Data processing method and device

Abstract

The invention discloses a data processing method and device, and the method comprises the steps: obtaining the first coordinate information of an anchor point and the time information corresponding to the anchor point, and enabling the anchor point to be associated with a geographic region; second coordinate information of the anchor point is determined, the second coordinate information of the anchor point is obtained based on the first coordinate information of the anchor point and the offset corresponding to the anchor point, and the offset corresponding to the anchor point is obtained by inputting the time information corresponding to the anchor point into a deflection function; and sending the target data, wherein the target data comprises the second coordinate information of the anchor point. Thus, the offset amount related to the time variable is introduced, dynamic offset of the coordinate information of the anchor points related to the geographic area along with time can be achieved, the sensitivity of the space-time information can be reduced, and the risk that the space-time information is gathered in the transmission process can be reduced.

Description

Technical Field

[0001] This application relates to the field of vehicle networking, and particularly to a data processing method and apparatus. Background Art

[0002] Derivative products such as trajectory coordinate data, sensor data, and mapping data generated by intelligent connected vehicles (ICVs) are collectively referred to as the spatio-temporal information of ICVs. Currently, the spatio-temporal information deflected based on the global coordinate system or associated with the local geographical area of the anchor point is still relatively sensitive, and cannot meet the requirements of geographical information security and laws and regulations for the transmission and use of sensitive spatio-temporal information in the public network environment, affecting the applications of intelligent networked vehicles in aspects such as data backhaul, annotation, and crowdsourcing updates.

[0003] How to reduce the sensitivity of the spatio-temporal information of ICVs is a technical problem that urgently needs to be solved. Summary of the Invention

[0004] This application discloses a data processing method and apparatus, which can realize the dynamic offset of the coordinate information of the anchor point associated with the geographical area over time, reduce the sensitivity of the spatio-temporal information, and also help reduce the risk of being aggregated during the transmission of the spatio-temporal information.

[0005] In a first aspect, this application provides a data processing method, the method includes: obtaining first coordinate information of an anchor point and time information corresponding to the anchor point, the anchor point being associated with a geographical area; determining second coordinate information of the anchor point, the second coordinate information of the anchor point being obtained based on the first coordinate information of the anchor point and an offset amount corresponding to the anchor point, the offset amount corresponding to the anchor point being obtained by inputting the time information corresponding to the anchor point into a deflection function; sending target data, the target data including the second coordinate information of the anchor point.

[0006] Exemplarily, the method can be applied to a terminal, a roadside device, a network-side device, or a local isolation environment (such as local computer infrastructure that can provide computing and storage resources), etc. Among them, the roadside device can be, for example, a roadside unit (RSU), multi-access edge computing (MEC), or a sensor and other devices, or components or chips inside these devices, or a system-level device composed of RSU and MEC, or a system-level device composed of RSU and sensors, or a system-level device composed of RSU, MEC, and sensors. The terminal can include intelligent terminals such as vehicles, robots, drones, ships, and components (such as chips or integrated circuits) inside the intelligent terminals.

[0007] Exemplarily, an anchor point is a reference point used to determine or mark a specific location.

[0008] As an example, an anchor point is associated with a geographical area. It can be understood that each geographical area corresponds to at least one anchor point, and this anchor point can be a feature point such as the center, centroid, or corner point of the geometric expression graph of this geographical area. Exemplarily, the geometric expression graph of a geographical area can be a circle, rectangle, sector, trapezoid, or other polygon, etc., which can be a regular graph or an irregular graph.

[0009] It can be understood that when using the corner point of the geometric expression graph of a geographical area as the anchor point of this geographical area, one geographical area can correspond to multiple anchor points.

[0010] Exemplarily, the first coordinate information of the anchor point at least indicates the position of the anchor point in the coordinate system, and can also indicate the angle, direction, etc. of the anchor point. This coordinate system can be, for example, a world coordinate system (such as the World Geodetic System WGS84), a Mars coordinate system GCJ - 02, a natural coordinate system, a road coordinate system, or other types of coordinate systems.

[0011] Exemplarily, the time information corresponding to the anchor point is obtained based on the initial timestamp corresponding to the anchor point. The initial timestamp corresponding to the anchor point can be, for example, the timestamp when the sending end obtains the first coordinate information of the anchor point, or the timestamp when the sending end determines or processes the anchor point.

[0012] In the above method, an offset related to the time dimension is obtained through a deflection function, and the coordinate information of the anchor points associated with the corresponding geographical area is deflected based on this offset, enhancing the randomness and dynamics of the positions of the anchor points when the geographical area is sliced, reducing the data sensitivity of transmitting spatio - temporal information, and also being beneficial to reducing the risk of being aggregated during the transmission of spatio - temporal information.

[0013] Optionally, the time information corresponding to different anchor points is different. In this way, the offset degrees of the coordinate information of different anchor points are different, and the positions of the anchor points can be scattered to the greatest extent.

[0014] Exemplarily, it can also be that the time information corresponding to the anchor points associated with different geographical areas is different, and the time information corresponding to the anchor points associated with the same geographical area can be the same. For example, when using the corner point method to determine the anchor points corresponding to a geographical area, one geographical area can correspond to multiple anchor points, and these multiple anchor points can correspond to the same time information. Since the time information corresponding to the anchor points of different geographical areas is different, for different geographical areas, the offset degrees of the coordinate information of the anchor points are also different, increasing the difficulty of aggregating the spatio - temporal information of different geographical areas and also reducing the possibility of aggregating the spatio - temporal information of different geographical areas, thereby preventing the sensitivity upgrade caused by the aggregation of the spatio - temporal information of different geographical areas.

[0015] Optionally, the offset corresponding to the anchor point includes a first offset and a second offset, where the first offset indicates the offset of the first coordinate information of the anchor point on the first coordinate axis, and the second offset indicates the offset of the first coordinate information of the anchor point on the second coordinate axis. In this way, the offset corresponding to the anchor point is a two-dimensional offset.

[0016] For example, a deflection function can be used to output an offset based on the time information corresponding to the anchor point. This offset serves as both the first offset and the second offset, that is, the first offset is the same as the second offset. Another example is that the offset corresponding to the anchor point can also be obtained through two deflection functions (such as a first deflection function and a second deflection function). Among them, the first deflection function outputs the first offset based on the time information corresponding to the anchor point, and the second deflection function outputs the second offset based on the time information corresponding to the anchor point. The first deflection function is different from the second deflection function. It can be understood that the more deflection functions are used, the greater the difficulty of cracking the deflection functions.

[0017] Exemplarily, the offset corresponding to the anchor point further includes a third offset, and the third offset indicates the offset of the first coordinate information of the anchor point on the third coordinate axis. In this way, the offset corresponding to the anchor point is a three-dimensional offset.

[0018] Optionally, the offset corresponding to the anchor point is obtained by inputting the time information corresponding to the anchor point into a deflection function, including: the offset corresponding to the anchor point is obtained by inputting at least one of the first coordinate information of the anchor point and the identifier of the sending end of the target data and the time information corresponding to the anchor point into the deflection function.

[0019] Taking the original coordinate information (i.e., the first coordinate information) of the anchor point as an independent variable of the deflection function makes the determination of the offset related to both the time variable and the spatial position of the anchor point. Taking the identifier of the sending end of the target data as an independent variable means that the determination of the offset is also related to the user of the deflection function. It can be understood that the more independent variables introduced in the construction of the deflection function, the more complex the constructed deflection function, reducing the probability of the deflection function being cracked and improving security.

[0020] Optionally, the deflection function satisfies at least one of the following conditions:

[0021] The deflection function is a piecewise function, and the expressions of the deflection function in different time periods are different;

[0022] The deflection function is a composite function; and

[0023] The deflection function includes a first deflection function and a second deflection function. The first deflection function is used to determine the offset of the first coordinate information of the anchor point on the first coordinate axis, and the second deflection function is used to determine the offset of the first coordinate information of the anchor point on the second coordinate axis. The first deflection function is different from the second deflection function.

[0024] Implementing the above implementation manner can increase the complexity of the deflection function from multiple dimensions. For example, from the perspective of the expression of the deflection function itself, the deflection function can be a piecewise function and / or a composite function. From the perspective of the number of deflection functions used, different deflection functions are used to obtain the offsets on different coordinate axes, which can increase the unpredictability of the deflection function and also increase the protection strength of the deflection function.

[0025] Optionally, the application mode of the deflection function is a relative position valid mode, and the deflection function is a continuous function; or, the application mode of the deflection function is a relative position invalid mode, and the deflection function is a discontinuous function.

[0026] Here, the relative position valid mode requires that the offset span meets the preset relative position accuracy requirements within a certain time range. The relative position invalid mode means that the offset span does not meet the preset relative position accuracy requirements within a certain time range.

[0027] Implementing the above implementation manner provides deflection functions corresponding to different application modes, which are suitable for different application scenarios. For example, the relative position valid mode is usually suitable for applications that are not sensitive to absolute positions but require a certain relative position accuracy. The relative position invalid mode is usually suitable for scenarios with high confidentiality requirements for transmitted content and can hide the relative position relationship between data.

[0028] Optionally, the target data further includes at least one of the following information:

[0029] The time information corresponding to the anchor point;

[0030] The version number of the deflection function;

[0031] The spatio-temporal information of the geographical area associated with the anchor point;

[0032] The application mode of the deflection function; and

[0033] The identifier of the sending end of the target data.

[0034] Exemplarily, the spatio-temporal information of a geographic region includes at least one of sensor data of the geographic region (such as including at least one of images, videos, point cloud data, etc.), composition perception data (such as including lane lines, traffic lights, poles, road signs, etc.), vector map data (such as roads, lanes, intersections, points of interest POIs, etc. of the geographic region), and other types of data.

[0035] The target data carries the time information corresponding to the anchor point. The receiving end of the target data can use this time information and the second coordinate information of the anchor point to inversely calculate the first coordinate information of the anchor point without loss of accuracy.

[0036] The version number of the deflection function is used to identify the version of the deflection function used by the sending end. The receiving end of the target data can determine whether the local device has the same version of the deflection function through the version number of the deflection function carried in the target data, which is related to whether the receiving end of the target data can accurately inverse-solve the first coordinate information of the anchor point.

[0037] When the target data includes the spatio-temporal information of the geographic region associated with the anchor point, it is applicable to scenarios such as remote annotation scenarios, sharded data stitching or aggregation.

[0038] By carrying the application mode of the deflection function in the target data, it can indicate that the receiving end of the target data uses the deflection function corresponding to this application mode to process the second coordinate information of the anchor point in the target data.

[0039] In the case where the construction of the deflection function involves the identification of the sending end of the target data, the target data also includes the identification of the sending end. In this way, it is convenient for the receiving end of the target data to inverse-solve the first coordinate information of the anchor point.

[0040] Optionally, the anchor point includes a first group of anchor points corresponding to a first scenario and a second group of anchor points corresponding to a second scenario. Among them, the time information corresponding to each anchor point in the first group of anchor points is obtained based on a first timestamp reference quantity, and the time information corresponding to each anchor point in the second group of anchor points is obtained based on a second timestamp reference quantity, and the first timestamp reference quantity is different from the second timestamp reference quantity.

[0041] In this way, the anchor points in the same scenario use the same timestamp reference quantity, and the anchor points in different scenarios use different timestamp reference quantities, which can achieve spatio-temporal continuity of data within a single scenario, while the data between multiple scenarios is spatio-temporally dispersed. In the remote annotation scenario, it makes it impossible for the annotation end to stitch the spatio-temporal information corresponding to multiple scenarios through the coordinate information after anchor point offset, avoiding the aggregation of spatio-temporal information in a non-compliant environment.

