A method, device, equipment and terminal for controlling transmission of map data

Abstract

The present invention provides a method, device, equipment and terminal for controlling the transmission of map data, and relates to the field of communication technology. The method is applied to a vehicle network terminal, and includes obtaining first data provided by a map data platform and obtaining second data provided by a direct link map sending device; wherein the map element information in the first data includes location coordinates, and the map element information in the second data does not include location coordinates or includes coordinate indication information; and map data is generated according to the first data and the second data. In this way, the problem that the geographic coordinates must be deflected when the direct link map sending device such as the roadside device transmits the MAP map through the V2X PC5 interface can be avoided, the accuracy of the map can be maintained, and the advanced requirements of vehicle-road collaborative application scenarios such as autonomous driving can be met. At the same time, the length of the map message transmitted on the V2X PC5 interface can be effectively reduced, so that more node data can be carried in the same map message, saving air interface resources and improving transmission efficiency.

Description

Technical Field

[0001] The present invention relates to the field of communication technology, and in particular to a method, device, equipment and terminal for controlling the transmission of map data. Background Art

[0002] In the development of mobile communication systems, in order to better meet user needs and improve the efficiency of information exchange between devices, the PC5 interface is introduced between devices. Currently, the PC5 interface can be used for V2X (Vehicle-to-Everything).

[0003] V2X MAP (map) definition: Map messages are broadcast by roadside units (RSUs) to deliver local area map information to vehicles, including local area intersection (node) information, road section (link) information, lane (lane) information, and connection relationships between roads. A single map message can contain map data for multiple intersections or areas.

[0004] At present, when V2X MAP messages are broadcast through the PC5 interface, the geographic coordinates need to be deflected, resulting in reduced map accuracy and an inability to meet the advanced requirements of vehicle-road collaborative application scenarios such as autonomous driving. Summary of the invention

[0005] The present invention provides a map data transmission control method, device, equipment and terminal, which solves the problem in the prior art that when the V2X MAP message is broadcast through the PC5 interface, the geographic coordinates need to be deflected, resulting in reduced map accuracy and failure to meet the advanced requirements of vehicle-road collaborative application scenarios such as autonomous driving.

[0006] According to a first aspect of the present invention, a method for controlling transmission of map data is provided, which is applied to a vehicle networking terminal and comprises:

[0007] Acquire first data provided by a map data platform, and acquire second data provided by a direct link map sending device; wherein the map element information in the first data includes position coordinates, and the map element information in the second data does not include position coordinates or includes coordinate indication information;

[0008] Map data is generated according to the first data and the second data.

[0009] According to a second aspect of the present invention, a method for controlling transmission of map data is provided, which is applied to a map data platform and comprises:

[0010] Generate first data and second data; wherein the map element information in the first data includes position coordinates, and the map element information in the second data does not include position coordinates or includes coordinate indication information;

[0011] Providing the first data to the Internet of Vehicles terminal;

[0012] The second data is provided to a through link map sending device.

[0013] According to the third aspect of the present invention, a vehicle networking terminal is provided, comprising: a transceiver, a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the computer program, the method for controlling the transmission of map data as described in the first aspect above is implemented.

[0014] According to a fourth aspect of the present invention, a map data transmission control device is provided, comprising: a transceiver, a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the computer program, the map data transmission control method as described in the second aspect above is implemented.

[0015] According to a fifth aspect of the present invention, a map data transmission control device is provided, which is applied to a vehicle networking terminal, comprising:

[0016] An acquisition module, used to acquire first data provided by a map data platform, and to acquire second data provided by a communication link map sending device; wherein the map element information in the first data includes position coordinates, and the map element information in the second data does not include position coordinates or includes coordinate indication information;

[0017] The first processing module is used to generate map data according to the first data and the second data.

[0018] According to a sixth aspect of the present invention, there is provided a map data transmission control device, which is applied to a map data platform and includes:

[0019] A second processing module, configured to generate first data and second data; wherein the map element information in the first data includes position coordinates, and the map element information in the second data does not include position coordinates or includes coordinate indication information;

[0020] A first data providing module, used for providing the first data to the Internet of Vehicles terminal;

[0021] The second data providing module is used to provide the second data to the link map sending device.

[0022] According to the seventh aspect of the present invention, a computer-readable storage medium is provided, on which a computer program is stored. When the computer program is executed by a processor, the steps of the map data transmission control method as described in the first aspect above, or the steps of the map data transmission control method as described in the second aspect above are implemented.

[0023] The beneficial effects of the above technical solution of the present invention are:

[0024] In the solution of the present invention, the vehicle network terminal obtains the first data provided by the map data platform, and obtains the second data provided by the direct link map sending device; wherein the map element information in the first data includes the position coordinates, and the map element information in the second data does not include the position coordinates or includes coordinate indication information; finally, the map data is generated according to the first data and the second data. In this way, the problem that the geographic coordinate data must be deflected when the direct link map sending device such as the roadside equipment transmits the MAP map through the V2XPC5 interface can be avoided, the accuracy of the map can be maintained, and the advanced requirements of vehicle-road collaborative application scenarios such as autonomous driving can be met. At the same time, the length of the map message transmitted on the V2X PC5 interface can be effectively reduced, so that more node data can be carried in the same map message, saving air interface resources and improving transmission efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 A flowchart showing a method for controlling transmission of map data according to an embodiment of the present invention;

[0026] Figure 2 A second flow chart showing the transmission control of map data according to an embodiment of the present invention;

[0027] Figure 3 A schematic diagram of a map topology of a local area according to an embodiment of the present invention;

[0028] Figure 4 One of the structural block diagrams of the map data transmission control device according to the embodiment of the present invention;

[0029] Figure 5 A second structural block diagram of a map data transmission control device according to an embodiment of the present invention;

[0030] Figure 6 A structural block diagram showing a vehicle networking terminal according to an embodiment of the present invention;

[0031] Figure 7 A block diagram showing the structure of a map data transmission control device according to an embodiment of the present invention. DETAILED DESCRIPTION

[0032] In order to make the technical problems, technical solutions and advantages to be solved by the present invention clearer, the following will be described in detail in conjunction with the accompanying drawings and specific embodiments. In the following description, specific details such as specific configurations and components are provided only to help fully understand the embodiments of the present invention. Therefore, it should be clear to those skilled in the art that various changes and modifications can be made to the embodiments described herein without departing from the scope and spirit of the present invention. In addition, for clarity and brevity, the description of known functions and structures is omitted.

