Information sending method and device, information obtaining method and device, equipment and storage medium

Abstract

The invention discloses an information sending method and device, an information obtaining method and device, equipment and a storage medium, and relates to the technical field of intelligent driving. The method is executed by a differential service forwarding platform, and comprises the following steps: acquiring positioning information sent by a vehicle; under the condition that first RTK differential correction information meeting a specified condition is inquired from the storage information according to the positioning information, the first RTK differential correction information is sent to the vehicle; acquiring second RTK differential correction information from a third variance differential service platform according to the positioning information under the condition that the first RTK differential correction information meeting a specified condition is not queried from the storage information according to the positioning information; and under the condition that the second RTK differential correction information is obtained, the second RTK differential correction information is sent to the vehicle. According to the invention, the acquisition cost of the RTK differential correction information can be reduced.

Description

Technical Field

[0001] The embodiments of the present application relate to the field of intelligent driving technology, and in particular to an information sending method, obtaining method, device, equipment and storage medium. Background Art

[0002] With the improvement of computing power, the maturity of sensor technology and the development of artificial intelligence algorithms, intelligent driving is gradually moving from theory to market application. Among them, positioning technology can provide location information for vehicles, which is crucial to achieving the safety and reliability of intelligent driving.

[0003] In related technologies, since the error accumulation of the inertial navigation system will cause trajectory deviation, it is necessary to use GNSS positioning information for regular calibration to correct the reference position of the inertial navigation system. The positioning accuracy of ordinary GNSS positioning systems can only reach the meter level, while GNSS high-precision positioning technology can achieve centimeter-level positioning accuracy. Therefore, GNSS high-precision positioning technology is one of the key elements to realize intelligent vehicle driving.

[0004] However, the RTK differential correction information used in the GNSS high-precision positioning technology in the related technology is usually provided by third-party service providers on a paid basis on a one-vehicle-one-account basis, resulting in a high cost for the use of GNSS high-precision positioning technology, which affects the market application of intelligent driving technology. Summary of the invention

[0005] The embodiments of the present application provide an information sending method, an acquisition method, an apparatus, a device, and a storage medium, which can reduce the acquisition cost of RTK differential correction information, thereby reducing the use cost of GNSS high-precision positioning technology; the technical solution proposed in this application is as follows:

[0006] According to one aspect of an embodiment of the present application, a method for sending information is provided, the method being executed by a differentiated service forwarding platform, the method comprising:

[0007] Acquire positioning information sent by the vehicle, where the positioning information is used to indicate a service grid number where the vehicle is located;

[0008] When first RTK differential correction information satisfying a specified condition is found from the stored information according to the positioning information, the first RTK differential correction information is sent to the vehicle; the stored information is used to indicate the correspondence between each service grid number and each RTK differential correction information;

[0009] If the first RTK differential correction information satisfying the specified condition is not found in the stored information according to the positioning information, obtaining second RTK differential correction information from a third-party differential service platform according to the positioning information;

[0010] When the second RTK differential correction information is acquired, sending the second RTK differential correction information to the vehicle;

[0011] When the second RTK differential correction information is obtained, a corresponding relationship between the service grid number corresponding to the positioning information and the second RTK differential correction information is established in the storage information.

[0012] According to one aspect of an embodiment of the present application, there is provided an information acquisition method, which is executed by a vehicle and includes:

[0013] Sending positioning information to a differential service forwarding platform, wherein the positioning information is used to indicate a service grid number where the vehicle is located;

[0014] Receiving first RTK differential correction information sent by the differential service forwarding platform; the first RTK differential correction information is RTK differential correction information that meets specified conditions and is queried by the differential service forwarding platform from the storage information according to the positioning information; the storage information is used to indicate the corresponding relationship between each service grid number and each RTK differential correction information; or,

[0015] Receive the second RTK differential correction information sent by the differential service forwarding platform; the second RTK differential correction information is the RTK differential correction information that the differential service forwarding platform has not found from the storage information according to the positioning information and that meets the specified conditions, and the RTK differential correction information is obtained from the third-party differential service platform according to the positioning information.

[0016] According to one aspect of an embodiment of the present application, there is provided an information sending device, the device comprising:

[0017] A first acquisition module, used to acquire positioning information sent by a vehicle, wherein the positioning information is used to indicate a service grid number where the vehicle is located;

[0018] A first sending module, configured to send the first RTK differential correction information to the vehicle when first RTK differential correction information satisfying a specified condition is queried from the storage information according to the positioning information; the storage information is used to indicate a correspondence between each service grid number and each RTK differential correction information;

[0019] A second acquisition module is used to acquire second RTK differential correction information from a third-party differential service platform according to the positioning information when the first RTK differential correction information that meets the specified condition is not found in the storage information according to the positioning information;

[0020] a second sending module, configured to send the second RTK differential correction information to the vehicle when the second RTK differential correction information is acquired;

[0021] An establishing module is used to establish a corresponding relationship between the service grid number corresponding to the positioning information and the second RTK differential correction information in the storage information when the second RTK differential correction information is acquired.

[0022] In some embodiments, the specified condition includes at least one of the following:

[0023] The first service grid number corresponding to the positioning information contains the RTK differential correction information that meets the first specified timeliness condition;

[0024] The second service grid number adjacent to the first service grid number corresponding to the positioning information contains the RTK differential correction information that meets the second specified timeliness condition.

[0025] In some embodiments, the information sending device further includes: a first determining module, configured to use the RTK differential correction information corresponding to the first service grid number and satisfying the first specified timeliness condition as the first RTK differential correction information if the first service grid number has RTK differential correction information satisfying the first specified timeliness condition;

[0026] The information sending device also includes: a second determination module, which is used to use the RTK differential correction information corresponding to the second service grid number and meeting the second specified time condition as the first RTK differential correction information when there is no RTK differential correction information meeting the first specified time condition for the first service grid number and there is RTK differential correction information meeting the second specified time condition for the second service grid number.

[0027] In some embodiments, the second acquisition module is used to perform encryption processing on the service grid number corresponding to the positioning information when the first RTK differential correction information that meets the specified condition is not found from the storage information according to the positioning information;

[0028] The second acquisition module is used to initiate a differential service request to the third-party differential service platform; the differential service request carries the encrypted service grid number;

[0029] The second acquisition module is used to obtain the second RTK differential correction information returned by the third-party differential service platform.

[0030] According to one aspect of an embodiment of the present application, there is provided an information acquisition device, the device comprising:

[0031] A first sending module, used to send positioning information to a differential service forwarding platform, wherein the positioning information is used to indicate a service grid number where the vehicle is located;

[0032] A first receiving module is used to receive first RTK differential correction information sent by the differential service forwarding platform; the first RTK differential correction information is RTK differential correction information that meets specified conditions and is queried by the differential service forwarding platform from the storage information according to the positioning information; the storage information is used to indicate the corresponding relationship between each service grid number and each RTK differential correction information; or,

[0033] The first receiving module is used to receive the second RTK differential correction information sent by the differential service forwarding platform; the second RTK differential correction information is the RTK differential correction information obtained from the third-party differential service platform according to the positioning information after the differential service forwarding platform has not queried the RTK differential correction information that meets the specified conditions from the storage information based on the positioning information.

[0034] According to one aspect of an embodiment of the present application, a computer device is provided, comprising a processor and a memory, wherein a computer program is stored in the memory, and the computer program is loaded and executed by the processor to implement the above-mentioned information sending method and information acquiring method.

[0035] According to one aspect of an embodiment of the present application, a computer-readable storage medium is provided, in which a computer program is stored. The computer program is loaded and executed by a processor to implement the above-mentioned information sending method and information acquiring method.

[0036] According to one aspect of an embodiment of the present application, a computer program product is provided, wherein the computer program product includes a computer program, and the computer program is loaded and executed by a processor to implement the above-mentioned information sending method and information acquiring method.

