Authentication information transmission method and device, equipment and medium

Abstract

The invention discloses an authentication information transmission method and device, equipment and a medium, and relates to the technical field of communication. The authentication information transmission method is executed by a first terminal device, and the method comprises the following steps: sending first authentication information associated with the first terminal device;

Description

Method, device, equipment and medium for transmitting authentication information Technical Field

[0001] The present application relates to the field of communication technology, and in particular to a method, apparatus, device, and medium for transmitting authentication information. Background Art

[0002] With the widespread use of terminal devices, in daily life, when multiple terminal devices move in the same area, there is a possibility of collision.

[0003] For example, drones are controlled by a controller and are widely used in a variety of scenarios, including personal entertainment, express delivery, and geological remote sensing. While bringing convenience to our lives, drone regulation is also gaining increasing attention. For example, unauthorized drone flights at airports pose a serious threat to aviation safety.

[0004] However, regulatory issues for end devices, such as drones, have not yet been properly addressed, especially authentication and collision avoidance.

[0005] Summary of the Invention

[0006] The present invention provides a method, apparatus, device, and medium for transmitting authentication information. By sending first authentication information via a first terminal device, a second terminal device can authenticate the identity of the first terminal device, thereby achieving supervision of the first terminal device. The technical solution is as follows:

[0007] According to one aspect of the present application, a method for transmitting authentication information is provided. The method is performed by a first terminal device and includes:

[0008] Send first authentication information associated with the first terminal device.

[0009] According to one aspect of the present application, a method for transmitting authentication information is provided. The method is performed by a second terminal device, and the method includes:

[0010] First authentication information sent by the first terminal device is received, where the first authentication information is authentication information associated with the first terminal device.

[0011] According to one aspect of the present application, a collision detection method is provided. The method is performed by a second terminal device, and the method includes:

[0012] Continuously monitoring the location information of the first terminal device;

[0013] According to the monitoring results obtained during the continuous monitoring process, collision detection processing is performed.

[0014] According to one aspect of the present application, a method for transmitting authentication information is provided. The method is performed by a network device and includes:

[0015] Receiving second authentication information sent by the first terminal device;

[0016] The second authentication information is authentication information associated with the second terminal device.

[0017] According to one aspect of the present application, a device for transmitting authentication information is provided, the device comprising:

[0018] The sending module is used to send the first authentication information associated with the first terminal device.

[0019] According to one aspect of the present application, a device for transmitting authentication information is provided, the device comprising:

[0020] The receiving module is used to receive first authentication information sent by the first terminal device, where the first authentication information is authentication information associated with the first terminal device.

[0021] According to one aspect of the present application, a collision detection device is provided, the device comprising:

[0022] A monitoring module, configured to continuously monitor the location information of the first terminal device;

[0023] The processing module is used to perform collision detection processing based on the monitoring results obtained during the continuous monitoring process.

[0024] According to one aspect of the present application, a device for transmitting authentication information is provided, the device comprising:

[0025] A receiving module, configured to receive second authentication information sent by the first terminal device;

[0026] The second authentication information is authentication information associated with the second terminal device.

[0027] According to one aspect of the present application, a first terminal device is provided, the first terminal device including a memory and a processor;

[0028] At least one program code is stored in the memory, and the program code is loaded and executed by the processor to implement the above-mentioned authentication information transmission method.

[0029] According to one aspect of the present application, a second terminal device is provided, the second terminal device including a memory and a processor;

[0030] At least one program code is stored in the memory, and the program code is loaded and executed by the processor to implement the authentication information transmission method or the collision detection method as described above.

[0031] According to one aspect of the present application, a network device is provided, the network device including a memory and a processor;

[0032] At least one program code is stored in the memory, and the program code is loaded and executed by the processor to implement the authentication information transmission method or the collision detection method as described above.

[0033] According to one aspect of the present application, a computer-readable storage medium is provided, in which a computer program is stored. The computer program is configured to be executed by a processor to implement the authentication information transmission method or the collision detection method as described above.

[0034] According to one aspect of the present application, a chip is provided, which includes a programmable logic circuit and / or program instructions. When an electronic device equipped with the chip is running, the chip is used to implement the authentication information transmission method or the collision detection method as described above.

[0035] According to one aspect of the present application, a computer program product is provided, which includes computer instructions stored in a computer-readable storage medium. A processor reads and executes the computer instructions from the computer-readable storage medium to implement the authentication information transmission method or the collision detection method as described above.

[0036] The technical solutions provided by the embodiments of the present application include at least the following beneficial effects:

[0037] The first authentication information is sent through the first terminal device, so that the second terminal device can obtain the first authentication information associated with the first terminal, thereby realizing identity authentication of the first terminal device, so as to realize supervision of the first terminal device. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following briefly introduces the drawings required for use in the description of the embodiments. 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 any creative work.

[0039] FIG1 is a block diagram of a communication system provided by an exemplary embodiment of the present application;

[0040] FIG2 is a flow chart of a method for transmitting authentication information provided by an exemplary embodiment of the present application;

[0041] FIG3 is a flow chart of a method for transmitting authentication information provided by an exemplary embodiment of the present application;

[0042] FIG4 is a flow chart of a method for transmitting authentication information provided by an exemplary embodiment of the present application;

[0043] FIG5 is a flowchart of a method for transmitting authentication information provided by an exemplary embodiment of the present application;

[0044] FIG6 is a flowchart of a method for transmitting authentication information provided by an exemplary embodiment of the present application;

[0045] FIG7 is a flowchart of a method for transmitting authentication information provided by an exemplary embodiment of the present application;

[0046] FIG8 is a flowchart of a method for transmitting authentication information provided by an exemplary embodiment of the present application;

[0047] FIG9 is a flowchart of a method for transmitting authentication information provided by an exemplary embodiment of the present application;

[0048] FIG10 is a flowchart of a method for transmitting authentication information provided by an exemplary embodiment of the present application;

[0049] FIG11 is a flowchart of a method for transmitting authentication information provided by an exemplary embodiment of the present application;

[0050] FIG12 is a flowchart of a method for transmitting authentication information provided by an exemplary embodiment of the present application;

[0051] FIG13 is a flowchart of a method for transmitting authentication information provided by an exemplary embodiment of the present application;

[0052] FIG14 is a flowchart of a method for transmitting authentication information provided by an exemplary embodiment of the present application;

[0053] FIG15 is a flowchart of a method for transmitting authentication information provided by an exemplary embodiment of the present application;

[0054] FIG16 is a flowchart of a method for transmitting authentication information provided by an exemplary embodiment of the present application;

[0055] FIG17 is a flowchart of a collision detection method provided by an exemplary embodiment of the present application;

[0056] FIG18 is a flowchart of a collision detection method provided by an exemplary embodiment of the present application;

[0057] FIG19 is a schematic diagram of a device for transmitting authentication information provided by an exemplary embodiment of the present application;

[0058] FIG20 is a schematic diagram of a device for transmitting authentication information provided by an exemplary embodiment of the present application;

[0059] FIG21 is a schematic diagram of a collision detection device provided by an exemplary embodiment of the present application;

[0060] FIG22 is a schematic diagram of a device for transmitting authentication information provided by an exemplary embodiment of the present application;

[0061] FIG23 is a schematic structural diagram of a communication device provided by an exemplary embodiment of the present application. DETAILED DESCRIPTION

[0062] In order to make the objectives, technical solutions and advantages of this application clearer, the implementation methods of this application will be further described in detail below with reference to the accompanying drawings.

[0063] With the widespread use of terminal devices, in daily life, when multiple terminal devices move in the same area, there is a possibility of collision.

[0064] For example, drones are controlled by a controller and are widely used in a variety of scenarios, including personal entertainment, express delivery, and geological remote sensing. While bringing convenience to our lives, drone regulation is also gaining increasing attention. For example, unauthorized drone flights at airports pose a serious threat to aviation safety. For example, autonomous vehicles pose a significant risk of collision with people or objects on the road.

[0065] It can be seen that the regulatory issues of terminal devices, such as drones, have not yet been properly resolved, especially identity authentication and anti-collision processing.

[0066] FIG1 shows a block diagram of a communication system provided by an exemplary embodiment of the present application.

[0067] Schematically, a communication connection is established between the first terminal device 11, the second terminal device 21 and the network device 30 to achieve data transmission. For example, the first terminal device 11 and the second terminal device 21 can report location information to the network device 30 so that the network device 30 can uniformly manage the two terminal devices.

[0068] The first terminal device 11 is an unmanned aerial vehicle or unmanned driving device, the second terminal device 21 is a flying device or mobile device distinct from the first terminal device 11, and the network device 30 is one of an access network device, a core network device, and a terminal device management platform. For example, the first terminal device 11 is a drone, and the second terminal device 21 is an aircraft; or, for another example, the first terminal device 11 is an unmanned vehicle, and the second terminal device 21 is a handheld mobile device used by a pedestrian on the road. It should be understood that the second terminal device 21 may also be a non-mobile device, such as a roadside traffic device.

[0069] Optionally, the communication system further includes a third terminal device 12 and / or a fourth terminal device 22 .

[0070] Among them, the third terminal device 12 is a device for controlling the first terminal device 11, and a communication connection is established between the first terminal device 11 and the third terminal device 12, or the first terminal device 11 and the third terminal device 12 forward messages through the network device 30 to achieve indirect communication; the fourth terminal device 22 is a device for controlling the second terminal device 21, and a communication connection is established between the third terminal device 12 and the fourth terminal device 22, or the third terminal device 12 and the fourth terminal device 22 forward messages through the network device 30 to achieve indirect communication.

[0071] Optionally, the third terminal device 12 and / or the fourth terminal device 22 may establish a communication connection with the network device 30 to implement data transmission. For example, the network device 30 sends an instruction message to the third terminal device 12 to instruct the third terminal device 12 to control the first terminal device 11 to leave the area.

[0072] Taking the example that the first terminal device 11 and the second terminal device 21 are different drones, the third terminal device 12 and the fourth terminal device 22 are controllers for controlling the corresponding drones respectively. The third terminal device 12 is used to control the start and stop of the first terminal device 11 and the modification of the moving path, and the fourth terminal device 22 is used to control the start and stop of the first terminal device 21 and the modification of the moving path.

[0073] FIG2 shows a flow chart of a method for transmitting authentication information provided by an exemplary embodiment of the present application, the method comprising:

[0074] Step 102: The first terminal device sends first authentication information associated with the first terminal device to the second terminal device.

[0075] For example, if the first terminal device is a drone and the second terminal device is an aircraft, the drone and the aircraft are flying in the same airspace. The drone can send its authentication information to the aircraft so that the aircraft can obtain the drone's authentication information. This allows the aircraft to authenticate the drone and prevent collisions between the drone and the aircraft in advance.

[0076] It should be understood that the first authentication information may be sent via the following communication methods:

[0077] Broadcast messages;

[0078] Illustratively, a signal source transmits a broadcast message via a broadcast channel, and any terminal device within the coverage area of ​​the broadcast signal can attempt to receive the broadcast message. In an embodiment of the present application, a first terminal device can send a broadcast message that carries first authentication information; subsequently, a second terminal device can obtain the first authentication information after receiving the broadcast message from the first terminal device.

[0079] Multicast messages;

[0080] Schematically, a signal source transmits a multicast message through a multicast channel. Terminal devices that are within the coverage of the multicast signal and are group members can attempt to receive the multicast message. When a terminal device joins a group, it obtains multicast channel-related resources. In an embodiment of the present application, a first terminal device and a second terminal device are in the same group. The first terminal device sends a multicast message that carries first authentication information. Subsequently, after receiving the multicast message from the first terminal device, the second terminal device can obtain the first authentication information.

[0081] Unicast messages.

[0082] Illustratively, the source transmits a unicast message via a unicast channel, and only terminal devices allocated with corresponding unicast resources can attempt to receive the unicast message. In an embodiment of the present application, a first terminal device sends a unicast message to a second terminal device, and the unicast message carries first authentication information.

[0083] Optionally, the first authentication information includes at least one of the following information:

[0084] Location information of the first terminal device;

[0085] Mobile path planning information of the first terminal device;

[0086] The identity information of the first terminal device.

[0087] Among them, the location information of the first terminal device is used to indicate the real-time location of the first terminal device. Exemplarily, the location information includes at least longitude and latitude information, and may also include altitude information at the same time; the mobile path planning information of the first terminal device is used to indicate the preset mobile route of the first terminal device, and the preset mobile route is set by the network device or the third terminal device or the first terminal device itself or the user, wherein the third terminal device is a device for controlling the first terminal device; the identity information of the first terminal device is used to indicate the device information of the first terminal device, and the identity information is optionally allocated by the network device or set at the factory.

[0088] Optionally, the network device is any one of an access network device, a core network device, and a terminal device management platform. Unless otherwise specified below, the above network device limitations apply.

[0089] Optionally, the first authentication information includes at least one of the following uses:

[0090] The first authentication information is used by the second terminal device to authenticate the first terminal device;

[0091] For example, after obtaining the first authentication information, the second terminal device may obtain the identity information of the first terminal device. Subsequently, the second terminal device may verify the legitimacy of the first authentication information based on the identity information of the first terminal device.

[0092] For example, the second terminal device queries the local server to verify the legitimacy of the first authentication information. In another example, the second terminal device can interact with the network device and report the identity information of the first terminal device to the network device, which then verifies the legitimacy of the first authentication information.

[0093] The first authentication information is used by the second terminal device to perform anti-collision processing.

[0094] For example, after obtaining the first authentication information, the second terminal device may obtain the location information and / or movement path planning information of the first terminal device. Subsequently, the second terminal device may first perform a collision detection to determine whether there is a possibility of collision between the first terminal device and the second terminal device.

[0095] Among them, optionally, if there is a possibility of collision between the first terminal device and the second terminal device, the second terminal device may send an expulsion warning message to the first terminal device and / or the network device to make the first terminal device leave the area, wherein the message carrying the expulsion warning information is a broadcast message or a multicast message or a unicast message. Exemplarily, when the first authentication information is legal, the second terminal device may send an expulsion warning message to the first terminal device and / or the network device.

[0096] Optionally, regardless of whether the first authentication information is legal, when there is a possibility of collision between the first terminal device and the second terminal device, the second terminal device may perform anti-collision processing to avoid collision with the first terminal device.

[0097] For example, the second terminal device can modify its own movement path and send the modified movement path to the network device and / or a fourth terminal device, which is used to control the second terminal device. In another example, the second terminal device can send a message to the network device and / or the fourth terminal device to indicate that there is a possibility of collision between the first terminal device and the second terminal device. The second terminal device can then perform collision avoidance operations based on the collision avoidance information sent by the network device and / or the fourth terminal device.

[0098] In summary, in the authentication information transmission method provided in the embodiments of the present application, the first authentication information is sent by a first terminal device, enabling a second terminal device to obtain the first authentication information associated with the first terminal device, thereby enabling supervision of the first terminal device. The first authentication information may be used for the second terminal device to authenticate the identity of the first terminal device and / or to perform anti-collision processing on the second terminal device.

[0099] According to the above content, the first authentication information can be sent via a broadcast message. Based on this, three implementation methods of sending the first authentication information are given below:

[0100] 1. Method 1 for sending the first authentication information:

[0101] Based on FIG2 , FIG3 shows a flowchart of a method for transmitting authentication information provided by an exemplary embodiment of the present application. Step 102 can be implemented as step 202 , specifically as follows:

[0102] Step 202: The first terminal device sends a broadcast message.

[0103] Illustratively, the broadcast message carries the first authentication information, and the second terminal device can receive the broadcast message sent by the first terminal device.

[0104] Optionally, the first authentication information includes at least one of the following information: location information of the first terminal device; mobile path planning information of the first terminal device; and identity identification information of the first terminal device.

[0105] Optionally, the first authentication information is used by the second terminal device to authenticate the first terminal device; and / or, the first authentication information is used by the second terminal device to perform anti-collision processing.

[0106] According to the foregoing, the first terminal device may send a broadcast message carrying the first authentication information; subsequently, the second terminal device may directly obtain the first authentication information after receiving the broadcast message from the first terminal device.

[0107] In an optional implementation scenario, the first terminal device periodically sends a broadcast message.

[0108] Considering the information synchronization problem between the first terminal device and the second terminal device, the sending and receiving of broadcast messages include the following two situations:

[0109] Case 1: The first terminal device and the second terminal device are in synchronization state.

[0110] Optionally, when the time information of the first terminal device and the second terminal device are aligned, the first terminal device can determine the resource information required for sending the broadcast message through the protocol default method or pre-configuration method, and the second terminal device can determine the resource information required for receiving the broadcast message through the protocol default method or pre-configuration method.

[0111] Among them, the default method of the agreement refers to the method determined according to the agreement. The default method of the agreement can also be called the default method or the agreement method. This application does not limit it here.

[0112] Optionally, the resource information includes at least one of the following information: frequency domain resource information for sending the broadcast message; period information for sending the broadcast message; offset information for the initial time for sending the broadcast message; and time window length information for sending the broadcast message.

[0113] After obtaining the resource information required for receiving the broadcast message, the second terminal device can receive the broadcast message sent by the first terminal device according to the resource information, thereby avoiding the problem of high power consumption caused by the blind monitoring method.

[0114] Case 2: The first terminal device and the second terminal device are in an asynchronous state.

[0115] Optionally, when the time information of the first terminal device and the second terminal device are not aligned, the first terminal device or the second terminal device may also determine the frequency domain resource information required for sending or receiving the broadcast message through a protocol default method or a pre-configured method.

[0116] Because the time information between the first and second terminal devices is misaligned, the second terminal device needs to continuously monitor the broadcast message sent by the first terminal device. To reduce the power consumption of the second terminal device, the second terminal device can determine the frequency domain resource information required for broadcast message reception through a default or pre-configured method, thereby narrowing the frequency domain range of the second terminal device's blind monitoring.

[0117] To sum up, in the authentication information transmission method provided in the embodiment of the present application, a broadcast message is sent by the first terminal device, and the broadcast message carries the first authentication information associated with the first terminal, so that the second terminal device obtains the first authentication information.

[0118] 2. Method 2 for sending the first authentication information:

[0119] Based on FIG. 2 , FIG. 4 shows a flowchart of a method for transmitting authentication information provided by an exemplary embodiment of the present application. Step 102 can be implemented as steps 3021 and 3022, as follows:

[0120] Step 3021: The first terminal device sends a reference signal to the second terminal device.

[0121] Step 3022: The first terminal device sends a broadcast message.

[0122] Illustratively, there is at least a time correlation relationship between the broadcast message and the reference signal, the first authentication information is determined based on the reference signal and / or the broadcast message, and the second terminal device can receive the broadcast message sent by the first terminal device.

[0123] The time association relationship refers to the association between the time domain positions of the reference signal and the broadcast message, i.e., the first terminal device and the second terminal device can deduce the time domain position of the broadcast message based on the time domain position of the reference signal. Optionally, the time association relationship is used to determine the time domain resource information used by the broadcast message based on the time domain resource information used by the reference signal.