[0033] It should be understood that the references to "one embodiment" or "an embodiment" throughout the specification mean that the specific features, structures, or characteristics associated with the embodiment are included in at least one embodiment of the present invention. Therefore, the references to "in one embodiment" or "in an embodiment" appearing throughout the specification do not necessarily refer to the same embodiment. In addition, these specific features, structures, or characteristics may be combined in any suitable manner in one or more embodiments.

[0034] In various embodiments of the present invention, it should be understood that the size of the serial numbers of the following processes does not mean the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of the present invention.

[0035] Additionally, the terms "system" and "network" are often used interchangeably herein.

[0036] In the embodiments provided in the present application, it should be understood that "B corresponding to A" means that B is associated with A, and B can be determined according to A. However, it should also be understood that determining B according to A does not mean determining B only according to A, and B can also be determined according to A and / or other information.

[0037] In the embodiment of the present invention, the form of the access network is not limited, and may be an access network including a macro base station (Macro Base Station), a micro base station (Pico Base Station), a Node B (the name of a 3G mobile base station), an enhanced base station (eNB), a home enhanced base station (Femto eNB or Home eNode B or Home eNB or HeNB), a relay station, an access point, an RRU (Remote Radio Unit), an RRH (Remote Radio Head), etc. The user terminal may be a mobile phone (or mobile phone), or other equipment capable of sending or receiving wireless signals, including user equipment, a personal digital assistant (PDA), a wireless modem, a wireless communication device, a handheld device, a laptop computer, a cordless phone, a wireless local loop (WLL) station, a CPE (Customer Premise Equipment) capable of converting a mobile signal into a WiFi signal, or a mobile smart hotspot, a smart home appliance, or other equipment that can spontaneously communicate with a mobile communication network without human operation.

[0038] In the V2X message layer standard, the Map message is specifically defined as follows (Note: the following table only gives some of the content related to this application, and the rest is not provided):

[0039]

[0040]

[0041] The refPos field refers to the map node position value and the reference coordinates within the node range, expressed in absolute three-dimensional coordinates without deviation. The points field refers to the center point list of the road section. The Map message abstractly describes the geometric shape of the road in the form of PointList.

[0042] The requirements for selecting road abstract points are as follows: the first point is the first point where the upstream node enters the road section; the last point is the center point of the stop line that enters the downstream node; the vertical distance from any point on the line connecting any two consecutive points in the Link point set to the center line of the road actually covered must be less than the actual error value (ActualError value); the vertical distance from any point on the line connecting any two consecutive points in the Lane set to the center line of the lane actually covered must be less than the ActualError value. If the roads affected by RTS (Road traffic sign) and RTE (Road traffic event) are actual roads, they must also meet the above specifications.

[0043] It should be noted that for the roadside unit RSU, the minimum transmission of the MAP message may include the following: When the roadside unit RSU transmits a map message, it will generate a MSG_MessageFrame with MSG_MAP accordingly. The MSG_MAP message must contain a map node data list (DF_NodeList), which includes one or more map node information (DF_Node). An ordered pair of map nodes uniquely determines a directed road segment (DF_Link). In principle, there is at most one road segment (link) between a pair of nodes. The map node (DF_Node) data frame contains a road segment list (DF_LinkList) with the node as the downstream node. Therefore, the road segments contained in all different map nodes are non-repetitive. Among them, the road segment (DF_Link) data frame must contain a map node number, indicating the upstream node of the road segment. The lane (DF_Lane) data frame must contain a DE_LaneID field. A road section includes at least one lane. Each lane has a unique lane ID (LaneID) and is numbered starting from 1 from left to right based on the driving direction of the lane.

[0044] In the mechanism defined by the MAP message set, the cloud control platform sends the MAP fragment data to the roadside unit RSU, which encapsulates it into a MAP message and broadcasts it to the OBU through the PC5 interface. The node information carries the required field refPos, which indicates the absolute three-dimensional coordinates of the node position, including longitude, latitude and altitude. The link and lane information carries the conditional required field points, which is the center point column field of the section, used to indicate the deviation value of the section center position point or the lane center position point relative to the reference coordinate, including longitude and latitude deviation and altitude deviation.

[0045] When MAP messages are broadcast and transmitted through the PC5 interface, the coordinates of the node's refPos, link's points, and lane's points all need to be deflected, which seriously reduces the map accuracy and cannot meet the advanced requirements of vehicle-road collaborative application scenarios such as autonomous driving.

[0046] Specifically, the embodiments of the present invention provide a method, device, equipment and terminal for controlling the transmission of map data, which solves the problem in the prior art that when MAP messages are broadcast and transmitted through the PC5 interface, the map accuracy is severely reduced and the advanced requirements of vehicle-road collaborative application scenarios such as autonomous driving cannot be met.

[0047] First embodiment

[0048] like Figure 1As shown, an embodiment of the present invention provides a method for controlling transmission of map data, which is applied to a vehicle networking terminal, wherein the vehicle networking terminal includes but is not limited to: an on-board unit (OBU for short) and a handheld terminal.

[0049] Specifically, the map data transmission control method may include the following steps:

[0050] Step 11: obtaining first data provided by a map data platform, and obtaining second data provided by a direct link map sending device; wherein the map element information in the first data includes location coordinates, and the map element information in the second data does not include location coordinates or includes coordinate indication information;

[0051] Among them, the direct link map sending device may include a roadside device RSU, or a vehicle-mounted device OBU or a handheld device VRU, etc.

[0052] The map element information includes at least one of the following: node information, road section center point column information, and lane center point column information.

[0053] In this step, the map element information in the first data includes the position coordinates, and the map element information in the second data does not include the position coordinates or includes coordinate indication information, which may specifically include the following two situations:

[0054] Case 1:

[0055] When the position coordinates in the first data include the position coordinates of the road section center point column and / or the position coordinates of the lane center point column, the second data does not include the position coordinates of the road section center point column and the position coordinates of the lane center point column.

[0056] Specifically, the position coordinates of the road section center point column and the position coordinates of the lane center point column are absolute position coordinates; or the position coordinates of the road section center point column and the position coordinates of the lane center point column include the position coordinates of the node and the offset coordinates of the road section center point column and the lane center point column relative to the node.

[0057] It should be pointed out that the absolute position coordinates refer to the actual position coordinates; the position coordinates of the node refer to the absolute three-dimensional coordinates of the node position (described by the refPos field), including longitude, latitude and altitude, which are the actual coordinate values ​​of the node position; the offset coordinates of the section center point column and the lane center point column relative to the node (described by the points field) refer to the deviation value of the section center position point and the lane center position point with respect to the node, including longitude deviation, latitude deviation and altitude deviation.