[0037] The technical solution provided in the embodiments of the present application can bring the following beneficial effects:

[0038] A differential service forwarding platform for storing and forwarding RTK differential correction information is provided. The vehicle's differential service request is not sent directly to the third-party differential service platform, but to the differential service forwarding platform. If the differential service forwarding platform does not store the RTK differential correction information corresponding to the vehicle, the differential service forwarding platform sends a differential service request to the third-party differential service platform, and the third-party differential service platform stores and forwards the requested RTK differential correction information to the vehicle. If the differential service forwarding platform stores the RTK differential correction information corresponding to the vehicle, the differential service forwarding platform directly sends the stored RTK differential correction information to the vehicle. Since the third-party differential service platform needs to charge corresponding fees for responding to differential service requests, this solution stores the RTK differential correction information through the differential service forwarding platform, which can reduce the number of differential service requests initiated to the third-party differential service platform, thereby reducing the cost of obtaining RTK differential correction information and reducing the cost of using GNSS high-precision positioning technology. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0040] Figure 1 It is a framework diagram of a method for obtaining RTK differential correction information involved in this application;

[0041] Figure 2 is a schematic diagram of an implementation environment provided by an exemplary embodiment of the present application;

[0042] Figure 3 is a flow chart of an information sending method provided by an exemplary embodiment of the present application;

[0043] Figure 4 is a schematic diagram of a differential service request provided by an exemplary embodiment of the present application;

[0044] Figure 5 It is a schematic diagram of a differential service forwarding platform querying RTK differential correction information provided by an exemplary embodiment of the present application;

[0045] Figure 6 It is a schematic diagram of encryption processing of a differential service forwarding platform provided by an exemplary embodiment of the present application;

[0046] Figure 7 is a flow chart of an information acquisition method provided by an exemplary embodiment of the present application;

[0047] Figure 8 It is a framework diagram of a low-cost network RTK proprietary service system method for large-scale autonomous driving provided by an exemplary embodiment of the present application;

[0048] Fig. 9 It is a schematic diagram of the application of RTK differential correction information provided by an exemplary embodiment of the present application;

[0049] Fig.10 is a flow chart of a method for a vehicle to obtain RTK differential correction information provided by an exemplary embodiment of the present application;

[0050] Fig.11 is a block diagram of an information sending device provided by an exemplary embodiment of the present application;

[0051] Fig.12 is a block diagram of an information acquisition device provided by an exemplary embodiment of the present application;

[0052] Fig.13 It is a structural block diagram of a computer device provided by an embodiment of the present application.

[0053] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and, together with the description, serve to explain the principles of the present application. DETAILED DESCRIPTION

[0054] In order to make the objectives, technical solutions and advantages of the present application clearer, the implementation methods of the present application will be further described in detail below in conjunction with the accompanying drawings.

[0055] Exemplary embodiments will be described in detail herein, examples of which are shown in the accompanying drawings. When the following description refers to the drawings, the same numbers in different drawings represent the same or similar elements unless otherwise indicated. The implementations described in the following exemplary embodiments do not represent all implementations consistent with the present application. Instead, they are merely examples of devices and methods consistent with some aspects of the present application as detailed in the appended claims.

[0056] The terms used in this disclosure are for the purpose of describing specific embodiments only and are not intended to limit the disclosure. The singular forms of "a", "said" and "the" used in this disclosure and the appended claims are also intended to include plural forms unless the context clearly indicates otherwise. It should also be understood that the term "and / or" used herein refers to and includes any or all possible combinations of one or more associated listed items.

[0057] In the embodiments of the present application, the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data used for analysis, stored data, displayed data, etc.) involved in the present application are all information and data authorized by the user or fully authorized by all parties, and the collection, use and processing of relevant data need to comply with relevant laws, regulations and standards of relevant countries and regions.

[0058] It should be understood that although the terms first, second, etc. may be used in the present disclosure to describe various information, such information should not be limited to these terms. These terms are only used to distinguish the same type of information from each other. For example, without departing from the scope of the present disclosure, the first RTK differential correction information may also be referred to as the second RTK differential correction information, and similarly, the second RTK differential correction information may also be referred to as the first RTK differential correction information. Depending on the context, the word "if" as used herein may be interpreted as "at the time of" or "when" or "in response to determining".

[0059] Intelligent driving refers to the ability of a vehicle to assist or replace the driver in controlling the vehicle by being equipped with advanced sensors, controllers, actuators, communication modules and other equipment. The core of intelligent driving lies in the effective coordination of the three links of perception, decision-making and execution:

[0060] Perception: Use cameras, lidar, millimeter-wave radar and other types of sensors to collect information about the vehicle and its surroundings, including but not limited to video streams, Global Positioning System (GPS) coordinates, vehicle posture, acceleration, etc. These sensors are equivalent to the eyes and ears of the vehicle, helping the vehicle "see" the surrounding conditions;

[0061] Decision-making: Based on the perceived data, the intelligent system needs to make reasonable driving decisions; this involves complex algorithm processing, such as path planning, obstacle avoidance strategy selection, etc., to ensure that the vehicle can drive safely on the road. This process is similar to the thinking process of the human brain and determines how to act next;

[0062] Execution: Responsive actuators will replace human hands and feet, operating the vehicle according to the instructions issued by the intelligent brain, such as acceleration, deceleration, steering, etc. This precise control is crucial to ensure driving safety.

[0063] With the rapid development and popularization of intelligent driving technology, the high-precision positioning technology of the Global Navigation Satellite System (GNSS) has become one of the key elements to realize autonomous driving. Among them, the GNSS positioning of the Global Navigation Satellite System is a prerequisite for combined navigation positioning and multi-source fusion positioning. Especially as the only sensor that can provide absolute position information, the GNSS positioning accuracy directly affects the performance and experience of the Advanced Driving Assistance System (ADAS) function application.

[0064] Several main uses of high-precision positioning:

[0065] 1. In the high-level functions of intelligent driving domain such as highway assisted driving and urban assisted driving, the position of the vehicle must be accurately located first, and then precise planning and control can be achieved;

[0066] 2. In the low-level functions of intelligent driving domain adaptive cruise control, lane centering control, and lane keeping, it is necessary to adjust the acceleration, deceleration, and direction control of the vehicle in real time according to the vehicle's yaw rate, longitudinal acceleration and other posture information;

[0067] 3. In the cockpit domain lane-level navigation function, lane-level maps of major roads across the country have been basically popularized. If the positioning accuracy of the vehicle is less than 1 meter, the user experience will be reduced;

[0068] 4. The future-oriented vehicle-road collaborative integration strategy requires the accurate location of each vehicle to achieve efficient collaborative control of upper-level smart transportation and intelligent networking.

[0069] It should be noted that although the integrated navigation technology is relatively mature and widely used in intelligent driving vehicles, the accumulation of inertial navigation system errors will cause trajectory drift, and it is necessary to use GNSS positioning information to perform regular calibration to correct the reference position of the inertial navigation system, effectively suppress the positioning error divergence of the inertial navigation system, improve the accuracy and reliability of the integrated navigation system, and ensure user experience in complex environments such as tunnels, urban canyons, elevated roads, and underground garages. In short, the higher the GNSS positioning accuracy, the better the vehicle's positioning performance, and the more stable the application of ADAS functions, which are linearly related to each other.

[0070] In an open and ideal environment, the positioning accuracy of ordinary GNSS positioning systems can only reach the meter level. At present, the mature GNSS high-precision positioning technology uses Real Time Kinematic (RTK) or Precise Point Positioning-RTK (PPP-RTK) technology to improve the GNSS positioning accuracy to the centimeter level.

[0071] Among them, the use of RTK differential correction information is usually independently provided by a third-party service provider, which provides standardized RTK differential services on an annual basis with one vehicle and one account. When there are a large number of concurrent vehicle users, high service fees will be incurred, and user location privacy will be leaked, and service stability will be affected by customers from other industries.