[0124] Optionally, the first authentication information includes at least one of the following information: location information of the first terminal device; mobile path planning information of the first terminal device; and identity identification information of the first terminal device.

[0125] Optionally, the first authentication information is used by the second terminal device to authenticate the first terminal device; and / or, the first authentication information is used by the second terminal device to perform anti-collision processing.

[0126] Optionally, the first terminal device may determine the frequency domain resource information required for sending the broadcast message in any of the following ways, and the second terminal device may determine the frequency domain resource information required for receiving the broadcast message in any of the following ways:

[0127] Determined by a first value agreed upon by a communication protocol;

[0128] The first terminal device and the second terminal device can determine the frequency domain resource information of the broadcast message through direct agreement in the communication protocol. For example, the frequency domain resource information required for sending or receiving the broadcast message is assigned a value through direct agreement in the communication protocol, and the first terminal device and / or the second terminal device determines the frequency domain resource information corresponding to the broadcast message based on the value. It should be understood that this approach can also be understood as the absolute frequency domain resource information used by the communication protocol for the broadcast message being directly agreed upon.

[0129] Determined by the first frequency domain association relationship agreed upon in the communication protocol;

[0130] Illustratively, the first frequency domain association relationship is used to indicate determining the frequency domain resource information used by the broadcast message based on the frequency domain resource information used by the reference signal. The first frequency domain association relationship can be used to illustrate how to obtain or derive the frequency domain resource information used by the broadcast message based on the frequency domain resource information used by the reference signal. For example, after receiving the reference signal sent by the first terminal device, the second terminal device can derive the frequency domain location of the broadcast message sent by the first terminal device based on the frequency domain location of the reference signal.

[0131] Determined by pre-configuration.

[0132] Illustratively, the pre-configuration method is a dynamic configuration method or an initial configuration method. For example, the network device pre-configures the frequency domain resource information used for broadcast messages for the first terminal device and / or the second terminal device; or, when the first terminal device and / or the second terminal device is used for the first time, the network device configures the frequency domain resource information used for broadcast messages for the first terminal device and / or the second terminal device. For another example, when the first terminal device and / or the second terminal device leaves the factory, the frequency domain resource information used for broadcast messages is configured for the first terminal device and / or the second terminal device.

[0133] Optionally, the reference signal is one of the following signals: synchronization signal / physical broadcast channel block (Synchronization Signal / physical broadcast channel Block, SSB); channel state information reference signal (Channel State Information Reference Signal, CSI-RS); other reference signals used for downlink synchronization.

[0134] After receiving the reference signal and broadcast message sent by the first terminal device, the second terminal device can determine the first authentication information accordingly. Optionally, the first authentication information can be determined in any of the following ways:

[0135] Part of the first authentication information is determined based on the reference signal, and the remaining part is determined based on the broadcast message;

[0136] Illustratively, part of the first authentication information can be obtained by demodulating the reference signal.

[0137] For example, the reference signal sequence sent by the first terminal device includes 8 types. Among them, one reference signal sequence is associated with one of the 8 binary values. For example, the first reference signal sequence is associated with the binary value '000', and the correspondence between the above reference signal sequence and the 8 binary values ​​can be given by the protocol default method. Subsequently, after the second terminal device receives the reference signal sent by the first terminal device, it can obtain 3 bits of information based on the reference signal sequence. Subsequently, the remaining information of the first authentication information can be obtained from the broadcast message sent by the first terminal device.

[0138] All information of the first authentication information is determined based on the broadcast message.

[0139] Exemplarily, all information of the first authentication information is carried in the broadcast message, and the second terminal device can obtain the first authentication information according to the received broadcast message.

[0140] To sum up, in the authentication information transmission method provided in the embodiment of the present application, a reference signal and a broadcast message are sent by the first terminal device, so that the second terminal device can determine the first authentication information based on the reference signal and / or the broadcast message.

[0141] 3. Method 3 for sending the first authentication information:

[0142] Based on FIG. 2 , FIG. 5 shows a flowchart of a method for transmitting authentication information provided by an exemplary embodiment of the present application. Step 102 can be implemented as steps 4021 and 4022, as follows:

[0143] Step 4021: The second terminal device sends a request message to the first terminal device.

[0144] Illustratively, the request information is used to request first authentication information associated with the first terminal device.

[0145] Step 4022: The first terminal device sends first authentication information to the second terminal device.

[0146] As mentioned above, both Methods 1 and 2 involve the first terminal device proactively sending the first authentication information to the second terminal device. In Method 3, to conserve power consumption on the first terminal device, the first terminal device can send the first authentication information to the second terminal device based on the second terminal device's needs.

[0147] Optionally, the first authentication information includes at least one of the following information: location information of the first terminal device; mobile path planning information of the first terminal device; and identity identification information of the first terminal device.

[0148] Optionally, the first authentication information is used by the second terminal device to authenticate the first terminal device; and / or, the first authentication information is used by the second terminal device to perform anti-collision processing.

[0149] Exemplarily, when the second terminal device needs the first authentication information, it sends a request message to the first terminal device to request the first authentication information; then, the first terminal device may send a response message to the request message to the second terminal device, and carry the first authentication information in the response message, so that the second terminal device can obtain the first authentication information through the response message.

[0150] In an optional implementation scenario, the request information sent by the second terminal device to the first terminal device may also carry second authentication information associated with the second terminal device, so that the first terminal device can authenticate the identity of the second terminal device.

[0151] It should be understood that the description of the second authentication information is similar to that of the first authentication information.

[0152] Optionally, the second authentication information includes at least one of the following information:

[0153] Location information of the second terminal device;

[0154] Mobile path planning information of the second terminal device;

[0155] The identity information of the second terminal device.

[0156] Among them, the location information of the second terminal device is used to indicate the real-time location of the second terminal device. Exemplarily, the location information includes at least longitude and latitude information, and may also include altitude information at the same time; the mobile path planning information of the second terminal device is used to indicate the preset mobile route of the second terminal device, and the preset mobile route is set by the network device or the fourth terminal device or the second terminal device itself or the user, wherein the fourth terminal device is a device for controlling the second terminal device; the identity information of the second terminal device is used to indicate the device information of the second terminal device, and the identity information is optionally allocated by the network device or set at the factory.

[0157] Optionally, the second authentication information includes at least one of the following uses:

[0158] The second authentication information is used by the first terminal device to authenticate the second terminal device;

[0159] For example, after obtaining the second authentication information, the first terminal device may obtain the identity information of the second terminal device. Subsequently, the first terminal device may verify the legitimacy of the second authentication information based on the identity information of the second terminal device.

[0160] For example, the first terminal device queries the local server to verify the legitimacy of the second authentication information. In another example, the first terminal device can interact with the network device and report the identity information of the second terminal device to the network device, which then verifies the legitimacy of the second authentication information.

[0161] The second authentication information is used by the first terminal device to perform anti-collision processing.

[0162] For example, after obtaining the second authentication information, the first terminal device may obtain the location information and / or movement path planning information of the second terminal device. Subsequently, the first terminal device may first perform a collision detection to determine whether there is a possibility of collision between the second terminal device and the first terminal device.

[0163] Among them, optionally, if there is a possibility of collision between the second terminal device and the first terminal device, the first terminal device may send an expulsion warning message to the second terminal device and / or the network device to make the second terminal device leave the area, wherein the message carrying the expulsion warning information is a broadcast message or a multicast message or a unicast message. Exemplarily, when the second authentication information is legal, the first terminal device may send an expulsion warning message to the second terminal device and / or the network device.

[0164] Optionally, regardless of whether the second authentication information is legal, when there is a possibility of collision between the second terminal device and the first terminal device, the first terminal device may perform anti-collision processing to avoid collision with the second terminal device.

[0165] For example, a first terminal device can modify its own movement path and send the modified movement path to a network device and / or a third terminal device, which is used to control the first terminal device. Another example is a first terminal device sending a message to a network device and / or a third terminal device indicating that a collision is possible between a second terminal device and the first terminal device. The first terminal device can then perform collision avoidance operations based on the collision avoidance information sent by the network device and / or the third terminal device.

[0166] To sum up, in the authentication information transmission method provided in the embodiment of the present application, the second terminal device sends a request message to the first terminal device, so that the first terminal device sends the first authentication information to the second terminal device according to the needs of the second terminal device.

[0167] Optionally, the request message may also carry second authentication information associated with the second terminal device, enabling the first terminal device to obtain the second authentication information to facilitate supervision of the second terminal device. The second authentication information may be used for the first terminal device to authenticate the second terminal device and / or to perform anti-collision processing.

[0168] Similar to Methods 1 and 2, when the second terminal device sends a request message to the first terminal device, it is necessary to determine the time domain resource information used by the request message. Specifically, the second terminal device needs to determine the time domain resource information required for sending the request message, and the first terminal device needs to determine the time domain resource information required for receiving the request message.

[0169] Based on FIG5 , FIG6 shows a flowchart of a method for transmitting authentication information provided by an exemplary embodiment of the present application. The method further includes steps 4011 and 4012. Step 4022 can be implemented as step 403, as follows:

[0170] Step 4011: The first terminal device sends a reference signal to the second terminal device.

[0171] Step 4012: The first terminal device sends a broadcast message.

[0172] Among them, the second terminal device can receive the broadcast message sent by the first terminal device.

[0173] It should be understood that step 4011 and step 4012 are optional steps, and one or both steps can be performed.

[0174] In an optional implementation scenario, the second terminal device can obtain synchronization timing related information by receiving a reference signal sent by the first terminal device, and the broadcast message and the reference signal have at least a temporal correlation relationship. The temporal correlation relationship can be referred to in the above content and will not be repeated here.

[0175] Optionally, the first terminal device may determine the time domain resource information required for receiving the request information in any of the following ways, and the second terminal device may determine the time domain resource information required for sending the request information in any of the following ways:

[0176] Determined by a second value agreed upon by the communication protocol;

[0177] Among them, the first terminal device and the second terminal device can determine the time domain resource information of the request information through direct agreement of the communication protocol. Exemplarily, the time domain resource information required for sending or receiving the request information is given a value rule by direct agreement of the communication protocol, and the first terminal device and / or the second terminal device determines the time domain resource information corresponding to the request information based on the value rule. It should be understood that this method can also be understood as the absolute time domain resource information used by the communication protocol for direct agreement on the request information. For example, the protocol stipulates that the first time slot of the first subframe of every 5 frames is used to send the request information.

[0178] Determined by the first time domain association relationship agreed upon in the communication protocol;

[0179] Illustratively, the first time domain association relationship is used to indicate determining the time domain resource information used by the request information based on the time domain resource information used by the reference signal. The first time domain association relationship can be used to illustrate how to obtain or derive the time domain resource information used by the request information based on the time domain resource information used by the reference signal. For example, a constant can be added to the time domain resource information used by the reference signal to determine the time domain resource information used by the request information.

[0180] Determined by the second time domain association relationship agreed upon in the communication protocol;

[0181] Illustratively, the second time domain association relationship is used to indicate how the time domain resource information used by the request information is determined based on the time domain resource information used by the broadcast message. The second time domain association relationship can be used to illustrate how to obtain or derive the time domain resource information used by the request information based on the time domain resource information used by the broadcast message. For example, a constant can be added to the time domain resource information used by the broadcast message to determine the time domain resource information used by the request information.

[0182] Determined by the information contained in the broadcast message;

[0183] Exemplarily, the first terminal device and the second terminal device may directly obtain the time domain resource information used by the request information according to the content of the broadcast message.

[0184] Determined by the information contained in the broadcast message and the third time domain association relationship agreed upon in the communication protocol;

[0185] Illustratively, the third time domain association relationship is used to indicate that the time domain resource information used for the request information is determined based on the time domain resource information used by the reference signal and the information included in the broadcast message. The third time domain association relationship can be used to illustrate how to obtain or derive the time domain resource information used for the request information based on the time domain resource information used by the reference signal and the information included in the broadcast message. Exemplarily, the information included in the broadcast message carries a time offset of the time domain resource information required for sending the request information relative to the time domain resource information used by the reference signal. Subsequently, based on the information included in the broadcast message and the obtained time domain resource information used by the reference signal, the time domain resource information required for sending the request information can be derived.

[0186] Determined by the information contained in the broadcast message and the fourth time domain association relationship agreed upon in the communication protocol;

[0187] Illustratively, the fourth time domain association relationship is used to indicate the determination of the time domain resource information used by the request information based on the time domain resource information used by the broadcast message and the information contained in the broadcast message. The fourth time domain association relationship is used to illustrate how to obtain or derive the time domain resource information used by the request information based on the time domain resource information used by the broadcast message and the information contained in the broadcast message. Exemplarily, the information contained in the broadcast message carries the time offset of the time domain resource information required for sending the request information relative to the time domain resource information used by the broadcast message. Subsequently, based on the information contained in the broadcast message and the obtained time domain resource information used by the broadcast message, the time domain resource information required for sending the request information can be derived.

[0188] Determined by pre-configuration.

[0189] Illustratively, the pre-configuration method is a dynamic configuration method or an initial configuration method. For example, the network device pre-configures the time domain resource information used by the request information for the first terminal device and / or the second terminal device; or, when the first terminal device and / or the second terminal device is used for the first time, the network device configures the time domain resource information used by the request information for the first terminal device and / or the second terminal device. For another example, when the first terminal device and / or the second terminal device leaves the factory, the time domain resource information used by the request information for the first terminal device and / or the second terminal device is configured.

[0190] Optionally, the first terminal device may determine the frequency domain resource information required for receiving the request information in any of the following ways, and the second terminal device may determine the frequency domain resource information required for sending the request information in any of the following ways:

[0191] Determined by a third value agreed upon in the communication protocol;

[0192] The first terminal device and the second terminal device can determine the frequency domain resource information of the request information through direct agreement in the communication protocol. Exemplarily, the frequency domain resource information required for sending or receiving the request information is given a value through direct agreement in the communication protocol, and the first terminal device and / or the second terminal device determines the frequency domain resource information corresponding to the request information based on the value. It should be understood that this approach can also be understood as the absolute frequency domain resource information used by the communication protocol for the request information being directly agreed upon.

[0193] Determined by the second frequency domain association relationship agreed upon in the communication protocol;

[0194] Illustratively, the second frequency domain association relationship is used to indicate determining the frequency domain resource information used by the request information based on the frequency domain resource information used by the reference signal. The second frequency domain association relationship can be used to illustrate how to obtain or derive the frequency domain resource information used by the request information based on the frequency domain resource information used by the reference signal. For example, a constant can be added to or subtracted from the frequency domain resource information used by the reference signal to determine the frequency domain resource information used by the request information.

[0195] Determined by the third frequency domain association relationship agreed upon in the communication protocol;

[0196] Illustratively, the third frequency domain association relationship is used to indicate determining the frequency domain resource information used by the request information based on the frequency domain resource information used by the broadcast message. The third frequency domain association relationship can be used to illustrate how to obtain or derive the frequency domain resource information used by the request information based on the frequency domain resource information used by the broadcast message. For example, a constant can be added to or subtracted from the frequency domain resource information used by the broadcast message to determine the frequency domain resource information used by the request information.

[0197] Determined by the information contained in the broadcast message;

[0198] Exemplarily, the first terminal device and the second terminal device may directly obtain the frequency domain resource information used by the request information according to the content of the broadcast message.

[0199] Determined by the information contained in the broadcast message and the fourth frequency domain association relationship agreed upon in the communication protocol;

[0200] Illustratively, the fourth frequency domain association relationship is used to indicate that the frequency domain resource information used by the request information is determined based on the frequency domain resource information used by the reference signal and the information contained in the broadcast message. Among them, the fourth frequency domain association relationship can be used to illustrate how to obtain or derive the frequency domain resource information used by the request information based on the frequency domain resource information used by the reference signal and the information contained in the broadcast message. Exemplarily, the information contained in the broadcast message carries the frequency domain offset of the frequency domain resource information required for sending the request information relative to the frequency domain resource information used by the reference signal. Subsequently, based on the information contained in the broadcast message and the obtained frequency domain resource information used by the reference signal, the frequency domain resource information required for sending or receiving the request information can be derived.

[0201] Determined by the information contained in the broadcast message and the fifth frequency domain association relationship agreed upon in the communication protocol;

[0202] Schematically, the fifth frequency domain association relationship is used to indicate that the frequency domain resource information used by the request information is determined based on the frequency domain resource information used by the broadcast message and the information contained in the broadcast message. Among them, the fifth frequency domain association relationship is used to illustrate how to obtain or derive the frequency domain resource information used by the request information based on the frequency domain resource information used by the broadcast message and the information contained in the broadcast message. Exemplarily, the information contained in the broadcast message carries the frequency domain offset of the frequency domain resource information required for sending the request information relative to the frequency domain resource information used by the broadcast message. Subsequently, based on the information contained in the broadcast message and the obtained frequency domain resource information used by the broadcast message, the frequency domain resource information required for sending the request information can be derived.

[0203] Determined by pre-configuration.

[0204] Schematically, the pre-configuration method is a dynamic configuration method or an initial configuration method. For example, the network device pre-configures the frequency domain resource information used by the request information for the first terminal device and / or the second terminal device; or, when the first terminal device and / or the second terminal device is used for the first time, the network device configures the frequency domain resource information used by the request information for the first terminal device and / or the second terminal device. For another example, when the first terminal device and / or the second terminal device leaves the factory, the frequency domain resource information used by the request information is configured for the first terminal device and / or the second terminal device.

[0205] As mentioned above, the time domain resources for requesting information can be determined based on the reference signal and / or broadcast message sent by the first terminal device. Referring to Figure 6, based on the execution of steps 4011 and 4012, there are multiple implementation methods for determining the time domain resources for requesting information, as follows:

[0206] 1. The first method of determining the time and frequency resources for requesting information.

[0207] When only step 4011 is executed, the second terminal device can receive the reference signal sent by the first terminal device.

[0208] Optionally, the time domain resource information of the requested information may be determined in any of the following ways:

[0209] Determined by a second value agreed upon by the communication protocol;

[0210] Determined by the first time domain association relationship agreed upon in the communication protocol;

[0211] Determined by pre-configuration.

[0212] Optionally, the frequency domain resource information of the requested information may be determined in any of the following ways:

[0213] Determined by a third value agreed upon in the communication protocol;

[0214] Determined by the second frequency domain association relationship agreed upon in the communication protocol;

[0215] Determined by pre-configuration.

[0216] 2. The second method of determining the time and frequency resources for requesting information.

[0217] When only step 4012 is executed, the second terminal device can receive the broadcast message sent by the first terminal device.

[0218] Optionally, the time domain resource information of the requested information may be determined in any of the following ways:

[0219] Determined by a second value agreed upon by the communication protocol;

[0220] Determined by the second time domain association relationship agreed upon in the communication protocol;

[0221] Determined by the information contained in the broadcast message;

[0222] Determined by the fourth time domain association relationship agreed upon in the communication protocol;

[0223] Determined by pre-configuration.