[0058] It can be understood that the absolute position coordinates of the section center point column and the lane center point column can be obtained based on the offset coordinates of the node's position coordinates relative to the node and the offset coordinates of the section center point column and the lane center point column relative to the node.

[0059] Specifically, when the map element information in the second data does not include the position coordinates, the coordinate indication information of the road section center point column and the coordinate indication information of the lane center point column in the map element information in the second data are recorded in the second data as empty or as a second preset value. That is, when the coordinate indication information of the road section center point column and the coordinate indication information of the lane center point column are recorded in the second data as empty, the road section center point column field (points) of link and lane does not appear in the second data.

[0060] Further, the location coordinates of the nodes carried by the map element information in the second data are recorded as first preset values. For example, the longitude is 0, the latitude is 0, and the altitude is 0.

[0061] In the above situation, the first data mainly includes basic geographic information, such as the geographic location coordinates of node, link, and lane. The second data mainly includes information unrelated to the geographic location coordinates, such as the attribute configuration information of node, link, and lane, and all the fields of node, link, and lane related to the geographic location coordinates in the second data do not carry actual three-dimensional coordinate parameters. Among them, the attribute configuration information includes the linkWidth (road section width), movements (the connection relationship between the road and the downstream section), speedLimits (speed limit) of the link and the laneWidth (lane width), laneAttributes (lane attributes), maneuvers (turning behavior), connectsTo (the turning connection relationship between the lane and the downstream lane), speedLimits (lane speed limit) and other information of the lane.

[0062] Case 2:

[0063] When the position coordinates included in the first data are the position coordinates of a node, the coordinate indication information included in the second data are the offset coordinates of the road section center point column relative to the node and / or the offset coordinates of the lane center point column relative to the node.

[0064] For example, when the first data includes the absolute three-dimensional coordinates of the node position, the second data includes the deviation coordinates of the center position point of the road section and the center position point of the lane relative to the node, specifically including the longitude deviation, latitude deviation and altitude deviation. The offset coordinates of the center point column of the road section and the center point column of the lane relative to the node are described by the points field.

[0065] Step 12: Generate map data according to the first data and the second data.

[0066] In this embodiment, the vehicle network terminal obtains the first data provided by the map data platform, and obtains the second data sent by the direct link map sending device; wherein the map element information in the first data includes the location coordinates, and the map element information in the second data does not include the location coordinates or includes coordinate indication information; finally, the map data is generated according to the first data and the second data. In this way, the problem that the geographic coordinate data must be deflected when the direct link map sending device such as the roadside unit transmits the MAP map through the V2X PC5 interface can be avoided, the accuracy of the map can be maintained, and the advanced requirements of vehicle-road collaborative application scenarios such as autonomous driving can be met. At the same time, the length of the map message transmitted on the V2X PC5 interface can be effectively reduced, so that more node data can be carried in the same map message, saving air interface resources and improving transmission efficiency.

[0067] It should be noted that the first data is provided by the map data platform through a non-through link interface.

[0068] Specifically, obtaining the first data provided by the map data platform may include: obtaining the first data provided by the map data platform through a target transmission method; the target transmission method includes at least one of the following: cellular network, WIFI network, wired network, satellite communication, digital broadcasting, universal serial bus USB, factory preset and external memory.

[0069] It should be noted that the target transmission mode is a transmission mode of a non-straight-through link (non-PC5) interface.

[0070] In one embodiment, the acquiring the second data provided by the roadside equipment includes:

[0071] The second data is received from a direct link map sending device through a direct link interface, wherein the second data is provided by the map data platform to the direct link map sending device.

[0072] Specifically, the map data platform sends the second data fragment to the roadside unit RSU, and the RSU encapsulates the second data into an ASN.1 format MAP message and broadcasts it to the vehicle-mounted OBU through the V2X PC5 interface at a preconfigured frequency. After receiving the second data sent by the RSU, the OBU uses the node ID carried in the MAP message to find the corresponding node of the first data stored locally, and updates the attribute configuration information of the link and lane under this node in the MAP message except for the geographic coordinates to the local area, thereby synthesizing the first data and the second data into a complete map data and saving it for use by upper-layer applications.

[0073] In the above embodiment, the map data platform generates first data related to geographic coordinates and second data unrelated to geographic coordinates based on map data, and sends the first data to the vehicle-mounted unit, sends the second data to the through-link map sending device, and the through-link map sending device sends it to the vehicle-mounted unit, and finally generates map data after the vehicle-mounted unit recovers it. In this way, the problem that the geographic coordinate data must be deflected when transmitting the MAP map through the V2X PC5 interface can be avoided, the accuracy of the map can be maintained, and the advanced requirements of vehicle-road collaborative application scenarios such as autonomous driving can be met. At the same time, the length of the map message transmitted on the V2X PC5 interface can be effectively reduced, so that more node data can be carried in the same map message, saving air interface resources and improving transmission efficiency.

[0074] As an implementation manner, the number of the same map element in the first data and the second data is the same.

[0075] The map elements include at least one of a node, a road section and a lane.

[0076] Furthermore, the above step 12 may include:

[0077] The map element information with the same number in the first data and the second data is processed to generate map data.

[0078] Specifically, according to the two situations corresponding to the first data and the second data introduced in the above step 11 (situation 1 and situation 2 in the above step 11), the map element information with the same number in the first data and the second data is processed, mainly including the following three processing methods:

[0079] Specifically, for the above situation 1, when the position coordinates in the first data are the position coordinates of the road section center point column and / or the absolute position coordinates of the lane center point column, the following method 1 can be mainly used for processing:

[0080] Method 1: Restore the node position coordinates in the second data, restore the absolute position coordinates of the center point list of the link uniquely identified by the upstream node and the downstream node in the second data, and the absolute position coordinates of the point list of the included lanes.

[0081] Specifically, for the above situation 1, when the position coordinates in the first data include the position coordinates of the node and the offset coordinates of the road section center point column and the lane center point column relative to the node, the following method 2 is mainly used for processing:

[0082] Method 2: Restore the position coordinates of the node in the second data, restore the offset coordinates of the center point column of each road section (uniquely identified by upstream nodes and downstream nodes) and lane in the second data based on the position coordinates of the node relative to the node, and refresh the offset coordinates of the road section and lane center point column to absolute position coordinates.

[0083] Specifically, for the above situation 2, when the position coordinates included in the first data are the position coordinates of the node, and the coordinate indication information included in the second data is the offset coordinates of the road section center point column relative to the node and / or the offset coordinates of the lane center point column relative to the node, the following method 3 is mainly used for processing:

[0084] Method three: Restore the position coordinates of the node in the second data, and refresh the offset coordinates of the center point column of each road section (uniquely identified by upstream nodes and downstream nodes) and lane in the second data based on the position coordinates of the node relative to the node to absolute position coordinates.