[0042] Optionally, the first set of anchor points includes a first anchor point and a second anchor point. Among them, the time information corresponding to the first anchor point is obtained based on the initial timestamp corresponding to the first anchor point and the first timestamp reference quantity, and the time information corresponding to the second anchor point is obtained based on the initial timestamp corresponding to the second anchor point and the first timestamp reference quantity.

[0043] Implementing the above implementation manner, among the anchor points in the same set, the initial timestamps corresponding to different anchor points can be different, which is beneficial to scattering the positions of the anchor points to the greatest extent.

[0044] Exemplarily, the method further includes: receiving update indication information, where the update indication information is transmitted in an irregular manner; and updating the deflection function according to the update indication information.

[0045] For example, the update indication information includes the deflection function of the latest version. The update indication information can be carried in an over-the-air (OTA) upgrade announcement, or the deflection function of the latest version is included in the OTA upgrade announcement.

[0046] Implementing the above implementation manner, the update indication information is sent in an irregular or non-periodic manner, which increases the unpredictability of the deflection function and also increases the security of the deflection function.

[0047] Exemplarily, before determining the second coordinate information of the anchor point, the method further includes: obtaining the deflection function.

[0048] Exemplarily, the target data includes the first spatio-temporal information of multiple geographical regions associated with the first set of anchor points, the second spatio-temporal information of multiple geographical regions associated with the second set of anchor points, and the application mode of the deflection function is the relative position valid mode. The method further includes: receiving the labeled first spatio-temporal information and the labeled second spatio-temporal information, and performing any of the following operations: using the labeled first spatio-temporal information or the labeled second spatio-temporal information; or, performing scene stitching according to the labeled first spatio-temporal information, the labeled second spatio-temporal information, and the deflection function corresponding to the relative position valid mode.

[0049] Implementing the above implementation manner, in the remote annotation scenario, offsetting the coordinate information of the anchor point using the deflection function corresponding to the relative position valid mode can not only meet the relative position accuracy requirements in the remote annotation scenario, but also hide the true position information of the data.

[0050] Second aspect, the present application provides a data processing method, the method comprising: receiving target data, the target data including second coordinate information of an anchor point and time information corresponding to the anchor point, the second coordinate information of the anchor point being obtained based on first coordinate information of the anchor point and an offset corresponding to the anchor point, the offset corresponding to the anchor point being obtained by inputting the time information corresponding to the anchor point into a deflection function, the anchor point being associated with a geographical area; obtaining the first coordinate information of the anchor point according to a local deflection function, the second coordinate information of the anchor point, and the time information corresponding to the anchor point.

[0051] Here, the anchor point, the geographical area, the time information corresponding to the anchor point, etc. can refer to the description of the corresponding content in the above first aspect.

[0052] Exemplarily, this method can be applied to a network-side device. The network-side device can be, for example, a server deployed on the network side (such as a cloud platform, a map server, or a server of a mapping merchant that can provide computing, network, and storage resources), or a component or chip in the server. The network-side device can be deployed in a cloud environment or an edge environment.

[0053] In the above method, an offset related to the time dimension is introduced through the deflection function to implement the deflection processing of the anchor point associated with the geographical area, hiding the true position of the anchor point, reducing the sensitivity of spatio-temporal information, and also facilitating reducing the risk of being aggregated during the transmission of spatio-temporal information. In addition, only when the deflection function is also deployed at the receiving end can the coordinate information of the anchor point after deflection processing be inversely solved to obtain the coordinate information of the anchor point before being deflected by the deflection function, providing support for lossless precision inversion.

[0054] Optionally, the target data further includes a first version number of the deflection function. Obtaining the first coordinate information of the anchor point according to the local deflection function, the second coordinate information of the anchor point, and the time information corresponding to the anchor point includes: when the version number of the local deflection function is the first version number, obtaining the first coordinate information of the anchor point according to the local deflection function, the second coordinate information of the anchor point, and the time information corresponding to the anchor point.

[0055] Implementing the above implementation manner, the version number of the local deflection function is the same as the version number of the deflection function carried by the target data, indicating that the local deflection function at the receiving end is the same as the deflection function used at the sending end. Therefore, the receiving end can successfully solve and obtain the coordinate information of the anchor point before being deflected by the deflection function.

[0056] Optionally, the target data further includes an application mode of the deflection function, and the local deflection function is determined from a plurality of local deflection functions based on the application mode.

[0057] When implementing the above implementation method, when the receiving end needs to use a deflection function matching the application mode to calculate the first coordinate information of the anchor point, lossless inverse calculation of accuracy can be achieved.

[0058] For the beneficial effects of the technical features in the following second aspect, reference can be made to the description of the beneficial effects of the corresponding features in the above first aspect, and details will not be repeated here.

[0059] Optionally, the application mode is a relative position valid mode, and the local deflection function is a continuous function; or, the application mode is a relative position invalid mode, and the local deflection function is a discontinuous function.

[0060] Exemplarily, the offset corresponding to the anchor point includes a first offset and a second offset, where the first offset indicates the offset of the first coordinate information of the anchor point relative to the second coordinate information of the anchor point on the first coordinate axis, and the second offset indicates the offset of the first coordinate information of the anchor point relative to the second coordinate information of the anchor point on the second coordinate axis.

[0061] Optionally, the local deflection function satisfies at least one of the following conditions:

[0062] The local deflection function is a piecewise function, and the expressions of the deflection function are different in different time periods;

[0063] The local deflection function is a composite function; and

[0064] The local deflection function includes a first deflection function and a second deflection function. The first deflection function is used to determine the offset of the first coordinate information of the anchor point relative to the second coordinate information of the anchor point on the first coordinate axis, and the second deflection function is used to determine the offset of the first coordinate information of the anchor point relative to the second coordinate information of the anchor point on the second coordinate axis. The first deflection function is different from the second deflection function.

[0065] Optionally, the anchor point includes a first group of anchor points corresponding to a first scenario and a second group of anchor points corresponding to a second scenario. The time information corresponding to the anchor point includes the time information corresponding to each anchor point in the first group of anchor points and the time information corresponding to each anchor point in the second group of anchor points. Among them, the time information corresponding to each anchor point in the first group of anchor points is obtained based on a first timestamp reference quantity, and the time information corresponding to each anchor point in the second group of anchor points is obtained based on a second timestamp reference quantity. The first timestamp reference quantity is different from the second timestamp reference quantity.

[0066] Exemplarily, the method further includes: receiving update indication information, where the update indication information is transmitted in an irregular manner; and updating the local deflection function according to the update indication information.

[0067] Implementing the above implementation, since the transmission of the update indication information is irregular or non-periodic, the deflection function locally at the receiving end will also be updated irregularly, improving the unpredictability of the deflection function and increasing the difficulty of cracking the deflection function.

[0068] Exemplarily, when at least one of the following conditions is satisfied, the local deflection function is allowed to be called: the time information corresponding to the anchor point is input within a preset time range; and, within a preset duration, the call frequency of the deflection function is less than or equal to a preset frequency.

[0069] Implementing the above implementation, by restricting the usage period of the deflection function and the call frequency of the deflection function, it is possible to prevent the deflection function from being called offline at a high frequency to reverse-solve the function through numerical values.

[0070] In a third aspect, the present application provides a data processing device, the device includes: an acquisition unit, configured to acquire first coordinate information of an anchor point and time information corresponding to the anchor point, the anchor point being associated with a geographical area; a processing unit, configured to determine second coordinate information of the anchor point, the second coordinate information being obtained based on the first coordinate information of the anchor point and an offset corresponding to the anchor point, the offset corresponding to the anchor point being obtained by inputting the time information corresponding to the anchor point into a deflection function; a sending unit, configured to send target data, the target data including the second coordinate information of the anchor point.

[0071] Optionally, the time information corresponding to different anchor points is different.

[0072] Optionally, the offset corresponding to the anchor point includes a first offset and a second offset, where the first offset indicates the offset of the first coordinate information of the anchor point on a first coordinate axis, and the second offset indicates the offset of the first coordinate information of the anchor point on a second coordinate axis.

[0073] Optionally, the offset corresponding to the anchor point is obtained by inputting the time information corresponding to the anchor point into a deflection function, including: the offset corresponding to the anchor point is obtained by inputting at least one of the first coordinate information of the anchor point and the identifier of the sending end of the target data and the time information corresponding to the anchor point into the deflection function.

[0074] Optionally, the deflection function satisfies at least one of the following conditions:

[0075] The deflection function is a piecewise function, and the expressions of the deflection function in different time periods are different;

[0076] The deflection function is a composite function; and

[0077] The deflection function includes a first deflection function and a second deflection function. The first deflection function is used to determine the offset of the first coordinate information of the anchor point on the first coordinate axis, and the second deflection function is used to determine the offset of the first coordinate information of the anchor point on the second coordinate axis. The first deflection function is different from the second deflection function.

[0078] Optionally, the application mode of the deflection function is the relative position valid mode, and the deflection function is a continuous function; or, the application mode of the deflection function is the relative position invalid mode, and the deflection function is a discontinuous function.

[0079] Optionally, the target data further includes at least one of the following information:

[0080] The time information corresponding to the anchor point;

[0081] The version number of the deflection function;

[0082] The spatio-temporal information of the geographical area associated with the anchor point;

[0083] The application mode of the deflection function; and

[0084] The identifier of the sending end of the target data.

[0085] Optionally, the anchor point includes a first group of anchor points corresponding to a first scenario and a second group of anchor points corresponding to a second scenario. Among them, the time information corresponding to each anchor point in the first group of anchor points is obtained based on a first timestamp reference quantity, and the time information corresponding to each anchor point in the second group of anchor points is obtained based on a second timestamp reference quantity. The first timestamp reference quantity is different from the second timestamp reference quantity.

[0086] Optionally, the first group of anchor points includes a first anchor point and a second anchor point. Among them, the time information corresponding to the first anchor point is obtained based on the initial timestamp corresponding to the first anchor point and the first timestamp reference quantity, and the time information corresponding to the second anchor point is obtained based on the initial timestamp corresponding to the second anchor point and the first timestamp reference quantity.

[0087] Exemplarily, the obtaining unit is further configured to: receive update indication information, and the update indication information is transmitted in an irregular manner; the processing unit is further configured to: update the deflection function according to the update indication information.

[0088] Exemplarily, the obtaining unit is further configured to: obtain the deflection function.

[0089] Exemplarily, the target data includes first spatio-temporal information of multiple geographical regions associated with the first set of anchor points, second spatio-temporal information of multiple geographical regions associated with the second set of anchor points, and the application mode of the deflection function is the relative position valid mode. The obtaining unit is further configured to: receive the labeled first spatio-temporal information and the labeled second spatio-temporal information. The processing unit is further configured to perform any of the following operations: use the labeled first spatio-temporal information or the labeled second spatio-temporal information; or, perform scene stitching according to the labeled first spatio-temporal information, the labeled second spatio-temporal information, and the deflection function corresponding to the relative position valid mode.

[0090] In a fourth aspect, the present application provides a data processing device, where the device includes: a receiving unit, configured to receive target data, where the target data includes second coordinate information of an anchor point and time information corresponding to the anchor point. The second coordinate information of the anchor point is obtained based on first coordinate information of the anchor point and an offset corresponding to the anchor point, and the offset corresponding to the anchor point is obtained by inputting the time information corresponding to the anchor point into a deflection function. The anchor point is associated with a geographical region; a processing unit, configured to obtain the first coordinate information of the anchor point according to a local deflection function, the second coordinate information of the anchor point, and the time information corresponding to the anchor point.