[0224] Optionally, the frequency domain resource information of the requested information may be determined in any of the following ways:

[0225] Determined by a third value agreed upon in the communication protocol;

[0226] Determined by the third frequency domain association relationship agreed upon in the communication protocol;

[0227] Determined by the information contained in the broadcast message;

[0228] Determined by the fifth frequency domain association relationship agreed upon in the communication protocol;

[0229] Determined by pre-configuration.

[0230] 3. The third method of determining the time and frequency resources for requesting information.

[0231] When step 4011 and step 4012 are executed, the second terminal device can receive the reference information and the broadcast message sent by the first terminal device.

[0232] Optionally, the time domain resource information of the requested information may be determined in any of the following ways:

[0233] Determined by a second value agreed upon by the communication protocol;

[0234] Determined by the first time domain association relationship agreed upon in the communication protocol;

[0235] Determined by the second time domain association relationship agreed upon in the communication protocol;

[0236] Determined by the information contained in the broadcast message;

[0237] Determined by the information contained in the broadcast message and the third time domain association relationship agreed upon in the communication protocol;

[0238] Determined by the information contained in the broadcast message and the fourth time domain association relationship agreed upon in the communication protocol;

[0239] Determined by pre-configuration.

[0240] Optionally, the frequency domain resource information of the requested information may be determined in any of the following ways:

[0241] Determined by a third value agreed upon in the communication protocol;

[0242] Determined by the second frequency domain association relationship agreed upon in the communication protocol;

[0243] Determined by the third frequency domain association relationship agreed upon in the communication protocol;

[0244] Determined by the information contained in the broadcast message;

[0245] Determined by the information contained in the broadcast message and the fourth frequency domain association relationship agreed upon in the communication protocol;

[0246] Determined by the information contained in the broadcast message and the fifth frequency domain association relationship agreed upon in the communication protocol;

[0247] Determined by pre-configuration.

[0248] 4. The fourth method for determining the time and frequency resources for requesting information.

[0249] Without executing step 4011 and step 4012:

[0250] Optionally, the time domain resource information of the requested information may be determined in any of the following ways:

[0251] Determined by a second value agreed upon by the communication protocol;

[0252] Determined by pre-configuration.

[0253] Optionally, the frequency domain resource information of the requested information may be determined in any of the following ways:

[0254] Determined by a third value agreed upon in the communication protocol;

[0255] Determined by pre-configuration.

[0256] For example, the communication protocol specifies that the first time slot of the first subframe of every four frames is used to send the request information. The frequency domain resource information used by the request information can also be obtained through pre-configuration or default. For example, the communication protocol specifies that the frequency domain resource information used by the request information is used.

[0257] The relevant contents involved in the above four methods of determining time-frequency resources can be referred to in the previous article and will not be repeated here.

[0258] Based on the foregoing, the first terminal device and the second terminal device are able to determine the time and frequency resources used for the request information. Subsequently, the second terminal device, based on its own needs, sends a request information to the first terminal device to request the first authentication information. At this point, after receiving the request information, the first terminal device can send a response message to the second terminal device requesting the information. Based on this, step 4022 can be implemented as step 403, specifically as follows:

[0259] Step 403: The first terminal device sends a response message to the second terminal device requesting information.

[0260] Illustratively, the response message is used to provide the first authentication information to the second terminal device, wherein the response message carries the first authentication information, or the second terminal device can determine the first authentication information based on the response message.

[0261] Among them, step 403 is an optional step, and the first terminal device may execute step 403 or not.

[0262] It should be understood that, in an optional implementation scenario, the first terminal device may also reject the request information. In this case, the response message is used to reject the request information sent by the second terminal device. The following embodiments are described only by using the example of the response message being used to provide the first authentication information to the second terminal device.

[0263] Optionally, the response message is one of a unicast message, a multicast message, and a broadcast message. For example, the response message is a unicast message, and the first terminal device sends the first authentication information to the second terminal device through a unicast channel.

[0264] Similar to the request information, the first terminal device and / or the second terminal device also needs to determine the time-frequency resource information of the response message.

[0265] Optionally, the time domain resource information of the response message may be determined in any of the following ways:

[0266] Determine the time domain resource information used by the response message through the fifth time domain association relationship agreed upon in the communication protocol;

[0267] Illustratively, the fifth time domain association relationship is used to indicate how the time domain resource information used in the response message is determined based on the time domain resource information used in the request information. The fifth time domain association relationship is used to illustrate how the time domain resource information used in the response message is obtained or derived based on the time domain resource information used in the request information. Exemplarily, a constant is added to the time domain resource information used in the request information to determine the time domain resource information used in the response message. It should be understood that the starting point of the time domain position of the response message = the time domain position information of the request information + the time offset. The time offset can be a fixed offset or a variable offset.

[0268] Determine the time window information to which the time domain resource information required for sending or receiving the response message belongs through the fifth time domain association relationship.

[0269] Illustratively, the fifth time domain association relationship is used to indicate determining the time window information to which the time domain resource information used by the response message belongs based on the time domain resource information used by the request information. The fifth time domain association relationship is used to illustrate how to obtain or derive the time window information to which the time domain resource information used by the response message belongs based on the time domain resource information used by the request information.

[0270] According to the former method, the second terminal device needs to listen for the response message for a longer period of time. Exemplarily, in order to prevent the second terminal device from listening for the response message for too long, the communication protocol can further stipulate the latest time position information for the second terminal device to listen for the response message. Based on this, the second terminal device only listens for the response message within the time window. Among them, the time window is in the form of [(time domain sending position information of the request information + minimum time offset), (time domain sending position information of the request information + maximum time offset)] or [(time domain sending position information of the request information + time offset), (time domain sending position information of the request information + time offset + time window length)].

[0271] Optionally, the frequency domain resource information of the response message may be determined in any of the following ways:

[0272] Determined by a fourth value agreed upon in the communication protocol;

[0273] The first terminal device and the second terminal device can determine the frequency domain resource information of the response message through direct agreement in the communication protocol. Exemplarily, the frequency domain resource information required for sending or receiving the response message is given a value through direct agreement in the communication protocol, and the first terminal device and / or the second terminal device determines the frequency domain resource information corresponding to the response message based on the value. It should be understood that this approach can also be understood as the absolute frequency domain resource information used by the communication protocol for the response message being directly agreed upon.

[0274] Determined by the sixth frequency domain association relationship agreed upon in the communication protocol;

[0275] Illustratively, the sixth frequency domain association relationship is used to indicate determining the frequency domain resource information used by the response message based on the frequency domain resource information used by the reference signal. The sixth frequency domain association relationship can be used to illustrate how to obtain or derive the frequency domain resource information used by the response message based on the frequency domain resource information used by the reference signal. For example, a constant can be added to the frequency domain resource information used by the reference signal to determine the frequency domain resource information used by the response message.

[0276] Determined by the seventh frequency domain association relationship agreed upon in the communication protocol;

[0277] Illustratively, the seventh frequency domain association relationship is used to indicate determining the frequency domain resource information used by the response message based on the frequency domain resource information used by the broadcast message. The seventh frequency domain association relationship can be used to illustrate how to obtain or derive the frequency domain resource information used by the response message based on the frequency domain resource information used by the broadcast message. For example, a constant can be added to the frequency domain resource information used by the broadcast message to determine the frequency domain resource information used by the response message.

[0278] Determined by the eighth frequency domain association relationship agreed upon in the communication protocol;

[0279] Schematically, the eighth frequency domain association relationship is used to indicate that the frequency domain resource information used in the response message is determined based on the frequency domain resource information used in the request information. Among them, the eighth frequency domain association relationship is used to illustrate how to obtain or derive the frequency domain resource information used in the response message based on the frequency domain resource information used in the request information. Exemplarily, after receiving the request information sent by the second terminal device, the first terminal device can derive the frequency domain position of the response message sent by the first terminal device based on the frequency domain position of the request information.

[0280] Determined by the information contained in the broadcast message;

[0281] Exemplarily, the first terminal device and the second terminal device may directly obtain the frequency domain resource information used by the response message according to the content of the broadcast message.

[0282] Determined by the information contained in the broadcast message and the ninth frequency domain association relationship agreed upon in the communication protocol;

[0283] Indicatively, the ninth frequency domain association relationship is used to indicate that the frequency domain resource information used by the response message is determined based on the frequency domain resource information used by the reference signal and the information contained in the broadcast message. Among them, the ninth frequency domain association relationship can be used to illustrate how to obtain or derive the frequency domain resource information used by the response message based on the frequency domain resource information used by the reference signal and the information contained in the broadcast message. Exemplarily, the information contained in the broadcast message carries the frequency domain offset of the frequency domain resource information required for sending the response message relative to the frequency domain resource information used by the reference signal. Subsequently, based on the information contained in the broadcast message and the obtained frequency domain resource information used by the reference signal, the frequency domain resource information required for sending the response message can be derived.

[0284] Determined by the information contained in the broadcast message and the tenth frequency domain association relationship agreed upon in the communication protocol;

[0285] Schematically, the tenth frequency domain association relationship is used to indicate that the frequency domain resource information used by the response message is determined based on the frequency domain resource information used by the broadcast message and the information contained in the broadcast message. Among them, the tenth frequency domain association relationship is used to illustrate how to obtain or derive the frequency domain resource information used by the response message based on the frequency domain resource information used by the broadcast message and the information contained in the broadcast message. Exemplarily, the information contained in the broadcast message carries the frequency domain offset of the frequency domain resource information required for sending the response message relative to the frequency domain resource information used by the broadcast message. Subsequently, based on the information contained in the broadcast message and the obtained frequency domain resource information used by the broadcast message, the frequency domain resource information required for sending the response message can be derived.

[0286] Determined by the information contained in the broadcast message and the eleventh frequency domain association relationship agreed upon in the communication protocol;

[0287] Schematically, the eleventh frequency domain association relationship is used to indicate that the frequency domain resource information used by the response message is determined based on the frequency domain resource information used by the request information and the information contained in the broadcast message. Among them, the eleventh frequency domain association relationship is used to illustrate how to obtain or derive the frequency domain resource information used by the response message based on the frequency domain resource information used by the request information and the information contained in the broadcast message. Exemplarily, the information contained in the broadcast message carries the frequency domain offset of the frequency domain resource information required for sending the response message relative to the frequency domain resource information used by the request information. Subsequently, based on the information contained in the broadcast message and the obtained frequency domain resource information used by the request information, the frequency domain resource information required for sending the response message can be derived.

[0288] Determined by pre-configuration.

[0289] Schematically, the pre-configuration method is a dynamic configuration method or an initial configuration method. For example, the network device pre-configures the frequency domain resource information used by the response message for the first terminal device and / or the second terminal device; or, when the first terminal device and / or the second terminal device is used for the first time, the network device configures the frequency domain resource information used by the response message for the first terminal device and / or the second terminal device. For another example, when the first terminal device and / or the second terminal device leaves the factory, the frequency domain resource information used by the response message is configured for the first terminal device and / or the second terminal device.

[0290] It should be understood that, similar to the determination of the time-frequency resources of the request information, the specific method for determining the time-frequency resource information of the response message also needs to be determined based on the execution of steps 4011 and 4012. For details, please refer to the above content and will not be repeated here.

[0291] To sum up, in the authentication information transmission method provided in the embodiment of the present application, multiple methods for determining the time and frequency resources of the request information are provided on the premise that the second terminal sends the request information to the first terminal device according to its own needs.

[0292] Optionally, the first authentication information may be provided via a response message to the request information sent by the first terminal device to the second terminal device. Optionally, the embodiment of the present application also provides multiple ways of determining the time-frequency resources of the response message.

[0293] As described above, when a second terminal sends a request message to a first terminal device, the request message may also include second authentication information associated with the second terminal device. Based on this, the first terminal device can authenticate the second terminal device. Similarly, after obtaining the first authentication information, the second terminal device can also authenticate the first terminal device.

[0294] Optionally, the first authentication information is used by the second terminal device to authenticate the first terminal device; and / or, the first authentication information is used by the second terminal device to perform anti-collision processing. Similarly, the second authentication information is used by the first terminal device to authenticate the second terminal device; and / or, the second authentication information is used by the first terminal device to perform anti-collision processing.

[0295] The following will describe the two aspects of identity authentication and anti-collision processing.

[0296] Authentication of the terminal device:

[0297] After obtaining the first authentication information or the second authentication information, the terminal device can verify the legitimacy of the first authentication information or the second authentication information. Identity verification can be performed in two ways: querying a local server based on the first authentication information or the second authentication information; or verifying through information interaction with a network device based on the first authentication information or the second authentication information.

[0298] The following describes the legitimacy verification of the first authentication information and the second authentication information respectively:

[0299] 1. Verify the legitimacy of the first authentication information - operation of the second terminal device.

[0300] Based on FIG2 , FIG7 shows a flowchart of a method for transmitting authentication information provided by an exemplary embodiment of the present application, the method further comprising:

[0301] Step 103: The second terminal device performs identity authentication on the first terminal device according to the first authentication information.

[0302] Schematically, authentication is achieved in one of the following ways:

[0303] Query the local server to verify the legitimacy of the first authentication information;

[0304] According to the above content, the first authentication information at least includes the identity information of the first terminal device. After obtaining the identity information of the first terminal device, the second terminal device can query the local server to determine whether the identity information of the first terminal device is recorded in the local server.

[0305] Optionally, the network device is one of an access network device, a core network device and a terminal device management platform.

[0306] Verify the legitimacy of the first authentication information by interacting with the network device.

[0307] After obtaining the identity information of the first terminal device, the second terminal device can send it to the network device, so that the network device verifies the identity information of the first terminal device and then feeds back the verification result to the second terminal device.

[0308] 7 and 8 show a flow chart of a method for transmitting authentication information provided by an exemplary embodiment of the present application. Step 103 can be implemented as step 1031 or step 1032:

[0309] Step 1031: The second terminal device queries the local server based on the first authentication information to verify the legitimacy of the first authentication information.

[0310] According to the above content, the first authentication information at least includes the identity information of the first terminal device. Exemplarily, the identity information of the first terminal device is assigned by the network device or set at the factory.

[0311] Step 1032: The second terminal device verifies the legitimacy of the first authentication information by interacting with the network device based on the first authentication information.

[0312] According to the above content, the first authentication information includes at least the identity information of the first terminal device and / or the location information of the first terminal device. During the information interaction process with the network device, the second terminal device can send the identity information of the first terminal device and / or the location information of the first terminal device to the network device.

[0313] Optionally, step 1032 may be implemented as follows:

[0314] The second terminal device sends the identity information of the first terminal device to the network device;

[0315] Alternatively, the second terminal device sends the identity information of the first terminal device and the location information of the first terminal device to the network device.

[0316] Optionally, the authentication information transmission method provided in the embodiment of the present application further includes:

[0317] The second terminal device receives a first reply message sent by the network device, where the first reply message is used to indicate that the identity information of the first terminal device has not been recorded or verification has failed.

[0318] Alternatively, the second terminal device receives a second reply message sent by the network device, where the second reply message is used to indicate that the identity information of the first terminal device has been recorded or verified successfully, so as to verify the legality of the first authentication information.

[0319] Optionally, the authentication information transmission method provided in the embodiment of the present application further includes:

[0320] Step 104: The second terminal device sends an expulsion warning message to the first terminal device or the network device.

[0321] Exemplarily, when the first authentication information is legal, the second terminal device sends an expulsion warning message to the first terminal device or the network device.

[0322] Exemplarily, the expulsion warning information is used to instruct the first terminal device to leave the area where it is located. It should be understood that the expulsion warning information should be sent when there is a possibility of collision between the moving path of the first terminal device and the moving path of the second terminal device, or when the second terminal device needs to clear the area where it is located. For example, the second terminal device is an aircraft. Within a specified time, the aircraft needs to perform specific activities in a specified airspace. If the first terminal device appears in the specified airspace, the second terminal device may send an expulsion warning information to the first terminal device or the network device to remind the first terminal device to leave the area. Exemplarily, when the first terminal device appears in the specified airspace and the first authentication information is legal, the second terminal device sends an expulsion warning information to the first terminal device or the network device.

[0323] Optionally, the second terminal device may send a first expulsion warning message to the first terminal device, where the first expulsion warning message is used to instruct the first terminal device to leave the area. Optionally, the second terminal device may send a second expulsion warning message to the network device. The second expulsion warning message is used to instruct the network device to send a third expulsion warning message to the first terminal device or a third terminal device; the third expulsion warning message is used to instruct the first terminal device to leave the area, or the third expulsion warning message is used to notify the third terminal device to control the first terminal device to leave the area.

[0324] It should be understood that the network device may independently decide whether to respond to the second expulsion warning message. For example, the network device may refuse to respond to the second expulsion warning message. In another example, after receiving the second expulsion warning message, the network device may send a third expulsion warning message to the first terminal device or the third terminal device.

[0325] In an optional implementation scenario, the second terminal device sends the identity information of the first terminal device to the network device. If the identity information of the first terminal device is not recorded or verification fails, the network device sends a first reply message to the second terminal device; if the identity information of the first terminal device is recorded or verification succeeds, the network device sends a second reply message to the second terminal device.

[0326] Optionally, the second terminal device sends an expulsion alarm message to the network device or the first terminal device, where the expulsion alarm message is used to instruct the first terminal device to leave the area.

[0327] Optionally, when the identity identification information of the first terminal device is verified, the network device may further trigger a process for obtaining the location information of the device associated with the identity identification information. Subsequently, after obtaining the actual location information of the device associated with the identity identification information, the network device sends it to the second terminal device. Optionally, the second terminal device may compare the actual location information of the device associated with the identity identification information with the location information of the first terminal device obtained based on the first authentication information. Optionally, if the location information comparison fails, the second terminal device informs the network device of the failure of the location information comparison; if the location information comparison succeeds, the second terminal device may optionally send an expulsion alarm message to the first terminal device, or send an expulsion alarm message to the first terminal device or the third terminal device through the network device.

[0328] In another optional implementation scenario, the second terminal device sends the identity information and location information of the first terminal device to the network device. Subsequently, the network device may first perform identity authentication based on the identity information of the first terminal device and send a first reply message or a second reply message to the second terminal device.

[0329] Subsequently, when the identity identification information of the first terminal device is verified successfully, the network device may compare the location information provided by the first terminal device through the first authentication information and the actual location information of the device associated with the identity identification information obtained by the network device through the positioning process. Optionally, in the case where the location information comparison fails, the network device informs the second terminal device of the location information comparison failure or informs the second terminal device of the identity authentication failure of the first terminal device; in the case where the location information comparison is successful, the network device may also send an expulsion alarm message to the first terminal device or the third terminal device and / or inform the second terminal device that the identity authentication of the first terminal device is successful. Optionally, upon learning that the identity authentication of the first terminal device is successful, the second terminal device sends an expulsion alarm message to the first terminal device or sends an expulsion alarm message to the first terminal device or the third terminal device through the network device.

[0330] Among them, the relevant description of the eviction warning information can be referred to the above content and will not be repeated here.