[0085] In this embodiment, when the Internet of Vehicles terminal stores multiple first data and second data locally, it can search for the first data and second data with the same number of the same map element by the number of the map element, and further process them to restore them into complete map data. In this way, the Internet of Vehicles terminal can restore the first data and second data locally into complete map data for use by upper-layer applications.

[0086] Furthermore, the above method also includes:

[0087] Sending a data acquisition request to the map data platform; wherein the map data platform responds to the data acquisition request and provides the first data to the vehicle networking terminal

[0088] In this embodiment, if the Internet of Vehicles terminal cannot locally query the node number carried in the map message when receiving the MAP message broadcast by the RSU, it can initiate a data acquisition request to the map data platform to obtain the corresponding first data. The map data platform responds to the data acquisition request and sends the first data to the Internet of Vehicles terminal. After the Internet of Vehicles terminal receives the first data, it combines the first data with the second data and saves them for use by upper-level applications.

[0089] Second embodiment

[0090] like Figure 2 As shown, an embodiment of the present invention provides a method for controlling the transmission of map data, which is applied to a map data platform, wherein the map data platform includes but is not limited to: a cloud control center, a map server, etc. Specifically, the method for controlling the transmission of map data may include the following steps:

[0091] Step 21, generating first data and second data; wherein the map element information in the first data includes position coordinates, and the map element information in the second data does not include position coordinates or includes coordinate indication information;

[0092] The map element information includes at least one of the following: node information, road section center point column information, and lane center point column information.

[0093] In this step, the map element information in the first data includes the position coordinates, and the map element information in the second data does not include the position coordinates or includes coordinate indication information, which may specifically include the following two situations:

[0094] Case 1:

[0095] When the position coordinates in the first data are the position coordinates of the road section center point column and / or the position coordinates of the lane center point column, the second data does not include the position coordinates of the road section center point column and the position coordinates of the lane center point column.

[0096] Specifically, the position coordinates of the road section center point column and the position coordinates of the lane center point column are absolute position coordinates; or the position coordinates of the road section center point column and the position coordinates of the lane center point column include the position coordinates of the node and the offset coordinates of the road section center point column and the lane center point column relative to the node.

[0097] It should be pointed out that the absolute position coordinates refer to the actual position coordinates of the section center point column and the lane center point column; the node position coordinates may refer to the absolute three-dimensional coordinates of the node position (described by the refPos field), including longitude, latitude and altitude, which are the actual coordinate values ​​of the node position; the offset coordinates of the section center point column and the lane center point column relative to the node (described by the points field) refer to the deviation value of the section center point and the lane center point with respect to the node, including longitude deviation, latitude deviation and altitude deviation.

[0098] It can be understood that the absolute position coordinates of the section center point column and the lane center point column can be obtained respectively according to the position coordinates of the node and the offset coordinates of the section center point column relative to the node and the offset coordinates of the lane center point column relative to the node.

[0099] Specifically, when the map element information in the second data does not include the position coordinates, the coordinate indication information of the road section center point column and the coordinate indication information of the lane center point column in the map element information in the second data are recorded in the second data as empty or as a second preset value. That is, when the coordinate indication information of the road section center point column and the coordinate indication information of the lane center point column are recorded in the second data as empty, the road section center point column field (points) of link and lane does not appear in the second data.

[0100] Further, the location coordinates of the nodes carried by the map element information in the second data are recorded as first preset values. For example, the longitude is 0, the latitude is 0, and the altitude is 0.

[0101] It should be pointed out that, as another implementation method, the location coordinates of the node carried by the map element information in the second data may also be recorded as obviously unreasonable values, such as an altitude of xxxx meters underground, or xxx meters in the air, or outside the Chinese area, or a deviation from the received signal position greater than a threshold, etc.

[0102] In the above situation, the first data mainly includes basic geographic information, such as the geographic location coordinates of node, link, and lane. The second data mainly includes information unrelated to the geographic location coordinates, such as the attribute configuration information of node, link, and lane, and all the fields of node, link, and lane related to the geographic location coordinates in the second data do not carry actual three-dimensional coordinate parameters. Among them, the attribute configuration information includes the linkWidth (road section width), movements (the connection relationship between the road and the downstream section), speedLimits (speed limit) of the link and the laneWidth (lane width), laneAttributes (lane attributes), maneuvers (turning behavior), connectsTo (the turning connection relationship between the lane and the downstream lane), speedLimits (lane speed limit) and other information of the lane.

[0103] Case 2:

[0104] When the position coordinates included in the first data are the position coordinates of a node, the coordinate indication information included in the second data are the offset coordinates of the road section center point column relative to the node and / or the offset coordinates of the lane center point column relative to the node.

[0105] For example, when the first data includes the absolute three-dimensional coordinates of the node position, the second data includes the deviation coordinates of the center position point of the road section and the center position point of the lane with respect to the node, specifically including longitude deviation, latitude deviation and altitude deviation.

[0106] Step 22, providing the first data to the Internet of Vehicles terminal;

[0107] In this step, providing the first data to the Internet of Vehicles terminal includes: providing the first data to the Internet of Vehicles terminal through a non-through link interface.

[0108] Specifically, the map data platform may provide the first data to the Internet of Vehicles terminal via a target transmission method; it should be noted that the target transmission method is a transmission method of a non-through link interface.

[0109] Specifically, the target transmission mode includes at least one of the following: cellular network, WIFI network, wired network, satellite communication, digital broadcasting, universal serial bus USB, factory preset and external memory.

[0110] Step 23: providing the second data to a direct link map sending device.

[0111] Among them, the direct link map sending device may include a roadside device RSU, or a vehicle-mounted device OBU or a handheld device VRU, etc.

[0112] Specifically, the direct link map sending device provides the second data to the Internet of Vehicles terminal through a direct link interface.

[0113] In this embodiment, the map data platform generates first data and second data; wherein the map element information in the first data includes location coordinates, and the map element information in the second data does not include location coordinates or includes coordinate indication information; the first data is further provided to the Internet of Vehicles terminal, and the second data is provided to the direct link map sending device. This can avoid the problem that the geographic coordinate data must be deflected when the direct link map sending device transmits the MAP map through the V2X PC5 (direct link) interface, can maintain the accuracy of the map, and meet the advanced requirements of vehicle-road collaborative application scenarios such as autonomous driving. At the same time, it can also effectively reduce the length of the map message transmitted on the V2X PC5 interface, so that more node data can be carried in the same map message, saving air interface resources and improving transmission efficiency.