[0091] Optionally, the target data further includes a first version number of the deflection function. Specifically, the processing unit is configured to: when the version number of the local deflection function is the first version number, obtain the first coordinate information of the anchor point according to the local deflection function, the second coordinate information of the anchor point, and the time information corresponding to the anchor point.

[0092] Optionally, the target data further includes an application mode of the deflection function, and the local deflection function is determined from multiple local deflection functions based on the application mode.

[0093] Optionally, the application mode is the relative position valid mode, and the local deflection function is a continuous function; or, the application mode is the relative position invalid mode, and the local deflection function is a discontinuous function.

[0094] Optionally, the local deflection function satisfies at least one of the following conditions:

[0095] The local deflection function is a piecewise function, and the expressions of the deflection function in different time periods are different;

[0096] The local deflection function is a composite function; and

[0097] The local deflection function includes a first deflection function and a second deflection function. The first deflection function is used to determine the offset of the first coordinate information of the anchor point relative to the second coordinate information of the anchor point on the first coordinate axis, and the second deflection function is used to determine the offset of the first coordinate information of the anchor point relative to the second coordinate information of the anchor point on the second coordinate axis. The first deflection function is different from the second deflection function.

[0098] Optionally, the anchor point includes a first set of anchor points corresponding to a first scenario and a second set of anchor points corresponding to a second scenario. The time information corresponding to the anchor point includes the time information corresponding to each anchor point in the first set of anchor points and the time information corresponding to each anchor point in the second set of anchor points. Among them, the time information corresponding to each anchor point in the first set of anchor points is obtained based on a first timestamp reference quantity, and the time information corresponding to each anchor point in the second set of anchor points is obtained based on a second timestamp reference quantity. The first timestamp reference quantity is different from the second timestamp reference quantity.

[0099] In a fifth aspect, the present application provides a data processing device, which includes a processor and a memory. Among them, the memory is used to store program instructions; the processor calls the program instructions in the memory, so that the device executes the method in the first aspect or any possible implementation manner of the first aspect, or executes the method in the second aspect or any possible implementation manner of the second aspect.

[0100] In a sixth aspect, the present application provides a data processing system, which includes a first device and a second device. Among them, the first device is used to implement the method in the first aspect or any possible implementation manner of the first aspect, and the second device is used to implement the method in the second aspect or any possible implementation manner of the second aspect.

[0101] Exemplarily, the first device may be the device in the third aspect or any possible implementation manner of the third aspect, and the second device may be the device in the fourth aspect or any possible implementation manner of the fourth aspect.

[0102] In a seventh aspect, the present application provides a computer-readable storage medium, including computer instructions, which, when run by a processor, implement the method in the first aspect or any possible implementation manner of the first aspect, or implement the method in the second aspect or any possible implementation manner of the second aspect.

[0103] In an eighth aspect, the present application provides a computer program product, which, when executed by a processor, implements the method in the first aspect or any possible embodiment of the first aspect, or implements the method in the second aspect or any possible implementation manner of the second aspect.

[0104] Exemplarily, the computer program product is a software installation package.

[0105] In a ninth aspect, the present application provides a vehicle, which includes a data processing device as described in the above third aspect or any possible implementation manner of the third aspect, or includes the data processing device as described in the above fifth aspect. Description of the Drawings

[0106] Figure 1 is a schematic diagram of the architecture of a data processing system provided by an embodiment of the present application;

[0107] Figure 2 is a flowchart of a data processing method provided by an embodiment of the present application;

[0108] Figure 3 is a schematic diagram of slicing of a geographical area provided by an embodiment of the present application;

[0109] Figure 4 is a schematic diagram of a scenario of crowd-sourced data backhaul and aggregation provided by an embodiment of the present application;

[0110] Figure 5 is a flowchart of a data processing method provided by an embodiment of the present application;

[0111] Figure 6 is a schematic diagram of a scenario of remote annotation provided by an embodiment of the present application;

[0112] Figure 7 is a schematic diagram of the structure of a data processing and device provided by an embodiment of the present application;

[0113] Figure 8 is a schematic diagram of the structure of another data processing device provided by an embodiment of the present application;

[0114] Figure 9 is a schematic diagram of the structure of a computing device provided by an embodiment of the present application. Detailed Embodiments

[0115] It should be noted that in this application, prefix words such as "first" and "second" are only used to distinguish different described objects, and have no restrictive effect on the position, order, priority, quantity, or content of the described objects. For example, if the described object is "field", the ordinal numbers before "field" in "the first field" and "the second field" do not limit the position or order between the "fields", and "first" and "second" do not limit whether the "fields" they modify are in the same message, nor do they limit the order of the "first field" and the "second field". Another example is that if the described object is "level", the ordinal numbers before "level" in "the first level" and "the second level" do not limit the priority between the "levels". Another example is that the quantity of the described object is not restricted by the prefix word and can be one or more. Taking "the first device" as an example, the quantity of "device" can be one or more. In addition, the objects modified by different prefix words can be the same or different. For example, if the described object is "device", then "the first device" and "the second device" can be the same device, devices of the same type, or devices of different types; another example is that if the described object is "information", then "the first information" and "the second information" can be information with the same content or information with different content. In short, the use of prefix words for distinguishing described objects in the embodiments of this application does not constitute a restriction on the described objects. For the statements of the described objects, refer to the descriptions in the claims or the context of the embodiments, and no redundant restrictions should be formed due to the use of such prefix words.

[0116] It should be noted that in the embodiments of this application, a description method such as "at least one (or at least one) of a1, a2,..., and an" includes the case where any one of a1, a2,..., and an exists alone, and also includes any combination of any number of a1, a2,..., and an, and each case can exist alone. For example, the description method of "at least one of a, b, and c" includes the cases of a alone, b alone, c alone, the combination of a and b, the combination of a and c, the combination of b and c, or the combination of a, b, and c.

[0117] For the convenience of understanding, relevant terms that may be involved in the embodiments of this application will be introduced first below.

[0118] (1) Continuous function

[0119] A continuous function is a type of function that has the property of being uninterrupted at every point within its domain. Specifically, given a function f(x), if for any point a within the domain, when x approaches a, f(x) also approaches f(a), then the function can be called a continuous function. In other words, a continuous function has no breaks, jumps, or discontinuity points within its domain.

[0120] Accordingly, a discontinuous function refers to a function that does not satisfy continuity at some points within its domain. Exemplarily, if a function f(x) is discontinuous at a certain point x = a, it means that at least one of the following conditions is met: the function value of f(x) at the point x = a does not exist, the limit of f(x) at the point x = a does not exist, and there is a finite jump between the function value of f(x) at the point x = a and its limit.

[0121] (2) Piecewise function

[0122] A piecewise function is a function composed of multiple different functions, and each function has a different expression (or called an analytical formula) on different intervals of the domain. The domain of a piecewise function is the union of the domains of the individual functions that make up the piecewise function.

[0123] Generally, by determining the break points on the domain, the domain is divided into multiple non - overlapping intervals. Each region has an expression on that interval, and the expressions can be, for example, constants, polynomials, exponential functions, logarithmic functions, trigonometric functions, etc. Finally, by combining the expressions on each interval in the order of the domain, a piecewise function can be formed. Additionally, it should be noted that at the boundary points of each interval, the continuity and differentiability of the function need to be considered to ensure that the piecewise function is continuous over the entire domain and the definition at the break points is consistent.

[0124] A piecewise function can be a continuous function or a discontinuous function.

[0125] (3) Composite function

[0126] A composite function is a function formed by combining two or more functions. In a composite function, the output of one function serves as the input of another function, thus forming a new function. Taking two functions f(x) and g(x) as an example, if the domain of f(x) contains the range of g(x), then the output of g(x) can be used as the input of f(x), and the resulting new function is a composite function, denoted as f(g(x)).

[0127] A composite function can be a continuous function or a discontinuous function.

[0128] Next, the technical solutions in the embodiments of the present application will be described with reference to the accompanying drawings.

[0129] See Figure 1 , Figure 1: This is a schematic diagram of the architecture of a data processing system provided by an embodiment of the present application. The data processing system can be used to deflect the coordinate information of the anchor point associated with a patch (a patch can be understood as a geographical area), and the offset caused by the deflection is related to the time variable. The data processing system includes a generating end, a transmitting end and a receiving end, wherein the generating end and the transmitting end can communicate wirelessly, the generating end and the receiving end can communicate by wire or wirelessly, and the transmitting end and the receiving end can communicate by wire or wirelessly.

[0130] Exemplarily, the generating end is responsible for the generation of the deflection function and the irregular updating of the deflection function. The generating end may also publish the deflection function to at least one of the transmitting end and the receiving end. The deflection function is used to output the offset corresponding to the anchor point based on the time information corresponding to the anchor point. The transmitting end is responsible for the local deployment of the deflection function, the coordinate information of the anchor point associated with the geographical area (which may be referred to as the first coordinate information) and the target data containing the second coordinate information of the anchor point (that is, the coordinate information of the first coordinate information of the anchor point after the deflection function is offset). For the receiving end, if the receiving end does not deploy the deflection function, the receiving end can directly use the target data; if the receiving end deploys the deflection function, the receiving end can obtain the first coordinate information of the anchor point based on the target data and the deflection function. This implementation method can be specifically referred to the description of the following method embodiment, which will not be repeated here.

[0131] Here, the generation end is a safe and compliant environment guarded by a qualified subject. For example, the generation end can be a local isolation environment (infrastructure such as a local computer that can provide computing and storage resources), a network-side device (such as a cloud computing platform that can provide computing, network and storage resources), etc.

[0132] The transmitting end may be a device with data collection and data processing capabilities. The transmitting end may be, for example, a terminal, a roadside device, etc. Among them, the roadside device may be, for example, a road side unit (RSU), multi-access edge computing (MEC), or a sensor or other device, or a component or chip inside these devices, or a system-level device composed of an RSU and a MEC, or a system-level device composed of an RSU and a sensor, or a system-level device composed of an RSU, a MEC, and a sensor. The terminal may include intelligent terminals such as vehicles, robots, drones, ships, and steamships, or components within intelligent terminals (such as chips or integrated circuits).

[0133] Here, the vehicle is a vehicle in a broad sense, which can be a means of transportation (such as commercial vehicles, passenger cars, motorcycles, flying cars, trains, etc.), industrial vehicles (such as forklifts, trailers, tractors, etc.), engineering vehicles (such as excavators, bulldozers, cranes, etc.), agricultural equipment (such as lawn mowers, harvesters, etc.), and so on. For another example, the robot can be an automated guided vehicle (AGV), a walking conversation robot, a service robot, or other robots.

[0134] The receiving end can be, for example, a network-side device, a labeling device, or a component within such a device (such as a chip or an integrated circuit, etc.). Among them, the network-side device can be, for example, a server deployed on the network side (such as a map server or a server of a mapping company, etc.), or a component or chip in such a server. The network-side device can be deployed in a cloud environment, that is, a cloud computing server, or the network-side device can also be deployed in an edge environment, that is, an edge computing server. The network-side device can be an integrated device or a distributed multiple devices, and the embodiments of the present application do not make specific limitations.

[0135] As an example, the sending end includes at least one of a vehicle or a roadside device, and the receiving end is a cloud device. As another example, in a remote labeling scenario, the sending end is a network-side device, and the receiving end is a remote labeling terminal.

[0136] Exemplarily, Figure 1 The generating end and the sending end in can be separately and independently set or integrated together, and no specific limitation is made here.

