Information sending method, acquisition method, device, equipment and storage medium

Abstract

This application discloses an information transmission method, acquisition method, apparatus, device, and storage medium, relating to the field of intelligent driving technology. The method, executed by a differential service forwarding platform, includes: acquiring location information sent by a vehicle; if, based on the location information, first RTK differential correction information meeting specified conditions is found in stored information, then the first RTK differential correction information is sent to the vehicle; if, based on the location information, no first RTK differential correction information meeting the specified conditions is found in stored information, then second RTK differential correction information is acquired from a third-party differential service platform based on the location information; and if the second RTK differential correction information is acquired, then the second RTK differential correction information is sent to the vehicle. This application can reduce the cost of acquiring RTK differential correction information.

Description

TECHNICAL FIELD

[0001] Embodiments of the present application relate to the technical field of intelligent driving, and in particular to an information sending method and device, an information obtaining method and device, equipment and a storage medium. BACKGROUND

[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 position information for vehicles, which is crucial for the safety and reliability of intelligent driving.

[0003] In related technologies, trajectory deviation can be caused by error accumulation of an inertial navigation system, and GNSS positioning information needs to be used for regular calibration to correct the reference position of the inertial navigation system. The positioning accuracy of an ordinary GNSS positioning system can only reach the meter level, and 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 vehicle intelligent driving.

[0004] However, the RTK differential correction information used by the GNSS high-precision positioning technology in related technologies is usually provided by a third-party service provider according to a one-car-one-account mode for a fee, resulting in a high use cost of the GNSS high-precision positioning technology and affecting the market application of intelligent driving technology. SUMMARY

[0005] Embodiments of the present application provide an information sending method, an information obtaining method, a device, equipment and a storage medium, which can reduce the acquisition cost of RTK differential correction information, and further reduce the use cost of GNSS high-precision positioning technology. The technical solutions proposed by the present application are as follows:

[0006] According to an aspect of an embodiment of the present application, an information sending method is provided, which is executed by a differential service forwarding platform, and the method comprises:

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

[0008] in a case where first RTK differential correction information meeting a specified condition is queried from storage information according to the positioning information, sending the first RTK differential correction information to the vehicle; the storage information being used to indicate a corresponding relationship between each service grid number and each RTK differential correction information;

[0009] in a case where the first RTK differential correction information meeting the specified condition is not queried from the storage 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] Upon obtaining the second RTK differential correction information, the second RTK differential correction information is sent to the vehicle;

[0011] Upon obtaining the second RTK differential correction information, a correspondence is established between the service grid number corresponding to the positioning information and the second RTK differential correction information in the stored information.

[0012] According to one aspect of the embodiments of this application, an information acquisition method is provided, the method being performed by a vehicle, the method comprising:

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

[0014] The system receives first RTK differential correction information sent by the differential service forwarding platform; the first RTK differential correction information is RTK differential correction information that the differential service forwarding platform retrieves from stored information based on the positioning information and meets specified conditions; the stored information is used to indicate the correspondence between each service grid number and each RTK differential correction information; or...

[0015] The system receives second RTK differential correction information sent by the differential service forwarding platform. The second RTK differential correction information is obtained by the differential service forwarding platform from a third-party differential service platform based on the location information after the differential service forwarding platform has not found RTK differential correction information that meets the specified conditions in the storage information based on the location information.

[0016] According to one aspect of the embodiments of this application, an information transmitting apparatus is provided, the apparatus comprising:

[0017] The first acquisition module is used to acquire location information sent by the vehicle, the location information being used to indicate the service grid number where the vehicle is located;

[0018] The first sending module is configured to send the first RTK differential correction information to the vehicle when, based on the positioning information, a first RTK differential correction information that meets specified conditions is found in the stored information; the stored information is used to indicate the correspondence between each service grid number and each RTK differential correction information.

[0019] The second acquisition module is used to acquire second RTK differential correction information from a third-party differential service platform based on the location information when the first RTK differential correction information that meets the specified conditions is not found in the stored information according to the location information.

[0020] The second sending module is used to send the second RTK differential correction information to the vehicle when the second RTK differential correction information is obtained;

[0021] A module is established to establish a correspondence between the service grid number corresponding to the positioning information and the second RTK differential correction information in the stored information when the second RTK differential correction information is obtained.

[0022] In some embodiments, the specified conditions include at least one of the following:

[0023] The first service grid number corresponding to the location information contains 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 location information has 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, when there is RTK differential correction information corresponding to the first service grid number that satisfies the first specified timeliness condition, take the RTK differential correction information that satisfies the first specified timeliness condition as the first RTK differential correction information;

[0026] The information sending device further includes: a second determining module, configured to, when there is no RTK differential correction information for the first service grid number that satisfies the first specified timeliness condition, and there is RTK differential correction information for the second service grid number that satisfies the second specified timeliness condition, take the RTK differential correction information corresponding to the second service grid number that satisfies the second specified timeliness condition as the first RTK differential correction information.

[0027] In some embodiments, the second acquisition module is configured to perform encryption processing on the service grid number corresponding to the location information when, based on the location information, no first RTK differential correction information satisfying the specified conditions is found in the stored 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 acquire the second RTK differential correction information returned by the third-party differential service platform.

[0030] According to one aspect of the embodiments of this application, an information acquisition device is provided, the device comprising:

[0031] The first sending module is used to send location information to the differential service forwarding platform, wherein the location information is used to indicate the service grid number where the vehicle is located.

[0032] A first receiving module is configured 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 the differential service forwarding platform retrieves from stored information based on the positioning information and meets specified conditions; the stored information is used to indicate the correspondence 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 by the differential service forwarding platform from the third-party differential service platform after it has not found the specified conditions in the stored information based on the location information.

[0034] According to one aspect of the embodiments of this application, a computer device is provided, the computer device including a processor and a memory, the memory storing a computer program, the computer program being loaded and executed by the processor to implement the above-described information sending method and information acquisition method.

[0035] According to one aspect of the embodiments of this application, a computer-readable storage medium is provided, wherein a computer program is stored in the computer-readable storage medium, and the computer program is loaded and executed by a processor to implement the above-described information sending method and information acquisition method.