[0114] In one embodiment, the above step 22 includes:

[0115] Receiving a data acquisition request sent by a connected vehicle terminal;

[0116] In response to the data acquisition request, the first data is provided to the Internet of Vehicles terminal.

[0117] For example, if the Internet of Vehicles terminal cannot locally query the node number carried in the map message when receiving the MAP message broadcast by the RSU, it can initiate a data acquisition request to the map data platform to obtain the corresponding first data. The map data platform responds to the data acquisition request and sends the first data to the Internet of Vehicles terminal. After the Internet of Vehicles terminal receives the first data, it merges the first data with the second data and saves them for use by upper-level applications.

[0118] In one embodiment, the number of the same map element in the first data and the second data is the same. Wherein, the map element includes at least one of the following: a node, a road segment, and a lane.

[0119] In this way, when the Internet of Vehicles terminal stores multiple first data and second data locally, it can search for the first data and second data with the same number of the same map element by the number of the map element, and further process the first data and second data to restore them into complete map data. In this way, the Internet of Vehicles terminal can restore the first data and second data locally into complete map data for use by upper-layer applications.

[0120] In another embodiment, the numbers and topological structures of the map elements in the first data and the second data are the same.

[0121] In this embodiment, the transmission / storage format of the first data may not reuse the MAP message format of the message set, that is, it is only necessary to keep the first data and the second data having the same node, link, lane level relationship, and the node numbers in the first data and the second data consistent. In this way, indexing can be facilitated.

[0122] It should be further pointed out that if the first data reuses the MAP message format of the message set, the mandatory fields in the first data that are not related to the coordinates are set to the second preset value. For example, Msgcount and linkwidth as mandatory fields can be set arbitrarily and ignored by the OBU after receiving them.

[0123] In one embodiment, generating the first data and the second data includes:

[0124] When the map topology in the map data changes, the first data and the second data are generated according to the map data.

[0125] In this embodiment, when the map topology changes, the map data platform updates and generates the first data and the second data according to the changed map topology, and sends them to the Internet of Vehicles terminal to ensure that the map data in the Internet of Vehicles terminal is updated in a timely manner.

[0126] In one embodiment, the method further comprises:

[0127] When the attribute configuration of the map element in the map data changes, the second data is generated, and the second data includes the updated attribute configuration information of the map element.

[0128] In this embodiment, when the attribute configuration of the map element changes, it is only necessary to update the second data separately and send the updated second data to the roadside unit without updating the first data. This is conducive to improving the transmission efficiency of map data and reducing the transmission cost of map data.

[0129] Combine the following Figure 3 A map topology diagram of a local area is shown, and a method for controlling the transmission of map data of the present invention is introduced.

[0130] like Figure 3 In the figure, the local map includes five nodes numbered A, B, C, D, and E. There are four links with node A as the downstream node, namely link1, link2, link3, and link4, and the corresponding upstream nodes are B, C, D, and E. There are two lanes under link1, namely lane1 and lane2.

[0131] Assuming that an on-board unit OBU passes through this road section, the following example illustrates a map data update example (only the fields related to the present invention are shown):

[0132] Exemplarily, the position coordinates of the road section center point column and the lane center point column in the first data include the position coordinates of the node and the offset coordinates of the road section center point column and the lane center point column relative to the node, and the second data does not include the position coordinates.

[0133] (1) The on-board unit OBU downloads first data from a map server (or a cloud control platform) through a V2X Uu interface (cellular network). The first data carries information such as the id and refPos of the node, the geographic coordinates of the points of the link and lane, etc. The refPos field is used to express the location coordinates of the node, and the points field of the link and lane is used to express the offset coordinates of the center point column of the road section and the center point column of the lane relative to the node.

[0134] Specifically, an example of the first data is as follows:

[0135]

[0136]

[0137]

[0138]

[0139] (2) RSU broadcasts a MAP message of the second data to OBU, carrying information such as node id, link and lane attribute configuration. The message example is as follows:

[0140]

[0141]

[0142]

[0143] (3) After receiving the MAP message of the second data broadcast by the RSU, the OBU merges the second data with the first data downloaded from the map server and saves it locally for use by upper-layer applications. An example of complete map data is as follows:

[0144]

[0145]

[0146]

[0147]

[0148] The first embodiment and the second embodiment above respectively introduce the map data processing method of the present invention. The following embodiment will further illustrate the corresponding map data processing device in conjunction with the accompanying drawings.

[0149] Third embodiment

[0150] like Figure 4 As shown, a map data transmission control device 400 according to an embodiment of the present invention is applied to a vehicle networking terminal, and the device 400 includes:

[0151] The acquisition module 401 is used to acquire first data provided by a map data platform and to acquire second data provided by a direct link map sending device; wherein the map element information in the first data includes position coordinates, and the map element information in the second data does not include position coordinates or includes coordinate indication information;

[0152] The first processing module 402 is used to generate map data according to the first data and the second data.

[0153] Optionally, the acquisition module 401 includes:

[0154] The receiving submodule is used to receive the second data provided by the direct link map sending device through the direct link interface, wherein the second data is provided by the map data platform to the direct link map sending device.

[0155] Optionally, the acquired first data is provided by the map data platform through a non-through link interface.

[0156] Optionally, when the position coordinates in the first data are the position coordinates of a road section center point column and / or the position coordinates of a lane center point column, the second data does not include the position coordinates of the road section center point column and the position coordinates of the lane center point column.

[0157] Optionally, the position coordinates of the road section center point column and the position coordinates of the lane center point column are absolute position coordinates;

[0158] or

[0159] The position coordinates of the road section center point sequence and the lane center point sequence include the position coordinates of the node and the offset coordinates of the road section center point sequence and the lane center point sequence relative to the node.

[0160] Optionally, when the position coordinates included in the first data are the position coordinates of a node, the coordinate indication information included in the second data is the offset coordinates of the road section center point column relative to the node and / or the offset coordinates of the lane center point column relative to the node.

[0161] Optionally, the device 400 further includes:

[0162] A request sending module is used to send a data acquisition request to the map data platform; wherein the map data platform responds to the data acquisition request and provides the first data to the Internet of Vehicles terminal.

[0163] Optionally, the map element information includes at least one of the following:

[0164] Node information;

[0165] The information of the center point of the road section;

[0166] Lane center point column information.

[0167] Optionally, the location coordinates of the node carried by the map element information in the second data are recorded as first preset values.