[0137] Figure 1 The data processing system shown can be applied to a variety of application scenarios, such as the following application scenarios: mobile internet (MI), industrial control, self-driving, transportation safety, internet of things (IoT), smart city, or smart home, etc.

[0138] Figure 1The data processing system shown can be applied to various network types, for example, one or more of the following network types: SparkLink, Long Term Evolution (LTE) network, 5th generation mobile communication technology (5G), wireless local area network (e.g., Wi-Fi), Bluetooth (BT), Zigbee, or vehicle-to-vehicle short-range wireless communication network, etc.

[0139] It should be noted that Figure 1 it is only an exemplary architecture diagram, but does not limit Figure 1 the number of network elements included in the system shown. Although Figure 1 not shown, in addition to Figure 1 the functional entities shown, Figure 1 other functional entities may also be included. In addition, the method provided in the embodiments of the present application can be applied to Figure 1 the data processing system shown. Of course, the method provided in the embodiments of the present application can also be applied to other communication systems, and the embodiments of the present application do not limit this.

[0140] Before introducing the data processing method of the embodiments of the present application, the deflection function defined in the present application is first introduced.

[0141] In one implementation, the deflection function can be expressed as the offset being a function of time. Then, the independent variable of the deflection function is time, and the dependent variable of the deflection function is the offset. In this case, the deflection function satisfies the relationship shown in the following formula (1):

[0142] ΔO = f(t) Formula (1)

[0143] Where, ΔO represents the offset, t represents time, and f() represents the deflection function. For formula (1), any input time t can obtain the corresponding offset ΔO. In this way, an offset that changes dynamically with time is introduced.

[0144] In some possible embodiments, the original coordinate information of the anchor point can be processed through a two-dimensional offset (i.e., including a first offset and a second offset). Among them, the first offset indicates the offset of the original coordinate information of the anchor point on the first coordinate axis, and the second offset indicates the offset of the original coordinate information of the anchor point on the second coordinate axis.

[0145] Here, the first coordinate axis and the second coordinate axis can be any two coordinate axes in any coordinate system. For example, when using the World Geodetic System WGS84 or the Mars coordinate system GCJ-02, the first coordinate axis and the second coordinate axis can indicate any two directions among longitude, latitude, and altitude. For another example, when using the natural coordinate system, the first coordinate axis and the second coordinate axis can be any two of the X-axis, Y-axis, and Z-axis. When the natural coordinate system is the vehicle's own local coordinate system, the X-axis points to the front of the vehicle parallel to the ground, the Y-axis points to the left of the driver, and the Z-axis points above the vehicle's center of mass. It can be understood that the coordinate system can also be in other forms of coordinate systems.

[0146] As an example, the above-mentioned first offset and second offset can be obtained through an offset function shown in formula (1), and formula (1) can be expressed as the following formula (2):

[0147] ΔO = (Δx, Δy) = f(t) Formula (2)

[0148] Where Δx represents the first offset, and Δy represents the second offset. It can be known that the first offset is ΔO and the second offset is also ΔO. In this case, the first offset is equal to the second offset.

[0149] As another example, the above-mentioned first offset and second offset can also be obtained through two different deflection functions (one deflection function corresponds to the first coordinate axis, and the other deflection function corresponds to the second coordinate axis). Then the deformation of formula (1) can be the following formula (3):

[0150]

[0151] Where f 1 () represents the deflection function corresponding to the first coordinate axis, and f 2 () represents the deflection function corresponding to the second coordinate axis, and f 1 () is different from f 2 (). Here, f 1 () and f 2 () can also be called the internal functions of the deflection function f(t). The other parameters in formula (3) can refer to the corresponding descriptions of the above formula (2) and will not be elaborated here. In this way, the offsets on different coordinate axes are obtained using different deflection functions, which can increase the unpredictability of the deflection function and also increase the difficulty of cracking the deflection function.

[0152] In some possible embodiments, the processing of the original coordinate information of the anchor point can also be achieved through a three-dimensional offset. In this case, in addition to including the above-mentioned first offset and second offset, a third offset is also included, where the third offset indicates the offset of the original coordinate information of the anchor point on the third coordinate axis. As an example, the deflection function satisfies the relationship shown in the following formula (4):

[0153]

[0154] where f 3 () represents the deflection function corresponding to the second coordinate axis, and f 3 () is different from f 1 () and f 2 (). The other parameters in formula (4) can refer to the corresponding descriptions of the above formula (3), and will not be elaborated here. In some possible embodiments, the offset output by a deflection function can also be used as the above-mentioned first offset, second offset, and third offset in the manner described in the above formula (2).

[0155] In one implementation manner, the deflection function can be expressed as a function in which the offset is related to at least one of the original coordinate information of the anchor point and the identifier of the usage end of the deflection function and time. Then, the independent variables of the deflection function include at least one of the original coordinate information of the anchor point and the identifier of the usage end of the deflection function and time, and the dependent variable of the deflection function is the offset. As an example, the deflection function satisfies the relationship shown in the following formula (5):

[0156] ΔO = f(t, x, y, z, vin) Formula (5)

[0157] where ΔO represents the offset, f() represents the deflection function, t represents time, (x, y, z) represents the original coordinate information of the anchor point, and vin represents the identifier of the usage end of the deflection function. Here, the usage end can be a device that uses this deflection function to process the initial coordinate information of the anchor point, such as a vehicle, roadside device, network-side device, etc. Taking the original coordinate information of the anchor point as an independent variable of the deflection function makes the determination of the offset related to both the time variable and the spatial position of the anchor point. It can be understood that the more independent variables introduced in the construction of the above deflection function, the more complex the constructed deflection function, reducing the probability of the deflection function being cracked and improving security.

[0158] It can be understood that the above formula (5) is only an example, and formula (5) can also have some deformation forms. For example, the independent variables (x, y, z) of f() can be omitted, or the independent variable vin of f() can be omitted, which will not be specifically limited here.

[0159] Further, on the premise of formula (5), the original coordinate information of the anchor point can also be processed by a two-dimensional offset or a three-dimensional offset. Taking the two-dimensional offset as an example, that is, the offset includes a first offset and a second offset. In this case, the deflection function satisfies the relationship shown in the following formula (6):

[0160]

[0161] wherein, Δx represents the first offset, Δy represents the second offset, and f 4 () represents the deflection function corresponding to the first coordinate axis, and f 5 () represents the deflection function corresponding to the second coordinate axis, and f 4 () and f 5 () are different. It can be seen from formula (6) that the independent variables of f 4 () and f 4 () are the same, and both include t, the original coordinate information (x, y, z) of the anchor point, and the identifier vin of the device at the usage end of the deflection function. It can be understood that formula (6) is only an example. In some possible embodiments, the independent variables of f 4 () and f 5 () may also be different, but both include the time variable t. In some possible embodiments, whether it is a two-dimensional offset or a three-dimensional offset, it can also be obtained by a deflection function, that is, the offsets of each dimension are equal.

[0162] In one implementation manner, the complexity of the deflection function can also be increased by at least one of the following methods: the deflection function is a piecewise function, and the expressions of the deflection function in different time periods are different; and, the deflection function is a composite function. Here, the definitions of the piecewise function and the composite function can refer to the introduction of the foregoing related terms, and will not be elaborated here.

[0163] For example, when the offset output by a deflection function is used as the offset on each coordinate axis, f(t) in the above formula (1) can be expressed as the piecewise function shown in the following formula (7), for example:

[0164]

[0165] wherein, a1 and a2 are constants. As an example, a1 = 1 + (t1 + 1) 2 , a2 = 2t3 - 2 - (t3 - 2) 2 . It can be understood that the formula (7) shown is only an example of a piecewise function, and it is not limited that f(t) is only the formula (7) when it is a piecewise function.

[0166] For example, when the offset output by a deflection function is used as the offset on each coordinate axis, the above formula (1) can be expressed as a composite function shown in the following formula (8), for example:

[0167] ΔO = f(g(t)) Formula (8)

[0168] Among them, it can be seen from formula (8) that g(t) is the inner function of this composite function, and f(t) is the outer function of this composite function. It can be understood that the example shown in formula (8) is only an example of a two-layer composite function. The embodiments of the present application do not limit the number of layers of the composite function, nor do they limit that f(t) is only the one shown in formula (8) when it is a composite function.

[0169] It can be understood that in some possible embodiments, the deflection function can also be both a piecewise function and a composite function.

[0170] Exemplarily, when the deflection functions corresponding to different coordinate axes are different, the deflection function corresponding to each coordinate axis can be a piecewise function and / or a composite function.

[0171] In some possible embodiments, different deflection functions can also be set based on different application modes of the deflection function. As an example, the application mode of the deflection function can be divided into a relative position valid mode and a relative position invalid mode. Among them, when the application mode of the deflection function is the relative position valid mode, the deflection function is a continuous function; when the application mode of the deflection function is the relative position invalid mode, the deflection function is a discontinuous function. In some possible embodiments, when the application mode of the deflection function is the relative position invalid mode, the deflection function can also be a continuous function with an offset span exceeding a preset reasonable range.

[0172] Here, the relative position valid mode requires that the offset span meets the preset relative position accuracy requirement within a certain time range. The relative position invalid mode means that the offset span does not meet the preset relative position accuracy requirement within a certain time range. Taking the determination of the anchor points of two geographical regions (such as geographical region 1 and geographical region 2) at adjacent moments as an example, geographical region 1 corresponds to anchor point 1, and geographical region 2 corresponds to anchor point 2. Then the time information corresponding to anchor point 1 and the time information corresponding to anchor point 2 are continuous, and geographical region 1 and geographical region 2 are adjacent in spatial position. Then the "offset span" can refer to the difference between the offset output by the deflection function based on the time information corresponding to anchor point 1 and the offset output by the deflection function based on the time information corresponding to anchor point 2. It can be understood that the offset span can be for the position of the geographical region, or for the direction or angle of the geographical region, etc., and no specific limitation is made here.

[0173] Exemplarily, the relative position valid mode is generally applicable to applications that are not sensitive to absolute positions but require a certain relative position accuracy, such as the training of algorithms for a perception dynamic tracking module, etc. In this case, the receiving end can directly use the coordinate information of the anchor point offset by the deflection function without inversely solving the original coordinate information of the anchor point. The relative position invalid mode is generally applicable to scenarios with high confidentiality requirements for transmitted content and can hide the relative position relationship between data.

[0174] It can be understood that when setting the parameter of the application mode with a deflection function, when the above-mentioned sending end or receiving end deploys the deflection function locally, the deflection function corresponding to each application mode can be deployed, that is, the deflection function corresponding to the relative position invalid mode and the deflection function corresponding to the relative position valid mode are deployed. Thus, in a specific application scenario, the sending end or the receiving end can select the deflection function corresponding to the application mode for corresponding processing.

[0175] In summary, the design of the deflection function introduces a time variable and can provide a randomly varying offset that changes dynamically over time. Additionally, the design of the deflection function also considers at least one of factors such as the original coordinate information of the anchor point and the identifier of the usage end of the deflection function, increasing the complexity of the deflection function. By defining the deflection function as a piecewise function and / or a composite function, etc., not only is the uncertainty of the deflection function increased, but also the complexity of the deflection function is increased, reducing the probability of the deflection function being cracked and improving security.