[0331] According to step 1032, the verification of the first authentication information can also be achieved through information interaction between the second terminal device and the network device. During the interaction, the second terminal device needs to first send the first authentication information to the network device. Figure 9 shows a flow chart of a method for transmitting authentication information provided by an exemplary embodiment of the present application, the method comprising:

[0332] Step 502: The second terminal device sends first authentication information to the network device.

[0333] Exemplarily, the first authentication information is authentication information managed with the first terminal device.

[0334] Optionally, the first authentication information includes at least one of the following information: location information of the first terminal device; mobile path planning information of the first terminal device; and identity identification information of the first terminal device.

[0335] Optionally, the first authentication information is used by the second terminal device to authenticate the first terminal device; and / or, the first authentication information is used by the second terminal device to perform anti-collision processing.

[0336] Optionally, the network device is one of an access network device, a core network device and a terminal device management platform.

[0337] Among them, the relevant description of the first authentication information can be referred to the above content and will not be repeated here.

[0338] According to the above content, the first authentication information includes at least the identity information of the first terminal device and / or the location information of the first terminal device. During the information interaction between the second terminal device and the network device, the identity information of the first terminal device and / or the location information of the first terminal device can be sent to the network device.

[0339] Based on FIG9 , FIG10 shows a flowchart of a method for transmitting authentication information provided by an exemplary embodiment of the present application. Step 502 can be implemented as step 5021 . The method further includes steps 503 and 504 , which are specifically as follows:

[0340] Step 5021: The first terminal device sends the identity information of the first terminal device to the network device; or, the second terminal device sends the identity information of the first terminal device and the location information of the first terminal device to the network device.

[0341] Step 503: The network device sends a first reply message to the second terminal device; or, the network device sends a second reply message to the second terminal device.

[0342] Illustratively, the first reply message is used to indicate that the identity identification information of the first terminal device is not recorded or verification fails; the second reply message is used to indicate that the identity identification information of the first terminal device is recorded or verification succeeds, so as to verify the legality of the first authentication information.

[0343] In an optional implementation scenario, the second terminal device sends the identity information of the first terminal device to the network device. If the identity information of the first terminal device is not recorded or verification fails, the network device sends a first reply message to the second terminal device; if the identity information of the first terminal device is recorded or verification succeeds, the network device sends a second reply message to the second terminal device.

[0344] In another optional implementation scenario, the second terminal device sends the identity information and location information of the first terminal device to the network device. Subsequently, the network device may first perform identity authentication based on the identity information of the first terminal device and send a first reply message or a second reply message to the second terminal device.

[0345] Step 504: The second terminal device sends a second expulsion warning message to the network device.

[0346] Exemplarily, when the first authentication information is legal, the second terminal device sends second expulsion warning information to the network device.

[0347] Illustratively, the second expulsion alarm information is used to instruct the network device to send the third expulsion alarm information to the first terminal device or the third terminal device; the third expulsion alarm information is used to instruct the first terminal device to leave the area where it is located, or the third expulsion alarm information is used to notify the third terminal device to control the first terminal device to leave the area where it is located; the third terminal device is a device used to control the first terminal device.

[0348] Referring to step 5021, if the second terminal device sends the identity information of the first terminal device to the network device. The network device can perform identity authentication based on the identity information of the first terminal device. Then, if the first authentication information is legal, the network device can further trigger the location information acquisition process of the first terminal device. Subsequently, after obtaining the actual location information of the first terminal device, the network device sends it to the second terminal device. Optionally, the second terminal device can compare the actual location information with the location information of the first terminal device obtained based on the first authentication information. In the case that the location information comparison fails, the second terminal device informs the network device that the location information comparison fails; in the case that the location information comparison is successful, the second terminal device can send an expulsion alarm message to the first terminal device or send an expulsion alarm message to the first terminal device or the third terminal device through the network device.

[0349] Referring to step 5021, if the second terminal device sends the identity information of the first terminal device and the location information of the first terminal device to the network device. The network device may first authenticate the identity of the first terminal device based on the identity information of the first terminal device. Subsequently, if the first authentication information is legitimate, the network device may compare the location information provided by the first terminal device through the first authentication information with the actual location information of the device associated with the identity information obtained by the network device through the positioning process. Optionally, if the location information comparison fails, the network device informs the second terminal device of the location information comparison failure; if the location information comparison is successful, refer to the above content and no further details will be given.

[0350] Among them, the relevant description of the eviction warning information can be referred to the above content and will not be repeated here.

[0351] 2. Verify the legitimacy of the second authentication information - operation of the first terminal device.

[0352] Similar to the validity verification of the first authentication information, the validity verification of the second authentication information also includes two implementation methods, namely querying the local server and interacting with the network device.

[0353] Based on FIG9 , FIG11 shows a flowchart of a method for transmitting authentication information provided by an exemplary embodiment of the present application, the method further comprising:

[0354] Step 505: The first terminal device sends second authentication information to the network device.

[0355] Illustratively, the second authentication information is authentication information associated with the second terminal device.

[0356] Optionally, the network device is one of an access network device, a core network device and a terminal device management platform.

[0357] Optionally, the second authentication information includes at least one of the following information: location information of the second terminal device; mobile path planning information of the second terminal device; and identity identification information of the second terminal device.

[0358] Optionally, the second authentication information is used by the first terminal device to authenticate the second terminal device; and / or, the second authentication information is used by the first terminal device to perform anti-collision processing.

[0359] The identity authentication is implemented in one of the following ways: the first terminal device queries the local server to verify the legitimacy of the second authentication information; the first terminal device verifies the legitimacy of the second authentication information by interacting with the network device.

[0360] Similar to the method of verifying the first authentication information, based on FIG11 , FIG12 shows a flowchart of a method for transmitting authentication information provided by an exemplary embodiment of the present application. Step 505 can be implemented as step 5051. The method further includes steps 506 and 507, which are specifically as follows:

[0361] Step 5051: The first terminal device sends the identity information of the second terminal device to the network device; or, the first terminal device sends the identity information of the second terminal device and the location information of the second terminal device to the network device.

[0362] According to the above content, the second authentication information includes at least the identity information of the second terminal device and / or the location information of the second terminal device. Exemplarily, the identity information of the second terminal device is assigned by the network device or factory-set.

[0363] Step 506: The first terminal device sends a third reply message or a fourth reply message to the network device.

[0364] Illustratively, the third reply message is used to indicate that the identity identification information of the second terminal device is not recorded or verification fails; the fourth reply message is used to indicate that the identity identification information of the second terminal device is recorded or verification succeeds, so as to verify the legality of the second authentication information.

[0365] In an optional implementation scenario, the first terminal device sends the identity information of the second terminal device to the network device. If the identity information of the second terminal device is not recorded or verification fails, the network device sends a third reply message to the first terminal device; if the identity information of the second terminal device is recorded or verification succeeds, the network device sends a fourth reply message to the first terminal device.

[0366] In another optional implementation scenario, the first terminal device sends the identity information and location information of the second terminal device to the network device. Subsequently, the network device may first perform identity authentication based on the identity information of the second terminal device and send a third reply message or a fourth reply message to the first terminal device.

[0367] Step 507: The first terminal device sends fourth expulsion warning information to the network device.

[0368] Exemplarily, when the second authentication information is legal, the first terminal device sends fourth expulsion warning information to the network device.

[0369] Illustratively, the fourth expulsion alarm information is used to instruct the network device to send the fifth expulsion alarm information to the second terminal device or the fourth terminal device; the fifth expulsion alarm information is used to instruct the second terminal device to leave the area, or the fifth expulsion alarm information is used to notify the fourth terminal device to control the second terminal device to leave the area; the fourth terminal device is a device used to control the second terminal device.

[0370] It should be understood that the network device may independently decide whether to respond to the fourth expulsion warning message. For example, the network device may refuse to respond to the fourth expulsion warning message. In another example, after receiving the fourth expulsion warning message, the network device may send the fifth expulsion warning message to the second terminal device or the fourth terminal device.

[0371] Similar to step 104, the network device may also directly send an expulsion warning message to the second terminal device to instruct the second terminal device to leave the area.

[0372] Referring to step 5051, if the first terminal device sends the identity information of the second terminal device to the network device. The network device can perform identity authentication based on the identity information of the second terminal device. Then, if the second authentication information is legal, the network device can further trigger the location information acquisition process of the second terminal device. Subsequently, after obtaining the actual location information of the device associated with the identity information, the network device sends it to the first terminal device. Optionally, the first terminal device can compare the actual location information with the location information of the second terminal device obtained based on the second authentication information. If the location information comparison fails, the first terminal device informs the network device of the location information comparison failure; if the location information comparison is successful, the first terminal device can send an expulsion alarm message to the second terminal device, or send an expulsion alarm message to the second terminal device or the fourth terminal device through the network device.

[0373] Referring to step 5051, if the first terminal device sends the identity information and location information of the second terminal device to the network device, the network device may first authenticate the identity of the second terminal device based on the identity information of the second terminal device. Subsequently, if the second authentication information is legitimate, the network device may compare the location information provided by the second terminal device through the second authentication information with the actual location information of the device associated with the identity information obtained by the network device through the positioning process. Optionally, if the location information comparison fails, the network device informs the first terminal device of the location information comparison failure; if the location information comparison is successful, please refer to the above content and will not be repeated.

[0374] Among them, the relevant description of the eviction warning information can be referred to the above content and will not be repeated here.

[0375] In summary, the authentication information transmission method provided in the embodiments of the present application provides two methods for verifying the first authentication information and / or the second authentication information. The first terminal device and / or the second terminal device can verify the legitimacy of the other party's authentication information by querying a local server or interacting with information on a network device.

[0376] Anti-collision processing performed by the terminal device:

[0377] 1. Anti-collision processing performed by the first terminal device.

[0378] If the first terminal device needs to perform anti-collision processing, it needs to obtain the second authentication information associated with the second terminal device. Referring to Figure 5, the first terminal device can obtain the authentication information by carrying the second authentication information in the request information sent by the second terminal device.

[0379] Based on FIG5 , FIG13 shows a flowchart of a method for transmitting authentication information provided by an exemplary embodiment of the present application. Step 402 can be implemented as step 4021 . The method further includes step 404 :

[0380] Step 4021: The second terminal device sends a request message to the first terminal device.

[0381] Schematically, the request information is used to request the first authentication information associated with the first terminal device, and the request information carries the second authentication information associated with the second terminal device. The description of the first authentication information, the second authentication information, and the request information can be referred to the above content and will not be repeated here.

[0382] After receiving the request information, the first terminal device can obtain the second authentication information. Subsequently, the first terminal device can perform collision detection. If there is a possibility of collision between the moving path of the first terminal device and the moving path of the second terminal device, step 404 is executed as follows:

[0383] Step 404: When there is a possibility of collision between the moving path of the second terminal device and the moving path of the first terminal device, the first terminal device performs anti-collision processing.

[0384] It should be understood that after obtaining the second authentication information, the first terminal device may first perform a collision detection, which will be described below. Based on the collision detection results, if there is a possibility of collision between the movement path of the second terminal device and the movement path of the first terminal device, the first terminal device then performs collision avoidance processing.

[0385] Among them, anti-collision processing can be a direct modification of the first terminal device to its own moving path, or it can be informing the network device or the third terminal device of the possibility of collision between the moving path of the first terminal device and the moving path of the second terminal device. The third terminal device is a device used to control the first terminal device.

[0386] For example, when there is a possibility of collision between the moving paths of the first terminal device and the second terminal device, the first terminal device modifies its own moving path and notifies the third terminal device of the modification behavior and / or the modified moving path.

[0387] For example, when there is a possibility of collision between the moving path of the first terminal device and the moving path of the second terminal device, the first terminal device sends a collision warning message to the third terminal device or network device, and then performs a collision avoidance operation based on the collision avoidance information sent by the third terminal device or network device.

[0388] Based on FIG13 , FIG14 shows a flow chart of a method for transmitting authentication information provided by an exemplary embodiment of the present application, wherein step 404 can be implemented as one of steps 4041, 4042, and 4043. In an exemplary embodiment, when there is a possibility of collision between the moving path of the first terminal device and the moving path of the second terminal device, the anti-collision processing performed by the first terminal device includes any one of the following three processing methods:

[0389] (1) Processing method 1: The first terminal device modifies the moving path by itself.

[0390] Step 4041: The first terminal device modifies the moving path of the first terminal device.

[0391] Optionally, the authentication information transmission method provided in the embodiment of the present application further includes:

[0392] Step 405: The first terminal device sends a first message to the third terminal device.

[0393] Illustratively, the first message is used to indicate that the moving path of the first terminal device has been modified.

[0394] When there is a possibility of collision between the moving path of the first terminal device and the moving path of the second terminal device, in order to avoid the second terminal device in time, the first terminal device can modify the moving path by itself, thereby reducing the time consumed by the first terminal device waiting for instruction information from the third terminal device or the network device, and minimizing the collision between the first terminal device and the second terminal device.

[0395] After completing the modification of its own moving path, the first terminal device may send a first message to the third terminal device to inform the third terminal device of the current moving path, so as to facilitate the third terminal device to perform subsequent control over the first terminal device.

[0396] (2) Processing method 2: The first terminal device notifies the third terminal device.

[0397] Step 4042: The first terminal device sends a second message to the third terminal device.

[0398] Illustratively, the second message is used to indicate that there is a possibility of collision between the moving path of the first terminal device and the moving path of the second terminal device.

[0399] Optionally, the authentication information transmission method provided in the embodiment of the present application further includes:

[0400] Step 406: The third terminal device sends first collision avoidance information to the first terminal device.

[0401] Illustratively, the first collision avoidance information is used to control the first terminal device to perform a collision avoidance operation.

[0402] If there is a possibility of collision between the movement paths of the first terminal device and the movement paths of the second terminal device, the first terminal device may send a collision warning message to a third terminal device to facilitate control of the first terminal device, instructing the third terminal device to modify the movement path of the first terminal device as soon as possible. After receiving the second message, the third terminal device may send a first collision avoidance message to the first terminal device to control the first terminal device to change its movement path to avoid a collision between the first and second terminal devices.

[0403] (3) Processing method three: the first terminal device notifies the network device.

[0404] Step 4043: The first terminal device sends a third message to the network device.

[0405] Illustratively, the third message is used to indicate that there is a possibility of collision between the moving path of the first terminal device and the moving path of the second terminal device.

[0406] Optionally, the third message also carries the first authentication information and / or the second authentication information. That is, the third message carries at least one of the following information:

[0407] Location information of the first terminal device;

[0408] Mobile path planning information of the first terminal device;

[0409] The identity information of the first terminal device;

[0410] Location information of the second terminal device;

[0411] Mobile path planning information of the second terminal device;

[0412] The identity information of the second terminal device.

[0413] The identity information of the first terminal device and the identity information of the second terminal device may be allocated by the network device or set at the factory.

[0414] Optionally, the authentication information transmission method provided in the embodiment of the present application further includes:

[0415] Step 407: The network device sends second collision avoidance information to the first terminal device.

[0416] Illustratively, the second collision avoidance information is used to instruct the first terminal device to perform a collision avoidance operation.

[0417] When there is a possibility of collision between the moving path of the first terminal device and the moving path of the second terminal device, in order to facilitate the overall coordinated control of the first terminal device and the second terminal device, the first terminal device may send a collision alarm message to the network device to inform the network device of the possibility of collision, and the network device will perform unified coordination.

[0418] Among them, the network device can send collision avoidance information to the first terminal device, the second terminal device, the third terminal device and at least one of the third terminal devices, so that the first terminal device and / or the second terminal device performs a collision avoidance operation.

[0419] For example, the network device sends second collision avoidance information to the first terminal device to control the first terminal device to perform a collision avoidance operation, such as the network device modifies the movement path of the first terminal device. For another example, the network device sends collision avoidance information to the second terminal device to control the second terminal device to perform a collision avoidance operation, such as the network device modifies the movement path of the second terminal device. For another example, the network device sends collision avoidance information to the third terminal device to instruct the third terminal device to control the first terminal device to perform a collision avoidance operation. For another example, the network device sends collision avoidance information to the fourth terminal device to instruct the fourth terminal device to control the second terminal device to perform a collision avoidance operation.

[0420] 2. Anti-collision processing performed by the second terminal device.

[0421] Similar to the anti-collision processing performed by the first terminal device, if the second terminal device needs to perform anti-collision processing, it needs to obtain the first authentication information associated with the first terminal device.

[0422] Based on FIG5 , FIG15 shows a flow chart of a method for transmitting authentication information provided by an exemplary embodiment of the present application. The method further includes step 408:

[0423] Step 408: When there is a possibility of collision between the moving path of the second terminal device and the moving path of the first terminal device, the second terminal device performs anti-collision processing.

[0424] It should be understood that after obtaining the second authentication information, the second terminal device may first perform a collision detection, which will be described below. Based on the collision detection results, if there is a possibility of collision between the movement path of the first terminal device and the movement path of the second terminal device, the second terminal device may then perform collision avoidance processing.

[0425] Among them, anti-collision processing can be a direct modification of the second terminal device to its own moving path, or it can be informing the network device or the fourth terminal device of the possibility of collision between the moving path of the first terminal device and the moving path of the second terminal device. The fourth terminal device is a device used to control the second terminal device.

[0426] For example, when there is a possibility of collision between the moving paths of the first terminal device and the second terminal device, the second terminal device modifies its own moving path and notifies the fourth terminal device of the modification behavior and / or the modified moving path.

[0427] For example, when there is a possibility of collision between the moving path of the first terminal device and the moving path of the second terminal device, the second terminal device sends a collision warning message to the fourth terminal device or the network device, and then performs a collision avoidance operation based on the collision avoidance information sent by the fourth terminal device or the network device.

[0428] Based on FIG15 , FIG16 shows a flow chart of a method for transmitting authentication information provided by an exemplary embodiment of the present application, wherein step 408 can be implemented as one of steps 4081, 4082, and 4083. In an exemplary embodiment, when there is a possibility of collision between the moving path of the first terminal device and the moving path of the second terminal device, the anti-collision processing performed by the second terminal device includes any one of the following three processing methods:

[0429] (1) Processing method 1: The second terminal device modifies the moving path by itself.

[0430] Step 4081: The second terminal device modifies the moving path of the second terminal device.

[0431] Optionally, the authentication information transmission method provided in the embodiment of the present application further includes:

[0432] Step 409: The second terminal device sends a fourth message to the fourth terminal device.

[0433] Illustratively, the fourth message is used to indicate that the moving path of the second terminal device has been modified.

[0434] When there is a possibility of collision between the moving path of the first terminal device and the moving path of the second terminal device, in order to avoid the first terminal device in time, the second terminal device can modify the moving path by itself, thereby reducing the time consumed by the second terminal device waiting for instruction information from the fourth terminal device or the network device, and minimizing the collision between the first terminal device and the second terminal device.

[0435] After completing the modification of its own moving path, the second terminal device may send a fourth message to the fourth terminal device to inform the fourth terminal device of the current moving path, so as to facilitate the fourth terminal device to perform subsequent control over the second terminal device.

[0436] (2) Processing method 2: The second terminal device notifies the fourth terminal device.

