disk, mobile hard disk, disk, optical disk, computer memory, read-only memory (ROM), random access memory (RAM), electric carrier signal, telecommunication signal and software distribution medium. It should be noted that the content contained in the computer-readable medium can be appropriately increased or decreased according to the requirements of legislation and patent practice in the jurisdiction. For example, in some jurisdictions, according to legislation and patent practice, computer-readable media do not include electric carrier signals and telecommunication signals.

[0181] The embodiments described above are only used to illustrate the technical solutions of the present application, rather than to limit them. Although the present application has been described in detail with reference to the aforementioned embodiments, a person skilled in the art should understand that the technical solutions described in the aforementioned embodiments may still be modified, or some of the technical features may be replaced by equivalents. Such modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present application, and should all be included in the protection scope of the present application.

Claims

1. A data interaction method, characterized in that: Applied to the vehicle-mounted unit, the data interaction method includes: Receiving a first message instruction broadcasted by a roadside unit within a sensing range, confirming entry into the sensing range of the roadside unit, wherein the first message instruction carries surrounding roadside unit information of surrounding roadside units; Feedback a second message instruction to the roadside unit, where the second message instruction carries a positioning flag; When the positioning flag is the first flag, the positioning data and / or the mileage data are sent to the roadside unit, and the first flag is used to indicate that the onboard unit stores the positioning data recorded after the last data upload and / or the mileage data recorded after the last data upload; After sending the positioning data and / or mileage data to the roadside unit, the data interaction method also includes: determining the target surrounding roadside unit farthest from the roadside unit based on the surrounding roadside unit information; obtaining the upper limit number of positioning points when storing the positioning data; calculating the collection spacing of adjacent positioning points based on the distance between the target surrounding roadside unit and the roadside unit, and the upper limit number; and determining the positioning wake-up period before the next data upload based on the current moving speed recorded by the on-board unit and the collection spacing.

2. The data interaction method according to claim 1, characterized in that: The sending the positioning data and / or mileage data to the roadside unit includes: receiving a third message instruction sent by the roadside unit, wherein the third message instruction carries the first authentication data; Feedback a fourth message instruction to the roadside unit according to the first authentication data, wherein the fourth message instruction carries second authentication data; the second authentication data is used for the roadside unit to authenticate with the vehicle-mounted unit; Receiving a fifth message instruction sent by the roadside unit after successful authentication; A sixth message instruction is fed back to the roadside unit according to the fifth message instruction, wherein the sixth message instruction carries the positioning data and / or the mileage data.

3. The data interaction method according to claim 1 or 2, characterized in that: After sending the positioning data and / or mileage data to the roadside unit, the data interaction method further includes: Receiving a seventh message instruction sent by the roadside unit; According to the seventh message instruction, the positioning data and / or the mileage data are cleared, and the interaction with the roadside unit is suspended.

4. The data interaction method according to claim 2, characterized in that: The first message instruction carries a location identifier of the roadside unit, where the location identifier is used to identify the road type of the road section where the roadside unit is located; After sending the positioning data and / or mileage data to the roadside unit, the data interaction method further includes: A data storage strategy is determined before uploading data next time according to the location identifier.

5. The data interaction method according to claim 4, characterized in that: Determining the data storage strategy before uploading data next time according to the location identifier includes: According to the positioning wake-up cycle, the positioning data of the positioning point is obtained and stored; If the location identifier is the first identifier, and the number of positioning points included in the positioning data is equal to the upper limit, then in the next positioning wake-up cycle, the two closest positioning points in the positioning data are determined; Merging the positioning data of the two positioning points closest to each other; Acquire and store the positioning data of the new positioning point generated in the next positioning wake-up cycle.