[0036] According to one aspect of the embodiments of this application, a computer program product is provided, the computer program product including a computer program, the computer program being loaded and executed by a processor to implement the above-described information sending method and information acquisition method.

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

[0038] A differential service forwarding platform is provided for storing and forwarding RTK differential correction information. Differential service requests from vehicles are not sent directly to third-party differential service platforms, but rather to the differential service forwarding platform. If the differential service forwarding platform does not store the RTK differential correction information corresponding to the vehicle, it sends a differential service request to the third-party differential service platform, which then 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, it directly sends the stored RTK differential correction information to the vehicle. Since third-party differential service platforms charge fees for responding to differential service requests, this solution reduces the number of differential service requests sent to third-party differential service platforms by storing RTK differential correction information through the differential service forwarding platform, thereby reducing the cost of obtaining RTK differential correction information and lowering the cost of using GNSS high-precision positioning technology. Attached Figure Description

[0039] To more clearly illustrate the technical solutions in the embodiments of this application, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0040] Figure 1 This is a framework diagram of an RTK differential correction information acquisition method involved in this application;

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

[0042] Figure 3 This is a flowchart of an exemplary embodiment of the information sending method provided in this application;

[0043] Figure 4 This is a schematic diagram illustrating a differential service request provided in an exemplary embodiment of this application;

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

[0045] Figure 6 This is a schematic diagram of the encryption processing of the differential service forwarding platform provided in an exemplary embodiment of this application;

[0046] Figure 7 This is a flowchart of an information acquisition method provided in an exemplary embodiment of this application;

[0047] Figure 8 This 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 this application;

[0048] Figure 9 This is a schematic diagram illustrating the application of RTK differential correction information provided in an exemplary embodiment of this application;

[0049] Figure 10 This is a flowchart of a method for a vehicle to obtain RTK differential correction information provided in an exemplary embodiment of this application;

[0050] Figure 11 This is a block diagram of an information transmission apparatus provided in an exemplary embodiment of this application;

[0051] Figure 12 This is a block diagram of an information acquisition device provided in an exemplary embodiment of this application;

[0052] Figure 13 This is a structural block diagram of a computer device provided in one embodiment of this application.

[0053] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this application and, together with the description, serve to explain the principles of this application. Detailed Implementation

[0054] To make the objectives, technical solutions, and advantages of this application clearer, the embodiments of this application will be described in further detail below with reference to the accompanying drawings.

[0055] Exemplary embodiments will now be described in detail, examples of which are illustrated in the accompanying drawings. When the following description relates to the drawings, unless otherwise indicated, the same numbers in different drawings denote the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with this application. Rather, they are merely examples of apparatuses and methods consistent with some aspects of this application as detailed in the appended claims.

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

[0057] In this application embodiment, 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, data stored, data displayed, etc.) involved in this application are all information and data authorized by the user or fully authorized by all parties, and the collection, use and processing of related data must comply with the 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 this disclosure to describe various information, such information should not be limited to these terms. These terms are only used to distinguish information of the same type from one another. For example, without departing from the scope of this disclosure, first RTK differential correction information may also be referred to as second RTK differential correction information, and similarly, second RTK differential correction information may also be referred to as first RTK differential correction information. Depending on the context, the word "if" as used herein may be interpreted as "when," "when," or "in response to determination."

[0059] Intelligent driving refers to the ability of vehicles to assist or replace human drivers in controlling the vehicle by using advanced sensors, controllers, actuators, and communication modules. The core of intelligent driving lies in the effective coordination of the three stages: perception, decision-making, and execution.

[0060] Perception: Using various types of sensors such as cameras, lidar, and millimeter-wave radar, information about the vehicle and its surrounding environment is collected, including but not limited to video streams, GPS coordinates, vehicle attitude, and acceleration. These sensors are like the vehicle's eyes and ears, helping the vehicle "see" its surroundings.

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

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

[0063] With the rapid development and popularization of intelligent driving technology, high-precision positioning technology using Global Navigation Satellite System (GNSS) has become one of the key elements for realizing autonomous driving. GNSS positioning, as a prerequisite for integrated navigation positioning and multi-source fusion positioning, and especially as the only sensor capable of providing absolute position information, directly impacts the performance and user experience of Advanced Driving Assistance Systems (ADAS).

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

[0065] 1. In the advanced functions of intelligent driving, such as highway assisted driving and urban assisted driving, the first requirement is to accurately locate the vehicle's position before precise planning and control can be achieved;

[0066] 2. In the intelligent driving domain, adaptive cruise control, lane centering control, lane keeping and other low-level functions, it is necessary to adjust the vehicle's acceleration, deceleration and directional control in real time based on the vehicle's attitude information such as yaw rate and longitudinal acceleration.

[0067] 3. In the cabin-level lane navigation function, lane-level maps of major roads across the country are basically widespread. If the vehicle's positioning accuracy is less than 1 meter, it will reduce the user experience.

[0068] 4. The future-oriented vehicle-road cooperative integrated strategy requires the accurate location of each vehicle in order to achieve efficient collaborative control of upper-level intelligent transportation and intelligent connectivity.

[0069] It should be noted that although integrated navigation technology is relatively mature and widely used in intelligent driving vehicles, the accumulation of errors in the inertial navigation system can cause trajectory drift. Therefore, it is necessary to periodically calibrate using GNSS positioning information to correct the reference position of the inertial navigation system, effectively suppress the divergence of positioning errors, improve the accuracy and reliability of the integrated navigation system, and ensure a good user experience in complex environments such as tunnels, urban canyons, elevated roads, and underground parking garages. In short, the higher the GNSS positioning accuracy, the better the vehicle's positioning performance and the more stable the ADAS function application; these are linearly correlated.

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

[0071] The RTK differential correction information used in this process is typically provided independently by third-party service providers, offering standardized RTK differential services on a per-vehicle, per-account basis with an annual fee. When there are a large number of concurrent users, this can result in high service costs, and it can also lead to the leakage of user location privacy. Furthermore, service stability can be affected by clients in other industries.