[0072] Please refer to Figure 1 , which shows a framework diagram of a method for obtaining RTK differential correction information involved in this application. Figure 1 As shown in the figure, on the one hand, the third-party service provider establishes a widely distributed ground-based augmented base station network on the ground, observes the original observation data of GNSS satellites in real time, and sends it to the third-party differential service platform (also known as the cloud platform of the third-party service provider) through a dedicated line. Through the core algorithm solution, the cloud platform of the third-party service provider generates differential correction information at different locations, divides it into many service grids according to 5*5km squares (the shape and size can be calibrated and adjusted), and broadcasts it through the Internet. Among them, each service grid corresponds to a service grid number.

[0073] On the other hand, the cockpit domain controller or the self-driving domain controller on the vehicle integrates a GNSS positioning chip and a differential software package (Software Development Kit, SDK) provided by the service provider. Exemplarily, the method for a vehicle to obtain RTK differential correction information includes the following steps:

[0074] When the vehicle starts high-precision positioning, the GNSS positioning chip performs initial positioning, and the differential SDK reports the current location information and the vehicle's unique identifier (such as VIN code) directly to the third-party differential service platform through the T-BOX network to request RTK differential service;

[0075] Accordingly, after receiving the RTK differential service request from the vehicle terminal user, the cloud platform of the third-party service provider first performs account authentication. After the account authentication is passed, the unique identification of the vehicle is recorded. If it is the first request, an RTK differential account is allocated and activated for it, and billing begins. The RTK differential correction information is issued according to the service grid where the vehicle is located.

[0076] Afterwards, with the help of the T-BOX network, the differential SDK forwards the received RTK differential correction information to the GNSS positioning chip. Combined with the original observation data of the GNSS satellite received by the vehicle's GNSS positioning antenna, the positioning chip performs joint calculations to obtain high-precision positioning result information of the vehicle.

[0077] The vehicle end user repeats the above steps at a frequency of 1 Hz (the frequency can be calibrated and adjusted). The GNSS positioning results are combined with the inertial navigation system for positioning, and further integrated with other sensors such as vision and lidar for positioning to support ADAS function applications.

[0078] It should be noted that the principle of RTK differential positioning is to use the original observation information of GNSS satellites received by the GNSS antenna and the RTK differential correction information of the current position and the current time broadcast by the third-party differential service platform to perform differential calculations, eliminate or reduce the common error interference in the process of satellite signal propagation, and accurately calculate the number of whole cycles that the satellite signal (carrier signal) has experienced during the propagation process from satellite transmission to positioning antenna reception, and obtain high-precision positioning results. Using dual-frequency RTK differential technology can obtain accurate positioning results at the centimeter level horizontally, and using single-frequency RTK differential technology can obtain horizontal sub-meter level positioning results.

[0079] Among them, in the above-mentioned RTK differential correction information acquisition method, the third-party service provider counts the newly allocated RTK differential accounts on a monthly basis and charges on an annual basis, that is, one vehicle, one account, and one payment per year; the account starts from activation, and after one year expires, the service provider's cloud platform will also count the RTK differential accounts that need to be renewed and charge the RTK account service fee again.

[0080] That is to say, if high-precision positioning is used as a standard configuration, with the increasing penetration rate of ADAS functions in the future and the rapid growth in the number of vehicle terminal users, original equipment manufacturers (OEMs) will incur high RTK differential service fees every year. In addition, some vehicle terminal users do not use RTK differential services frequently. Once activated, even if they no longer use them, they still need to pay a year's differential service fee; when N vehicles are located in the same grid area (such as ADAS test areas or densely populated urban areas) and request differential services at the same time, N network links will be established. When the number of concurrent users is large, it will put pressure on the load of the third-party service platform; at the same time, the RTK differential correction information finally obtained by each vehicle is exactly the same, but N accounts must also be paid for the same service, which is repeated payment.

[0081] Based on this, the subsequent embodiments of this application provide a new method for obtaining RTK differential correction information. By deploying an RTK differential service forwarding platform on the OEM side, a proprietary GNSS high-precision positioning service system for autonomous driving is implemented.

[0082] Please refer to Figure 2 , which shows a schematic diagram of an implementation environment provided by an exemplary embodiment of the present application. Figure 2As shown, the implementation environment may include: a vehicle 210, a differential service forwarding platform 220, and a third-party differential service platform 230. The vehicle 210 and the differential service forwarding platform 220, and the differential service forwarding platform 220 and the third-party differential service platform 230 communicate with each other through a network. Optionally, the vehicle 210 and the differential service forwarding platform 220, and the differential service forwarding platform 220 and the third-party differential service platform 230 are directly or indirectly connected through a wired communication method or a wireless communication method, and this application does not limit this.

[0083] The differential service forwarding platform 220 stores storage information indicating the corresponding relationship between the service grid number corresponding to the positioning information and the RTK differential correction information. Exemplarily, in the new RTK differential correction information acquisition method, the vehicle 210 sends positioning information to the differential service forwarding platform 220, and the positioning information is used to indicate the current position of the vehicle; accordingly, the differential service forwarding platform 220 queries whether there is RTK differential correction information that meets the specified conditions from the storage information according to the service grid number corresponding to the positioning information. In the case of querying the RTK differential correction information, the differential service forwarding platform 220 sends the RTK differential correction information to the vehicle 210; in the case of not querying the RTK differential correction information, the differential service forwarding platform 220 obtains the RTK differential correction information from the third-party differential service platform 230 according to the service grid number, and sends the RTK differential correction information to the vehicle 210.

[0084] Please refer to Figure 3 , which shows a flow chart of an information sending method provided by an exemplary embodiment of the present application. The execution subject of each step of the method may be a differential service forwarding platform, and the differential service forwarding platform may be any electronic device with data storage and processing capabilities. Optionally, the differential service forwarding platform is Figure 2 The differentiated service forwarding platform 220 in the system shown. Figure 3 As shown, the method may include steps 310 to 350.

[0085] Step 310: Acquire positioning information sent by the vehicle, where the positioning information is used to indicate the service grid number where the vehicle is located.

[0086] Optionally, the above positioning information is the current position information of the vehicle; or, the above positioning information is the service grid number corresponding to the current position of the vehicle.

[0087] In the embodiment of the present application, the vehicle sends positioning information to the differential service forwarding platform to request RTK differential correction information. Exemplarily, the vehicle sends a differential service request to the differential service forwarding platform, and the differential service request carries the positioning information; accordingly, the differential service forwarding platform receives the differential service request and obtains the positioning information from the differential service request.

[0088] Exemplarily, the above positioning information is sent by the vehicle's differential SDK to the differential service forwarding platform through the T-BOX network.

[0089] The current position of the vehicle indicated by the positioning information is particularly important for autonomous vehicles, and can provide a basis for subsequent path planning, environmental perception, and other advanced driver assistance functions. For example, the above positioning information is obtained by the vehicle's GNSS positioning chip.

[0090] Optionally, the vehicle also sends a unique vehicle identifier to the differential service forwarding platform, where the unique vehicle identifier is used to indicate the identity information of the vehicle. For example, the unique vehicle identifier is a vehicle identification number (VIN).

[0091] Step 320: When the first RTK differential correction information that meets the specified conditions is queried from the stored information based on the positioning information, the first RTK differential correction information is sent to the vehicle; the stored information is used to indicate the correspondence between each service grid number and each RTK differential correction information.

[0092] Optionally, the differential service forwarding platform stores the corresponding relationship between the vehicle positioning information and the service grid number. Exemplarily, before step 320, the differential service forwarding platform can obtain the first service grid number corresponding to the positioning information according to the positioning information. Afterwards, the differential service forwarding platform queries whether there is first RTK differential correction information that meets the specified conditions from the stored information according to the first service grid number.

[0093] The above-mentioned storage information is pre-stored in the differential service forwarding platform. Exemplarily, the differential service forwarding platform creates a database table or file structure for storing the corresponding relationship between each service grid number and each RTK differential correction information.