[0176] See Figure 2 , Figure 2 is a flowchart of a data processing method provided by an embodiment of the present application. This method can be applied to the data processing system shown in the above Figure 1 The data processing system includes a sending end and a receiving end. In one implementation, the sending end can be a vehicle or a roadside device, and the receiving end can be a network-side device. In some possible embodiments, the data processing system further includes a generating end, or the generating end is integrated with the sending end. The method includes but is not limited to the following steps:

[0177] S201: The sending end obtains the first coordinate information of the anchor point and the time information corresponding to the anchor point, and the anchor point is associated with a geographical area.

[0178] It can be understood that in the physical world, the first coordinate information (which can also be referred to as the original coordinate information) of the same anchor point in different coordinate systems is different. For example, the first coordinate information of the anchor point can be a three-dimensional coordinate composed of longitude, latitude, and altitude of the anchor point in the world coordinate system (such as the World Geodetic System WGS84), or a three-dimensional coordinate composed of longitude, latitude, and altitude of the anchor point in the Mars coordinate system GCJ-02, or a three-dimensional coordinate composed of the X coordinate, Y coordinate, and Z coordinate of the anchor point in the natural coordinate system, or a three-dimensional coordinate composed of the S coordinate, D coordinate, and H coordinate in the road coordinate system, or other forms of coordinates, as long as the coordinate can uniquely determine the position of the anchor point in the geographical area. The embodiments of the present application do not limit the specific form of the coordinate system selected.

[0179] Exemplarily, an anchor point is a reference point used to determine or mark a specific position, and can be used to assist in positioning, navigation, and tracking. The anchor point usually has known position information and can be used as a reference point to calculate the positions of other targets or objects.

[0180] Exemplarily, the anchor point is associated with a geographical area, and it can be understood that: each geographical area corresponds to at least one anchor point, and the anchor point can be a characteristic point such as the center, centroid, or corner point of the geometric expression graph of the geographical area. Exemplarily, the geometric expression graph of the geographical area can be a circle, rectangle, sector, trapezoid, or other polygons, etc. It can be understood that when using the corner point of the geometric expression graph of the geographical area as the anchor point of the geographical area, a geographical area can correspond to multiple anchor points.

[0181] In the embodiments of the present application, a geographical area can also be referred to as a region.

[0182] Here, the time information corresponding to the anchor point is obtained based on the initial timestamp corresponding to the anchor point. The initial timestamp corresponding to the anchor point can be, for example, the timestamp when the sending end obtains the first coordinate information of the anchor point, or the timestamp when the sending end determines or processes the anchor point.

[0183] In one implementation, the time information corresponding to different anchor points is different.

[0184] In another implementation, the time information corresponding to the anchor points associated with different geographical areas is different, and the time information corresponding to the anchor points associated with the same geographical area can be the same. For example, when using the corner point method to determine the anchor points corresponding to the geographical area, a geographical area can correspond to multiple anchor points, and these multiple anchor points can correspond to the same time information.

[0185] Since the time information corresponding to the anchor points in different geographical regions is different, for different geographical regions, the degree of offset of the coordinate information of the anchor points is also different, which increases the difficulty of aggregating the spatio-temporal information of different geographical regions and reduces the possibility of aggregating the spatio-temporal information of different geographical regions, thereby preventing the sensitivity upgrade caused by the aggregation of the spatio-temporal information of different geographical regions.

[0186] Exemplarily, the first coordinate information of the anchor point is obtained according to the spatio-temporal information of the geographical region associated with the anchor point. The spatio-temporal information of the geographical region includes at least one of the following information: the sensor data of the geographical region (for example, including at least one of images, videos, point cloud data, etc.), composition perception data (for example, including lane lines, traffic lights, poles, road signs, etc.), and vector map data (for example, roads, lanes, intersections, points of interest POIs, etc. in the geographical region).

[0187] Exemplarily, considering the regional randomness and dynamics of introducing the offset, the spatio-temporal information can be segmented to achieve enhanced randomness protection to reduce the sensitivity of the spatio-temporal information. See Figure 3 , Figure 3 is a schematic diagram of geographical region segmentation provided by an embodiment of the present application. As Figure 3 can be seen, the global spatio-temporal information is regionally segmented and randomly divided into 7 geographical regions, namely geographical region 1, geographical region 2,..., geographical region 7. Taking the geometric expression graph of each geographical region as a circle, if the center point of the geographical region is used as the anchor point of the geographical region, then each geographical region corresponds to an anchor point, that is, geographical region 1 corresponds to anchor point 1, geographical region 2 corresponds to anchor point 2,..., geographical region 7 corresponds to anchor point 7. Taking geographical region 1 corresponding to anchor point 1 as an example, geographical region 1 corresponding to anchor point 1 can also be understood as: anchor point 1 is associated with geographical region 1. Since the time information corresponding to the anchor points in different geographical regions is different, the time information corresponding to geographical region 1 can be denoted as T1, the time information corresponding to geographical region 2 can be denoted as T2,..., and the time information corresponding to geographical region 7 can be denoted as T7. It can be understood that Figure 3 is only a schematic expression diagram of geographical region segmentation, and does not limit the number of geographical regions after segmentation and the expression form of the geographical regions, nor does it limit that the number of anchor points corresponding to each geographical region can only be one.

[0188] S202: The sending end determines the second coordinate information of the anchor point. The second coordinate information of the anchor point is obtained according to the first coordinate information of the anchor point and the offset corresponding to the anchor point. The offset corresponding to the anchor point is obtained by inputting the time information corresponding to the anchor point into the deflection function.

[0189] In one implementation, the above-mentioned anchor points include Anchor Point 1 and Anchor Point 2. The second coordinate information of Anchor Point 1 is obtained based on the first coordinate information of Anchor Point 1 and the offset corresponding to Anchor Point 1, and the offset corresponding to Anchor Point 1 is obtained by inputting the time information corresponding to Anchor Point 1 into the deflection function. The second coordinate information of Anchor Point 2 is obtained based on the first coordinate information of Anchor Point 2 and the offset corresponding to Anchor Point 2, and the offset corresponding to Anchor Point 2 is obtained by inputting the time information corresponding to Anchor Point 2 into the deflection function.

[0190] Exemplarily, when Anchor Point 1 and Anchor Point 2 are associated with the same geographical area, the time information corresponding to Anchor Point 1 is the same as the time information corresponding to Anchor Point 2. When Anchor Point 1 and Anchor Point 2 are respectively associated with different geographical areas, the time information corresponding to Anchor Point 1 is different from the time information corresponding to Anchor Point 2.

[0191] Exemplarily, before the sending end determines the second coordinate information of the anchor point, the sending end can first obtain the deflection function from the generating end.

[0192] In one implementation, the offset corresponding to the anchor point includes a first offset and a second offset. Among them, the first offset indicates the offset of the first coordinate information of the anchor point on the first coordinate axis, and the second offset indicates the offset of the first coordinate information of the anchor point on the second coordinate axis. That is to say, the offset corresponding to the anchor point is at least a two-dimensional offset (i.e., the coordinate plane offset). Here, the first coordinate axis and the second coordinate axis can refer to the description of the corresponding content above and will not be elaborated here.

[0193] In one implementation, the offset corresponding to the anchor point is obtained by inputting the time information corresponding to the anchor point into the deflection function, including: the offset corresponding to the anchor point is obtained by inputting at least one of the first coordinate information of the anchor point and the identifier of the sending end and the time information corresponding to the anchor point into the deflection function.

[0194] Exemplarily, the deflection function satisfies at least one of the following conditions:

[0195] The deflection function is a piecewise function, and the expressions of the deflection function in different time periods are different;

[0196] The deflection function is a composite function; and

[0197] The deflection function includes a first deflection function and a second deflection function. The first deflection function is used to determine the offset of the first coordinate information of the anchor point on the first coordinate axis, and the second deflection function is used to determine the offset of the first coordinate information of the anchor point on the second coordinate axis. The first deflection function is different from the second deflection function. Here, the deflection function can refer to the description of the corresponding content above and will not be elaborated here.

[0198] In some possible embodiments, the sending end may also determine the application mode of the deflection function based on application requirements. For example, in an application scenario that is not sensitive to absolute position but requires a certain relative position accuracy, the application mode of the deflection function is determined to be the relative position valid mode. In this case, the deflection function used is a continuous function. For another example, in an application scenario with high confidentiality requirements for the transmitted content, the application mode of the deflection function is determined to be the relative position invalid mode. In this case, the deflection function used is a discontinuous function or may also be a continuous function with an offset span exceeding a preset reasonable range.

[0199] S203: The sending end sends target data to the receiving end, and the target data includes the second coordinate information of the anchor point.

[0200] In one implementation, the target data further includes at least one of the following information:

[0201] The time information corresponding to the anchor point;

[0202] The version number of the deflection function;

[0203] The spatio-temporal information of the geographical area associated with the anchor point;

[0204] The application mode of the deflection function; and

[0205] The identifier of the sending end.

[0206] By carrying the time information corresponding to the anchor point in the target data, the receiving end of the target data can use this time information and the second coordinate information of the anchor point to inversely calculate the first coordinate information of the anchor point without loss of accuracy.

[0207] The version number of the deflection function is used to identify the version of the deflection function used by the sending end. The receiving end of the target data can determine whether it has the same version of the deflection function through the version number of the deflection function carried in the target data, which is related to whether the receiving end of the target data can accurately inversely solve the first coordinate information of the anchor point.

[0208] The spatio-temporal information of the geographical area associated with the anchor point can refer to the description of the corresponding content above. When the target data includes the spatio-temporal information of the geographical area associated with the anchor point, it is applicable to scenarios such as remote annotation, sharded data splicing or aggregation.

[0209] By carrying the application mode of the deflection function in the target data, it can indicate to the receiving end of the target data to use the deflection function corresponding to this application mode to process the second coordinate information of the anchor point in the target data.

[0210] Exemplarily, when the construction of the deflection function involves the identification of the sending end, the target data may include the identification of the sending end. In this way, it is convenient for the receiving end of the target data to successfully calculate the first coordinate information of the anchor point when it is necessary to reverse-solve the first coordinate information of the anchor point.

[0211] Correspondingly, the receiving end receives the target data sent by the sending end.

[0212] S204: The receiving end obtains the first coordinate information of the anchor point according to the target data and the local deflection function.

[0213] In one implementation, the target data further includes the first version number of the deflection function and the time information corresponding to the anchor point. When the version number of the local deflection function at the receiving end is the first version number, the receiving end obtains the first coordinate information of the anchor point according to the second coordinate information of the anchor point, the time information corresponding to the anchor point, and the local deflection function.

[0214] Exemplarily, the target data further includes the spatio-temporal information of the geographical area associated with the anchor point, and the number of anchor points in the target data sent by one sending end can be multiple, and the geographical areas associated with each anchor point can be the same or different. Taking the above Figure 3 as an example, assuming that the target data sent by the sending end includes Figure 3 the spatio-temporal information of geographical area 1, the spatio-temporal information of geographical area 2, the second coordinate information of anchor point 1 corresponding to geographical area 1, the second coordinate information of anchor point 2 corresponding to geographical area 2, the time information corresponding to anchor point 1, and the time information corresponding to anchor point 2, then the receiving end can first reverse-solve the first coordinate information of anchor point 1 and the first coordinate information of anchor point 2 based on the above method. Further, the receiving end can also perform data aggregation on the spatio-temporal information of geographical area 1 and the spatio-temporal information of geographical area 2 based on the first coordinate information of anchor point 1 and the first coordinate information of anchor point 2.

[0215] Further, the target data further includes the application mode of the deflection function, and the local deflection function used by the receiving end is the deflection function corresponding to this application mode selected by the receiving end from multiple local deflection functions.