[0072] Please refer to Figure 1 The diagram illustrates a framework of an RTK differential correction information acquisition method related to this application. Figure 1 As shown, on the one hand, third-party service providers establish a widely distributed network of ground-based augmentation reference stations to observe raw GNSS satellite observation data in real time, and transmit it to a third-party differential service platform (also known as the third-party service provider's cloud platform) via dedicated lines. Through core algorithm calculations, the third-party service provider's cloud platform generates differential correction information for different locations, dividing it into numerous service grids in 5*5km squares (shape and size can be calibrated and adjusted), and broadcasting it via the Internet. Each service grid corresponds to a service grid number.

[0073] On the other hand, the vehicle's cockpit domain controller or autonomous driving domain controller integrates a GNSS positioning chip and a differential software development kit (SDK) provided by the service provider. For example, a method for a vehicle to obtain RTK differential correction information includes the following steps:

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

[0075] Accordingly, after receiving the RTK differential service request from the vehicle end user, the cloud platform of the third-party service provider first performs account authentication. After the account authentication is successful, it records the vehicle's unique identifier. If it is the first request, it allocates and activates an RTK differential account, starts billing, and sends RTK differential correction information according to the service grid where the vehicle is located.

[0076] Subsequently, 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 raw observation data of GNSS satellites received by the vehicle's GNSS positioning antenna, the positioning chip performs joint calculations to obtain the vehicle's high-precision positioning result information.

[0077] Vehicle end users repeat the above steps at a frequency of 1Hz (the frequency can be calibrated and adjusted). The GNSS positioning results are combined with the inertial navigation system for positioning, and further fused 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 raw observation information from GNSS satellites received by the GNSS antenna and the RTK differential correction information for the current location and time broadcast by a third-party differential service platform. Differential calculations are then performed to eliminate or reduce common error interference during satellite signal propagation, accurately calculating the number of integer cycles the satellite signal (carrier signal) has traversed during its propagation from satellite transmission to positioning antenna reception, thus obtaining a high-precision positioning result. Dual-frequency RTK differential technology can achieve horizontal centimeter-level accurate positioning results, while single-frequency RTK differential technology can achieve horizontal sub-meter-level positioning results.

[0079] In the aforementioned method for obtaining RTK differential correction information, the third-party service provider compiles statistics on newly allocated RTK differential accounts monthly and charges annually, i.e., one account per vehicle, with payment made annually. Once the account is activated and expires after one year, the service provider's cloud platform will also compile statistics on RTK differential accounts that need to be renewed and charge RTK account service fees again.

[0080] In other words, if high-precision positioning becomes a standard configuration, with the increasing penetration rate of ADAS functions and the rapid growth in the number of vehicle end-users, original equipment manufacturers (OEMs) will incur high annual RTK differential service costs. Furthermore, some vehicle end-users may not use the RTK differential service frequently, but once activated, they will still need to pay a year's worth of differential service fees even if they no longer use it. When N vehicles are located in the same grid area (such as an ADAS testing area or a densely populated urban area) and simultaneously request differential services, N network connections will be established. When the number of concurrent users is high, this will put pressure on the load of third-party service platforms. Additionally, each vehicle ultimately obtains the exact same RTK differential correction information, but still has to pay for N accounts, resulting in duplicate payments for the same service.

[0081] Based on this, subsequent embodiments of this application provide a novel method for acquiring RTK differential correction information. By deploying an RTK differential service forwarding platform at the OEM (Original Equipment Manufacturer) level, a proprietary GNSS high-precision positioning service system for autonomous driving is achieved.

[0082] Please refer to Figure 2 This diagram illustrates an implementation environment provided by an exemplary embodiment of this application. Figure 2As shown, the implementation environment may include: vehicle 210, differential service forwarding platform 220, and third-party differential service platform 230. Vehicle 210 and differential service forwarding platform 220, and differential service forwarding platform 220 and third-party differential service platform 230, communicate with each other via a network. Optionally, vehicle 210 and differential service forwarding platform 220, and differential service forwarding platform 220 and third-party differential service platform 230, may be directly or indirectly connected via wired or wireless communication; this application does not impose any restrictions on this connection.

[0083] The differential service forwarding platform 220 stores information indicating the correspondence between service grid numbers corresponding to location information and RTK differential correction information. For example, in the new RTK differential correction information acquisition method, vehicle 210 sends location information to the differential service forwarding platform 220, the location information indicating the vehicle's current location; correspondingly, the differential service forwarding platform 220 queries the stored information to see if there is RTK differential correction information that meets specified conditions, based on the service grid number corresponding to the location information. If RTK differential correction information is found, the differential service forwarding platform 220 sends the RTK differential correction information to vehicle 210; if no RTK differential correction information is found, the differential service forwarding platform 220 obtains the RTK differential correction information from a third-party differential service platform 230 based on the service grid number, and then sends the RTK differential correction information to vehicle 210.

[0084] Please refer to Figure 3 The diagram illustrates a flowchart of an exemplary embodiment of an information transmission method provided in this application. The entity executing each step of this method can be a differential service forwarding platform, which can be any electronic device capable of data storage and processing. Optionally, the differential service forwarding platform is... Figure 2 The differential service forwarding platform 220 in the system shown. For example... Figure 3 As shown, the method may include steps 310 to 350.

[0085] Step 310: Obtain the location information sent by the vehicle, which indicates the service grid number where the vehicle is located.

[0086] Optionally, the above location information is the vehicle's current location information; or, the above location information is the service grid number corresponding to the vehicle's current location.

[0087] In this embodiment of the application, the vehicle sends location information to the differential service forwarding platform to request RTK differential correction information. For example, the vehicle sends a differential service request to the differential service forwarding platform, the differential service request carrying location information; correspondingly, the differential service forwarding platform receives the differential service request and obtains the location information from the differential service request.

[0088] For example, the aforementioned location information is sent by the vehicle's differential SDK to the differential service forwarding platform via the T-BOX network.

[0089] The location information indicating the vehicle's current position is particularly important for autonomous vehicles, as it provides the foundation for subsequent path planning, environmental perception, and other advanced driver assistance functions. For example, this location 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. This unique vehicle identifier is used to indicate the vehicle's identity information. For example, the unique vehicle identifier is the Vehicle Identification Number (VIN).