[0437] Step 4082: The second terminal device sends a fifth message to the fourth terminal device.

[0438] Illustratively, the fifth message is used to indicate that there is a possibility of collision between the moving path of the first terminal device and the moving path of the second terminal device.

[0439] Optionally, the authentication information transmission method provided in the embodiment of the present application further includes:

[0440] Step 410: The fourth terminal device sends third collision avoidance information to the second terminal device.

[0441] Illustratively, the third collision avoidance information is used to control the second terminal device to perform a collision avoidance operation.

[0442] If there is a possibility of collision between the movement paths of the first terminal device and the second terminal device, the second terminal device may send a collision warning message to the fourth terminal device to facilitate control of the second terminal device, instructing the fourth terminal device to quickly modify the movement path of the second terminal device. After receiving the fifth message, the fourth terminal device may send a third collision avoidance message to the second terminal device to control the second terminal device to change its movement path to avoid a collision with the first terminal device.

[0443] (3) Processing method three: the second terminal device notifies the network device.

[0444] Step 4083: The second terminal device sends a sixth message to the network device.

[0445] Illustratively, the sixth message is used to indicate that there is a possibility of collision between the moving path of the first terminal device and the moving path of the second terminal device.

[0446] Optionally, the sixth message also carries the first authentication information and / or the second authentication information.

[0447] Optionally, the authentication information transmission method provided in the embodiment of the present application further includes:

[0448] Step 411: The network device sends fourth collision avoidance information to the second terminal device.

[0449] Illustratively, the fourth collision avoidance information is used to instruct the second terminal device to perform a collision avoidance operation.

[0450] When there is a possibility of collision between the moving path of the first terminal device and the moving path of the second terminal device, in order to facilitate the overall coordinated control of the first terminal device and the second terminal device, the second terminal device can send a collision alarm message to the network device to inform the network device of the possibility of collision, and the network device will perform unified coordination.

[0451] The network device may send collision avoidance information to at least one of the first terminal device, the second terminal device, the third terminal device, and the fourth terminal device, so that the second terminal device and / or the first terminal device performs a collision avoidance operation.

[0452] For example, the network device sends fourth collision avoidance information to the second terminal device to control the second terminal device to perform a collision avoidance operation, such as the network device modifies the movement path of the second terminal device. For another example, the network device sends collision avoidance information to the first terminal device to control the first terminal device to perform a collision avoidance operation, such as the network device modifies the movement path of the first terminal device. For another example, the network device sends collision avoidance information to the fourth terminal device to instruct the fourth terminal device to control the second terminal device to perform a collision avoidance operation. For another example, the network device sends collision avoidance information to the third terminal device to instruct the third terminal device to control the first terminal device to perform a collision avoidance operation.

[0453] In summary, the authentication information transmission method provided in the embodiments of the present application further provides anti-collision processing for the first terminal device and / or the second terminal device. The first terminal device and / or the second terminal device can modify its own movement path, or implement anti-collision processing by interacting with the terminal device or network device that controls it, thereby avoiding a collision between the first terminal device and the second terminal device.

[0454] It should be understood that in the above-mentioned embodiments, when the first terminal device and / or the second terminal device transmits authentication information, capability-related information may also be determined through interaction with the network device.

[0455] Optionally, the authentication information transmission method provided in the embodiment of the present application further includes:

[0456] The network device sends behavior indication information to the first terminal device and / or the second terminal device;

[0457] The behavior instruction information includes at least one of the following information:

[0458] whether the first terminal device and / or the second terminal device is allowed to obtain authentication information associated with other terminal devices, where the other terminal devices are devices different from the first terminal device and / or the second terminal device;

[0459] whether the first terminal device and / or the second terminal device is allowed to verify the acquired authentication information;

[0460] whether the first terminal device and / or the second terminal device is allowed to send information to drive away other terminal devices;

[0461] whether the first terminal device and / or the second terminal device is allowed to perform collision detection processing;

[0462] Whether the first terminal device and / or the second terminal device is allowed to perform anti-collision processing.

[0463] Optionally, the authentication information transmission method provided in the embodiment of the present application further includes:

[0464] The network device receives capability indication information sent by the first terminal device and / or the second terminal device;

[0465] The capability indication information includes at least one of the following information:

[0466] whether the first terminal device and / or the second terminal device is capable of obtaining authentication information associated with other terminal devices, where the other terminal devices are devices different from the first terminal device and / or the second terminal device;

[0467] whether the first terminal device and / or the second terminal device is eligible to obtain authentication information associated with other terminal devices;

[0468] Whether the first terminal device and / or the second terminal device is capable of verifying the acquired authentication information associated with the other terminal device;

[0469] Whether the first terminal device and / or the second terminal device is qualified to verify the acquired authentication information associated with the other terminal device;

[0470] whether the first terminal device and / or the second terminal device is capable of driving away other terminal devices;

[0471] whether the first terminal device and / or the second terminal device is eligible to drive away other terminal devices;

[0472] whether the first terminal device and / or the second terminal device is capable of performing collision detection processing;

[0473] whether the first terminal device and / or the second terminal device are eligible for collision detection processing;

[0474] whether the first terminal device and / or the second terminal device is capable of performing anti-collision processing;

[0475] Whether the first terminal device and / or the second terminal device is eligible for anti-collision processing.

[0476] It should be understood that in the above-mentioned multiple embodiments, it should be understood that the steps on the first terminal device side, the steps on the second terminal device side, the steps on the network device side, the steps on the third terminal device side, and the steps on the fourth terminal device side can all be separately implemented as an embodiment of the method for transmitting authentication information. For specific explanations, please refer to the above content.

[0477] In addition, the authentication information transmission methods provided in the above embodiments can be implemented in combination.

[0478] Exemplarily, the method for transmitting authentication information may be implemented as follows:

[0479] Step 1-1: The network device receives capability indication information sent by the first terminal device and / or the second terminal device;

[0480] Step 1-2: The network device sends behavior indication information to the first terminal device and / or the second terminal device;

[0481] Step 2: The first terminal device sends a reference signal to the second terminal device;

[0482] Step 3: The first terminal device sends a broadcast message;

[0483] Step 4: The second terminal device sends a request message to the first terminal device;

[0484] The request information is used to request the first authentication information associated with the first terminal device.

[0485] Step 5: The first terminal device sends a response message to the second terminal device requesting information;

[0486] The response message is used to provide the first authentication information to the second terminal device.

[0487] Step 6: The first terminal device verifies the legitimacy of the second authentication information, and / or the second terminal device verifies the legitimacy of the first authentication information:

[0488] Step 7: When there is a possibility of collision between the moving path of the first terminal device and the moving path of the second terminal device, the first terminal device and / or the second terminal device performs anti-collision processing;

[0489] Step 8-1: The second terminal device sends an expulsion warning message to the network device or the first terminal device;

[0490] Step 8-2: The first terminal device sends an expulsion alarm message to the network device or the second terminal device.

[0491] For the relevant descriptions involved in the above steps, please refer to the above content and will not be repeated here.

[0492] At the same time, all combination implementations that have not been listed are within the scope of protection of this application and will not be listed one by one.

[0493] According to the above content, before performing anti-collision processing, the first terminal device and / or the second terminal device also need to perform collision detection. When the collision detection result shows that there is a possibility of collision between the moving path of the first terminal device and the moving path of the second terminal device, the first terminal device and / or the second terminal device will perform anti-collision processing again.

[0494] The following takes the second terminal device as an example to illustrate the collision detection performed by the second terminal device. The collision detection performed by the first terminal device is similar to the collision detection performed by the second terminal device and will not be described in detail.

[0495] Collision detection processing:

[0496] FIG17 shows a flowchart of a collision detection method provided by an exemplary embodiment of the present application. The method is executed by a second terminal device, and the method includes:

[0497] Step 602: Continuously monitor the location information of the first terminal device.

[0498] Step 604: Perform collision detection processing based on the monitoring results obtained during the continuous monitoring process.

[0499] It should be understood that the location information of the first terminal device can be obtained by continuous monitoring by the second terminal device, or can be provided by the first terminal device sending information to the second terminal device. For example, the first terminal device sends the location information of the first terminal device to the second terminal device; or the first terminal device sends first authentication information to the second terminal device, and the first authentication information at least carries the location information of the first terminal device.

[0500] In the embodiment of the present application, the second terminal device continuously monitors and obtains the location information of the first terminal device as an example. Exemplarily, the second terminal device determines the location information of the first terminal device through joint measurement with a fifth terminal device. The fifth terminal device can be one or more terminal devices.

[0501] Based on FIG. 17 , FIG. 18 shows a flowchart of a collision detection method provided by an exemplary embodiment of the present application. Step 604 can be implemented as step 6041 . The method further includes step 606 , which is specifically as follows:

[0502] Step 6041: Based on the location information of the first terminal device and the location information of the second terminal device obtained during the continuous monitoring process, determine whether there is a possibility of collision between the moving path of the first terminal device and the moving path of the second terminal device.

[0503] In the continuous monitoring process, the second terminal device simultaneously monitors the location information of the first terminal device and the location information of the second terminal device, and can obtain the location information of the first terminal device and the location information of the second terminal device according to the detection results.

[0504] Optionally, the detection result is obtained through a radar detection process.

[0505] After obtaining the location information of the first terminal device and the location information of the second terminal device, the second terminal device may perform a location comparison. For example, if the relative distance between the first terminal device and the second terminal device is relatively close, or if the location comparison determines that the movement paths of the first terminal device and the second terminal device are likely to intersect in the future, then it is determined that there is a possibility of a collision between the movement paths of the first terminal device and the second terminal device.

[0506] Step 606: When there is a possibility of collision between the moving path of the first terminal device and the moving path of the second terminal device, perform anti-collision processing.

[0507] Optionally, the anti-collision processing performed by the second terminal device includes at least one of the following processing methods:

[0508] The second terminal device modifies the moving path of the second terminal device;

[0509] Optionally, the second terminal device sends a fourth message to the fourth terminal device, where the fourth message is used to indicate that the moving path of the second terminal device has been modified.

[0510] The second terminal device sends a fifth message to the fourth terminal device;

[0511] Illustratively, the fifth message is used to indicate that there is a possibility of collision between the moving path of the first terminal device and the moving path of the second terminal device.

[0512] Optionally, the fourth terminal device sends third collision avoidance information to the second terminal device, where the third collision avoidance information is used to control the second terminal device to perform a collision avoidance operation.

[0513] The second terminal device sends a sixth message to the network device.

[0514] Illustratively, the sixth message is used to indicate that there is a possibility of collision between the moving path of the first terminal device and the moving path of the second terminal device.

[0515] Optionally, the sixth message also carries the first authentication information and / or the second authentication information.

[0516] Optionally, the network device sends fourth collision avoidance information to the second terminal device, where the fourth collision avoidance information is used to instruct the second terminal device to perform a collision avoidance operation.

[0517] The above-mentioned anti-collision processing can be referred to the above content and will not be repeated here.

[0518] In summary, the collision detection method provided in the embodiments of this application provides an implementation method for a second terminal device to perform collision detection. The second terminal device can perform collision detection by continuously detecting the location information of the first terminal device. Similarly, the first terminal device can also perform collision detection by continuously monitoring the location information of the second terminal device. For related descriptions, please refer to the aforementioned content and will not be repeated here.

[0519] Optionally, the location information of the first terminal device may also be provided by the first terminal device sending information. For example, the first terminal device sends first authentication information to the second terminal device, and the first authentication information includes at least the location information of the first terminal device.

[0520] It should be understood that the collision detection method provided in the embodiments of the present application can be implemented in combination with the authentication information transmission methods provided in the above-mentioned embodiments.

[0521] Exemplarily, the authentication information transmission method and the collision detection method may be combined and implemented as follows:

[0522] Step 1: The first terminal device sends a broadcast message;

[0523] The broadcast message carries the first authentication information associated with the first terminal device.

[0524] Step 2: After obtaining the first authentication information, the second terminal device continuously monitors the location information of the first terminal device; and performs collision detection processing based on the monitoring results obtained during the continuous monitoring process;

[0525] Step 3: When there is a possibility of collision between the moving path of the first terminal device and the moving path of the second terminal device, the second terminal device performs anti-collision processing;

[0526] Step 4: If the first authentication information is legal, the second terminal device sends an expulsion alarm message to the network device or the first terminal device.

[0527] For the relevant descriptions involved in the above steps, please refer to the above content and will not be repeated here.

[0528] At the same time, all combination implementations that have not been listed are within the scope of protection of this application and will not be listed one by one.

[0529] The following is an embodiment of the device of the present application. For details not described in detail in the embodiment of the device, reference can be made to the corresponding records in the above method embodiment, and no further details will be given herein.

[0530] FIG19 shows a schematic diagram of a device for transmitting authentication information provided by an exemplary embodiment of the present application, the device comprising:

[0531] The sending module 1910 is used to send the first authentication information associated with the first terminal device.

[0532] Optionally, the first authentication information includes at least one of the following information: location information of the first terminal device; mobile path planning information of the first terminal device; and identity identification information of the first terminal device.

[0533] Optionally, the first authentication information is used by the second terminal device to authenticate the first terminal device; and / or, the first authentication information is used by the second terminal device to perform anti-collision processing.

[0534] Optionally, the sending module 1910 is configured to send a broadcast message, where the broadcast message carries the first authentication information.

[0535] Optionally, the first terminal device determines the resource information required for sending the broadcast message through a protocol default method or a pre-configured method.

[0536] Optionally, the resource information includes at least one of the following information: frequency domain resource information for sending broadcast messages; period information for sending broadcast messages; offset information for the initial time for sending broadcast messages; and time window length information for sending broadcast messages.

[0537] Optionally, the sending module 1910 is used to send a reference signal to the second terminal device; send a broadcast message, and the broadcast message and the reference signal have at least a time correlation relationship; wherein the first authentication information is determined based on the reference signal and / or the broadcast message.

[0538] Optionally, the time association relationship is used to determine the time domain resource information used by the broadcast message based on the time domain resource information used by the reference signal.

[0539] Optionally, the first terminal device determines the frequency domain resource information required for sending the broadcast message by any one of the following methods: determined by a first numerical value agreed upon in the communication protocol; determined by a first frequency domain association relationship agreed upon in the communication protocol, the first frequency domain association relationship being used to indicate determining the frequency domain resource information used for the broadcast message based on the frequency domain resource information used by the reference signal; determined by a pre-configuration method.

[0540] Optionally, part of the first authentication information is determined based on a reference signal, and the remaining part is determined based on a broadcast message; or, all of the first authentication information is determined based on a broadcast message.

[0541] Optionally, the apparatus further includes a receiving module 1920, configured to receive request information sent by the second terminal device, where the request information is used to request the first authentication information.

[0542] Optionally, the sending module 1910 is further used to send a reference signal to the second terminal device; and / or send a broadcast message.

[0543] Optionally, the first terminal device determines the time domain resource information required for receiving the request information in any one of the following ways: determined by a second numerical value agreed upon in the communication protocol; determined by a first time domain association relationship agreed upon in the communication protocol, the first time domain association relationship being used to indicate that the time domain resource information used for the request information is determined based on the time domain resource information used by the reference signal; determined by a second time domain association relationship agreed upon in the communication protocol, the second time domain association relationship being used to indicate that the time domain resource information used for the request information is determined based on the time domain resource information used by the broadcast message; determined by information contained in the broadcast message; determined by information contained in the broadcast message and a third time domain association relationship agreed upon in the communication protocol, the third time domain association relationship being used to indicate that the time domain resource information used for the request information is determined based on the time domain resource information used by the reference signal and the information contained in the broadcast message; determined by information contained in the broadcast message and a fourth time domain association relationship agreed upon in the communication protocol, the fourth time domain association relationship being used to indicate that the time domain resource information used for the request information is determined based on the time domain resource information used by the broadcast message and the information contained in the broadcast message; determined by a pre-configuration method.

[0544] Optionally, the first terminal device determines the frequency domain resource information required for receiving the request information in any one of the following ways: determined by a third numerical value agreed upon in the communication protocol; determined by a second frequency domain association relationship agreed upon in the communication protocol, the second frequency domain association relationship being used to indicate that the frequency domain resource information used for the request information is determined based on the frequency domain resource information used by the reference signal; determined by a third frequency domain association relationship agreed upon in the communication protocol, the third frequency domain association relationship being used to indicate that the frequency domain resource information used for the request information is determined based on the frequency domain resource information used by the broadcast message; determined by information contained in the broadcast message; determined by information contained in the broadcast message and a fourth frequency domain association relationship agreed upon in the communication protocol, the fourth frequency domain association relationship being used to indicate that the frequency domain resource information used for the request information is determined based on the frequency domain resource information used by the reference signal and the information contained in the broadcast message; determined by information contained in the broadcast message and a fifth frequency domain association relationship agreed upon in the communication protocol, the fifth frequency domain association relationship being used to indicate that the frequency domain resource information used for the request information is determined based on the frequency domain resource information used by the broadcast message and the information contained in the broadcast message; determined by a pre-configuration method.

[0545] Optionally, the request information carries second authentication information associated with the second terminal device.

[0546] Optionally, the second authentication information includes at least one of the following information: location information of the second terminal device; mobile path planning information of the second terminal device; and identity identification information of the second terminal device.

[0547] Optionally, the second authentication information is used by the first terminal to authenticate the second terminal device; and / or, the second authentication information is used by the first terminal device to perform anti-collision processing.

[0548] Optionally, identity authentication is implemented in one of the following ways: querying a local server to verify the legitimacy of the second authentication information; verifying the legitimacy of the second authentication information through information interaction with a network device.

[0549] Optionally, the apparatus further includes a processing module 1930 configured to perform anti-collision processing when there is a possibility of collision between the moving path of the second terminal device and the moving path of the first terminal device.

[0550] Optionally, the processing module 1930 is used to modify the moving path of the first terminal device.

[0551] Optionally, the sending module 1910 is further used to send a first message to a third terminal device, where the first message is used to indicate that the moving path of the first terminal device has been modified, and the third terminal device is a device used to control the first terminal device.

[0552] Optionally, the processing module 1930 is used to send a second message to a third terminal device, where the second message is used to indicate that there is a possibility of collision between the moving paths of the first terminal device and the second terminal device, and the third terminal device is a device used to control the first terminal device.

[0553] Optionally, the sending module 1910 is further used to receive first collision avoidance information sent by a third terminal device, where the first collision avoidance information is used to control the first terminal device to perform a collision avoidance operation.

[0554] Optionally, the processing module 1930 is configured to send a third message to the network device, where the third message is configured to indicate that there is a possibility of collision between the moving path of the first terminal device and the moving path of the second terminal device.

[0555] Optionally, the third message also carries the first authentication information; and / or the second authentication information.

[0556] Optionally, the sending module 1910 is further used to receive second collision avoidance information sent by the network device, where the second collision avoidance information is used to instruct the first terminal device to perform a collision avoidance operation.

[0557] Optionally, the sending module 1910 is used to send a response message of the request information to the second terminal device, where the response message is used to provide the first authentication information to the second terminal device.