[0216] In some possible embodiments, the receiving end may not need to reverse-solve the first coordinate information of the anchor point, but directly use the second coordinate information of the anchor point in the target data. In this case, the receiving end may not deploy the deflection function.

[0217] Exemplarily, when at least one of the following conditions is met, the receiving end allows to call the local deflection function: the time information corresponding to the anchor point is obtained by the receiving end within a preset time range; and, within a preset duration, the call frequency of the local deflection function at the receiving end is less than or equal to the preset frequency. In this way, it is possible to prevent the deflection function from being called offline at a high frequency.

[0218] Exemplarily, the deflection function local to the receiving end also has an identity authentication function. For example, only legitimate applications agreed upon within the receiving end (such as applications in the whitelist) are allowed to call the deflection function local to the receiving end.

[0219] In some possible embodiments, the receiving end may also receive target data sent by multiple sending ends. Then, the receiving end may perform data aggregation based on the received target data to obtain global data.

[0220] See Figure 4 , Figure 4 FIG. Figure 4 is a schematic diagram of a scenario for backhaul and aggregation of crowdsourced data provided by an embodiment of the present application. In Figure 3 , the multiple sending ends include Vehicle 1 and Vehicle 2, and the receiving end is a cloud platform. Deflection functions are deployed on both the multiple sending ends and the receiving end. Assume that Vehicle 1 and Vehicle 2 are responsible for collecting the geographic information of the area shown in Figure 3 . To improve the data transmission efficiency and reduce the sensitivity brought by the transmission of spatio-temporal information, both Vehicle 1 and Vehicle 2 perform offset processing associated with time on the coordinate information of the corresponding anchor points in a regional sharding manner. Thus, Vehicle 1 sends target data 1 to the cloud platform, and Vehicle 2 sends target data 2 to the cloud platform. Among them, target data 1 includes Figure 3 the second coordinate information of Anchor Points 1, 2, 3, and 4, the spatio-temporal information of the geographic regions associated with these four anchor points, and the time information corresponding to each anchor point, etc. From the description in Figure 3 , it can be known that Anchor Point 1 is associated with Geographic Region 1, Anchor Point 2 is associated with Geographic Region 2, Anchor Point 3 is associated with Geographic Region 3, and Anchor Point 4 is associated with Geographic Region 4; target data 2 includes Figure 3 the second coordinate information of Anchor Points 5, 6, and 7, the spatio-temporal information of the geographic regions associated with these three anchor points, and the time information corresponding to each anchor point, etc. From the description in Figure 3 the global data.

[0221] It can be understood that in Figure 4In this case, there is no limitation on the number of times the vehicle sends the target data and the content included in the target data is not limited to the above-described form. In some possible embodiments, the target data 1 sent by the vehicle 1 may also be split into two transmissions. For example, the target data sent for the first time includes the second coordinate information of both anchor point 1 and anchor point 2, the corresponding time information, and the spatio-temporal information of the associated geographical area, and the target data sent for the second time includes the second coordinate information of both anchor point 3 and anchor point 4, the corresponding time information, and the spatio-temporal information of the associated geographical area.

[0222] Optionally, in some possible embodiments, the following S205 and S206 may also be executed:

[0223] S205: The generating end sends update indication information to the sending end and the receiving end.

[0224] Among them, the update indication information indicates an updated deflection function.

[0225] Here, the update indication information is sent in an irregular or non-periodic manner. In this way, the unpredictability of the deflection function is increased, and the security of the deflection function is also increased.

[0226] Exemplarily, the sending of the update indication information to the sending end and the sending of the update indication information to the receiving end may be simultaneous or one after the other, and no specific limitation is made here. Therefore, the update indication information may be transmitted in the form of broadcast, multicast or unicast.

[0227] In one implementation, the update indication information may be carried in an over-the-air (OTA) upgrade announcement. Further, the update indication information includes the latest version of the deflection function, or the latest version of the deflection function is included in the OTA upgrade announcement.

[0228] S206: At least one of the sending end and the receiving end updates the local deflection function according to the update indication information.

[0229] In one implementation, the update indication information includes the latest version of the deflection function. According to the update indication information, updating the local deflection function includes: updating the local deflection function to the latest version of the deflection function in the update indication information.

[0230] In another implementation, according to the update indication information, updating the local deflection function includes: the update indication information includes a download address, obtaining the latest version of the deflection function from the download address, and updating the local deflection function to the latest version of the deflection function.

[0231] Exemplarily, after the local deflection function is updated to the above-mentioned latest version of the deflection function, the version number of the latest version of the deflection function is stored locally.

[0232] It can be seen that by implementing the embodiments of the present application, through the introduction of an offset related to the time dimension, the coordinate information of the anchor points associated with the geographical area is deflected on the basis of the global coordinate system, enhancing the randomness and dynamics of the positions of the anchor points when the geographical area is segmented, reducing the data sensitivity of the transmitted spatio-temporal information, and solving the risk problem caused by malicious aggregation during the transmission of sensitive data between the sending end and the cloud. In addition, the embodiments of the present application also support lossless inverse calculation of accuracy, enabling the receiving end to perform data aggregation on the data transmitted back by multiple V2N sources.

[0233] In some possible embodiments, the above method can also be applied to the remote annotation scenario. Refer to Figure 5 , Figure 5 which is a flowchart of a data processing method in a remote annotation scenario provided by the embodiments of the present application. This method can be applied to a data processing system including a sending end and a receiving end. Among them, the sending end can be a cloud platform, and the receiving end can be an annotation device. Among them, the above deflection function is deployed on the cloud platform, and the above deflection function is not deployed on the annotation device. The method includes but is not limited to the following steps:

[0234] S501: The cloud platform obtains the first coordinate information of each anchor point in multiple groups of anchor points and the time information corresponding to each anchor point. One group of anchor points in the multiple groups of anchor points corresponds to one of multiple scenarios, and each scenario is associated with at least one geographical area.

[0235] In one implementation, the above multiple scenarios include a first scenario and a second scenario. Then, the multiple groups of anchor points include a first group of anchor points corresponding to the first scenario and a second group of anchor points corresponding to the second scenario. Among them, the time information corresponding to each anchor point in the first group of anchor points is obtained based on a first timestamp reference quantity, and the time information corresponding to each anchor point in the second group of anchor points is obtained based on a second timestamp reference quantity.

[0236] Among them, the first timestamp reference quantity is different from the second timestamp reference quantity. In this way, by using different timestamp reference quantities for data in different scenarios, the position reference of the data in each scenario is scattered, and the spatio-temporal continuity of the data within a single scenario can be achieved, while the data between multiple scenarios is spatio-temporally dispersed from each other, and the data of each scenario can be used as an independent data set.

[0237] Here, each scenario is associated with at least one geographical area, which can be understood as: a scenario is a set of at least one geographical area. It can be known from the above embodiments that each geographical area can correspond to at least one anchor point. Then, the first group of anchor points is a set of anchor points corresponding to at least one geographical area associated with the first scenario, and the second group of anchor points is a set of anchor points corresponding to at least one geographical area associated with the second scenario.

[0238] Exemplarily, for the anchor points in the same group, taking the first group of anchor points as an example, the first group of anchor points includes a first anchor point and a second anchor point. Among them, the time information corresponding to the first anchor point is obtained based on the initial timestamp corresponding to the first anchor point and the first timestamp reference quantity, and the time information corresponding to the second anchor point is obtained based on the initial timestamp corresponding to the second anchor point and the first timestamp reference quantity.

[0239] Taking the first group of anchor points corresponding to the first scenario as an example to illustrate the time information corresponding to each anchor point in the first group of anchor points. Assume that the first group of anchor points includes anchor point 1, anchor point 2, …, anchor point n, where n is a positive integer, and the initial timestamps corresponding to the first group of anchor points are respectively: t 11 、t 12 、…、t 1n . On this basis, adding a first timestamp reference quantity T0, then the time information corresponding to the first group of anchor points is respectively: t 11 +T0、t 12 +T0、…、t 1n +T0.

[0240] As an example, among the anchor points in the same group, the initial timestamps corresponding to different anchor points can be the same or different. For example, among the anchor points in the same group, the initial timestamps corresponding to the anchor points associated with the same geographical area can be the same, and the initial timestamps corresponding to the anchor points associated with different geographical areas can be different. It can be understood that when the initial timestamps corresponding to different anchor points are different, it is beneficial to scatter the positions of the anchor points to the greatest extent.

[0241] As an example, since different groups of anchor points use different timestamp reference quantities, the initial timestamps corresponding to different groups of anchor points can be the same or different. It can be understood that when the initial timestamps corresponding to different groups of anchor points are different, it is beneficial to maximize the dispersion of data in different scenarios.

[0242] It can be understood that the cloud platform locally records the corresponding relationship between the identifier of the scenario and the time information corresponding to each group of anchor points. The cloud platform also stores the spatio-temporal information of the geographical areas associated with each scenario in multiple scenarios, and these spatio-temporal information are also data to be labeled.

[0243] S502: The cloud platform determines the second coordinate information of each anchor point in the above-mentioned multiple groups of anchor points.

[0244] Among them, the second coordinate information of each anchor point is obtained based on the first coordinate information of the anchor point and the offset corresponding to the anchor point, and the offset corresponding to the anchor point is obtained by inputting the time information corresponding to the anchor point into the deflection function. Here, the deflection function can refer to the description of the corresponding content in the above-mentioned embodiments, and will not be elaborated here.

[0245] Exemplarily, since the remote annotation scenario requires that the data of each scenario should have spatio-temporal continuity and maintain a relative position relationship with a certain accuracy but does not need to have an accurate absolute position, in this application scenario, the cloud platform can set the application mode of the deflection function to the relative position valid mode. Therefore, the cloud platform uses the deflection function corresponding to the relative position valid to offset the first coordinate information (i.e., the absolute position) of the anchor points corresponding to each scenario, and obtains the second coordinate information of the anchor points. In this way, it can not only meet the relative position accuracy requirements in the remote annotation scenario, but also hide the true position information of the data. Thus, even if the annotation end knows the second coordinate information indicating the position, it cannot converge and splice the data of multiple scenarios.

[0246] It can be understood that since the data of different scenarios use different time stamp reference quantities, that is, the time information corresponding to different groups of anchor points uses different time stamp reference quantities, even if the first coordinate information of the anchor points corresponding to scenario 1 and the first coordinate information of the anchor points corresponding to scenario 2 are spatio-temporally continuous, after the offset by the above-mentioned deflection function, the second coordinate information of the anchor points corresponding to scenario 1 and the second coordinate information of the anchor points corresponding to scenario 2 are no longer spatio-temporally continuous.

[0247] S503: The cloud platform sends the second coordinate information of each anchor point and the spatio-temporal information to be annotated to the annotation device.

[0248] Among them, the spatio-temporal information to be annotated includes the spatio-temporal information of the geographical regions associated with each scenario in the above-mentioned multiple scenarios.

[0249] Here, the number of annotation devices is not limited, and it can be one or multiple. When there are multiple annotation devices, these multiple annotation devices can share the annotation task of the above-mentioned spatio-temporal information to be annotated.

[0250] S504: The annotation device annotates the spatio-temporal information to be annotated based on the second coordinate information of each anchor point above, and obtains an annotation data set.

[0251] For example, the annotation data set is spatio-temporal information containing annotation information (such as the identifier of the scenario to which the spatio-temporal information of the geographical region belongs), and this spatio-temporal information includes the spatio-temporal information of the geographical regions associated with each scenario.

[0252] S505: The annotation device sends the annotation data set to the cloud platform.

[0253] S506: The cloud platform uses the annotation data set to perform the training of the algorithm.