[0168] Optionally, when the map element information in the second data does not include location coordinates, the coordinate indication information of the road section center point column and the coordinate indication information of the lane center point column in the map element information in the second data are recorded in the second data as empty or as a second preset value.

[0169] Optionally, the number of the same map element in the first data and the second data is the same.

[0170] Optionally, the first processing module 402 includes:

[0171] The determination submodule is used to process the map element information with the same number in the first data and the second data to generate map data.

[0172] The device 400 is the same as the above Figure 1 The device corresponding to the method embodiment shown, all the implementation means in the above method embodiment are applicable to the embodiment of the map data processing device, and can also achieve the same technical effect.

[0173] Fourth embodiment

[0174] like Figure 5 As shown, a map data transmission control device 500 according to an embodiment of the present invention is applied to a map data platform. The device 500 includes:

[0175] The second processing module 501 is used to generate first data and second data; wherein the map element information in the first data includes position coordinates, and the map element information in the second data does not include position coordinates or includes coordinate indication information;

[0176] A first data providing module 502, configured to provide the first data to a vehicle networking terminal;

[0177] The second data providing module 503 is used to provide the second data to the direct link map sending device.

[0178] Optionally, the direct link map sending device provides the second data to the Internet of Vehicles terminal through a direct link interface.

[0179] Optionally, when the position coordinates in the first data are the position coordinates of the road section center point column and / or the position coordinates of the lane center point column, the second data does not include the position coordinates of the road section center point column and the position coordinates of the lane center point column.

[0180] Optionally, the position coordinates of the road section center point column and the position coordinates of the lane center point column are absolute position coordinates;

[0181] or

[0182] The position coordinates of the road section center point sequence and the position coordinates of the lane center point sequence include the position coordinates of a node and the offset coordinates of the road section center point sequence and the lane center point sequence relative to the node.

[0183] Optionally, when the position coordinates included in the first data are the position coordinates of a node, the coordinate indication information included in the second data are the offset coordinates of the road section center point column relative to the node and / or the offset coordinates of the lane center point column relative to the node.

[0184] Optionally, the map element information includes at least one of the following:

[0185] Node information;

[0186] The information of the center point of the road section;

[0187] Lane center point column information.

[0188] Optionally, the node position coordinates carried by the map element information in the second data are recorded as first preset values.

[0189] Optionally, when the map element information in the second data does not include location coordinates, the coordinate indication information of the road section center point column and the coordinate indication information of the lane center point column in the map element information in the second data are recorded in the second data as empty or as a second preset value.

[0190] Optionally, the numbers of the map elements in the first data and the second data are the same.

[0191] Optionally, the first data providing module 502 includes:

[0192] A receiving unit, used to receive a data acquisition request sent by a vehicle networking terminal;

[0193] A response unit is used to provide the first data to the Internet of Vehicles terminal in response to the data acquisition request.

[0194] The map data transmission control device 500 is the same as the above Figure 2 The device corresponding to the method embodiment shown, all the implementation means in the above method embodiment are applicable to the embodiment of the map data processing device, and can also achieve the same technical effect.

[0195] Fifth embodiment

[0196] In order to better achieve the above goals, Figure 6 As shown, the fourth embodiment of the present invention further provides a vehicle networking terminal, which includes: a processor 600; a memory 620 connected to the processor 600 through a bus interface, and a transceiver 610 connected to the processor 600 through the bus interface; the memory 620 is used to store programs and data used by the processor when performing operations; data information or pilots are sent through the transceiver 610, and an uplink control channel is received through the transceiver 610; when the processor 600 calls and executes the programs and data stored in the memory 620, the following steps are implemented:

[0197] Acquire first data provided by a map data platform, and acquire second data provided by a direct link map sending device; wherein the map element information in the first data includes position coordinates, and the map element information in the second data does not include position coordinates or includes coordinate indication information;

[0198] Map data is generated according to the first data and the second data.

[0199] Among them, Figure 6In the embodiment, the bus architecture may include any number of interconnected buses and bridges, specifically one or more processors represented by processor 600 and various circuits of memory represented by memory 620 are linked together. The bus architecture may also link together various other circuits such as peripherals, voltage regulators, and power management circuits, which are well known in the art and are therefore not further described herein. The bus interface provides an interface. The transceiver 610 may be a plurality of components, namely, a transmitter and a transceiver, providing a unit for communicating with various other devices on a transmission medium. For different terminals, the user interface 630 may also be an interface capable of externally connecting or internally connecting required devices, and the connected devices include but are not limited to a keypad, a display, a speaker, a microphone, a joystick, and the like. The processor 600 is responsible for managing the bus architecture and general processing, and the memory 620 may store data used by the processor 600 when performing operations.

[0200] Optionally, when acquiring the second data provided by the roadside equipment, the processor 600 is specifically configured to:

[0201] The second data is received from a direct link map sending device through a direct link interface, wherein the second data is provided by the map data platform to the direct link map sending device.

[0202] Optionally, the first data is provided by a map data platform through a non-through link interface.

[0203] Optionally, when the position coordinates in the first data are the position coordinates of a road section center point column and / or the position coordinates of a lane center point column, the second data does not include the position coordinates of the road section center point column and the position coordinates of the lane center point column.

[0204] Optionally, the position coordinates of the road section center point column and the position coordinates of the lane center point column are absolute position coordinates;

[0205] or

[0206] The position coordinates of the road section center point sequence and the lane center point sequence include the position coordinates of the node and the offset coordinates of the road section center point sequence and the lane center point sequence relative to the node.

[0207] Optionally, when the position coordinates included in the first data are the position coordinates of a node, the coordinate indication information included in the second data is the offset coordinates of the road section center point column relative to the node and / or the offset coordinates of the lane center point column relative to the node.

[0208] Optionally, the processor 600 is further configured to:

[0209] Sending a data acquisition request to the map data platform; wherein the map data platform responds to the data acquisition request and provides the first data to the Internet of Vehicles terminal.

[0210] Optionally, the map element information includes at least one of the following:

[0211] Node information;

[0212] The information of the center point of the road section;

[0213] Lane center point column information.

[0214] Optionally, the location coordinates of the node carried by the map element information in the second data are recorded as first preset values.

[0215] Optionally, when the map element information in the second data does not include location coordinates, the coordinate indication information of the road section center point column and the coordinate indication information of the lane center point column in the map element information in the second data are recorded in the second data as empty or as a second preset value.

[0216] Optionally, the number of the same map element in the first data and the second data is the same.

[0217] Optionally, when the processor 600 generates the map data according to the first data and the second data, it is specifically configured to:

[0218] The map element information with the same number in the first data and the second data is processed to generate map data.