[0091] Step 320: If the first RTK differential correction information that meets the specified conditions is found in the storage information based on the positioning information, the first RTK differential correction information is sent to the vehicle; the storage 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 mapping between vehicle location information and service grid numbers. For example, before step 320, the differential service forwarding platform can obtain the first service grid number corresponding to the location information based on the location information. Then, the differential service forwarding platform queries the stored information based on the first service grid number to determine if there is first RTK differential correction information that meets specified conditions.

[0093] The aforementioned storage information is pre-stored in the differential service forwarding platform. For example, the differential service forwarding platform creates a database table or file structure to store the correspondence between each service mesh number and each RTK differential correction information.

[0094] Optionally, the aforementioned stored information is constructed by the differential service forwarding platform based on the location information of each vehicle and the corresponding RTK differential correction information. For example, when the differential service forwarding platform receives the location information sent by the vehicle, it obtains the service grid number 1 corresponding to the location information, and sends a request to a third-party differential service platform to obtain the differential service corresponding to the service grid number 1. After obtaining the RTK differential correction information 1 corresponding to the service grid number 1, the differential service forwarding platform can establish a correspondence between the service grid number 1 and the RTK differential correction information 1 in the stored information. Then, when it receives the location information sent by the vehicle corresponding to the location 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 stored information to the vehicle without having to send a request to the differential service forwarding platform.

[0095] Step 330: If the first RTK differential correction information that meets the specified conditions is not found in the stored information based on the location information, the second RTK differential correction information is obtained from the third-party differential service platform based on the location information.

[0096] If the first RTK differential correction information that meets the specified conditions is not found in the stored information, it means that the differential service forwarding platform has not established a correspondence between the service grid number corresponding to the location information and the RTK differential correction information corresponding to that service grid number. In this case, the differential service forwarding platform obtains the second RTK differential correction information from a third-party differential service platform based on the location information.

[0097] For example, in the process of obtaining the second RTK differential correction information from the third-party differential service platform based on the location 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 location information.

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

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

[0100] In this embodiment of the application, the third-party differential service platform responds to the differential service request of the differential service forwarding platform by sending the second RTK differential correction information corresponding to the service grid number to the differential service forwarding platform.

[0101] For example, 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 vehicle's differential SDK through the T-BOX network.

[0102] In other words, a vehicle's differential service request must be forwarded through the OEM differential service forwarding platform before it can connect to a third-party differential service platform. For example... Figure 4 As shown, the vehicle sends a differential service request to the differential service forwarding platform to request RTK differential correction information. If the differential service forwarding platform does not find the corresponding RTK differential correction information, the differential service forwarding platform sends a differential service request to a third-party differential service platform to request RTK differential correction information.

[0103] Step 350: After obtaining the second RTK differential correction information, establish a correspondence between the service grid number corresponding to the positioning information and the second RTK differential correction information in the stored information.

[0104] Optionally, during the process of establishing the correspondence between the service grid number corresponding to the location 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] For example, the correspondence between the service grid number corresponding to each group of location information in the above-mentioned stored information and the RTK differential correction information can be sorted from last to first according to the acquisition time of the RTK differential correction information; then, 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 this embodiment of the 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 the 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] In summary, the technical solution provided in this application provides a differential service forwarding platform for storing and forwarding RTK differential correction information. Vehicle differential service requests are not directly sent to a third-party differential service platform, but rather to the differential service forwarding platform. If the differential service forwarding platform does not store the RTK differential correction information corresponding to the vehicle, it sends a differential service request to the third-party differential service platform, which then 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, it directly sends the stored RTK differential correction information to the vehicle. Since the third-party differential service platform charges a fee for responding to differential service requests, this solution, by storing RTK differential correction information through the differential service forwarding platform, reduces the number of differential service requests sent to the third-party differential service platform, thereby reducing the cost of obtaining RTK differential correction information and lowering the cost of using GNSS high-precision positioning technology.

[0108] Furthermore, vehicle end-users and other RTK users (such as those in surveying, mapping, and drone industries) share a third-party differential service platform. When other RTK users have a high concurrency, it will consume a large amount of server resources. 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 end-user will also be affected. The differential service forwarding platform in this solution can reduce the possibility of the vehicle's differential service being affected by the interference.

[0109] Based on the above Figure 2 In one possible implementation of the scheme shown in the embodiments, the specified conditions include at least one of the following:

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

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

[0112] It should be noted that due to the extremely high altitude of the satellite above the ground, the distance between the satellite signal transmission and the vehicle is very large, resulting in a limited validity period for RTK differential correction information. Within a 2-minute window, the positioning error introduced along the satellite signal propagation path does not change significantly. It can be assumed that the errors during satellite signal propagation are strongly correlated or essentially equal at two points within that 2-minute window. Using the RTK differential correction information from within those 2 minutes for positioning calculation at the current moment, even with a reduction in accuracy from centimeter-level to sub-meter-level, it can still meet lane-level positioning requirements.

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

[0114] The second specified condition is: For a second service grid number adjacent to the first service grid number corresponding to the location information, there exists RTK differential correction information that meets the second specified timeliness condition. Specifically, the existence of RTK differential correction information that meets the second specified timeliness condition can mean that the RTK differential correction information is updated within 1 minute.

[0115] For example, the priority of specified condition one is higher than the priority of specified condition two. Figure 5 As shown, the differential service forwarding platform first converts the location information into a first service grid number; then it searches the first service grid number. If the first service grid number contains RTK differential correction information within 2 minutes, that is, if there is first RTK differential correction information that meets the specified conditions, step 320 is executed; if there is no RTK differential correction information within 2 minutes, it determines whether the second service grid number contains RTK differential correction information within 1 minute. The second service grid number is the service grid number adjacent to the first service grid number. If the second service grid number contains RTK differential correction information within 1 minute, that is, if there is first RTK differential correction information that meets the specified conditions, step 320 is executed; if there is no RTK differential correction information within 1 minute, that is, if there is no first RTK differential correction information that meets the specified conditions, step 330 is executed.

[0116] This application provides specific details of the aforementioned specified conditions, namely, it provides a scheme for how the differential service forwarding platform can query the RTK differential correction information corresponding to the service grid number. By setting timeliness conditions for RTK differential correction information, it 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 this application, in one possible implementation, the information sending method further includes:

[0118] If there is RTK differential correction information that meets the first specified time limit for the first service grid number, the RTK differential correction information that meets the first specified time limit for the first service grid number shall be used as the first RTK differential correction information.