[0254] In one implementation manner, the cloud platform directly uses the annotation data set to perform the training of the algorithm.

[0255] Exemplarily, in the case where the labeled dataset carries the identifier of the scenario to which the spatio-temporal information of the geographical area belongs, the cloud platform may perform scenario stitching on the spatio-temporal information in the labeled dataset based on the identifier of the scenario in the labeled dataset, so as to use the data after scenario stitching to perform the training of the algorithm.

[0256] In another implementation manner, the cloud platform may inverse-solve the first coordinate information of each anchor point based on the second coordinate information of each anchor point in the above-mentioned multiple groups of anchor points, the time information corresponding to the anchor point, and the deflection function corresponding to the relative position valid mode, and then perform scenario stitching on the labeled dataset according to the first coordinate information of each anchor point in the above-mentioned multiple groups of anchor points, so as to use the obtained stitched data to perform the training of the algorithm. Here, the second coordinate information of each anchor point in the above-mentioned multiple groups of anchor points may be sent by the labeling device to the cloud platform together with the labeled dataset. In some possible embodiments, the cloud platform may also directly look up the first coordinate information of the anchor point stored locally based on the index of the second coordinate information of the anchor point.

[0257] See Figure 6 , Figure 6 is a schematic diagram of a remote labeling scenario provided by an embodiment of the present application. Figure 6 The shown remote labeling scenario includes a cloud platform and multiple labeling devices. Among them, the cloud platform is in a compliant environment and a deflection function is deployed on the cloud platform. The multiple labeling devices are in an external environment and the deflection function is not deployed on these multiple labeling devices. The multiple labeling devices jointly undertake the labeling task. To improve the data transmission efficiency and the labeling efficiency of spatio-temporal information, the cloud platform may adopt Figure 6 the sharding and sending method shown in the figure to separately send the corresponding spatio-temporal information to be labeled and the second coordinate information of the anchor point associated with the spatio-temporal information to these multiple labeling devices. Each labeling device may be responsible for labeling the spatio-temporal information of at least one geographical area. Correspondingly, after the multiple labeling devices complete the labeling locally, they may also use the sharding and uploading method to send the spatio-temporal information they have labeled to the cloud platform.

[0258] It can be seen that by implementing the embodiments of the present application, through the introduction of a deflection function related to the time dimension for dynamic deflection, the absolute position accuracy of the anchor points associated with the spatio-temporal information after sharding can be reduced, and the sensitivity of the data when transmitting the spatio-temporal information can also be reduced. In addition, using the deflection function corresponding to the relative position valid mode to offset the coordinate information of the anchor points can not only meet the relative position accuracy requirements in the remote labeling scenario, but also hide the real position information of the data. Different scenarios use different timestamp reference quantities for offsetting the anchor points, which can achieve spatio-temporal continuity of the data within a single scenario, while the data between multiple scenarios is spatio-temporally dispersed from each other, so that the labeling end cannot stitch the spatio-temporal information corresponding to multiple scenarios through the coordinate information of the anchor points after offsetting, avoiding the aggregation of spatio-temporal information in a non-compliant environment.

[0259] See Figure 7 , Figure 7 which is a schematic structural diagram of a data processing device provided by an embodiment of the present application. The data processing device 30 includes an acquisition unit 310, a processing unit 312, and a sending unit 314. The data processing device 30 can be implemented in a hardware, software, or a combination of hardware and software manner.

[0260] Among them, the acquisition unit 310 is configured to acquire the first coordinate information of the anchor point and the time information corresponding to the anchor point, and the anchor point is associated with a geographical area; the processing unit 312 is configured to determine the second coordinate information of the anchor point, and the second coordinate information of the anchor point is obtained based on the first coordinate information of the anchor point and the offset corresponding to the anchor point, and the offset corresponding to the anchor point is obtained by inputting the time information corresponding to the anchor point into a deflection function; the sending unit 314 is configured to send target data, and the target data includes the second coordinate information of the anchor point.

[0261] The data processing device 30 can be used to implement Figure 2 the method on the sending end side described in the embodiment. In Figure 2 the embodiment, the acquisition unit 310 can be used to execute S201 and S205, the processing unit 312 can be used to execute S202 and S206, and the sending unit 314 can be used to execute S203.

[0262] In some possible embodiments, the data processing device 30 can also be used to implement Figure 5 the method on the cloud platform side described in the embodiment. In Figure 5 the embodiment, the acquisition unit 310 can be used to execute S501 and S505, the processing unit 312 can be used to execute S502 and S506, and the sending unit 314 can be used to execute S503.

[0263] See Figure 8 , Figure 8 which is a schematic structural diagram of a data processing device provided by an embodiment of the present application. The data processing device 40 includes a receiving unit 410 and a processing unit 412. The data processing device 40 can be implemented in a hardware, software, or a combination of hardware and software manner.

[0264] Among them, the receiving unit 410 is configured to receive target data, the target data includes the second coordinate information of the anchor point and the time information corresponding to the anchor point, the second coordinate information of the anchor point is obtained based on the first coordinate information of the anchor point and the offset corresponding to the anchor point, the offset corresponding to the anchor point is obtained by inputting the time information corresponding to the anchor point into a deflection function, and the anchor point is associated with a geographical area; the processing unit 412 is configured to obtain the first coordinate information of the anchor point according to the local deflection function, the second coordinate information of the anchor point, and the time information corresponding to the anchor point.

[0265] The data processing device 40 can be used to implement Figure 2 the method on the receiving end side described in the Figure 2 embodiment. In the

[0266] embodiment, the receiving unit 410 can be used to execute S203 and S205, and the processing unit 412 can be used to execute S204 and S206. Figure 5 In some possible embodiments, the data processing device 40 can also be used to implement

[0267] the method on the annotation device side described in the embodiment. The receiving unit 410 can be used to execute S503, the processing unit 412 can be used to execute S504, and the data processing device 40 further includes a sending unit (not shown in the figure), and the sending unit can be used to execute S505.

[0268] In an embodiment of the present application, a processor is a circuit with signal processing capabilities. In one implementation, the processor can be a circuit with instruction reading and running capabilities, such as a central processing unit (CPU), a microprocessor, a graphics processing unit (GPU) (which can be understood as a type of microprocessor), or a digital signal processor (DSP), etc.; in another implementation, the processor can implement certain functions through the logical relationship of a hardware circuit, and the logical relationship of this hardware circuit is fixed or can be reconfigured. For example, the processor is a hardware circuit implemented by an application-specific integrated circuit (ASIC) or a programmable logic device (PLD), such as an FPGA. In a reconfigurable hardware circuit, the process of the processor loading a configuration document to implement the configuration of the hardware circuit can be understood as the process of the processor loading instructions to implement the functions of some or all of the above units. In addition, it can also be a hardware circuit designed for artificial intelligence, which can be understood as a type of ASIC, such as a neural network processing unit (NPU), a tensor processing unit (TPU), a deep learning processing unit (DPU), etc.

[0269] It can be seen that each unit in the above device can be one or more processors (or processing circuits) configured to implement the above method, such as: CPU, GPU, NPU, TPU, DPU, microprocessor, DSP, ASIC, FPGA, or a combination of at least two of these processor forms.

[0270] In addition, each unit in the above device can be fully or partially integrated together, or can be independently implemented. In one implementation, these units are integrated together and implemented in the form of a system-on-a-chip (SOC). The SOC can include at least one processor for implementing any of the above methods or implementing the functions of each unit of the device. The types of the at least one processor can be different, such as including a CPU and an FPGA, a CPU and an artificial intelligence processor, a CPU and a GPU, etc.

[0271] See Figure 9 , Figure 9 is a schematic structural diagram of a computing device provided by an embodiment of the present application. As Figure 9As shown, the computing device 50 includes: a processor 501, a communication interface 502, a memory 503, and a bus 504. The processor 501, the memory 503, and the communication interface 502 communicate with each other via the bus 504. It should be understood that the present application does not limit the number of processors and memories in the computing device 50.

[0272] In one implementation, the computing device 50 may be a terminal, a roadside device, a network-side device, a labeling device, or a local isolation environment (such as local computer infrastructure that can provide computing and storage resources), etc.

[0273] Among them, the roadside device may be, for example, a roadside unit (RSU), multi-access edge computing (MEC), or a sensor, etc., or a component or chip inside these devices. It may also be a system-level device composed of an RSU and an MEC, or a system-level device composed of an RSU and a sensor, or a system-level device composed of an RSU, an MEC, and a sensor.

[0274] The terminal may include intelligent terminals such as vehicles, robots, drones, ships, etc., or components (such as chips or integrated circuits) inside the intelligent terminals.

[0275] The network-side device may be, for example, a server deployed on the network side (such as a cloud platform, a map server, or a server of a mapping company that can provide computing, network, and storage resources), or a component or chip in the server. The network-side device may be deployed in a cloud environment or an edge environment. The network-side device may be an integrated device or a distributed multiple devices.

[0276] The bus 504 may be a peripheral component interconnect (PCI) bus or an extended industry standard architecture (EISA) bus, etc. The bus can be divided into an address bus, a data bus, a control bus, etc. For the sake of convenience of representation, Figure 9 only one line is shown here, but it does not mean that there is only one bus or one type of bus. The bus 504 may include a path for transmitting information between various components (such as the memory 503, the processor 501, and the communication interface 502) of the computing device 50.

[0277] The processor 501 may refer to the relevant description of the processor in the above embodiments, and will not be elaborated here.

[0278] The memory 503 is used to provide storage space, in which data such as an operating system and computer programs can be stored. The memory 503 can be one or a combination of a random access memory (RAM), an erasable programmable read only memory (EPROM), a read-only memory (ROM), or a compact disc read memory (CD-ROM), etc. The memory 503 can exist independently or be integrated inside the processor 501.

[0279] The communication interface 502 can be used to provide information input or output for the processor 501. Alternatively, the communication interface 502 can be used to receive data sent externally and / or send data to the outside. It can be a wired link interface including, for example, an Ethernet cable, or a wireless link (such as Wi-Fi, Bluetooth, general wireless transmission, etc.) interface. Alternatively, the communication interface 502 can also include a transmitter (such as a radio frequency transmitter, antenna, etc.) coupled to the interface, or a receiver, etc.

[0280] The processor 501 in the computing device 50 is used to read the computer program stored in the memory 503 and execute the foregoing method, for example Figure 2 or Figure 5 the described method.

[0281] In a possible design, the computing device 50 can be one or more modules in the execution entity (such as the sending end) that executes the Figure 2 shown method. The processor 501 can be used to read one or more computer programs stored in the memory and perform the following operations:

[0282] Obtain the first coordinate information of the anchor point and the time information corresponding to the anchor point through the obtaining unit 310. The anchor point is associated with a geographical area;

[0283] Determine the second coordinate information of the anchor point. The second coordinate information of the anchor point is obtained based on the first coordinate information of the anchor point and the offset corresponding to the anchor point. The offset corresponding to the anchor point is obtained by inputting the time information corresponding to the anchor point into a deflection function;

[0284] Send the target data through the sending unit 314. The target data includes the second coordinate information of the anchor point.

[0285] In a possible design, the computing device 50 can be the execution of Figure 2One or more modules in the execution entity (e.g., the receiving end) of the method shown. The processor 501 can be used to read one or more computer programs stored in the memory and perform the following operations:

[0286] Receive target data through the receiving unit 410. The target data includes the second coordinate information of the anchor point and the time information corresponding to the anchor point. The second coordinate information of the anchor point is obtained based on the first coordinate information of the anchor point and the offset corresponding to the anchor point. The offset corresponding to the anchor point is obtained by inputting the time information corresponding to the anchor point into the deflection function. The anchor point is associated with a geographical area;

[0287] Obtain the first coordinate information of the anchor point according to the local deflection function, the second coordinate information of the anchor point, and the time information corresponding to the anchor point.