[0219] The vehicle networking terminal provided by the present invention obtains the first data provided by the map data platform and the second data provided by the direct link map sending device; wherein the map element information in the first data includes the position coordinates, and the map element information in the second data does not include the position coordinates or includes coordinate indication information; and generates map data according to the first data and the second data. In this way, the problem that the geographic coordinate data must be deflected when the direct link map sending device such as the roadside unit transmits the MAP map to the V2X PC5 interface can be avoided, the accuracy of the map can be maintained, and the advanced requirements of vehicle-road cooperative application scenarios such as autonomous driving can be met. At the same time, the length of the map message transmitted on the V2X PC5 interface can be effectively reduced, so that more node data can be carried in the same map message, saving air interface resources and improving transmission efficiency.

[0220] Sixth embodiment

[0221] In order to better achieve the above goals, Figure 7As shown, the fourth embodiment of the present invention further provides a map data transmission control device, the device comprising: a processor 700; a memory 720 connected to the processor 700 through a bus interface, and a transceiver 710 connected to the processor 700 through the bus interface; the memory 720 is used to store programs and data used by the processor when performing operations; data information or pilots are sent through the transceiver 710, and an uplink control channel is received through the transceiver 710; when the processor 700 calls and executes the programs and data stored in the memory 720, the following steps are implemented:

[0222] Generate first data and second data; wherein the map element information in the first data includes position coordinates, and the map element information in the second data does not include position coordinates or includes coordinate indication information;

[0223] Providing the first data to the Internet of Vehicles terminal;

[0224] The second data is provided to a through link map sending device.

[0225] The transceiver 710 is configured to receive and send data under the control of the processor 700 .

[0226] Among them, Figure 7 In the embodiment, the bus architecture may include any number of interconnected buses and bridges, specifically one or more processors represented by the processor 700 and various circuits of the memory represented by the memory 720 are linked together. The bus architecture may also link together various other circuits such as peripheral devices, voltage regulators, and power management circuits, which are well known in the art and are therefore not further described herein. The bus interface provides an interface. The transceiver 710 may be a plurality of components, namely, a transmitter and a transceiver, providing a unit for communicating with various other devices on a transmission medium. For different terminals, the user interface 730 may also be an interface capable of externally connecting or internally connecting required devices, and the connected devices include but are not limited to a keypad, a display, a speaker, a microphone, a joystick, and the like. The processor 700 is responsible for managing the bus architecture and general processing, and the memory 720 may store data used by the processor 700 when performing operations.

[0227] Optionally, the direct link map sending device provides the second data to the Internet of Vehicles terminal through a direct link interface.

[0228] Optionally, when the position coordinates in the first data are the position coordinates of the road section center point column and / or the position coordinates of the lane center point column, the second data does not include the position coordinates of the road section center point column and the position coordinates of the lane center point column.

[0229] Optionally, the position coordinates of the road section center point column and the position coordinates of the lane center point column are absolute position coordinates;

[0230] or

[0231] The position coordinates of the road section center point sequence and the position coordinates of the lane center point sequence include the position coordinates of a node and the offset coordinates of the road section center point sequence and the lane center point sequence relative to the node.

[0232] Optionally, when the position coordinates included in the first data are the position coordinates of a node, the coordinate indication information included in the second data are the offset coordinates of the road section center point column relative to the node and / or the offset coordinates of the lane center point column relative to the node.

[0233] Optionally, the map element information includes at least one of the following:

[0234] Node information;

[0235] The information of the center point of the road section;

[0236] Lane center point column information.

[0237] Optionally, the node position coordinates carried by the map element information in the second data are recorded as first preset values.

[0238] Optionally, when the map element information in the second data does not include location coordinates, the coordinate indication information of the road section center point column and the coordinate indication information of the lane center point column in the map element information in the second data are recorded in the second data as empty or as a second preset value.

[0239] Optionally, the number of the same map element in the first data and the second data is the same.

[0240] Optionally, when providing the first data to the onboard unit, the processor 700 is specifically configured to:

[0241] Receiving a data acquisition request sent by a connected vehicle terminal;

[0242] In response to the data acquisition request, the first data is provided to the Internet of Vehicles terminal.

[0243] The map data transmission control device provided by the present invention is a map data platform that generates first data and second data based on the map data; wherein the map element information in the first data includes location coordinates, and the map element information in the second data does not include location coordinates or includes coordinate indication information; the first data is further provided to the Internet of Vehicles terminal, and the second data is provided to the direct link map sending device. This can avoid the problem that the geographic coordinate data must be deflected when the direct link map sending device such as the roadside unit transmits the MAP map through the V2X PC5 interface, can maintain the accuracy of the map, and meet the advanced requirements of vehicle-road collaborative application scenarios such as autonomous driving. At the same time, it can also effectively reduce the length of the map message transmitted on the V2X PC5 interface, so that more node data can be carried in the same map message, saving air interface resources and improving transmission efficiency.

[0244] Those skilled in the art will understand that all or part of the steps to implement the above embodiments may be accomplished by hardware, or may be accomplished by instructing relevant hardware through a computer program, wherein the computer program includes instructions for executing part or all of the steps of the above method; and the computer program may be stored in a readable storage medium, and the storage medium may be any form of storage medium.

[0245] In addition, it should be noted that in the apparatus and method of the present invention, it is obvious that each component or each step can be decomposed and / or recombined. These decompositions and / or recombinations should be regarded as equivalent schemes of the present invention. Moreover, the steps of performing the above-mentioned series of processing can naturally be performed in chronological order according to the order of description, but it is not necessary to perform them in chronological order, and some steps can be performed in parallel or independently of each other. For those of ordinary skill in the art, it is understood that all or any steps or components of the method and apparatus of the present invention can be implemented in any computing device (including processors, storage media, etc.) or a network of computing devices in hardware, firmware, software or a combination thereof, which can be achieved by those of ordinary skill in the art using their basic programming skills after reading the description of the present invention.

[0246] Therefore, the purpose of the present invention can also be achieved by running a program or a group of programs on any computing device. The computing device can be a well-known general device. Therefore, the purpose of the present invention can also be achieved by simply providing a program product containing a program code that implements the method or device. That is to say, such a program product also constitutes the present invention, and the storage medium storing such a program product also constitutes the present invention. Obviously, the storage medium can be any well-known storage medium or any storage medium developed in the future. It should also be pointed out that in the device and method of the present invention, it is obvious that each component or each step can be decomposed and / or recombined. These decompositions and / or recombinations should be regarded as equivalent schemes of the present invention. In addition, the steps of performing the above-mentioned series of processing can naturally be performed in chronological order according to the order of description, but it is not necessary to perform them in chronological order. Some steps can be performed in parallel or independently of each other.