6. The data interaction method according to claim 4, characterized in that: The positioning data is stored in the positioning data storage space, and the mileage data is stored in the mileage data storage space; and the data storage strategy before the next data upload is determined according to the location identifier, including: According to the positioning wake-up cycle, the positioning data of the positioning point is obtained and stored; If the location identifier is the second identifier, and the number of positioning points included in the positioning data is equal to the upper limit, determining new mileage data according to the positioning data, and storing the new mileage data in the mileage data storage space; Clear the positioning data storage space; The positioning data of the new positioning point generated in the next positioning wake-up cycle is stored in the positioning data storage space.

7. A data interaction system, characterized in that: Including on-board unit and roadside unit; The on-board unit receives a first message instruction broadcasted by the roadside unit within the sensing range, confirms that the vehicle has entered the sensing range of the roadside unit, and feeds back a second message instruction to the roadside unit, wherein the second message instruction carries a positioning flag; and the first message instruction carries surrounding roadside unit information of surrounding roadside units; The roadside unit acquires the positioning data and / or mileage data stored in the vehicle-mounted unit when the positioning flag is the first flag, wherein the first flag is used to indicate that the vehicle-mounted unit stores the positioning data recorded after the last data upload and / or the mileage data recorded after the last data upload; After the on-board unit sends the positioning data and / or mileage data to the roadside unit, the data interaction method also includes: determining the target surrounding roadside unit farthest from the roadside unit based on the surrounding roadside unit information; obtaining the upper limit number of positioning points when storing the positioning data; calculating the collection spacing of adjacent positioning points based on the distance between the target surrounding roadside unit and the roadside unit, and the upper limit number; and determining the positioning wake-up period before the next data upload based on the current moving speed and the collection spacing recorded by the on-board unit.

8. The data interaction system according to claim 7, characterized in that: include: The roadside unit broadcasts a first message instruction within the sensing range; The on-board unit feeds back a second message instruction after receiving the first message instruction, wherein the second message instruction carries the positioning flag bit; When the positioning flag is the first flag, the roadside unit sends a third message instruction to the vehicle-mounted unit, where the third message instruction carries the first authentication data; After receiving the third message instruction, the on-board unit feeds back a fourth message instruction according to the first authentication data, wherein the fourth message instruction carries the second authentication data; The roadside unit authenticates the onboard unit based on the second authentication data, and sends a fifth message instruction to the onboard unit when the authentication succeeds; The on-board unit feeds back a sixth message instruction according to the fifth message instruction, wherein the sixth message instruction carries the positioning data and / or the mileage data; The roadside unit stores the positioning data and / or the mileage data, sends a seventh message instruction to the onboard unit, and releases the link after completing the sending of the seventh message instruction; After receiving the seventh message instruction, the onboard unit clears the positioning data and / or the mileage data, and suspends interaction with the roadside unit.

9. A data interaction device, characterized in that: Configured in the vehicle-mounted unit, the data interaction device includes: A positioning flag sending unit is used to receive a first message instruction broadcasted by a roadside unit within a sensing range, confirm that the roadside unit has entered the sensing range, and feed back a second message instruction to the roadside unit, wherein the second message instruction carries a positioning flag; and the first message instruction carries surrounding roadside unit information of surrounding roadside units; a positioning data sending unit, used to send positioning data and / or mileage data to the roadside unit when the positioning flag is a first flag, wherein the first flag is used to indicate that the onboard unit stores the positioning data recorded after the last data upload and / or the mileage data recorded after the last data upload; The data interaction device is also used to determine the target surrounding roadside unit farthest from the roadside unit based on the surrounding roadside unit information after sending the positioning data and / or mileage data to the roadside unit; obtain the upper limit number of positioning points when storing the positioning data; calculate the collection spacing of adjacent positioning points based on the distance between the target surrounding roadside unit and the roadside unit, and the upper limit number; determine the positioning wake-up period before the next data upload based on the current moving speed recorded by the on-board unit and the collection spacing.

10. A terminal device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that: When the processor executes the computer program, the steps of the data interaction method according to any one of claims 1 to 6 are implemented.

11. A computer-readable storage medium storing a computer program, characterized in that: When the computer program is executed by a processor, the steps of the data interaction method according to any one of claims 1 to 6 are implemented.

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