[0558] Optionally, the first terminal device determines the time domain resource information required for sending the response message through the fifth time domain association relationship agreed upon in the communication protocol, and the fifth time domain association relationship is used to indicate the time domain resource information used for the response message determined according to the time domain resource information used by the request information; or, the first terminal device determines the time window information to which the time domain resource information required for sending the response message belongs through the fifth time domain association relationship, and the fifth time domain association relationship is used to indicate the time window information to which the time domain resource information used for the response message determined according to the time domain resource information used by the request information belongs.

[0559] Optionally, the first terminal device determines the frequency domain resource information required for sending the response message in any one of the following ways: determined by the fourth numerical value agreed upon in the communication protocol; determined by the sixth frequency domain association relationship agreed upon in the communication protocol, the sixth frequency domain association relationship being used to indicate that the frequency domain resource information used for the response message is determined based on the frequency domain resource information used by the reference signal; determined by the seventh frequency domain association relationship agreed upon in the communication protocol, the seventh frequency domain association relationship being used to indicate that the frequency domain resource information used for the response message is determined based on the frequency domain resource information used by the broadcast message; determined by the eighth frequency domain association relationship agreed upon in the communication protocol, the eighth frequency domain association relationship being used to indicate that the frequency domain resource information used for the response message is determined based on the frequency domain resource information used by the request information; determined by the information contained in the broadcast message; determined by the broadcast message. The ninth frequency domain association relationship is determined by the information contained in the broadcast message and the ninth frequency domain association relationship agreed upon in the communication protocol, the ninth frequency domain association relationship is used to indicate that the frequency domain resource information used for the response message is determined according to the frequency domain resource information used by the reference signal and the information contained in the broadcast message; the tenth frequency domain association relationship is determined by the information contained in the broadcast message and the tenth frequency domain association relationship agreed upon in the communication protocol, the tenth frequency domain association relationship is used to indicate that the frequency domain resource information used for the response message is determined according to the frequency domain resource information used by the broadcast message and the information contained in the broadcast message; the eleventh frequency domain association relationship is determined by the information contained in the broadcast message and the communication protocol, the eleventh frequency domain association relationship is used to indicate that the frequency domain resource information used for the response message is determined according to the frequency domain resource information used by the request information and the information contained in the broadcast message; it is determined by a pre-configuration method.

[0560] Optionally, the receiving module 1920 is further used to receive behavior indication information sent by the network device; wherein the behavior indication information includes at least one of the following information: whether the first terminal device and / or the second terminal device is allowed to obtain authentication information associated with other terminal devices, and the other terminal devices are devices different from the first terminal device and / or the second terminal device; whether the first terminal device and / or the second terminal device is allowed to verify the obtained authentication information; whether the first terminal device and / or the second terminal device is allowed to send information to drive away other terminal devices; whether the first terminal device and / or the second terminal device is allowed to perform collision detection processing; whether the first terminal device and / or the second terminal device is allowed to perform anti-collision processing.

[0561] Optionally, the sending module 1910 is also used to send capability indication information to the network device; wherein the capability indication information includes at least one of the following information: whether the first terminal device and / or the second terminal device is capable of obtaining authentication information associated with other terminal devices, where other terminal devices are devices different from the first terminal device and / or the second terminal device; whether the first terminal device and / or the second terminal device is qualified to obtain authentication information associated with other terminal devices; whether the first terminal device and / or the second terminal device is capable of verifying the obtained authentication information associated with other terminal devices; whether the first terminal device and / or the second terminal device is qualified to verify the obtained authentication information associated with other terminal devices; whether the first terminal device and / or the second terminal device is capable of driving away other terminal devices; whether the first terminal device and / or the second terminal device is qualified to drive away other terminal devices; whether the first terminal device and / or the second terminal device is capable of performing collision detection processing; whether the first terminal device and / or the second terminal device is qualified to perform collision detection processing; whether the first terminal device and / or the second terminal device is capable of performing anti-collision processing; whether the first terminal device and / or the second terminal device is qualified to perform anti-collision processing.

[0562] FIG20 shows a schematic diagram of a device for transmitting authentication information provided by an exemplary embodiment of the present application, the device comprising:

[0563] The receiving module 2010 is configured to receive first authentication information sent by a first terminal device, where the first authentication information is authentication information associated with the first terminal device.

[0564] Optionally, the first authentication information includes at least one of the following information: location information of the first terminal device; mobile path planning information of the first terminal device; and identity identification information of the first terminal device.

[0565] Optionally, the first authentication information is used by the second terminal device to authenticate the first terminal device; and / or, the first authentication information is used by the second terminal device to perform anti-collision processing.

[0566] Optionally, the receiving module 2010 is used to receive a broadcast message sent by the first terminal device, where the broadcast message carries the first authentication information.

[0567] Optionally, the second terminal device determines the resource information required for receiving the broadcast message through a protocol default method or a pre-configured method.

[0568] Optionally, the resource information includes at least one of the following information: frequency domain resource information for sending broadcast messages; period information for sending broadcast messages; offset information for the initial time for sending broadcast messages; and time window length information for sending broadcast messages.

[0569] Optionally, the receiving module 2010 is configured to receive a reference signal sent by the first terminal device; receive a broadcast message sent by the first terminal device, where the broadcast message and the reference signal have at least a temporal correlation relationship; wherein the first authentication information is determined based on the reference signal and / or the broadcast message.

[0570] Optionally, the time association relationship is used to determine the time domain resource information used by the broadcast message based on the time domain resource information used by the reference signal.

[0571] Optionally, the second terminal device determines the frequency domain resource information required for receiving the broadcast message in any one of the following ways: determined by a first numerical value agreed upon in the communication protocol; determined by a first frequency domain association relationship agreed upon in the communication protocol, the first frequency domain association relationship being used to indicate determining the frequency domain resource information used for the broadcast message based on the frequency domain resource information used by the reference signal; determined by a pre-configuration method.

[0572] Optionally, part of the first authentication information is determined based on a reference signal, and the remaining part is determined based on a broadcast message; or, all of the first authentication information is determined based on a broadcast message.

[0573] Optionally, the apparatus further includes a sending module 2020, configured to send a request message to the first terminal device, where the request message is used to request the first authentication information.

[0574] Optionally, the receiving module 2010 is further used to receive a reference signal sent by the first terminal device; and / or receive a broadcast message sent by the first terminal device.

[0575] Optionally, the second terminal device determines the time domain resource information required for sending the request information in any one of the following ways: determined by a second numerical value agreed upon in the communication protocol; determined by a first time domain association relationship agreed upon in the communication protocol, the first time domain association relationship being used to indicate that the time domain resource information used for the request information is determined based on the time domain resource information used by the reference signal; determined by a second time domain association relationship agreed upon in the communication protocol, the second time domain association relationship being used to indicate that the time domain resource information used for the request information is determined based on the time domain resource information used by the broadcast message; determined by information contained in the broadcast message; determined by information contained in the broadcast message and a third time domain association relationship agreed upon in the communication protocol, the third time domain association relationship being used to indicate that the time domain resource information used for the request information is determined based on the time domain resource information used by the reference signal and the information contained in the broadcast message; determined by information contained in the broadcast message and a fourth time domain association relationship agreed upon in the communication protocol, the fourth time domain association relationship being used to indicate that the time domain resource information used for the request information is determined based on the time domain resource information used by the broadcast message and the information contained in the broadcast message; determined by a pre-configuration method.

[0576] Optionally, the second terminal device determines the frequency domain resource information required for sending the request information in any one of the following ways: determined by a third numerical value agreed upon in the communication protocol; determined by a second frequency domain association relationship agreed upon in the communication protocol, the second frequency domain association relationship being used to indicate that the frequency domain resource information used for the request information is determined based on the frequency domain resource information used by the reference signal; determined by a third frequency domain association relationship agreed upon in the communication protocol, the third frequency domain association relationship being used to indicate that the frequency domain resource information used for the request information is determined based on the frequency domain resource information used by the broadcast message; determined by information contained in the broadcast message; determined by information contained in the broadcast message and a fourth frequency domain association relationship agreed upon in the communication protocol, the fourth frequency domain association relationship being used to indicate that the frequency domain resource information used for the request information is determined based on the frequency domain resource information used by the reference signal and the information contained in the broadcast message; determined by information contained in the broadcast message and a fifth frequency domain association relationship agreed upon in the communication protocol, the fifth frequency domain association relationship being used to indicate that the frequency domain resource information used for the request information is determined based on the frequency domain resource information used by the broadcast message and the information contained in the broadcast message; determined by a pre-configuration method.

[0577] Optionally, the request information carries second authentication information associated with the second terminal device.

[0578] Optionally, the second authentication information includes at least one of the following information: location information of the second terminal device; mobile path planning information of the second terminal device; and identity identification information of the second terminal device.

[0579] Optionally, the second authentication information is used by the first terminal to authenticate the second terminal device; and / or, the second authentication information is used by the first terminal device to perform anti-collision processing.

[0580] Optionally, the receiving module 2010 is used to receive a response message to the request information sent by the first terminal device, and the response message is used to provide the first authentication information to the second terminal device.

[0581] Optionally, the second terminal device determines the time domain resource information required for receiving the response message through the fifth time domain association relationship agreed upon in the communication protocol, and the fifth time domain association relationship is used to indicate the time domain resource information used for the response message determined according to the time domain resource information used by the request information; or, the second terminal device determines the time window information to which the time domain resource information required for receiving the response message belongs through the fifth time domain association relationship, and the fifth time domain association relationship is used to indicate the time window information to which the time domain resource information used for the response message determined according to the time domain resource information used by the request information belongs.

[0582] Optionally, the second terminal device determines the frequency domain resource information required for receiving the response message in any one of the following ways: determined by the fourth numerical value agreed upon in the communication protocol; determined by the sixth frequency domain association relationship agreed upon in the communication protocol, the sixth frequency domain association relationship being used to indicate that the frequency domain resource information used for the response message is determined based on the frequency domain resource information used by the reference signal; determined by the seventh frequency domain association relationship agreed upon in the communication protocol, the seventh frequency domain association relationship being used to indicate that the frequency domain resource information used for the response message is determined based on the frequency domain resource information used by the broadcast message; determined by the eighth frequency domain association relationship agreed upon in the communication protocol, the eighth frequency domain association relationship being used to indicate that the frequency domain resource information used for the response message is determined based on the frequency domain resource information used by the request information; determined by the information contained in the broadcast message; determined by the broadcast message. The ninth frequency domain association relationship is determined by the information contained in the broadcast message and the ninth frequency domain association relationship agreed upon in the communication protocol, the ninth frequency domain association relationship is used to indicate that the frequency domain resource information used for the response message is determined according to the frequency domain resource information used by the reference signal and the information contained in the broadcast message; the tenth frequency domain association relationship is determined by the information contained in the broadcast message and the tenth frequency domain association relationship agreed upon in the communication protocol, the tenth frequency domain association relationship is used to indicate that the frequency domain resource information used for the response message is determined according to the frequency domain resource information used by the broadcast message and the information contained in the broadcast message; the eleventh frequency domain association relationship is determined by the information contained in the broadcast message and the communication protocol, the eleventh frequency domain association relationship is used to indicate that the frequency domain resource information used for the response message is determined according to the frequency domain resource information used by the request information and the information contained in the broadcast message; it is determined by a pre-configuration method.

[0583] Optionally, the response message is one of a unicast message, a multicast message, and a broadcast message.

[0584] Optionally, the apparatus further includes a processing module 2030, configured to perform identity authentication on the first terminal device according to the first authentication information.

[0585] Optionally, the processing module 2030 is configured to query a local server to verify the legitimacy of the first authentication information.

[0586] Optionally, the sending module 2020 is further configured to send first expulsion warning information to the first terminal device; wherein the first expulsion warning information is used to instruct the first terminal device to leave the area.

[0587] Optionally, the sending module 2020 is further used to send a second expulsion alarm message to the network device; wherein the second expulsion alarm message is used to instruct the network device to send a third expulsion alarm message to the first terminal device or the third terminal device; the third expulsion alarm message is used to instruct the first terminal device to leave the area, or the third expulsion alarm message is used to notify the third terminal device to control the first terminal device to leave the area; the third terminal device is a device used to control the first terminal device.

[0588] Optionally, the processing module 2030 is further configured to verify the legitimacy of the first authentication information through information interaction with the network device.

[0589] Optionally, the processing module 2030 is configured to send the identity information of the first terminal device to the network device; or send the identity information of the first terminal device and the location information of the first terminal device to the network device.

[0590] Optionally, the receiving module 2010 is also used to receive a first reply message sent by the network device, the first reply message is used to indicate that the identity identification information of the first terminal device is not recorded or the verification fails; or, to receive a second reply message sent by the network device, the second reply message is used to indicate that the identity identification information of the first terminal device is recorded or the verification succeeds, so as to verify the legality of the first authentication information.

[0591] Optionally, the processing module 2030 is configured to send an expulsion alarm message to the network device or the first terminal device; wherein the expulsion alarm message is used to instruct the first terminal device to leave the area where it is located.

[0592] Optionally, the processing module 2030 is further configured to perform anti-collision processing when there is a possibility of collision between the moving path of the first terminal device and the moving path of the second terminal device.

[0593] Optionally, the processing module 2030 is configured to modify the moving path of the second terminal device.

[0594] Optionally, the sending module 2020 is further used to send a fourth message to a fourth terminal device, where the fourth message is used to indicate that the moving path of the second terminal device has been modified, and the fourth terminal device is a device used to control the second terminal device.

[0595] Optionally, the processing module 2030 is used to send a fifth message to a fourth terminal device, where the fifth message is used to indicate that there is a possibility of collision between the moving path of the first terminal device and the moving path of the second terminal device, and the fourth terminal device is a device used to control the second terminal device.

[0596] Optionally, the receiving module 2010 is further used to receive third collision avoidance information from a fourth terminal device, where the third collision avoidance information is used to control the second terminal device to perform a collision avoidance operation.

[0597] Optionally, the processing module 2030 is configured to send a sixth message to the network device, where the sixth message is configured to indicate that there is a possibility of collision between the moving path of the first terminal device and the moving path of the second terminal device.

[0598] Optionally, the sixth message also carries first authentication information; and / or second authentication information.

[0599] Optionally, the receiving module 2010 is further used to receive fourth collision avoidance information sent by the network device, where the fourth collision avoidance information is used to instruct the second terminal device to perform a collision avoidance operation.

[0600] Optionally, the receiving module 2010 is further used to receive behavior indication information sent by the network device; wherein the behavior indication information includes at least one of the following information: whether the first terminal device and / or the second terminal device is allowed to obtain authentication information associated with other terminal devices, and the other terminal devices are devices different from the first terminal device and / or the second terminal device; whether the first terminal device and / or the second terminal device is allowed to verify the obtained authentication information; whether the first terminal device and / or the second terminal device is allowed to send information to drive away other terminal devices; whether the first terminal device and / or the second terminal device is allowed to perform collision detection processing; whether the first terminal device and / or the second terminal device is allowed to perform anti-collision processing.

[0601] Optionally, the sending module 2020 is also used to send capability indication information to the network device; wherein the capability indication information includes at least one of the following information: whether the first terminal device and / or the second terminal device is capable of obtaining authentication information associated with other terminal devices, and the other terminal devices are devices different from the first terminal device and / or the second terminal device; whether the first terminal device and / or the second terminal device is qualified to obtain authentication information associated with other terminal devices; whether the first terminal device and / or the second terminal device is capable of verifying the obtained authentication information associated with other terminal devices; whether the first terminal device and / or the second terminal device is qualified to verify the obtained authentication information associated with other terminal devices; whether the first terminal device and / or the second terminal device is capable of driving away other terminal devices; whether the first terminal device and / or the second terminal device is qualified to drive away other terminal devices; whether the first terminal device and / or the second terminal device is capable of performing collision detection processing; whether the first terminal device and / or the second terminal device is qualified to perform collision detection processing; whether the first terminal device and / or the second terminal device is capable of performing anti-collision processing; whether the first terminal device and / or the second terminal device is qualified to perform anti-collision processing.

[0602] FIG21 shows a schematic diagram of a collision detection device provided by an exemplary embodiment of the present application, the device comprising:

[0603] Monitoring module 2110, configured to continuously monitor the location information of the first terminal device;

[0604] The processing module 2120 is used to perform collision detection processing according to the monitoring results obtained during the continuous monitoring process.

[0605] Optionally, the monitoring module 2110 is configured to determine whether there is a possibility of collision between the moving path of the first terminal device and the moving path of the second terminal device based on the monitoring results obtained during the continuous monitoring process and the location information of the second terminal device.

[0606] Optionally, the processing module 2120 is further configured to perform anti-collision processing when there is a possibility of collision between the moving path of the first terminal device and the moving path of the second terminal device.

[0607] FIG22 shows a schematic diagram of a device for transmitting authentication information provided by an exemplary embodiment of the present application, the device comprising:

[0608] Receiving module 2210, configured to receive second authentication information sent by the first terminal device;

[0609] The second authentication information is authentication information associated with the second terminal device.

[0610] Optionally, the first authentication information includes one of the following information: location information of the first terminal device; mobile path planning information of the first terminal device; and identity identification information of the first terminal device.

[0611] Optionally, the first authentication information is used by the second terminal device to authenticate the first terminal device; and / or, the first authentication information is used by the second terminal device to perform anti-collision processing.

[0612] Optionally, the receiving module 2210 is configured to receive identity information of the first terminal device sent by the second terminal device; or to receive identity information of the first terminal device and location information of the first terminal device sent by the second terminal device.

[0613] Optionally, the device also includes a sending module 2220, which is used to send a first reply message to the second terminal device, where the first reply message is used to indicate that the identity identification information of the first terminal device is not recorded or the verification fails; or, to send a second reply message to the second terminal device, where the second reply message is used to indicate that the identity identification information of the first terminal device is recorded or the verification succeeds, so as to verify the legality of the first authentication information.

[0614] Optionally, the receiving module 2210 is further used to receive second expulsion warning information sent by the second terminal device; wherein the second expulsion warning information is used to instruct the network device to send third expulsion warning information to the first terminal device or the third terminal device; the third expulsion warning information is used to instruct the first terminal device to leave the area, or the third expulsion warning information is used to notify the third terminal device to control the first terminal device to leave the area; the third terminal device is a device used to control the first terminal device.

[0615] Optionally, the receiving module 2210 is further used to receive a sixth message sent by the second terminal device, where the sixth message is used to indicate that there is a possibility of collision between the moving path of the first terminal device and the moving path of the second terminal device.

[0616] Optionally, the sixth message also carries first authentication information; and / or second authentication information.

[0617] Optionally, the sending module 2220 is further used to send fourth collision avoidance information to the second terminal device, where the fourth collision avoidance information is used to instruct the second terminal device to perform a collision avoidance operation.

[0618] Optionally, the receiving module 2210 is further used to receive second authentication information sent by the first terminal device; wherein the second authentication information is authentication information associated with the second terminal device.