[0094] Optionally, the above-mentioned storage information is constructed by the differential service forwarding platform based on the positioning information of each vehicle and the corresponding RTK differential correction information. For example, after receiving the positioning information sent by the vehicle, the differential service forwarding platform obtains the service grid number 1 corresponding to the positioning information, and sends a differential service request corresponding to the service grid number 1 to the third-party differential service platform according to the service grid number 1; after that, after obtaining the RTK differential correction information 1 corresponding to the service grid number 1, the differential service forwarding platform can establish a corresponding relationship between the service grid number 1 and the RTK differential correction information 1 in the storage information; after that, when receiving the positioning information sent by the vehicle corresponding to the position of the service grid number 1, the differential service forwarding platform can send the RTK differential correction information 1 corresponding to the service grid number 1 in the storage information to the vehicle without sending a request to the differential service forwarding platform.

[0095] Step 330: When the first RTK differential correction information satisfying the specified condition is not found from the stored information according to the positioning information, the second RTK differential correction information is obtained from the third-party differential service platform according to the positioning information.

[0096] The above-mentioned failure to find the first RTK differential correction information that meets the specified conditions from the stored information indicates that the differential service forwarding platform has not established a corresponding relationship between the service grid number corresponding to the positioning information and the RTK differential correction information corresponding to the service grid number. At this time, the differential service forwarding platform obtains the second RTK differential correction information from the third-party differential service platform according to the positioning information.

[0097] Exemplarily, in the process of obtaining the second RTK differential correction information from the third-party differential service platform based on the positioning information, the differential service forwarding platform initiates a differential service request to the third-party differential service platform, and the differential service request carries the service grid number corresponding to the positioning information.

[0098] Optionally, the differentiated service forwarding platform encrypts the service grid number, and then the differentiated service forwarding platform carries the encrypted service grid number in the differential request.

[0099] Step 340: When the second RTK differential correction information is obtained, the second RTK differential correction information is sent to the vehicle.

[0100] In an embodiment of the present application, the third-party differential service platform responds to the differential service request of the differential service forwarding platform and sends the second RTK differential correction information corresponding to the service grid number to the differential service forwarding platform.

[0101] Exemplarily, after receiving the second RTK differential correction information sent by the third-party differential service platform, the differential service forwarding platform sends the second RTK differential correction information to the differential SDK of the vehicle through the T-BOX network.

[0102] That is to say, the vehicle's differential service request can only be connected to the third-party differential service platform after being forwarded by the OEM differential service forwarding platform. Figure 4 As shown, the vehicle sends a differential service request to the differential service forwarding platform to request RTK differential correction information. After the differential service forwarding platform fails to retrieve the corresponding RTK differential correction information, the differential service forwarding platform sends a differential service request to the third-party differential service platform to request RTK differential correction information.

[0103] Step 350: When the second RTK differential correction information is obtained, a corresponding relationship between the service grid number corresponding to the positioning information and the second RTK differential correction information is established in the storage information.

[0104] Optionally, in the process of establishing the correspondence between the service grid number corresponding to the positioning information and the second RTK differential correction information, the differential service forwarding platform adds the acquisition time or validity period of the second RTK differential correction information to the information of the correspondence.

[0105] Exemplarily, the correspondence between the service grid number corresponding to each group of positioning information in the above-mentioned storage information and the RTK differential correction information can be sorted from late to early according to the acquisition time of the RTK differential correction information; thereafter, when the differential service forwarding platform queries the RTK differential correction information corresponding to the service grid number, it can quickly query the latest RTK differential correction information.

[0106] In an embodiment of the present application, when new second RTK differential correction information is obtained from a third-party differential service platform, the differential service forwarding platform stores the RTK differential correction information in the storage information, establishes a correspondence between the service grid number and the second RTK differential correction information, and can maintain the accuracy of the RTK differential correction information stored in the differential service forwarding platform, so that other vehicles corresponding to the service grid number can obtain the RTK differential correction information from the differential service forwarding platform.

[0107] To summarize, the technical solution provided in the embodiment of the present application provides a differential service forwarding platform for storing and forwarding RTK differential correction information. The vehicle's differential service request is not sent directly to the third-party differential service platform, but is sent to the differential service forwarding platform; if the differential service forwarding platform does not store the RTK differential correction information corresponding to the vehicle, the differential service forwarding platform sends a differential service request to the third-party differential service platform, and the third-party differential service platform stores and forwards the requested RTK differential correction information to the vehicle; if the differential service forwarding platform stores the RTK differential correction information corresponding to the vehicle, the differential service forwarding platform directly sends the stored RTK differential correction information to the vehicle; since the third-party differential service platform needs to charge a corresponding fee for responding to the differential service request, the present solution stores the RTK differential correction information through the differential service forwarding platform, which can reduce the number of differential service requests initiated to the third-party differential service platform, thereby reducing the cost of obtaining RTK differential correction information and reducing the cost of using GNSS high-precision positioning technology.

[0108] In addition, vehicle terminal users and other RTK users (such as surveying and mapping, drones and other industries) share a third-party differential service platform. When the number of concurrent RTK users is large, a large amount of server resources will be occupied. In some extreme cases, if the stability of the third-party differential service platform is affected, the performance of the RTK service used by the vehicle terminal users will also be affected. The differential service forwarding platform of this solution can reduce the possibility of the vehicle's differential service being affected.

[0109] Based on the above Figure 2 In the solution of the embodiment shown, in a possible implementation manner, the specified condition includes at least one of the following:

[0110] The first service grid number corresponding to the positioning information has RTK differential correction information that meets the first specified timeliness condition;

[0111] A second service grid number adjacent to the first service grid number corresponding to the positioning information has RTK differential correction information that meets the second specified timeliness condition.

[0112] It should be noted that due to the high altitude of the satellite from the ground, the distance between the satellite signal transmitted from the satellite to the vehicle is very large. Because the RTK differential correction information has a validity period, the positioning error introduced on the satellite signal propagation path will not change significantly within 2 minutes. It can be considered that the errors in the satellite signal propagation process are strongly correlated or basically equal at the two moments before and after 2 minutes. The RTK differential correction information within 2 minutes is used for the positioning solution at the current moment. Even if the accuracy is reduced from centimeter level to sub-meter level, it can still meet the lane-level positioning requirements.

[0113] In the embodiment of the present application, the first specified condition is: the first service grid number corresponding to the positioning information has RTK differential correction information that meets the first specified timeliness condition. The RTK differential correction information that meets the first specified timeliness condition may be RTK differential correction information that is updated within 2 minutes.

[0114] The second specified condition is: the second service grid number adjacent to the first service grid number corresponding to the positioning information has RTK differential correction information that meets the second specified timeliness condition. The RTK differential correction information that meets the second specified timeliness condition may be RTK differential correction information that is updated within 1 minute.

[0115] For example, the priority of the above-mentioned specified condition 1 is higher than the priority of the specified condition 2. Figure 5 As shown, the differential service forwarding platform first converts the positioning information into the first service grid number; then retrieves the first service grid number, if the first service grid number has RTK differential correction information within 2 minutes, that is, there is first RTK differential correction information that meets the specified conditions, execute step 320; if there is no RTK differential correction information within 2 minutes, then determine whether the second service grid number has RTK differential correction information within 1 minute. Among them, the second service grid number is a service grid number adjacent to the first service grid number. If the second service grid number has RTK differential correction information within 1 minute, that is, there is first RTK differential correction information that meets the specified conditions, execute step 320; if there is no RTK differential correction information within 1 minute, that is, there is no first RTK differential correction information that meets the specified conditions, execute step 330.

[0116] The embodiments of the present application provide the specific content of the above-mentioned specified conditions, that is, provide a solution for how the differential service forwarding platform queries the RTK differential correction information corresponding to the service grid number, and establish the timeliness conditions for the RTK differential correction information, which can ensure that the RTK differential correction information sent by the differential service forwarding platform to the vehicle is valid, thereby improving the accuracy of the RTK differential correction information sent to the vehicle.