[0119] In other words, if there is RTK differential correction information that meets the first specified time limit condition in the first service grid number, the differential service forwarding platform will determine the RTK differential correction information that meets the first specified time limit condition as the first RTK differential correction information.

[0120] For example, if there are multiple RTK differential correction messages corresponding to the first service grid number that meet the first specified timeliness condition, the differential service forwarding platform will determine the latest RTK differential correction message as the first RTK differential correction message.

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

[0122] If there is no RTK differential correction information that meets the first specified time limit for the first service grid number, but there is RTK differential correction information that meets the second specified time limit for the second service grid number, the RTK differential correction information that meets the second specified time limit for the second service grid number shall be used as the first RTK differential correction information.

[0123] In other words, if there is no RTK differential correction information that meets the first specified time limit for the first service grid number, the differential service forwarding platform will determine the RTK differential correction information that meets the second specified time limit for the second service grid number as the first RTK differential correction information.

[0124] For example, if there are multiple RTK differential correction messages corresponding to the second service grid number that meet the second specified timeliness condition, the differential service forwarding platform will determine the latest RTK differential correction message as the first RTK differential correction message.

[0125] This application illustrates various methods by which a differential service forwarding platform obtains RTK differential correction information based on specified conditions. Prioritizing the acquisition of RTK differential correction information that meets a first specified timeliness condition can improve the accuracy of RTK differential correction information sent to vehicles.

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

[0127] If the first RTK differential correction information that meets the specified conditions is found in the stored information based on the location information, the predicted RTK differential correction information is sent to the vehicle. The predicted RTK differential correction information is the RTK differential correction information predicted based on the historical RTK differential correction information corresponding to the service grid number of the location information.

[0128] Optionally, the differential service forwarding platform obtains predicted RTK differential correction information based on a prediction model. The prediction model is a machine learning model trained using sample RTK differential correction information from the same service grid number (e.g., the service grid number of the location information). For example, the training process of the prediction model includes: acquiring N sample RTK differential correction information and N acquisition times corresponding to each of 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 time point output by the prediction model; and updating the prediction model based on the difference between the RTK differential correction information at the Nth time point output by the prediction model and the RTK differential correction information of the Nth sample.

[0129] For example, 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 the predicted RTK differential correction information to the vehicle.

[0130] For example, the differential service forwarding platform can perform a weighted average of the RTK differential correction information output by the prediction model and the first RTK differential correction information to obtain the predicted RTK differential correction information.

[0131] Optionally, the differential service forwarding platform obtains a prediction curve based on the prediction model. This prediction curve indicates the RTK differential correction information at each time point within the same service grid number. Then, based on the first RTK differential correction information, the differential service forwarding platform queries the prediction curve for the RTK differential correction information corresponding to the current time point, using this as the predicted RTK differential correction information.

[0132] Based on the first RTK differential correction information obtained from the query, this embodiment of the application sends the RTK differential correction information predicted from the historical RTK differential correction information corresponding to the service grid number of the location information to the vehicle, 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 this application, in one possible implementation, step 330 can be implemented as step 330a, step 330b and step 330c.

[0134] Step 330a: If no first RTK differential correction information that meets the specified conditions is found in the stored information based on the location information, the service grid number corresponding to the location information is encrypted.

[0135] It should be noted that, in principle, network RTK technology requires vehicles to first report their location information to a third-party differential service platform before the platform can send RTK differential correction information to the vehicle. This interaction method can leak the location privacy of vehicle users and pose certain information security risks.

[0136] For example, the differential service forwarding platform encrypts the service mesh number corresponding to the location information using the Transport Layer Security (TSL) protocol. The TSL protocol, through a series of security measures such as authentication, data encryption, and data integrity verification, ensures the security of communication between the differential service forwarding platform and third-party differential service platforms.

[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 encrypting the service grid number corresponding to the location information, the differential service forwarding platform will send the request information containing the encrypted service grid number to the third-party differential service platform.

[0139] like Figure 6 As shown, the vehicle sends time information, location information, and a unique vehicle identifier to the differential service forwarding platform. If the differential service forwarding platform does not have corresponding RTK differential correction information that meets specified conditions, the platform encapsulates and encrypts the time information, service grid number, OEM identifier, and other information, along with a TSL information security certificate, before sending it to the third-party differential service platform. In other words, the vehicle's differential request information, after being converted by the differential service forwarding platform, obscures the vehicle's location information to protect user location privacy.

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

[0141] After receiving the differential service request initiated by the differential service forwarding platform, the third-party differential service platform 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] This application embodiment can obfuscate the vehicle's location information by encrypting the service grid number corresponding to the location information, thereby protecting user location privacy and improving the security of vehicle users when using location services.

[0143] Please refer to Figure 7The diagram illustrates a flowchart of an information acquisition method provided in an exemplary embodiment of this application. The entity performing each step of the method may be a vehicle. Optionally, the vehicle is... Figure 2 Vehicle 210 in the system shown. (e.g.) Figure 7 As shown, the method may include steps 710 and 720.

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

[0145] Step 720: Receive the 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 retrieved from the stored information by the differential service forwarding platform based on the location information; the stored information is used to indicate the correspondence between each service grid number and each RTK differential correction information; or,

[0146] The system receives the second RTK differential correction information sent by the differential service forwarding platform. The second RTK differential correction information is obtained by the differential service forwarding platform from the third-party differential service platform after it has not found the RTK differential correction information that meets the specified conditions in the stored information based on the location information.

[0147] Regarding the information acquisition method in the above embodiments, the specific manner in which the vehicle performs operations has been described in detail in the embodiments of the information sending method described above, 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. Please refer to... Figure 8 This illustrates a framework diagram of a low-cost network RTK proprietary service system method for large-scale autonomous driving provided by an exemplary embodiment of this application. Figure 8 As shown, the above-mentioned 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 at the OEM (Original Equipment Manufacturer) for storing and forwarding RTK differential correction information;

[0150] Step 2: The destination IP address configured in the differential SDK software package deployed in the vehicle's cockpit domain or intelligent driving domain is changed 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 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 an RTK differential service request from a vehicle, it first converts the vehicle's current location information into a service grid number and performs a retrieval; the retrieval rules include:

[0153] Condition a. There is RTK differential correction information within 2 minutes (adjustable and calibrable) under this service grid number;

[0154] Condition b. There is RTK differential correction information within 1 minute (adjustable) in the adjacent grid numbers surrounding this service grid number;

[0155] If any of the above conditions are 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. If condition a is met, condition b will not be searched.