[0619] Optionally, the second authentication information includes at least one of the following information: location information of the second terminal device; mobile path planning information of the second terminal device; and identity identification information of the second terminal device.

[0620] Optionally, the second authentication information is used by the first terminal device to authenticate the second terminal device; and / or, the second authentication information is used by the first terminal device to perform anti-collision processing.

[0621] Optionally, the receiving module 2210 is configured to receive identity information of a second terminal device sent by the first terminal device; or receive identity information of the second terminal device and location information of the second terminal device sent by the first terminal device.

[0622] Optionally, the sending module 2220 is also used to send a third reply message to the first terminal device, where the third reply message is used to indicate that the identity identification information of the second terminal device has not been recorded or verification has failed; or, to send a fourth reply message to the first terminal device, where the fourth reply message is used to indicate that the identity identification information of the second terminal device has been recorded or verification has succeeded, so as to verify the legality of the second authentication information.

[0623] Optionally, the receiving module 2210 is further used to receive fourth expulsion warning information sent by the first terminal device; wherein the fourth expulsion warning information is used to instruct the network device to send fifth expulsion warning information to the second terminal device or the fourth terminal device; the fifth expulsion warning information is used to instruct the second terminal device to leave the area, or the fifth expulsion warning information is used to notify the fourth terminal device to control the second terminal device to leave the area; the fourth terminal device is a device used to control the second terminal device.

[0624] Optionally, the receiving module 2210 is further used to receive a third message sent by the first terminal device, where the third message is used to indicate that there is a possibility of collision between the moving path of the first terminal device and the moving path of the second terminal device.

[0625] Optionally, the third message also carries the first authentication information; and / or the second authentication information.

[0626] Optionally, the sending module 2220 is further used to send second collision avoidance information to the first terminal device, where the second collision avoidance information is used to instruct the first terminal device to perform a collision avoidance operation.

[0627] Optionally, the sending module 2220 is further used to send behavior indication information to the first terminal device and / or the second terminal device; wherein the behavior indication information includes at least one of the following information: whether the first terminal device and / or the second terminal device is allowed to obtain authentication information associated with other terminal devices, where the other terminal devices are devices different from the first terminal device and / or the second terminal device; whether the first terminal device and / or the second terminal device is allowed to verify the obtained authentication information; whether the first terminal device and / or the second terminal device is allowed to send information to drive away other terminal devices; whether the first terminal device and / or the second terminal device is allowed to perform collision detection processing; and whether the first terminal device and / or the second terminal device is allowed to perform anti-collision processing.

[0628] Optionally, the receiving module 2210 is further used to receive capability indication information sent by the first terminal device and / or the second terminal device; wherein the capability indication information includes at least one of the following information: whether the first terminal device and / or the second terminal device is capable of obtaining authentication information associated with other terminal devices, where other terminal devices are devices different from the first terminal device and / or the second terminal device; whether the first terminal device and / or the second terminal device is qualified to obtain authentication information associated with other terminal devices; whether the first terminal device and / or the second terminal device is capable of verifying the obtained authentication information associated with other terminal devices; whether the first terminal device and / or the second terminal device is qualified to verify the obtained authentication information associated with other terminal devices; whether the first terminal device and / or the second terminal device is capable of driving away other terminal devices; whether the first terminal device and / or the second terminal device is qualified to drive away other terminal devices; whether the first terminal device and / or the second terminal device is capable of performing collision detection processing; whether the first terminal device and / or the second terminal device is qualified to perform collision detection processing; whether the first terminal device and / or the second terminal device is capable of performing anti-collision processing; whether the first terminal device and / or the second terminal device is qualified to perform anti-collision processing.

[0629] Figure 23 shows a schematic structural diagram of a communication device (terminal or network device) provided by an exemplary embodiment of the present application. The communication device includes: a processor 2301, a receiver 2302, a transmitter 2303, a memory 2304 and a bus 2305.

[0630] The processor 2301 includes one or more processing cores. The processor 2301 executes various functional applications and information processing by running software programs and modules.

[0631] The receiver 2302 and the transmitter 2303 may be implemented as a communication component, which may be a communication chip.

[0632] The memory 2304 is connected to the processor 2301 via a bus 2305 .

[0633] The memory 2304 may be used to store at least one instruction, and the processor 2301 may be used to execute the at least one instruction to implement the various steps of the authentication information transmission method or the collision detection method mentioned in the above method embodiment.

[0634] In addition, the memory 2304 can be implemented by any type of volatile or non-volatile storage device or a combination thereof. Volatile or non-volatile storage devices include but are not limited to: magnetic disks or optical disks, electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), static random access memory (SRAM), read-only memory (ROM), magnetic memory, flash memory, and programmable read-only memory (PROM).

[0635] The present application also provides a first terminal device, which includes a memory and a processor; the memory stores at least one program code, and the program code is loaded and executed by the processor to implement the authentication information transmission method as described above.

[0636] The present application also provides a second terminal device, which includes a memory and a processor; the memory stores at least one program code, and the program code is loaded and executed by the processor to implement the authentication information transmission method or the collision detection method as described above.

[0637] The present application also provides a network device, which includes a memory and a processor; the memory stores at least one program code, and the program code is loaded and executed by the processor to implement the authentication information transmission method or the collision detection method as described above.

[0638] The present application also provides a computer-readable storage medium, in which a computer program is stored. The computer program is used to be executed by a processor to implement the authentication information transmission method or the collision detection method as described above.

[0639] The present application also provides a chip, which includes a programmable logic circuit and / or program instructions. When an electronic device equipped with the chip is running, it is used to implement the above-mentioned authentication information transmission method or collision detection method.

[0640] The present application also provides a computer program product, which includes computer instructions, the computer instructions are stored in a computer-readable storage medium, and the processor reads and executes the computer instructions from the computer-readable storage medium to implement the authentication information transmission method or the collision detection method as described above.

[0641] The above description is merely an optional embodiment of the present application and is not intended to limit the present application. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present application shall be included in the scope of protection of the present application.

Claims

1. A method for transmitting authentication information, characterized in that: The method is performed by a first terminal device, and includes: Send first authentication information associated with the first terminal device.

2. The method according to claim 1, characterized in that The first authentication information includes at least one of the following information: location information of the first terminal device; Mobile path planning information of the first terminal device; The identity information of the first terminal device.

3. The method according to claim 1 or 2, characterized in that The first authentication information is used by the second terminal device to authenticate the first terminal device; And / or, the first authentication information is used for anti-collision processing by the second terminal device.

4. The method according to any one of claims 1 to 3, characterized in that: The sending of the first authentication information associated with the first terminal device includes: Send a broadcast message, where the broadcast message carries the first authentication information.

5. The method according to claim 4, characterized in that The first terminal device determines the resource information required for sending the broadcast message through a protocol default method or a pre-configured method.

6. The method according to claim 5, characterized in that The resource information includes at least one of the following information: Frequency domain resource information sent by the broadcast message; Periodic information of sending the broadcast message; The offset information of the initial time when the broadcast message is sent; The time window length information of the broadcast message is sent.

7. The method according to any one of claims 1 to 3, characterized in that: The sending of the first authentication information associated with the first terminal device includes: Sending a reference signal to the second terminal device; Sending a broadcast message, where the broadcast message is at least temporally associated with the reference signal; The first authentication information is determined according to the reference signal and / or the broadcast message.

8. The method according to claim 7, characterized in that The time association relationship is used to determine the time domain resource information used by the broadcast message according to the time domain resource information used by the reference signal.

9. The method according to claim 7 or 8, characterized in that The first terminal device determines the frequency domain resource information required for sending the broadcast message by any one of the following methods: Determined by a first value agreed upon by a communication protocol; Determined by a first frequency domain association relationship agreed upon by the communication protocol, the first frequency domain association relationship being used to indicate determining the frequency domain resource information used by the broadcast message according to the frequency domain resource information used by the reference signal; Determined by preconfiguration.

10. The method according to any one of claims 7 to 9, characterized in that: Part of the first authentication information is determined according to the reference signal, and the remaining part is determined according to the broadcast message; Alternatively, all information of the first authentication information is determined according to the broadcast message.

11. The method according to any one of claims 1 to 3, characterized in that: The method further comprises: Receive request information sent by the second terminal device, where the request information is used to request the first authentication information.

12. The method according to claim 11, characterized in that The method further comprises: Sending a reference signal to the second terminal device; and / or, sending a broadcast message.

13. The method according to claim 11 or 12, characterized in that The first terminal device determines the time domain resource information required for receiving the request information by any of the following methods: Determined by a second value agreed upon by the communication protocol; Determined by a first time domain association relationship agreed upon by the communication protocol, the first time domain association relationship being used to indicate determining the time domain resource information used by the request information based on the time domain resource information used by the reference signal; Determined by a second time domain association relationship agreed upon by the communication protocol, the second time domain association relationship is used to indicate that the time domain resource information used by the request information is determined according to the time domain resource information used by the broadcast message; Determined by information contained in the broadcast message; Determined by the information included in the broadcast message and the third time domain association relationship agreed upon in the communication protocol, the third time domain association relationship being used to indicate that the time domain resource information used by the request information is determined based on the time domain resource information used by the reference signal and the information included in the broadcast message; Determined by the information included in the broadcast message and the fourth time domain association relationship agreed upon in the communication protocol, the fourth time domain association relationship being used to indicate that the time domain resource information used by the request information is determined based on the time domain resource information used by the broadcast message and the information included in the broadcast message; Determined by preconfiguration.

14. The method according to any one of claims 11 to 13, characterized in that: The first terminal device determines the frequency domain resource information required for receiving the request information by any of the following methods: Determined by a third value agreed upon in the communication protocol; Determined by a second frequency domain association relationship agreed upon in the communication protocol, the second frequency domain association relationship is used to indicate that the frequency domain resource information used by the request information is determined according to the frequency domain resource information used by the reference signal; Determined by a third frequency domain association relationship agreed upon by the communication protocol, the third frequency domain association relationship is used to indicate that the frequency domain resource information used by the request information is determined according to the frequency domain resource information used by the broadcast message; Determined by information contained in the broadcast message; Determined by the information included in the broadcast message and the fourth frequency domain association relationship agreed upon in the communication protocol, the fourth frequency domain association relationship being used to indicate that the frequency domain resource information used by the request information is determined based on the frequency domain resource information used by the reference signal and the information included in the broadcast message; Determined by the information contained in the broadcast message and the fifth frequency domain association relationship agreed upon in the communication protocol, the fifth frequency domain association relationship is used to indicate that the frequency domain resource information used by the request information is determined according to the frequency domain resource information used by the broadcast message and the information contained in the broadcast message; Determined by preconfiguration.

15. The method according to any one of claims 11 to 14, characterized in that: The request information carries second authentication information associated with the second terminal device.

16. The method according to claim 15, characterized in that The second authentication information includes at least one of the following information: location information of the second terminal device; Mobile path planning information of the second terminal device; The identity information of the second terminal device.

17. The method according to claim 15 or 16, characterized in that The second authentication information is used by the first terminal to authenticate the second terminal device; And / or, the second authentication information is used for anti-collision processing by the first terminal device.

18. The method according to claim 17, characterized in that The authentication is achieved in one of the following ways: Querying a local server to verify the legitimacy of the second authentication information; The legitimacy of the second authentication information is verified by information interaction with the network device.

19. The method according to claim 17 or 18, characterized in that The method further comprises: When there is a possibility of collision between the moving path of the second terminal device and the moving path of the first terminal device, anti-collision processing is performed.

20. The method according to claim 19, characterized in that The anti-collision processing includes: Modify the moving path of the first terminal device.

21. The method according to claim 20, characterized in that The method further comprises: A first message is sent to a third terminal device, where the first message is used to indicate that a moving path of the first terminal device has been modified, and the third terminal device is a device used to control the first terminal device.

22. The method according to claim 19, wherein The anti-collision processing includes: A second message is sent to a third terminal device, where the second message is used to indicate that there is a possibility of collision between the moving paths of the first terminal device and the moving paths of the second terminal device. The third terminal device is a device used to control the first terminal device.

23. The method according to claim 22, characterized in that The method further comprises: Receive first collision avoidance information sent by the third terminal device, where the first collision avoidance information is used to control the first terminal device to perform a collision avoidance operation.

24. The method according to claim 19, wherein The anti-collision processing includes: A third message is sent to the network device, where the third message is used to indicate that there is a possibility of collision between the moving path of the first terminal device and the moving path of the second terminal device.

25. The method according to claim 24, characterized in that The third message also carries the first authentication information; and / or the second authentication information.

26. The method according to claim 24 or 25, characterized in that The method further comprises: Receive second collision avoidance information sent by the network device, where the second collision avoidance information is used to instruct the first terminal device to perform a collision avoidance operation.

27. The method according to any one of claims 11 to 26, characterized in that The sending of the first authentication information associated with the first terminal device includes: A response message of the request information is sent to the second terminal device, where the response message is used to provide the first authentication information to the second terminal device.

28. The method according to claim 27, characterized in that The first terminal device determines the time domain resource information required for sending the response message through a fifth time domain association relationship agreed upon in the communication protocol, where the fifth time domain association relationship is used to indicate that the time domain resource information used by the response message is determined based on the time domain resource information used by the request information; Alternatively, the first terminal device determines the time window information to which the time domain resource information required for sending the response message belongs through the fifth time domain association relationship, and the fifth time domain association relationship is used to indicate the time window information to which the time domain resource information used by the response message belongs based on the time domain resource information used by the request information.

29. The method according to claim 27 or 28, characterized in that The first terminal device determines the frequency domain resource information required for sending the response message by any of the following methods: Determined by a fourth value agreed upon by the communication protocol; Determined by a sixth frequency domain association relationship agreed upon in the communication protocol, the sixth frequency domain association relationship being used to indicate determining the frequency domain resource information used by the response message according to the frequency domain resource information used by the reference signal; Determined by a seventh frequency domain association relationship agreed upon in the communication protocol, the seventh frequency domain association relationship being used to indicate determining the frequency domain resource information used by the response message based on the frequency domain resource information used by the broadcast message; Determined by an eighth frequency domain association relationship agreed upon by the communication protocol, the eighth frequency domain association relationship is used to indicate that the frequency domain resource information used by the response message is determined according to the frequency domain resource information used by the request information; Determined by information contained in the broadcast message; Determined by the information included in the broadcast message and a ninth frequency domain association relationship agreed upon in the communication protocol, the ninth frequency domain association relationship being used to indicate that the frequency domain resource information used by the response message is determined based on the frequency domain resource information used by the reference signal and the information included in the broadcast message; Determined by the information contained in the broadcast message and the tenth frequency domain association relationship agreed upon in the communication protocol, the tenth frequency domain association relationship is used to indicate that the frequency domain resource information used by the response message is determined according to the frequency domain resource information used by the broadcast message and the information contained in the broadcast message; Determined by the information included in the broadcast message and the eleventh frequency domain association relationship agreed upon in the communication protocol, the eleventh frequency domain association relationship is used to indicate that the frequency domain resource information used by the response message is determined according to the frequency domain resource information used by the request information and the information included in the broadcast message; Determined by preconfiguration.

30. The method according to any one of claims 27 to 29, characterized in that The response message is one of a unicast message, a multicast message and a broadcast message.

31. The method according to any one of claims 1 to 30, characterized in that The method further comprises: receiving behavior indication information sent by a network device; The behavior instruction information includes at least one of the following information: whether the first terminal device is allowed to obtain authentication information associated with other terminal devices, where the other terminal devices are devices different from the first terminal device; whether the first terminal device is allowed to verify the acquired authentication information; whether the first terminal device is allowed to send information to drive away the other terminal devices; whether the first terminal device is allowed to perform collision detection processing; Whether the first terminal device is allowed to perform anti-collision processing.

32. The method according to any one of claims 1 to 31, characterized in that The method further comprises: Sending capability indication information to the network device; The capability indication information includes at least one of the following information: whether the first terminal device is capable of obtaining authentication information associated with other terminal devices, where the other terminal devices are devices different from the first terminal device; whether the first terminal device is eligible to obtain the authentication information associated with the other terminal devices; whether the first terminal device is capable of verifying the acquired authentication information associated with the other terminal device; whether the first terminal device is eligible to verify the acquired authentication information associated with the other terminal device; whether the first terminal device is capable of driving away the other terminal devices; whether the first terminal device is eligible to drive away the other terminal devices; whether the first terminal device is capable of performing collision detection processing; whether the first terminal device is eligible for collision detection processing; whether the first terminal device is capable of performing anti-collision processing; Whether the first terminal device is eligible for anti-collision processing.

33. A method for transmitting authentication information, characterized in that: The method is performed by a second terminal device, and the method includes: Receive first authentication information sent by a first terminal device, where the first authentication information is authentication information associated with the first terminal device.

34. The method according to claim 33, wherein The first authentication information includes at least one of the following information: location information of the first terminal device; Mobile path planning information of the first terminal device; The identity information of the first terminal device.

35. The method according to claim 33 or 34, characterized in that The first authentication information is used by the second terminal device to authenticate the first terminal device; And / or, the first authentication information is used for anti-collision processing by the second terminal device.

36. The method according to any one of claims 33 to 35, characterized in that The receiving the first authentication information sent by the first terminal device includes: Receive a broadcast message sent by the first terminal device, where the broadcast message carries the first authentication information.

37. The method according to claim 36, characterized in that The second terminal device determines the resource information required for receiving the broadcast message through a protocol default method or a pre-configured method.

38. The method according to claim 37, wherein The resource information includes at least one of the following information: Frequency domain resource information sent by the broadcast message; Periodic information of sending the broadcast message; The offset information of the initial time when the broadcast message is sent; The time window length information of the broadcast message is sent.

39. The method according to any one of claims 33 to 35, characterized in that The receiving the first authentication information sent by the first terminal device includes: receiving a reference signal sent by the first terminal device; receiving a broadcast message sent by the first terminal device, where the broadcast message is at least temporally associated with the reference signal; The first authentication information is determined according to the reference signal and / or the broadcast message.

40. The method according to claim 39, wherein The time association relationship is used to determine the time domain resource information used by the broadcast message according to the time domain resource information used by the reference signal.

41. The method according to claim 39 or 40, characterized in that The second terminal device determines the frequency domain resource information required for receiving the broadcast message by any one of the following methods: Determined by a first value agreed upon by a communication protocol; Determined by a first frequency domain association relationship agreed upon by the communication protocol, the first frequency domain association relationship being used to indicate determining the frequency domain resource information used by the broadcast message according to the frequency domain resource information used by the reference signal; Determined by preconfiguration.

42. The method according to any one of claims 39 to 41, characterized in that Part of the first authentication information is determined according to the reference signal, and the remaining part is determined according to the broadcast message; Alternatively, all information of the first authentication information is determined according to the broadcast message.

43. The method according to any one of claims 33 to 35, characterized in that The method further comprises: Send a request message to the first terminal device, where the request message is used to request the first authentication information.

44. The method according to claim 43, wherein The method further comprises: receiving a reference signal sent by the first terminal device; And / or, receiving a broadcast message sent by the first terminal device.