[0117] Based on the solutions in the above embodiments of the present application, in a possible implementation manner, the above information sending method further includes:

[0118] When there is RTK differential correction information satisfying the first specified timeliness condition for the first service grid number, the RTK differential correction information satisfying the first specified timeliness condition corresponding to the first service grid number is used as the first RTK differential correction information.

[0119] That is to say, when there is RTK differential correction information that meets the first specified time condition in the first service grid number, the differential service forwarding platform determines the RTK differential correction information that meets the first specified time condition as the first RTK differential correction information.

[0120] Exemplarily, when there are multiple RTK differential correction information corresponding to the first service grid number and satisfying the first specified timeliness condition, the differential service forwarding platform determines the latest RTK differential correction information as the first RTK differential correction information.

[0121] In a possible implementation, the information sending method further includes:

[0122] When there is no RTK differential correction information that meets the first specified time condition for the first service grid number, and there is RTK differential correction information that meets the second specified time condition for the second service grid number, the RTK differential correction information that meets the second specified time condition corresponding to the second service grid number shall be used as the first RTK differential correction information.

[0123] That is to say, when there is no RTK differential correction information that meets the first specified time condition for the first service grid number, the differential service forwarding platform determines the RTK differential correction information that meets the second specified time condition corresponding to the second service grid number as the first RTK differential correction information.

[0124] Exemplarily, when there are multiple RTK differential correction information corresponding to the second service grid number and satisfying the second specified time limit, the differential service forwarding platform determines the latest RTK differential correction information as the first RTK differential correction information.

[0125] The embodiments of the present application illustrate a variety of ways for a differential service forwarding platform to obtain RTK differential correction information according to specified conditions, giving priority to obtaining RTK differential correction information that meets the first specified time condition, which can improve the accuracy of the RTK differential correction information sent to the vehicle.

[0126] In a possible implementation, the information sending method further includes:

[0127] When the first RTK differential correction information that meets the specified conditions is queried from the stored information based on the positioning information, the predicted RTK differential correction information is sent to the vehicle; the predicted RTK differential correction information is RTK differential correction information predicted based on the historical RTK differential correction information corresponding to the service grid number of the positioning information.

[0128] Optionally, the differential service forwarding platform obtains predicted RTK differential correction information based on the prediction model. The prediction model is a machine learning model trained based on sample RTK differential correction information of the same service grid number (such as the service grid number of the positioning information). Exemplarily, the training process of the prediction model includes: obtaining N sample RTK differential correction information and N acquisition times corresponding to the N sample RTK differential correction information; inputting N-1 sample RTK differential correction information into the prediction model to obtain the RTK differential correction information at the Nth moment output by the prediction model; based on the difference between the RTK differential correction information at the Nth moment output by the prediction model and the Nth sample RTK differential correction information, updating the prediction model.

[0129] Exemplarily, the differential service forwarding platform inputs the first RTK differential correction information and the RTK differential correction information within a specified time period before the acquisition time of the first RTK differential correction information into the prediction model, and sends the RTK differential correction information output by the prediction model as predicted RTK differential correction information to the vehicle.

[0130] Exemplarily, the differential service forwarding platform may perform weighted averaging on the RTK differential correction information output by the prediction model and the first RTK differential correction information to obtain predicted RTK differential correction information.

[0131] Optionally, the differential service forwarding platform obtains a prediction curve according to the prediction model, and the prediction curve is used to indicate the RTK differential correction information at each time in the same service grid number. Afterwards, the differential service forwarding platform queries the RTK differential correction information corresponding to the current time from the prediction curve according to the first RTK differential correction information as the predicted RTK differential correction information.

[0132] The embodiment of the present application sends the RTK differential correction information predicted based on the historical RTK differential correction information corresponding to the service grid number of the positioning information to the vehicle based on the query of the first RTK differential correction information, which can improve the accuracy of the RTK differential correction information sent to the vehicle.

[0133] Based on the solutions in the above embodiments of the present application, in a possible implementation, the above step 330 can be implemented as step 330a, step 330b and step 330c.

[0134] Step 330a: When the first RTK differential correction information satisfying the specified condition is not found from the storage information according to the positioning information, encryption processing is performed on the service grid number corresponding to the positioning information.

[0135] It should be noted that the principle of network RTK technology requires the vehicle to report its location information to the third-party differential service platform before the third-party differential service platform sends the RTK differential correction information to the vehicle. This interaction method will leak the location privacy of the vehicle user and cause certain information security risks.

[0136] Exemplarily, the differential service forwarding platform performs encryption processing on the service grid number corresponding to the positioning information through the Transport Layer Security (TSL) protocol. Among them, the TSL protocol can ensure the security of communication between the differential service forwarding platform and the third-party differential service platform through a series of security measures such as identity authentication, data encryption, and data integrity verification.

[0137] Step 330b: Initiate a differential service request to the third-party differential service platform; the differential service request carries the encrypted service grid number.

[0138] After completing the encryption processing of the service grid number corresponding to the positioning information, the differential service forwarding platform sends the request information including the encrypted service grid number to the third-party differential service platform.

[0139] like Figure 6 As shown in the figure, the vehicle sends time information, location information, vehicle unique identification and other information to the differential service forwarding platform. When the differential service forwarding platform does not have the RTK differential correction information corresponding to the location information and meeting the specified conditions, the differential service forwarding platform encapsulates and encrypts the time information, service grid number, OEM main factory identification and other information, and sends it to the third-party differential service platform with the TSL information security certificate. In other words, the differential request information of the vehicle, after being converted by the differential service forwarding platform, blurs the vehicle's location information to protect the user's location privacy.

[0140] Step 330c: Obtain the second RTK differential correction information returned by the third-party differential service platform.

[0141] After the third-party differential service platform receives the differential service request initiated by the differential service forwarding platform, it can decrypt the information in the differential service request to obtain the service grid number, and send the latest second RTK differential correction information of the service grid number to the differential service forwarding platform.

[0142] The embodiment of the present application performs encryption processing on the service grid number corresponding to the positioning information, so as to blur the vehicle's location information to protect the user's location privacy and improve the security of vehicle users when using positioning services.

[0143] Please refer to Figure 7, which shows a flow chart of an information acquisition method provided by an exemplary embodiment of the present application. The execution subject of each step of the method may be a vehicle. Optionally, the vehicle is Figure 2 The vehicle 210 in the system is shown. Figure 7 As shown, the method may include step 710 and step 720.

[0144] Step 710: The positioning information is sent to the differential service forwarding platform, where the positioning information is used to indicate the service grid number where the vehicle is located.

[0145] Step 720: receiving first RTK differential correction information sent by the differential service forwarding platform; the first RTK differential correction information is RTK differential correction information that satisfies specified conditions and is queried from the storage information by the differential service forwarding platform according to the positioning information; the storage information is used to indicate the corresponding relationship between each service grid number and each RTK differential correction information; or,

[0146] Receive the second RTK differential correction information sent by the differential service forwarding platform; the second RTK differential correction information is the RTK differential correction information that the differential service forwarding platform obtains from the third-party differential service platform according to the positioning information after the differential service forwarding platform fails to query the RTK differential correction information that meets the specified conditions from the stored information based on the positioning information.

[0147] Regarding the information acquisition method in the above embodiment, the specific manner in which the vehicle performs the operation has been described in detail in the embodiment of the above information sending method, and will not be elaborated here.

[0148] Based on the solutions shown in the above embodiments, this application proposes a low-cost network RTK proprietary service system method for large-scale autonomous driving. Figure 8 , which shows a framework diagram of a low-cost network RTK proprietary service system method for large-scale autonomous driving provided by an exemplary embodiment of the present application. Figure 8 As shown, the low-cost network RTK proprietary service system method for large-scale autonomous driving includes the following steps:

[0149] Step 1: Deploy a differential service forwarding platform on the OEM side to store and forward RTK differential correction information;

[0150] Step 2: Deploy the differential SDK software package in the cockpit domain or intelligent driving domain of the vehicle, and configure the destination IP address from the domain name or IP address of the public standard service of the third-party differential service platform to the domain name or IP address of the proprietary service of the OEM's differential service forwarding platform;

[0151] Step 3: When the vehicle starts high-precision positioning, the vehicle's GNSS positioning chip performs initial positioning. The differential SDK reports the current location information and the vehicle's unique identifier (such as VIN code) to the differential service forwarding platform through the T-BOX network to request RTK differential service.