[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 send a differential service request to a third-party differential service platform. The request information is the encrypted service grid number and the OEM host manufacturer identifier. Then proceed to step 7.

[0157] Step 6: If the differential service forwarding platform has RTK differential correction information that meets the conditions, it will not send a new differential service request to the third-party differential service platform. Instead, it will directly send the RTK differential correction information that meets the conditions to the vehicle that initiated the request and proceed 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 OEM identifier for account authentication.

[0159] Step 8: After account authentication is successful, establish a network connection, record the service grid number, and start timing. If no differential service request for the service grid number is received from the differential service forwarding platform within 1 minute (which can be calibrated and adjusted), the third-party differential service platform will actively disconnect the network connection.

[0160] Step 9: Simultaneously, based on the service mesh number in the request information, send the RTK differential correction information for that service mesh number at the current time to the differential service forwarding platform;

[0161] Step 10: After receiving the information, the differential service forwarding platform records the RTK differential correction information for the service mesh number and the corresponding time.

[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 raw GNSS satellite observation data received by the GNSS positioning antenna, the GNSS positioning chip performs joint calculation to obtain the high-precision GNSS positioning result information of the vehicle.

[0164] Step 13: The vehicle repeats steps 3 to 12 at a frequency of 1Hz (adjustable by calibration);

[0165] Step 14: Combine GNSS positioning results with inertial navigation system for positioning, and further fuse positioning with other sensors such as vision and lidar to support upper-level functions such as ADAS.

[0166] like Figure 9 As shown, after the GNSS positioning chip receives the RTK differential correction information forwarded by the differential SDK, it combines the raw GNSS observations from the GNSS high-precision antenna to perform RTK high-precision positioning and obtain GNSS positioning result information. Then, the GNSS positioning result information and the inertial positioning result of the inertial navigation system are combined through a navigation positioning algorithm to obtain a high-precision positioning result. Subsequently, the high-precision positioning result, along with the results from sensors such as visual cameras / LiDAR / millimeter-wave radar and high-precision maps, are fused through a positioning algorithm and applied to upper-level applications such as ADAS functions and lane-level navigation.

[0167] Based on the solutions shown in the above embodiments, in one possible implementation, please refer to... Figure 10 This illustrates a flowchart of a method for a vehicle to acquire RTK differential correction information according to an exemplary embodiment of this application. Figure 10 As shown, the method for obtaining RTK differential correction information for the above-mentioned vehicle includes the following steps:

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

[0169] In this process, 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 aforementioned differential service request includes the vehicle location and the vehicle's unique identifier (such as the 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 mesh 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, proceed to step 1004; otherwise, proceed to 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 differential service forwarding platform initiates a differential service request to the third-party differential service forwarding platform.

[0177] The request information includes the encrypted grid number and the OEM (Original Equipment Manufacturer) identifier.

[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 this is the first request, proceed to step 1008; otherwise, proceed to step 1010.

[0180] Step 1008: The third-party differential service forwarding platform uses the OEM manufacturer's identifier to authenticate the account and determine whether the account authentication is successful.

[0181] If successful, proceed to step 1009; otherwise, proceed to step 1006.

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

[0183] Step 1010: Issue the RTK differential correction information for the current time for the service grid number.

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

[0185] Step 1012: The third-party differential service forwarding platform provides the network link for this service grid number.

[0186] It should be noted that the execution methods of steps 1001 to 1012 are the same as those of the various embodiments of this application, and will not be repeated here.

[0187] The OEM differential service forwarding platform must support the following technical requirements:

[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 and processing of differential service request information, encapsulate the service mesh number in combination with the OEM host manufacturer identifier, and perform TSL encryption processing.

[0190] 3) The OEM differential service forwarding platform must support the storage, updating, and retrieval of RTK differential information records by service grid number;

[0191] 4) The OEM differential service forwarding platform must 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 be distributed and scalable. When the number of vehicles with high concurrency increases rapidly, server resources can be added to ensure that the forwarding platform can stably provide RTK differential forwarding services.

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

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

[0195] 8) The naming rules for OEM (Original Equipment Manufacturer) logos will be determined through negotiation.

[0196] The third-party differential service platform must support the following technical requirements:

[0197] 1) Third-party differential service platforms must support account authentication and account management methods that allow broadcasting by service grid number and billing by time;

[0198] 2) The OEM differential service forwarding platform cannot accurately determine whether this request is the last request for this grid number. Therefore, the third-party differential service platform needs to actively disconnect the established network connection according to the policy. When no differential service request for this service grid number is received from the forwarding platform within 1 minute, the connection 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 is attacked or the system fails, it can be isolated in time and the dedicated RTK service network for OEMs should not be affected, ensuring 99.99% availability of the RTK service.

[0200] The differential SDK software package for vehicles must support the following technical requirements:

[0201] The destination IP address configured for the differential SDK software package deployed in the vehicle cockpit domain or intelligent driving domain is changed 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 and service duration provided in a month, and charges according to the number of grids and service duration. No payment is made if the service is not used, and only one fee is required for repeated use of differential services in the same grid area.

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

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

[0205] Based on the massive amount of information accumulated from vehicle end-users, we can statistically analyze detailed data on vehicle end-users for each model under the OEM, including the time, location, duration, trajectory, usage patterns, and driving behavior of users using ADAS functions, fully leveraging the value of big data to further support the formulation of marketing strategies.

[0206] Assuming 1 million vehicles use RTK differential services simultaneously, a third-party differential service platform would originally need to establish 1 million network connections. The improved dedicated service system significantly reduces concurrent access, especially in densely populated cities, greatly alleviating the load pressure on third-party differential service platforms.