45. The method according to claim 43 or 44, characterized in that The second terminal device determines the time domain resource information required for sending the request information by any of the following methods: Determined by a second value agreed upon by the communication protocol; Determined by a first time domain association relationship agreed upon by the communication protocol, the first time domain association relationship being used to indicate determining the time domain resource information used by the request information based on the time domain resource information used by the reference signal; Determined by a second time domain association relationship agreed upon by the communication protocol, the second time domain association relationship is used to indicate that the time domain resource information used by the request information is determined according to the time domain resource information used by the broadcast message; Determined by information contained in the broadcast message; Determined by the information included in the broadcast message and the third time domain association relationship agreed upon in the communication protocol, the third time domain association relationship being used to indicate that the time domain resource information used by the request information is determined based on the time domain resource information used by the reference signal and the information included in the broadcast message; Determined by the information included in the broadcast message and the fourth time domain association relationship agreed upon in the communication protocol, the fourth time domain association relationship being used to indicate that the time domain resource information used by the request information is determined based on the time domain resource information used by the broadcast message and the information included in the broadcast message; Determined by preconfiguration.

46. ​​The method according to any one of claims 43 to 45, characterized in that The second terminal device determines the frequency domain resource information required for sending the request information by any of the following methods: Determined by a third value agreed upon in the communication protocol; Determined by a second frequency domain association relationship agreed upon in the communication protocol, the second frequency domain association relationship is used to indicate that the frequency domain resource information used by the request information is determined according to the frequency domain resource information used by the reference signal; Determined by a third frequency domain association relationship agreed upon by the communication protocol, the third frequency domain association relationship is used to indicate that the frequency domain resource information used by the request information is determined according to the frequency domain resource information used by the broadcast message; Determined by information contained in the broadcast message; Determined by the information included in the broadcast message and the fourth frequency domain association relationship agreed upon in the communication protocol, the fourth frequency domain association relationship being used to indicate that the frequency domain resource information used by the request information is determined based on the frequency domain resource information used by the reference signal and the information included in the broadcast message; Determined by the information contained in the broadcast message and the fifth frequency domain association relationship agreed upon in the communication protocol, the fifth frequency domain association relationship is used to indicate that the frequency domain resource information used by the request information is determined according to the frequency domain resource information used by the broadcast message and the information contained in the broadcast message; Determined by preconfiguration.

47. The method according to any one of claims 43 to 46, characterized in that The request information carries second authentication information associated with the second terminal device.

48. The method according to claim 47, wherein The second authentication information includes at least one of the following information: location information of the second terminal device; Mobile path planning information of the second terminal device; The identity information of the second terminal device.

49. The method according to claim 47 or 48, characterized in that The second authentication information is used by the first terminal to authenticate the second terminal device; And / or, the second authentication information is used for anti-collision processing by the first terminal device.

50. The method according to any one of claims 43 to 49, characterized in that The receiving the first authentication information sent by the first terminal device includes: Receive a response message to the request information sent by the first terminal device, where the response message is used to provide the first authentication information to the second terminal device.

51. The method according to claim 50, characterized in that The second terminal device determines the time domain resource information required for receiving the response message through a fifth time domain association relationship agreed upon in the communication protocol, where the fifth time domain association relationship is used to indicate that the time domain resource information used by the response message is determined based on the time domain resource information used by the request information; Alternatively, the second terminal device determines the time window information to which the time domain resource information required for receiving the response message belongs through the fifth time domain association relationship, and the fifth time domain association relationship is used to indicate the time window information to which the time domain resource information used by the response message belongs based on the time domain resource information used by the request information.

52. The method according to claim 50 or 51, characterized in that The second terminal device determines the frequency domain resource information required for receiving the response message by any of the following methods: Determined by a fourth value agreed upon by the communication protocol; Determined by a sixth frequency domain association relationship agreed upon in the communication protocol, the sixth frequency domain association relationship being used to indicate determining the frequency domain resource information used by the response message according to the frequency domain resource information used by the reference signal; Determined by a seventh frequency domain association relationship agreed upon in the communication protocol, the seventh frequency domain association relationship being used to indicate determining the frequency domain resource information used by the response message based on the frequency domain resource information used by the broadcast message; Determined by an eighth frequency domain association relationship agreed upon by the communication protocol, the eighth frequency domain association relationship is used to indicate that the frequency domain resource information used by the response message is determined according to the frequency domain resource information used by the request information; Determined by information contained in the broadcast message; Determined by the information included in the broadcast message and a ninth frequency domain association relationship agreed upon in the communication protocol, the ninth frequency domain association relationship being used to indicate that the frequency domain resource information used by the response message is determined based on the frequency domain resource information used by the reference signal and the information included in the broadcast message; Determined by the information contained in the broadcast message and the tenth frequency domain association relationship agreed upon in the communication protocol, the tenth frequency domain association relationship is used to indicate that the frequency domain resource information used by the response message is determined according to the frequency domain resource information used by the broadcast message and the information contained in the broadcast message; Determined by the information included in the broadcast message and the eleventh frequency domain association relationship agreed upon in the communication protocol, the eleventh frequency domain association relationship is used to indicate that the frequency domain resource information used by the response message is determined according to the frequency domain resource information used by the request information and the information included in the broadcast message; Determined by preconfiguration.

53. The method according to any one of claims 50 to 52, characterized in that The response message is one of a unicast message, a multicast message and a broadcast message.

54. The method according to any one of claims 33 to 35, characterized in that The method further comprises: Perform identity authentication on the first terminal device according to the first authentication information.

55. The method according to claim 54, characterized in that The performing identity authentication on the first terminal device according to the first authentication information includes: The local server is queried to verify the validity of the first authentication information.

56. The method according to claim 55, characterized in that The method further comprises: Sending a first expulsion warning message to the first terminal device; The first expulsion warning information is used to instruct the first terminal device to leave the area.

57. The method according to claim 55, characterized in that The method further comprises: Sending a second expulsion warning message to the network device; The second expulsion alarm information is used to instruct the network device to send third expulsion alarm information to the first terminal device or the third terminal device; the third expulsion alarm information is used to instruct the first terminal device to leave the area, or the third expulsion alarm information is used to notify the third terminal device to control the first terminal device to leave the area; the third terminal device is a device used to control the first terminal device.

58. The method according to claim 54, characterized in that The performing identity authentication on the first terminal device according to the first authentication information includes: The validity of the first authentication information is verified by information interaction with the network device.

59. The method according to claim 58, characterized in that The verifying the legitimacy of the first authentication information by interacting with the network device includes: Sending the identity information of the first terminal device to the network device; Alternatively, the identity information of the first terminal device and the location information of the first terminal device are sent to the network device.

60. The method according to claim 58 or 59, characterized in that The method further comprises: receiving a first reply message sent by the network device, where the first reply message is used to indicate that the identity information of the first terminal device is not recorded or verification fails; Alternatively, a second reply message sent by the network device is received, where the second reply message is used to indicate that the identity information of the first terminal device has been recorded or verified successfully, so as to verify the legality of the first authentication information.

61. The method according to claim 60, characterized in that The method further comprises: Sending an eviction warning message to the network device or the first terminal device; The expulsion warning information is used to instruct the first terminal device to leave the area.

62. The method according to any one of claims 33 to 35, characterized in that The method further comprises: When there is a possibility of collision between the moving path of the first terminal device and the moving path of the second terminal device, anti-collision processing is performed.

63. The method according to claim 62, characterized in that The anti-collision processing includes: Modify the moving path of the second terminal device.

64. The method according to claim 63, wherein The method further comprises: A fourth message is sent to a fourth terminal device, where the fourth message is used to indicate that the moving path of the second terminal device has been modified. The fourth terminal device is a device used to control the second terminal device.

65. The method according to claim 62, characterized in that The anti-collision processing includes: A fifth message is sent to a fourth terminal device, where the fifth message is used to indicate that there is a possibility of collision between the moving path of the first terminal device and the moving path of the second terminal device, and the fourth terminal device is a device used to control the second terminal device.

66. The method according to claim 65, characterized in that The method further comprises: Receive third collision avoidance information of the fourth terminal device, where the third collision avoidance information is used to control the second terminal device to perform a collision avoidance operation.

67. The method according to claim 62, wherein The anti-collision processing includes: A sixth message is sent to the network device, where the sixth message is used to indicate that there is a possibility of collision between the moving path of the first terminal device and the moving path of the second terminal device.

68. The method according to claim 67, characterized in that The sixth message also carries the first authentication information; and / or the second authentication information.

69. The method according to claim 67 or 68, characterized in that The method further comprises: Receive fourth collision avoidance information sent by the network device, where the fourth collision avoidance information is used to instruct the second terminal device to perform a collision avoidance operation.

70. The method according to any one of claims 33 to 69, characterized in that The method further comprises: receiving behavior indication information sent by a network device; The behavior instruction information includes at least one of the following information: whether the second terminal device is allowed to obtain authentication information associated with other terminal devices, where the other terminal devices are devices different from the second terminal device; whether the second terminal device is allowed to verify the acquired authentication information; whether the second terminal device is allowed to send information to drive away the other terminal device; whether the second terminal device is allowed to perform collision detection processing; Whether the second terminal device is allowed to perform anti-collision processing.

71. The method according to any one of claims 33 to 70, characterized in that The method further comprises: Sending capability indication information to the network device; The capability indication information includes at least one of the following information: whether the second terminal device is capable of obtaining authentication information associated with other terminal devices, where the other terminal devices are devices different from the second terminal device; whether the second terminal device is eligible to obtain the authentication information associated with the other terminal device; whether the second terminal device is capable of verifying the acquired authentication information associated with the other terminal device; whether the second terminal device is qualified to verify the acquired authentication information associated with the other terminal device; whether the second terminal device is capable of driving away the other terminal devices; whether the second terminal device is eligible to drive away the other terminal devices; whether the second terminal device is capable of performing collision detection processing; whether the second terminal device is eligible for collision detection processing; whether the second terminal device is capable of performing anti-collision processing; Whether the second terminal device is eligible for anti-collision processing.

72. A collision detection method, characterized in that: The method is performed by a second terminal device, and the method includes: Continuously monitoring the location information of the first terminal device; According to the monitoring results obtained during the continuous monitoring process, collision detection processing is performed.

73. The method according to claim 72, characterized in that The collision detection process is performed based on the monitoring results obtained during the continuous monitoring process, including: According to the monitoring results obtained in the continuous monitoring process and the location information of the second terminal device, it is determined whether there is a possibility of collision between the moving path of the first terminal device and the moving path of the second terminal device.

74. The method according to claim 72 or 73, characterized in that The method further comprises: When there is a possibility of collision between the moving path of the first terminal device and the moving path of the second terminal device, anti-collision processing is performed.

75. A method for transmitting authentication information, characterized in that: The method is performed by a network device, and includes: Receiving first authentication information sent by the second terminal device; The first authentication information is authentication information associated with the first terminal device.

76. The method according to claim 75, characterized in that The first authentication information includes at least one of the following information: location information of the first terminal device; Mobile path planning information of the first terminal device; The identity information of the first terminal device.

77. The method according to claim 75 or 76, characterized in that The first authentication information is used by the second terminal device to authenticate the first terminal device; And / or, the first authentication information is used for anti-collision processing by the second terminal device.

78. The method according to any one of claims 75 to 77, characterized in that The receiving the first authentication information sent by the second terminal device includes: Receiving identity information of the first terminal device sent by the second terminal device; Alternatively, the identity information of the first terminal device and the location information of the first terminal device sent by the second terminal device are received.

79. The method according to claim 78, characterized in that The method further comprises: Sending a first reply message to the second terminal device, where the first reply message is used to indicate that the identity information of the first terminal device is not recorded or verification fails; Alternatively, a second reply message is sent to the second terminal device, where the second reply message is used to indicate that the identity information of the first terminal device has been recorded or verified successfully, so as to verify the legality of the first authentication information.

80. The method according to claim 79, wherein The method further comprises: receiving second expulsion warning information sent by the second terminal device; The second expulsion alarm information is used to instruct the network device to send third expulsion alarm information to the first terminal device or the third terminal device; the third expulsion alarm information is used to instruct the first terminal device to leave the area, or the third expulsion alarm information is used to notify the third terminal device to control the first terminal device to leave the area; the third terminal device is a device used to control the first terminal device.

81. The method according to any one of claims 75 to 77, characterized in that The method further comprises: A sixth message sent by the second terminal device is received, where the sixth message is used to indicate that there is a possibility of collision between the moving path of the first terminal device and the moving path of the second terminal device.

82. The method according to claim 81, characterized in that The sixth message also carries the first authentication information; and / or the second authentication information.

83. The method according to claim 81 or 82, characterized in that The method further comprises: Send fourth collision avoidance information to the second terminal device, where the fourth collision avoidance information is used to instruct the second terminal device to perform a collision avoidance operation.

84. The method according to any one of claims 75 to 77, characterized in that The method further comprises: receiving second authentication information sent by the first terminal device; The second authentication information is authentication information associated with the second terminal device.

85. The method according to claim 84, characterized in that The second authentication information includes at least one of the following information: location information of the second terminal device; Mobile path planning information of the second terminal device; The identity information of the second terminal device.

86. The method according to claim 84 or 85, characterized in that The second authentication information is used by the first terminal device to authenticate the second terminal device; And / or, the second authentication information is used for anti-collision processing by the first terminal device.

87. The method according to any one of claims 84 to 86, characterized in that The receiving the second authentication information sent by the first terminal device includes: Receiving identity information of the second terminal device sent by the first terminal device; Alternatively, the identity information of the second terminal device and the location information of the second terminal device sent by the first terminal device are received.

88. The method according to claim 87, characterized in that The method further comprises: Sending a third reply message to the first terminal device, where the third reply message is used to indicate that the identity identification information of the second terminal device is not recorded or verification fails; Alternatively, a fourth reply message is sent to the first terminal device, where the fourth reply message is used to indicate that the identity information of the second terminal device has been recorded or verified successfully, so as to verify the legality of the second authentication information.

89. The method according to claim 88, characterized in that The method further comprises: receiving fourth expulsion warning information sent by the first terminal device; Among them, the fourth expulsion alarm information is used to instruct the network device to send the fifth expulsion alarm information to the second terminal device or the fourth terminal device; the fifth expulsion alarm information is used to instruct the second terminal device to leave the area, or the fifth expulsion alarm information is used to notify the fourth terminal device to control the second terminal device to leave the area; the fourth terminal device is a device used to control the second terminal device.

90. The method according to any one of claims 75 to 77, characterized in that The method further comprises: A third message sent by the first terminal device is received, where the third message is used to indicate that there is a possibility of collision between the moving path of the first terminal device and the moving path of the second terminal device.

91. The method according to claim 90, wherein The third message also carries the first authentication information; and / or the second authentication information.

92. The method according to claim 90 or 91, characterized in that The method further comprises: Send second collision avoidance information to the first terminal device, where the second collision avoidance information is used to instruct the first terminal device to perform a collision avoidance operation.

93. The method according to any one of claims 75 to 92, characterized in that The method further comprises: Sending behavior indication information to the first terminal device and / or the second terminal device; The behavior instruction information includes at least one of the following information: whether the first terminal device and / or the second terminal device is allowed to obtain authentication information associated with other terminal devices, where the other terminal devices are devices different from the first terminal device and / or the second terminal device; whether the first terminal device and / or the second terminal device is allowed to verify the acquired authentication information; whether the first terminal device and / or the second terminal device is allowed to send information to drive away the other terminal device; whether the first terminal device and / or the second terminal device is allowed to perform collision detection processing; Whether the first terminal device and / or the second terminal device is allowed to perform anti-collision processing.

94. The method according to any one of claims 75 to 93, characterized in that The method further comprises: Receiving capability indication information sent by the first terminal device and / or the second terminal device; The capability indication information includes at least one of the following information: whether the first terminal device and / or the second terminal device is capable of obtaining authentication information associated with other terminal devices, where the other terminal devices are devices different from the first terminal device and / or the second terminal device; whether the first terminal device and / or the second terminal device is eligible to obtain the authentication information associated with the other terminal device; whether the first terminal device and / or the second terminal device is capable of verifying the acquired authentication information associated with the other terminal device; whether the first terminal device and / or the second terminal device is qualified to verify the acquired authentication information associated with the other terminal device; whether the first terminal device and / or the second terminal device is capable of driving away the other terminal devices; whether the first terminal device and / or the second terminal device is eligible to drive away the other terminal devices; whether the first terminal device and / or the second terminal device is capable of performing collision detection processing; whether the first terminal device and / or the second terminal device are eligible for collision detection processing; whether the first terminal device and / or the second terminal device is capable of performing anti-collision processing; Whether the first terminal device and / or the second terminal device is eligible for anti-collision processing.

95. A transmission device for authentication information, characterized in that: The device comprises: A sending module is used to send the first authentication information associated with the first terminal device.

96. A device for transmitting authentication information, characterized in that: The device comprises: The receiving module is used to receive first authentication information sent by a first terminal device, where the first authentication information is authentication information associated with the first terminal device.

97. A collision detection device, characterized in that: The device comprises: A monitoring module, configured to continuously monitor the location information of the first terminal device; The processing module is used to perform collision detection processing based on the monitoring results obtained during the continuous monitoring process.

98. A transmission device for authentication information, characterized in that: The device comprises: A receiving module, configured to receive second authentication information sent by the first terminal device; The second authentication information is authentication information associated with the second terminal device.

99. A first terminal device, characterized in that: The first terminal device includes a memory and a processor; At least one program code is stored in the memory, and the program code is loaded and executed by the processor to implement the authentication information transmission method according to any one of claims 1 to 32.

100. A second terminal device, characterized in that: The second terminal device includes a memory and a processor; At least one program code is stored in the memory, and the program code is loaded and executed by the processor to implement the authentication information transmission method according to any one of claims 33 to 71, or the collision detection method according to any one of claims 72 to 74.

101. A network device, characterized in that: The network device includes a memory and a processor; At least one program code is stored in the memory, and the program code is loaded and executed by the processor to implement the authentication information transmission method as described in any one of claims 75 to 94.

102. A computer-readable storage medium, characterized in that The storage medium stores a computer program, which is used to be executed by a processor to implement the authentication information transmission method as described in any one of claims 1 to 71, or the collision detection method as described in any one of claims 72 to 74, or the authentication information transmission method as described in any one of claims 75 to 94.

103. A chip, characterized in that: The chip includes a programmable logic circuit and / or program instructions, which, when an electronic device equipped with the chip is running, is used to implement the authentication information transmission method as described in any one of claims 1 to 71, or the collision detection method as described in any one of claims 72 to 74, or the authentication information transmission method as described in any one of claims 75 to 94.

104. A computer program product, characterized in that The computer program product includes computer instructions, which are stored in a computer-readable storage medium. The processor reads and executes the computer instructions from the computer-readable storage medium to implement the authentication information transmission method as described in any one of claims 1 to 71, or the collision detection method as described in any one of claims 72 to 74, or the authentication information transmission method as described in any one of claims 75 to 94.

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