[0152] Step 4: When the differential service forwarding platform receives the RTK differential service request from the vehicle, it first converts the vehicle's current location information into a service grid number and performs a search; the search rules include:

[0153] Condition a. There is RTK differential correction information within 2 minutes (calibration and adjustment are possible) under the service grid number;

[0154] Condition b. There is RTK differential correction information within 1 minute (calibration and adjustment possible) in the adjacent grid numbers around the service grid number;

[0155] As long as any of the above conditions is met, it is considered that there is RTK differential correction information that meets the conditions, and condition a has a higher priority than condition b. When condition a is met, condition b will not be retrieved;

[0156] Step 5: If there is no RTK differential correction information that meets the conditions in the differential service forwarding platform, the differential service forwarding platform will initiate a differential service request to the third-party differential service platform. The request information is the encrypted service grid number and OEM manufacturer identifier, and then jump to step 7;

[0157] Step 6: If there is RTK differential correction information that meets the conditions in the differential service forwarding platform, no new differential service request will be initiated to the third-party differential service platform. Only the RTK differential correction information that meets the conditions will be directly sent to the vehicle that initiated the request, and the process will jump to step 12;

[0158] Step 7: After receiving the RTK differential service request initiated by the differential service forwarding platform, the third-party differential service platform first decrypts the request information and uses the OEM host factory logo to authenticate the account;

[0159] Step 8: After the account authentication is passed, a network link is established, the service grid number is recorded, and the timer starts. If no differential service request for the service grid number initiated by the differential service forwarding platform is received within 1 minute (which can be calibrated and adjusted), the third-party differential service platform actively disconnects the network link;

[0160] Step 9: At the same time, according to the service grid number in the request information, send the RTK differential correction information of the service grid number at the current time to the differential service forwarding platform;

[0161] Step 10: After receiving the differential service forwarding platform, the RTK differential correction information of the service grid number and the time corresponding to the RTK differential correction information are recorded and stored;

[0162] Step 11: At the same time, the differential service forwarding platform forwards the RTK differential correction information to the vehicle that initiated the request;

[0163] Step 12: With the help of the T-BOX network, the differential SDK forwards the received RTK differential correction information to the GNSS positioning chip. Combined with the original GNSS satellite observation data received by the GNSS positioning antenna, the GNSS positioning chip performs joint calculation to obtain high-precision GNSS positioning result information of the vehicle;

[0164] Step 13: The vehicle repeats steps 3 to 12 at a frequency of 1 Hz (which can be calibrated and adjusted);

[0165] Step 14: The GNSS positioning result information is combined with the inertial navigation system for positioning, and further integrated with other sensors such as vision and lidar for positioning to support upper-level functional applications such as ADAS.

[0166] like Fig. 9 As shown in the figure, after the GNSS positioning chip receives the RTK differential correction information forwarded by the differential SDK, it combines the GNSS original observations of the GNSS high-precision antenna to perform RTK high-precision positioning and obtain the GNSS positioning result information; then, the GNSS positioning result information is combined with the inertial positioning result of the inertial navigation system to obtain a high-precision positioning result through a combined navigation and positioning algorithm; then, the high-precision positioning result is combined with the results of sensors such as visual cameras / lidar / millimeter-wave radars, as well as high-precision maps, through a fusion positioning algorithm, and is applied to upper-level applications such as ADAS functions and lane-level navigation.

[0167] Based on the solutions shown in the above embodiments, in a possible implementation method, please refer to Fig.10 , which shows a flow chart of a method for a vehicle to obtain RTK differential correction information provided by an exemplary embodiment of the present application. Fig.10 As shown, the above-mentioned method for obtaining RTK differential correction information by a vehicle includes the following steps:

[0168] Step 1001: The differential SDK initiates a differential service request.

[0169] The vehicle's differential SDK initiates a differential service request to the OEM differential service forwarding platform; correspondingly, the OEM differential service forwarding platform receives the differential service request initiated by the vehicle's differential SDK.

[0170] The differential service request includes the vehicle location and the vehicle unique identifier (such as a VIN code).

[0171] Step 1002: The OEM differential service forwarding platform converts the vehicle location into a service grid number.

[0172] Step 1003: The OEM differential service forwarding platform retrieves the service grid number and determines whether there is RTK differential correction information that meets the conditions;

[0173] If there is RTK differential correction information that meets the conditions, execute step 1004; otherwise, execute step 1006.

[0174] Step 1004: Send the RTK differential correction information that meets the conditions to the vehicle.

[0175] Step 1005: The differential SDK forwards the RTK correction information to the positioning chip for high-precision positioning.

[0176] Step 1006: The OEM differentiated service forwarding platform initiates a differentiated service request to the third-party differentiated service forwarding platform.

[0177] The request information is the encrypted grid number and OEM manufacturer identification.

[0178] Step 1007: After receiving the differential service request, the third-party differential service forwarding platform first decrypts the request information, and then determines whether it is the first request for the service grid number?

[0179] If it is the first request, execute step 1008; otherwise, execute step 1010.

[0180] Step 1008: The third-party differential service forwarding platform uses the OEM host factory identifier to perform account authentication and determines whether the account authentication is passed.

[0181] If passed, execute step 1009; otherwise, execute step 1006.

[0182] Step 1009: Establish a network link for the service grid number.

[0183] Step 1010: Send the RTK differential correction information of the service grid number at the current moment.

[0184] Step 1011: Start / restart timing. If no request from the service grid number is received within a certain period of time, execute step 1012.

[0185] Step 1012: The third-party differentiated service forwarding platform obtains a network link for the service grid number.

[0186] It should be noted that the execution method of the above steps 1001 to 1012 is the same as the execution method of the above embodiments of the present application, and will not be repeated here.

[0187] Among them, the OEM differential service forwarding platform must support the following technical conditions:

[0188] 1) The OEM differential service forwarding platform needs to support the conversion of vehicle location information to service grid number;

[0189] 2) The OEM differential service forwarding platform needs to support the conversion of differential service request information, encapsulate the service grid number in combination with the OEM host factory logo, and perform TSL encryption processing;

[0190] 3) The OEM differential service forwarding platform needs to support the storage, update, and retrieval of RTK differential information records based on the service grid number;

[0191] 4) The OEM differential service forwarding platform needs to support low latency to ensure that the differential correction information broadcast by the third-party service platform can be quickly forwarded to the vehicle;

[0192] 5) The OEM differential service forwarding platform needs to support high concurrency and distributed scalability. When the number of concurrent vehicles increases rapidly, the server resources can be increased to ensure that the forwarding platform can stably provide RTK differential forwarding services;

[0193] 6) The OEM differential service forwarding platform needs to support automotive-grade functional safety and information security;

[0194] 7) The search logic and search threshold can be calibrated and adjusted;

[0195] 8) The naming rules of OEM main manufacturer logo are determined through negotiation.

[0196] Among them, the third-party differential service platform must support the following technical conditions:

[0197] 1) The third-party differential service platform needs to support account authentication and account management methods based on service grid number broadcast and time-based billing;

[0198] 2) The OEM differential service forwarding platform cannot accurately determine whether this request is the last request for the grid number. Therefore, the third-party differential service platform is required to actively disconnect the established network link according to the strategy. When no differential service request for the service grid number initiated by the forwarding platform is received within 1 minute, the link is actively disconnected, and the 1-minute threshold setting supports calibration adjustment;

[0199] 3) The third-party differential service platform must support a distributed architecture. When the RTK service network for other industries suffers a network attack or system failure, it can be isolated in time and will not affect its proprietary RTK service network for OEMs, thus ensuring 99.99% availability of RTK services.