[0207] Based on automotive-grade functional safety and information security requirements, third-party public standard services are upgraded to proprietary services for vehicle OEMs or the autonomous driving industry. This improves the reliability of the RTK differential service system, thereby enhancing the reliability of the vehicle-side high-precision positioning system and ADAS function applications. Furthermore, when other industries served by the third-party service platform experience cyberattacks or system failures, it will not affect the OEM's proprietary autonomous driving services.

[0208] The automotive industry is highly competitive, and the cost of smart hardware is rapidly decreasing. The price increase from ordinary GNSS positioning to hardware supporting high-precision GNSS positioning is only a few tens of yuan. Although making high-precision GNSS positioning a standard configuration will increase costs to some extent, it can expand and explore more user value in the application of ADAS functions, improve the reliability and user experience of ADAS and cockpit functions, attract vehicle users to subscribe to related function software packages for a long time, promote function iteration, form a closed loop, and truly improve the market competitiveness of OEMs and the penetration rate of ADAS functions.

[0209] The following are embodiments of the apparatus described in this application, which can be used to execute the embodiments of the method described in this application. For details not disclosed in the apparatus embodiments of this application, please refer to the embodiments of the method described in this application.

[0210] Please refer to Figure 11 This diagram illustrates a block diagram of an information transmission apparatus provided in an exemplary embodiment of this application. The apparatus has the functions described above, which can be implemented in hardware or by hardware executing corresponding software. Figure 11 As shown, the device may include: a first acquisition module 1101, a first transmission module 1102, a second acquisition module 1103, a second transmission module 1104, and an establishment module 1105.

[0211] The first acquisition module 1101 is used to acquire the location information sent by the vehicle, which 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 found in the storage information according to the positioning information; the storage information is used to indicate the correspondence 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 a third-party differential service platform based on the location information when the first RTK differential correction information that meets the specified conditions is not found in the stored information based on the location 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 obtained;

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

[0216] In some embodiments, the specified conditions include at least one of the following:

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

[0218] The second service grid number adjacent to the first service grid number corresponding to the location 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, when there is RTK differential correction information corresponding to the first service grid number that satisfies the first specified timeliness condition, take the RTK differential correction information that satisfies the first specified timeliness condition as the first RTK differential correction information;

[0220] The information sending device further includes: a second determining module, configured to, when there is no RTK differential correction information for the first service grid number that meets the first specified time limit condition, and there is RTK differential correction information for the second service grid number that meets the second specified time limit condition, take the RTK differential correction information corresponding to the second service grid number that meets the second specified time limit condition as the first RTK differential correction information.

[0221] In some embodiments, the second acquisition module 1103 is configured to perform encryption processing on the service grid number corresponding to the location information when the first RTK differential correction information that meets the specified conditions is not found in the stored information based on the location 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 acquire the second RTK differential correction information returned by the third-party differential service platform.

[0224] Please refer to Figure 12 This diagram illustrates a block diagram of an information acquisition apparatus provided in an exemplary embodiment of this application. The apparatus has the functions described above, which can be implemented in hardware or by hardware executing corresponding software.Figure 12 As shown, the device may include a first transmitting module 1201 and a first receiving module 1202.

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

[0226] The first receiving module 1202 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 retrieved by the differential service forwarding platform from the stored information based on the positioning information; the stored information is used to indicate the correspondence 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 obtained by the differential service forwarding platform from the third-party differential service platform after it has not found the RTK differential correction information that meets the specified conditions in the stored information based on the location information.

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

[0229] Please refer to Figure 13 This diagram illustrates a structural block diagram of a computer device according to an embodiment of this application. The computer device 1300 can be any electronic device capable of data computation, processing, and storage. The computer device 1300 can be used to implement the information transmission method and information acquisition method provided in the above embodiments.

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

[0231] Processor 1301 may include one or more processing cores, such as a quad-core processor, an octa-core processor, etc. Processor 1301 may be implemented using at least one hardware form selected from DSP (Digital Signal Processing), FPGA (Field Programmable Gate Array), and PLA (Programmable Logic Array). Processor 1301 may also include a main processor and a coprocessor. The main processor, also known as a CPU (Central Processing Unit), is used to process data in the wake-up state; the coprocessor is a low-power processor used to process data in the standby state. In some embodiments, processor 1301 may integrate a GPU (Graphics Processing Unit), which is responsible for rendering and drawing the content to be displayed on the screen. In some embodiments, processor 1301 may also include an Artificial Intelligence (AI) processor, which is used to handle computational 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 high-speed random access memory and non-volatile memory, such as one or more disk storage devices or flash memory devices. In some embodiments, the non-transitory computer-readable storage media in the memory 1302 are used to store a computer program configured to be executed by one or more processors to implement the above-described information transmission method and information acquisition method.

[0233] Those skilled in the art will understand that Figure 13 The structure shown does not constitute a limitation on the computer device 1300, and may include more or fewer components than shown, or combine certain components, or use different component arrangements.

[0234] In an exemplary embodiment, a computer-readable storage medium is also provided, wherein a computer program is stored in the storage medium, and the computer program, when executed by a processor, implements the aforementioned information sending method and information acquisition method. Optionally, the computer-readable storage medium may include: ROM (Read-Only Memory), RAM (Random Access Memory), SSD (Solid State Drives), or optical disc, etc. 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, comprising a computer program stored in a computer-readable storage medium. A processor of a computer device reads the computer program from the computer-readable storage medium and executes the computer program, causing the computer device to perform the aforementioned information sending method and information acquisition method.

[0236] It should be understood that "multiple" as used herein refers to two or more. "And / or" describes the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A alone, A and B simultaneously, or B alone. The character " / " generally indicates that the preceding and following related objects are in an "or" relationship. Furthermore, the step numbers described herein are merely illustrative of one possible execution order. In some other embodiments, the steps may not be executed in numerical order, such as two steps with different numbers being executed simultaneously, or two steps with different numbers being executed in the reverse order of the illustration. This application does not limit this.