[0247] The above is a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principles of the present invention. These improvements and modifications should also be regarded as the scope of protection of the present invention.

Claims

1. A method for controlling the transmission of map data, characterized in that: Applied to Internet of Vehicles terminals, including: Acquire first data provided by a map data platform through a non-through link interface, and acquire second data sent by a through link map sending device through a through link interface, wherein the second data is provided by the map data platform to the through link map sending device; wherein the first data and the second data are two parts of data belonging to the same MAP message; the map element information in the first data includes position coordinates, and the map element information in the second data does not include position coordinates or includes coordinate indication information; the same map element in the first data and the second data has the same number; The map element information with the same number in the first data and the second data is processed to generate map data.

2. The method for controlling the transmission of map data according to claim 1, characterized in that: When the position coordinates in the first data include the position coordinates of the road section center point column and / or the position coordinates of the lane center point column, the second data does not include the position coordinates of the road section center point column and the position coordinates of the lane center point column.

3. The method for controlling the transmission of map data according to claim 2, characterized in that: The position coordinates of the road section center point sequence and the position coordinates of the lane center point sequence are absolute position coordinates; or The position coordinates of the road section center point sequence and the lane center point sequence include the position coordinates of the node and the offset coordinates of the road section center point sequence and the lane center point sequence relative to the node.

4. The method for controlling the transmission of map data according to claim 1, characterized in that: When the position coordinates included in the first data are the position coordinates of a node, the coordinate indication information included in the second data are the offset coordinates of the road section center point column relative to the node and / or the offset coordinates of the lane center point column relative to the node.

5. The method for controlling the transmission of map data according to claim 1, characterized in that: The method further comprises: Sending a data acquisition request to the map data platform; The map data platform responds to the data acquisition request and provides the first data to the Internet of Vehicles terminal.

6. The method for controlling the transmission of map data according to claim 1, characterized in that: The map element information includes at least one of the following: Node information; The information of the center point of the road section; Lane center point column information.

7. The method for controlling the transmission of map data according to claim 1, characterized in that: The location coordinates of the nodes carried by the map element information in the second data are recorded as first preset values; the first preset values ​​are 0 for longitude, 0 for latitude, and 0 for altitude.

8. The method for controlling the transmission of map data according to claim 1, characterized in that: When the map element information in the second data does not include position coordinates, the records of the coordinate indication information of the road segment center point column and the coordinate indication information of the lane center point column in the map element information in the second data in the second data are empty.

9. A method for controlling the transmission of map data, characterized in that: Applied to map data platforms, including: Generate first data and second data; wherein the first data and the second data are two parts of data of the same MAP message; the map element information in the first data includes position coordinates, and the map element information in the second data does not include position coordinates or includes coordinate indication information; the number of the same map element in the first data and the second data is the same; Providing the first data to the Internet of Vehicles terminal, wherein the first data is provided by the map data platform through a non-through link interface; providing the second data to a through link map sending device; After providing the second data to the direct link map sending device, the method further includes: The direct link map sending device sends the second data to the Internet of Vehicles terminal through a direct link interface.

10. The method for controlling the transmission of map data according to claim 9, characterized in that: When the position coordinates in the first data are the position coordinates of a road section center point column and / or the position coordinates of a lane center point column, the second data does not include the position coordinates of the road section center point column and the position coordinates of the lane center point column.

11. The method for controlling the transmission of map data according to claim 10, characterized in that: The position coordinates of the road section center point sequence and the position coordinates of the lane center point sequence are absolute position coordinates; or The position coordinates of the road section center point sequence and the lane center point sequence include the position coordinates of a node and the offset coordinates of the road section center point sequence and the lane center point sequence relative to the node.

12. The method for controlling the transmission of map data according to claim 9, characterized in that: When the position coordinates included in the first data are the position coordinates of a node, the coordinate indication information included in the second data is the offset coordinates of the road section center point column relative to the node and / or the offset coordinates of the lane center point column relative to the node.

13. The method for controlling the transmission of map data according to claim 9, characterized in that: The map element information includes at least one of the following: Node information; The information of the center point of the road section; Lane center point column information.

14. The method for controlling the transmission of map data according to claim 9, characterized in that: The node position coordinates carried by the map element information in the second data are recorded as first preset values; the first preset values ​​are 0 for longitude, 0 for latitude, and 0 for altitude.

15. The method for controlling the transmission of map data according to claim 9, characterized in that: When the map element information in the second data does not include position coordinates, the records of the coordinate indication information of the road segment center point column and the coordinate indication information of the lane center point column in the map element information in the second data in the second data are empty.

16. The method for controlling the transmission of map data according to claim 9, characterized in that: The providing the first data to the Internet of Vehicles terminal includes: Receiving a data acquisition request sent by a connected vehicle terminal; In response to the data acquisition request, the first data is provided to the Internet of Vehicles terminal.

17. A vehicle networking terminal, comprising: A transceiver, 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 map data transmission control method as claimed in any one of claims 1 to 8 when executing the computer program.

18. A map data transmission control device, comprising: A transceiver, 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 map data transmission control method as claimed in any one of claims 9 to 16 when executing the computer program.

19. A map data transmission control device, characterized in that: Applied to Internet of Vehicles terminals, including: An acquisition module is used to acquire first data provided by a map data platform through a non-through link interface, and to acquire second data sent by a through link map sending device through a through link interface, wherein the second data is provided by the map data platform to the through link map sending device; wherein the first data and the second data are two parts of data belonging to the same MAP message; the map element information in the first data includes position coordinates, and the map element information in the second data does not include position coordinates or includes coordinate indication information; the number of the same map element in the first data and the second data is the same; The first processing module is used to process the map element information with the same number in the first data and the second data to generate map data.

20. A map data transmission control device, characterized in that: Applied to map data platforms, including: a second processing module, configured to generate first data and second data according to the map data; wherein the first data and the second data are two parts of data of the same MAP message; the map element information in the first data includes position coordinates, and the map element information in the second data does not include position coordinates or includes coordinate indication information; the number of the same map element in the first data and the second data is the same; A first data providing module, used for providing the first data to the Internet of Vehicles terminal, wherein the first data is provided by the map data platform through a non-through link interface; The second data providing module is used to provide the second data to the direct link map sending device, and the direct link map sending device sends the second data to the Internet of Vehicles terminal through the direct link interface.

21. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the computer program implements the steps of the map data transmission control method according to any one of claims 1 to 8, or implements the steps of the map data transmission control method according to any one of claims 9 to 16.

Images