[0200] Among them, the vehicle's differential SDK software package must support the following technical conditions:

[0201] The destination IP address configured for the differential SDK software package deployed in the vehicle cockpit domain or intelligent driving domain is switched from the domain name or IP address of the public standard service of the third-party service platform to the domain name or IP address of the proprietary service of the OEM differential service forwarding platform.

[0202] In summary, in the above-mentioned low-cost network RTK proprietary service system method for large-scale autonomous driving, the third-party differential service platform counts the number of grids provided and the service duration on a monthly basis, and charges according to the number of grids and the service duration. No use, no payment. If the differential service of the same grid area is reused, only one fee is required.

[0203] When multiple vehicles in the same grid area request differential services at the same time or in the same time period, the RTK differential service forwarding platform only needs to establish a network link to the third-party service platform, request differential services once, and pay the service fee once, thereby reducing service costs and improving the cost-effectiveness and market competitiveness of each vehicle.

[0204] In addition, the vehicle's unique identification (such as the VIN code) and the vehicle's location data only exist on the OEM's differential service forwarding platform, avoiding direct circulation to a third-party differential service platform to protect the location privacy of vehicle end users.

[0205] Based on the massive amount of information accumulated from vehicle end users, we are able to statistically analyze the detailed data of vehicle end users of each model under the OEM, including the time, location, duration, trajectory, usage patterns, driving behavior, etc. of users using ADAS functions, so as to give full play to the value of big data and further support the formulation of marketing strategies.

[0206] Assuming that 1 million vehicles use RTK differential services at the same time, the third-party differential service platform originally needed to establish 1 million network links. After the improvement of the proprietary service system, the number of concurrent visits has dropped significantly, especially in densely populated cities, which has greatly alleviated the load pressure on the third-party differential service platform.

[0207] Based on the requirements of automotive-grade functional safety and information security, the third-party public standard services are upgraded to proprietary services for vehicle OEMs or the autonomous driving industry, which improves the reliability of the RTK differential service system, and further improves the reliability of the vehicle-side high-precision positioning system and ADAS functional applications. At the same time, when cyber attacks or system failures occur in other industries served by the third-party service platform, it will not affect the OEM's proprietary autonomous driving services.

[0208] Competition in the automotive industry is fierce, and the cost of smart hardware is falling rapidly. The price increase from ordinary GNSS positioning to hardware that supports GNSS high-precision positioning is only a few dozen yuan. Although the use of GNSS high-precision positioning as a standardized configuration will increase costs to a certain extent, it can expand and tap into more user value on the ADAS function application side, improve the reliability and user experience of ADAS and cockpit functions, attract vehicle users to subscribe to related functional software packages for the long term, promote functional iteration, form a closed loop, and truly improve the market competitiveness of OEMs and the penetration rate of ADAS functions.

[0209] The following is an embodiment of the device of the present application, which can be used to execute the embodiment of the method of the present application. For details not disclosed in the embodiment of the device of the present application, please refer to the embodiment of the method of the present application.

[0210] Please refer to Fig.11 , which shows a block diagram of an information sending device provided by an exemplary embodiment of the present application. The device has the functions of implementing the above examples, and the functions can be implemented by hardware or by hardware executing corresponding software. Fig.11 As shown, the device may include: a first acquisition module 1101 , a first sending module 1102 , a second acquisition module 1103 , a second sending module 1104 and an establishment module 1105 .

[0211] The first acquisition module 1101 is used to acquire positioning information sent by the vehicle, where the positioning information is used to indicate the service grid number where the vehicle is located;

[0212] The first sending module 1102 is used to send the first RTK differential correction information to the vehicle when the first RTK differential correction information that meets the specified conditions is queried from the storage information according to the positioning information; the storage information is used to indicate the corresponding relationship between each service grid number and each RTK differential correction information;

[0213] The second acquisition module 1103 is used to acquire the second RTK differential correction information from the third-party differential service platform according to the positioning information when the first RTK differential correction information that meets the specified condition is not found from the storage information according to the positioning information;

[0214] The second sending module 1104 is used to send the second RTK differential correction information to the vehicle when the second RTK differential correction information is acquired;

[0215] The establishing module 1105 is used to establish a corresponding relationship between the service grid number corresponding to the positioning information and the second RTK differential correction information in the storage information when the second RTK differential correction information is obtained.

[0216] In some embodiments, the specified condition includes at least one of the following:

[0217] The first service grid number corresponding to the positioning information has RTK differential correction information that meets the first specified timeliness condition;

[0218] A second service grid number adjacent to the first service grid number corresponding to the positioning information has RTK differential correction information that meets the second specified timeliness condition.

[0219] In some embodiments, the information sending device further includes: a first determining module, configured to use the RTK differential correction information corresponding to the first service grid number and satisfying the first specified timeliness condition as the first RTK differential correction information if the RTK differential correction information satisfying the first specified timeliness condition exists in the first service grid number;

[0220] The information sending device also includes: a second determination module, which is used to use the RTK differential correction information that meets the second specified time condition and corresponds to the second service grid number as the first RTK differential correction information when there is no RTK differential correction information that meets the first specified time condition for the first service grid number, and there is RTK differential correction information that meets the second specified time condition for the second service grid number.

[0221] In some embodiments, the second acquisition module 1103 is used to perform encryption processing on the service grid number corresponding to the positioning information when the first RTK differential correction information that meets the specified condition is not found from the storage information according to the positioning information;

[0222] The second acquisition module 1103 is used to initiate a differential service request to a third-party differential service platform; the differential service request carries an encrypted service grid number;

[0223] The second acquisition module 1103 is used to obtain the second RTK differential correction information returned by the third-party differential service platform.

[0224] Please refer to Fig.12 , which shows a block diagram of an information acquisition device provided by an exemplary embodiment of the present application. The device has the functions of implementing the above examples, and the functions can be implemented by hardware or by hardware executing corresponding software. Fig.12 As shown, the device may include: a first sending module 1201 and a first receiving module 1202.

[0225] The first sending module 1201 is used to send positioning information to the differential service forwarding platform, where the positioning information is used to indicate the service grid number where the vehicle is located;

[0226] The first receiving module 1202 is used to receive the first RTK differential correction information sent by the differential service forwarding platform; the first RTK differential correction information is the RTK differential correction information that satisfies the specified conditions and is queried from the storage information by the differential service forwarding platform according to the positioning information; the storage information is used to indicate the corresponding relationship between each service grid number and each RTK differential correction information; or,

[0227] The first receiving module 1202 is used to receive the second RTK differential correction information sent by the differential service forwarding platform; the second RTK differential correction information is the RTK differential correction information that the differential service forwarding platform obtains from the third-party differential service platform according to the positioning information after the differential service forwarding platform fails to query the RTK differential correction information that meets the specified conditions from the storage information based on the positioning information.

[0228] It should be noted that the device provided in the above embodiment, when implementing its functions, is only illustrated by the division of the above functional modules. In actual applications, the above functions can be assigned to different functional modules as needed, that is, the content structure of the device is divided into different functional modules to complete all or part of the functions described above. In addition, the device and method embodiments provided in the above embodiment belong to the same concept, and the specific implementation process is detailed in the method embodiment, which will not be repeated here.

[0229] Please refer to Fig.13 , which shows a block diagram of a computer device provided in one embodiment of the present application. The computer device 1300 may be any electronic device with data calculation, processing and storage capabilities. The computer device 1300 may be used to implement the information sending method and information acquisition method provided in the above embodiments.

[0230] Typically, the computer device 1300 includes a processor 1301 and a memory 1302 .