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

Claims

1. A method for sending information, characterized in that, The method is executed by the differential service forwarding platform, and the method includes: Obtain location information sent by the vehicle, the location information being used to indicate the service grid number where the vehicle is located; If, based on the location information, a first RTK differential correction information meeting specified conditions is found in the stored 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; the specified conditions include at least one of the following: The first service grid number corresponding to the location information contains 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 location information has the RTK differential correction information that meets the second specified timeliness condition; If there is RTK differential correction information that meets the first specified time limit for the first service grid number, the RTK differential correction information that meets the first specified time limit for the first service grid number shall be used as the first RTK differential correction information. If there is no RTK differential correction information for the first service grid number that meets the first specified time limit condition, and there is RTK differential correction information for the second service grid number that meets the second specified time limit condition, the RTK differential correction information corresponding to the second service grid number that meets the second specified time limit condition shall be used as the first RTK differential correction information. If, based on the location information, no first RTK differential correction information that meets the specified conditions is found in the stored information, the second RTK differential correction information is obtained from a third-party differential service platform based on the location information. Upon obtaining the second RTK differential correction information, the second RTK differential correction information is sent to the vehicle; Upon obtaining the second RTK differential correction information, a correspondence is established between the service grid number corresponding to the positioning information and the second RTK differential correction information in the stored information.

2. The method according to claim 1, characterized in that, When, based on the location information, no first RTK differential correction information meeting the specified conditions is found in the stored information, obtaining second RTK differential correction information from a third-party differential service platform based on the location information includes: If, based on the location information, no first RTK differential correction information that meets the specified conditions is found in the stored information, the service grid number corresponding to the location information is encrypted. A differential service request is initiated 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.

3. An information acquisition method, characterized in that, The method is performed by a vehicle, and the method includes: Send location information to the differential service forwarding platform, wherein the location information is used to indicate the service grid number where the vehicle is located; The system receives first RTK differential correction information sent by the differential service forwarding platform; the first RTK differential correction information is RTK differential correction information that the differential service forwarding platform retrieves from stored information based on the positioning information and meets specified conditions; the stored information is used to indicate the correspondence between each service grid number and each RTK differential correction information; or... The system receives second RTK differential correction information sent by the differential service forwarding platform. The second RTK differential correction information is obtained by the differential service forwarding platform from a third-party differential service platform based on the location information after the platform retrieves RTK differential correction information that meets the specified conditions from the stored information but is not found based on the location information. The specified conditions include at least one of the following: The first service grid number corresponding to the location information contains 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 location information has the RTK differential correction information that meets the second specified timeliness condition; The first RTK differential correction information is obtained by the differential service forwarding platform using the RTK differential correction information corresponding to the first service grid number that meets the first specified timeliness condition as the first RTK differential correction information when there is RTK differential correction information for the first service grid number that meets the first specified timeliness condition. The first RTK differential correction information is obtained by the differential service forwarding platform using the RTK differential correction information corresponding to the second service grid number that meets the second specified time limit as the first RTK differential correction information when there is no RTK differential correction information for the first service grid number that meets the first specified time limit condition, and there is RTK differential correction information for the second service grid number that meets the second specified time limit condition.

4. An information transmitting device, characterized in that, The device includes: The first acquisition module is used to acquire location information sent by the vehicle, the location information being used to indicate the service grid number where the vehicle is located; A first sending module is configured to send the first RTK differential correction information to the vehicle when, based on the positioning information, a first RTK differential correction information meeting specified conditions is found in the stored information; the stored information is used to indicate the correspondence between each service grid number and each RTK differential correction information; the specified conditions include at least one of the following: The first service grid number corresponding to the location information contains 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 location information has the RTK differential correction information that meets the second specified timeliness condition; The first determining module is used to, when there is RTK differential correction information corresponding to the first service grid number that satisfies the first specified timeliness condition, take the RTK differential correction information that satisfies the first specified timeliness condition as the first RTK differential correction information. The second determining module is used to take the RTK differential correction information corresponding to the second service grid number that satisfies the first specified timeliness condition as the first RTK differential correction information when the first service grid number does not have RTK differential correction information that satisfies the first specified timeliness condition, and the second service grid number has RTK differential correction information that satisfies the second specified timeliness condition. The second acquisition module is used to acquire second RTK differential correction information from a third-party differential service platform based on the location information when the first RTK differential correction information that meets the specified conditions is not found in the stored information according to the location information. The second sending module is used to send the second RTK differential correction information to the vehicle when the second RTK differential correction information is obtained; A module is established to establish a correspondence between the service grid number corresponding to the positioning information and the second RTK differential correction information in the stored information when the second RTK differential correction information is obtained.

5. An information acquisition device, characterized in that, The device includes: The first sending module is used to send location information to the differential service forwarding platform, wherein the location information is used to indicate the service grid number where the vehicle is located. A first receiving module is configured 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 the differential service forwarding platform retrieves from stored information based on the positioning information and meets specified conditions; the stored information is used to indicate the correspondence between each service grid number and each RTK differential correction information; or... The first receiving module is configured to receive second RTK differential correction information sent by the differential service forwarding platform; the second RTK differential correction information is RTK differential correction information obtained by the differential service forwarding platform from a third-party differential service platform based on the location information after the platform has retrieved RTK differential correction information that meets the specified conditions from the stored information but has not been found based on the location information; the specified conditions include at least one of the following: The first service grid number corresponding to the location information contains 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 location information has the RTK differential correction information that meets the second specified timeliness condition; The first RTK differential correction information is obtained by the differential service forwarding platform using the RTK differential correction information corresponding to the first service grid number that meets the first specified timeliness condition as the first RTK differential correction information when there is RTK differential correction information for the first service grid number that meets the first specified timeliness condition. The first RTK differential correction information is obtained by the differential service forwarding platform using the RTK differential correction information corresponding to the second service grid number that meets the second specified time limit as the first RTK differential correction information when there is no RTK differential correction information for the first service grid number that meets the first specified time limit condition, and there is RTK differential correction information for the second service grid number that meets the second specified time limit condition.

6. A computer device, characterized in that, The computer device includes a processor and a memory, the memory storing a computer program, which is loaded and executed by the processor to implement the information transmission method as described in claim 1 or 2, or the information acquisition method as described in claim 3.

7. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program, which is loaded and executed by a processor to implement the information sending method as described in claim 1 or 2, or the information acquisition method as described in claim 3.

8. A computer program product, characterized in that, The computer program product includes a computer program stored in a computer-readable storage medium. The processor reads from the computer-readable storage medium and executes the computer program to implement the information sending method as described in claim 1 or 2, or the information acquisition method as described in claim 3.

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