[0231] The processor 1301 may include one or more processing cores, such as a 4-core processor, an 8-core processor, etc. The processor 1301 may be implemented in at least one hardware form of DSP (Digital Signal Processing), FPGA (Field Programmable Gate Array), and PLA (Programmable Logic Array). The processor 1301 may also include a main processor and a coprocessor. The main processor is a processor for processing data in an awake state, also known as a CPU (Central Processing Unit); the coprocessor is a low-power processor for processing data in a standby state. In some embodiments, the processor 1301 may be integrated with a GPU (Graphics Processing Unit), which is responsible for rendering and drawing the content to be displayed on the display screen. In some embodiments, the processor 1301 may also include an artificial intelligence (AI) processor, which is used to process computing operations related to machine learning.

[0232] The memory 1302 may include one or more computer-readable storage media, which may be non-transitory. The memory 1302 may also include a high-speed random access memory, and a non-volatile memory, such as one or more disk storage devices, flash memory storage devices. In some embodiments, the non-transitory computer-readable storage medium in the memory 1302 is used to store a computer program, which is configured to be executed by one or more processors to implement the above-mentioned information sending method and information acquisition method.

[0233] Those skilled in the art will understand that Fig.13 The structure shown in the figure does not constitute a limitation on the computer device 1300, and the computer device 1300 may include more or less components than shown in the figure, or combine some components, or adopt a different component arrangement.

[0234] In an exemplary embodiment, a computer-readable storage medium is also provided, in which a computer program is stored, and when the computer program is executed by a processor, the above-mentioned information sending method and information acquisition method are implemented. Optionally, the computer-readable storage medium may include: ROM (Read-Only Memory), RAM (Random Access Memory), SSD (Solid State Drives) or optical disks, etc. Among them, the random access memory may include ReRAM (Resistance Random Access Memory) and DRAM (Dynamic Random Access Memory).

[0235] In an exemplary embodiment, a computer program product is also provided, the computer program product comprising a computer program, the computer program being stored in a computer-readable storage medium. A processor of a computer device reads the computer program from the computer-readable storage medium, and the processor executes the computer program, so that the computer device executes the above-mentioned information sending method and information obtaining method.

[0236] It should be understood that the "multiple" mentioned in this article refers to two or more. "And / or" describes the association relationship of associated objects, indicating that three relationships may exist. For example, A and / or B can represent: A exists alone, A and B exist at the same time, and B exists alone. The character " / " generally indicates that the objects associated before and after are in an "or" relationship. In addition, the step numbers described in this article only illustrate a possible execution sequence between the steps. In some other embodiments, the above steps may not be executed in the order of the numbers, such as two steps with different numbers are executed at the same time, or two steps with different numbers are executed in the opposite order to the diagram. The embodiments of the present application are not limited to this.

[0237] The above description is only an exemplary embodiment of the present application and is not intended to limit the present application. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present application shall be included in the protection scope of the present application.

Claims

1. A method for sending information, characterized in that: The method is performed by a differentiated service forwarding platform, and the method includes: Acquire positioning information sent by the vehicle, the positioning information being used to indicate a service grid number where the vehicle is located; When first RTK differential correction information satisfying a specified condition is found from the stored information according to the positioning information, the first RTK differential correction information is sent to the vehicle; the stored information is used to indicate the correspondence between each service grid number and each RTK differential correction information; If the first RTK differential correction information satisfying the specified condition is not found in the stored information according to the positioning information, obtaining second RTK differential correction information from a third-party differential service platform according to the positioning information; When the second RTK differential correction information is acquired, sending the second RTK differential correction information to the vehicle; When the second RTK differential correction information is obtained, a corresponding relationship between the service grid number corresponding to the positioning information and the second RTK differential correction information is established in the storage information.

2. The method according to claim 1, characterized in that The specified conditions include at least one of the following: The first service grid number corresponding to the positioning information contains the RTK differential correction information that meets the first specified timeliness condition; The second service grid number adjacent to the first service grid number corresponding to the positioning information contains the RTK differential correction information that meets the second specified timeliness condition.

3. The method according to claim 2, characterized in that The method further comprises: If the first service grid number has RTK differential correction information that meets the first specified timeliness condition, use the RTK differential correction information that meets the first specified timeliness condition and corresponds to the first service grid number as the first RTK differential correction information; When there is no RTK differential correction information that meets the first specified time condition for the first service grid number, and there is RTK differential correction information that meets the second specified time condition for the second service grid number, the RTK differential correction information that meets the second specified time condition corresponding to the second service grid number shall be used as the first RTK differential correction information.

4. The method according to any one of claims 1 to 3, characterized in that: The step of acquiring second RTK differential correction information from a third-party differential service platform according to the positioning information, when the first RTK differential correction information satisfying the specified condition is not found from the stored information according to the positioning information, includes: When the first RTK differential correction information satisfying the specified condition is not found from the stored information according to the positioning information, encrypting the service grid number corresponding to the positioning information; Initiating a differential service request to the third-party differential service platform; the differential service request carries the encrypted service grid number; Obtain the second RTK differential correction information returned by the third-party differential service platform.

5. A method for obtaining information, characterized in that: The method is performed by a vehicle, and comprises: Sending positioning information to a differential service forwarding platform, wherein the positioning information is used to indicate a service grid number where the vehicle is located; Receiving first RTK differential correction information sent by the differential service forwarding platform; the first RTK differential correction information is RTK differential correction information that meets specified conditions and is queried by the differential service forwarding platform from the storage information according to the positioning information; the storage information is used to indicate the corresponding relationship between each service grid number and each RTK differential correction information; or, Receive the second RTK differential correction information sent by the differential service forwarding platform; the second RTK differential correction information is the RTK differential correction information that the differential service forwarding platform has not found from the storage information according to the positioning information and that meets the specified conditions, and the RTK differential correction information is obtained from the third-party differential service platform according to the positioning information.

6. An information sending device, characterized in that: The device comprises: A first acquisition module, used to acquire positioning information sent by a vehicle, wherein the positioning information is used to indicate a service grid number where the vehicle is located; A first sending module, configured to send the first RTK differential correction information to the vehicle when first RTK differential correction information satisfying a specified condition is queried from the storage information according to the positioning information; the storage information is used to indicate a correspondence between each service grid number and each RTK differential correction information; A second acquisition module is used to acquire second RTK differential correction information from a third-party differential service platform according to the positioning information when the first RTK differential correction information that meets the specified condition is not found in the storage information according to the positioning information; a second sending module, configured to send the second RTK differential correction information to the vehicle when the second RTK differential correction information is acquired; An establishing module is used to establish a corresponding relationship between the service grid number corresponding to the positioning information and the second RTK differential correction information in the storage information when the second RTK differential correction information is acquired.

7. An information acquisition device, characterized in that: The device comprises: A first sending module, used to send positioning information to a differential service forwarding platform, wherein the positioning information is used to indicate a service grid number where the vehicle is located; A first receiving module is used to receive first RTK differential correction information sent by the differential service forwarding platform; the first RTK differential correction information is RTK differential correction information that meets specified conditions and is queried by the differential service forwarding platform from the storage information according to the positioning information; the storage information is used to indicate the corresponding relationship between each service grid number and each RTK differential correction information; or, The first receiving module is used to receive the second RTK differential correction information sent by the differential service forwarding platform; the second RTK differential correction information is the RTK differential correction information obtained from the third-party differential service platform according to the positioning information after the differential service forwarding platform has not queried the RTK differential correction information that meets the specified conditions from the storage information based on the positioning information.

8. A computer device, characterized in that: The computer device includes a processor and a memory, wherein a computer program is stored in the memory, and the computer program is loaded and executed by the processor to implement the information sending method according to any one of claims 1 to 4 and the information acquiring method according to claim 5.

9. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, and the computer program is loaded and executed by a processor to implement the information sending method according to any one of claims 1 to 4 and the information acquiring method according to claim 5.

10. A computer program product, characterized in that The computer program product includes a computer program, which is stored in a computer-readable storage medium. The processor reads and executes the computer program from the computer-readable storage medium to implement the information sending method according to any one of claims 1 to 4 and the information acquisition method according to claim 5.

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