[0288] In the above embodiments of the present application, the descriptions of the various embodiments have their own emphases. For the parts not described in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments. In addition, in the various embodiments of the present application, if there is no special description and logical conflict, the terms and / or descriptions among the various embodiments are consistent and can be mutually referred to. The technical features in different embodiments can be combined to form new embodiments according to their inherent logical relationships.

[0289] It should be noted that those of ordinary skill in the art can see that all or part of the steps in the various methods of the above embodiments can be completed by instructing relevant hardware through a program. The program can be stored in a computer-readable storage medium. The storage medium includes read-only memory (ROM), random access memory (RAM), programmable read-only memory (PROM), erasable programmable read-only memory (EPROM), one-time programmable read-only memory (OTPROM), electrically-erasable programmable read-only memory (EEPROM), compact disc read-only memory (CD-ROM) or other optical disc memories, magnetic disk memories, tape memories, or any other computer-readable medium capable of carrying or storing data.

[0290] The technical solution of this application can be embodied in the form of a software product in essence, or in the part that makes a contribution, or in all or part of the technical solution. This computer program product is stored in a storage medium and includes several instructions to enable a device (which can be a personal computer, a server, or a network device, a robot, a single-chip microcomputer, a chip, a robot, etc.) to execute all or part of the steps of the methods described in various embodiments of this application.

Claims

1. A data processing method, characterized in that, the method includes: obtaining first coordinate information of an anchor point and time information corresponding to the anchor point, where the anchor point is associated with a geographical area; determining second coordinate information of the anchor point, where the second coordinate information of the anchor point is obtained based on the first coordinate information of the anchor point and an offset corresponding to the anchor point, and the offset corresponding to the anchor point is obtained by inputting the time information corresponding to the anchor point into a deflection function; sending target data, where the target data includes the second coordinate information of the anchor point.

2. The method according to claim 1, characterized in that, the time information corresponding to different anchor points is different.

3. The method according to claim 1 or 2, characterized in that, the offset corresponding to the anchor point includes a first offset and a second offset, where the first offset indicates the offset of the first coordinate information of the anchor point on a first coordinate axis, and the second offset indicates the offset of the first coordinate information of the anchor point on a second coordinate axis.

4. The method according to any one of claims 1-3, characterized in that, the offset corresponding to the anchor point is obtained by inputting the time information corresponding to the anchor point into a deflection function, including: the offset corresponding to the anchor point is obtained by inputting at least one of the first coordinate information of the anchor point and the identifier of the sending end of the target data and the time information corresponding to the anchor point into the deflection function.

5. The method according to any one of claims 1-4, characterized in that, the deflection function satisfies at least one of the following conditions: the deflection function is a piecewise function, and the expressions of the deflection function in different time periods are different; the deflection function is a composite function; and the deflection function includes a first deflection function and a second deflection function, where the first deflection function is used to determine the offset of the first coordinate information of the anchor point on a first coordinate axis, and the second deflection function is used to determine the offset of the first coordinate information of the anchor point on a second coordinate axis, and the first deflection function is different from the second deflection function.

6. The method according to any one of claims 1-5, characterized in that, the application mode of the deflection function is a relative position valid mode, and the deflection function is a continuous function; or, the application mode of the deflection function is a relative position invalid mode, and the deflection function is a discontinuous function.

7. The method according to any one of claims 1-6, characterized in that, the target data further includes at least one of the following information: the time information corresponding to the anchor point; the version number of the deflection function; the spatio-temporal information of the geographical area associated with the anchor point; the application mode of the deflection function; and the identifier of the sending end of the target data.

8. The method according to any one of claims 1-7, characterized in that, the anchor point includes a first group of anchor points corresponding to a first scenario and a second group of anchor points corresponding to a second scenario, Among them, the time information corresponding to each anchor point in the first group of anchor points is obtained based on a first timestamp reference quantity, the time information corresponding to each anchor point in the second group of anchor points is obtained based on a second timestamp reference quantity, and the first timestamp reference quantity is different from the second timestamp reference quantity.

9. The method according to claim 8, wherein, the first group of anchor points includes a first anchor point and a second anchor point, among them, the time information corresponding to the first anchor point is obtained based on the initial timestamp corresponding to the first anchor point and the first timestamp reference quantity, and the time information corresponding to the second anchor point is obtained based on the initial timestamp corresponding to the second anchor point and the first timestamp reference quantity.

10. A data processing method, wherein, the method includes: receiving target data, the target data includes the second coordinate information of an anchor point and the time information corresponding to the anchor point, the second coordinate information of the anchor point is obtained based on the first coordinate information of the anchor point and the offset corresponding to the anchor point, the offset corresponding to the anchor point is obtained by inputting the time information corresponding to the anchor point into a deflection function, and the anchor point is associated with a geographical area; obtaining the first coordinate information of the anchor point according to the local deflection function, the second coordinate information of the anchor point and the time information corresponding to the anchor point.

11. The method according to claim 10, wherein, the target data further includes a first version number of the deflection function, and obtaining the first coordinate information of the anchor point according to the local deflection function, the second coordinate information of the anchor point and the time information corresponding to the anchor point includes: when the version number of the local deflection function is the first version number, obtaining the first coordinate information of the anchor point according to the local deflection function, the second coordinate information of the anchor point and the time information corresponding to the anchor point.

12. The method according to claim 10 or 11, wherein, the target data further includes an application mode of the deflection function, and the local deflection function is determined from a plurality of local deflection functions based on the application mode.

13. The method according to claim 12, wherein, the application mode is a relative position valid mode, and the local deflection function is a continuous function; or, the application mode is a relative position invalid mode, and the local deflection function is a discontinuous function.

14. The method according to any one of claims 10-13, wherein, the local deflection function satisfies at least one of the following conditions: the local deflection function is a piecewise function, and the expression of the deflection function is different in different time periods; the local deflection function is a composite function; and The local deflection function includes a first deflection function and a second deflection function. The first deflection function is used to determine the offset of the first coordinate information of the anchor point relative to the second coordinate information of the anchor point on the first coordinate axis, and the second deflection function is used to determine the offset of the first coordinate information of the anchor point relative to the second coordinate information of the anchor point on the second coordinate axis. The first deflection function is different from the second deflection function.

15. The method according to any one of claims 10-14, wherein, the anchor point includes a first set of anchor points corresponding to a first scenario and a second set of anchor points corresponding to a second scenario. The time information corresponding to the anchor point includes the time information corresponding to each anchor point in the first set of anchor points and the time information corresponding to each anchor point in the second set of anchor points, wherein, the time information corresponding to each anchor point in the first set of anchor points is obtained based on a first timestamp reference quantity, and the time information corresponding to each anchor point in the second set of anchor points is obtained based on a second timestamp reference quantity. The first timestamp reference quantity is different from the second timestamp reference quantity.

16. A data processing device, wherein, the device includes: an acquisition unit, configured to acquire the first coordinate information of an anchor point and the time information corresponding to the anchor point, where the anchor point is associated with a geographical area; a processing unit, configured to determine the second coordinate information of the anchor point, where the second coordinate information of the anchor point is obtained based on the first coordinate information of the anchor point and the offset corresponding to the anchor point, and the offset corresponding to the anchor point is obtained by inputting the time information corresponding to the anchor point into a deflection function; a sending unit, configured to send target data, where the target data includes the second coordinate information of the anchor point.

17. The device according to claim 16, wherein, the time information corresponding to different anchor points is different.

18. The device according to claim 16 or 17, wherein, the offset corresponding to the anchor point includes a first offset and a second offset. Among them, the first offset indicates the offset of the first coordinate information of the anchor point on the first coordinate axis, and the second offset indicates the offset of the first coordinate information of the anchor point on the second coordinate axis.

19. The device according to any one of claims 16-18, wherein, the offset corresponding to the anchor point is obtained by inputting the time information corresponding to the anchor point into a deflection function, including: the offset corresponding to the anchor point is obtained by inputting at least one of the first coordinate information of the anchor point and the identifier of the sending end of the target data and the time information corresponding to the anchor point into the deflection function.

20. The device according to any one of claims 16-19, wherein, the deflection function satisfies at least one of the following conditions: the deflection function is a piecewise function, and the expressions of the deflection function in different time periods are different; the deflection function is a composite function; and The deflection function includes a first deflection function and a second deflection function. The first deflection function is used to determine the offset of the first coordinate information of the anchor point on the first coordinate axis, and the second deflection function is used to determine the offset of the first coordinate information of the anchor point on the second coordinate axis. The first deflection function is different from the second deflection function.

21. The device according to any one of claims 16-20, wherein, the application mode of the deflection function is a relative position valid mode, and the deflection function is a continuous function; or, the application mode of the deflection function is a relative position invalid mode, and the deflection function is a discontinuous function.

22. The device according to any one of claims 16-21, wherein, the target data further includes at least one of the following information: the time information corresponding to the anchor point; the version number of the deflection function; the spatio-temporal information of the geographical area associated with the anchor point; the application mode of the deflection function; and the identifier of the sending end of the target data.

23. The device according to any one of claims 16-22, wherein, the anchor point includes a first set of anchor points corresponding to a first scenario and a second set of anchor points corresponding to a second scenario, wherein, the time information corresponding to each anchor point in the first set of anchor points is obtained based on a first timestamp reference quantity, and the time information corresponding to each anchor point in the second set of anchor points is obtained based on a second timestamp reference quantity. The first timestamp reference quantity is different from the second timestamp reference quantity.

24. The device according to claim 23, wherein, the first set of anchor points includes a first anchor point and a second anchor point, wherein, the time information corresponding to the first anchor point is obtained based on the initial timestamp corresponding to the first anchor point and the first timestamp reference quantity, and the time information corresponding to the second anchor point is obtained based on the initial timestamp corresponding to the second anchor point and the first timestamp reference quantity.

25. A data processing device, wherein, the device includes: a receiving unit, configured to receive target data, where the target data includes the second coordinate information of an anchor point and the time information corresponding to the anchor point. The second coordinate information of the anchor point is obtained based on the first coordinate information of the anchor point and the offset corresponding to the anchor point. The offset corresponding to the anchor point is obtained by inputting the time information corresponding to the anchor point into a deflection function. The anchor point is associated with a geographical area; a processing unit, configured to obtain the first coordinate information of the anchor point according to a local deflection function, the second coordinate information of the anchor point, and the time information corresponding to the anchor point.

26. The device according to claim 25, wherein, the target data further includes a first version number of the deflection function, and the processing unit is specifically configured to: when the version number of the local deflection function is the first version number, obtain the first coordinate information of the anchor point according to the local deflection function, the second coordinate information of the anchor point, and the time information corresponding to the anchor point.

27. The device according to claim 25 or 26, wherein, The target data further includes an application mode of the deflection function, and the local deflection function is determined from a plurality of local deflection functions based on the application mode.

28. The apparatus according to claim 27, wherein, the application mode is a relative position valid mode, and the local deflection function is a continuous function; or, the application mode is a relative position invalid mode, and the local deflection function is a discontinuous function.

29. The apparatus according to any one of claims 25-28, wherein, the local deflection function satisfies at least one of the following conditions: the local deflection function is a piecewise function, and the expressions of the deflection function in different time periods are different; the local deflection function is a composite function; and the local deflection function includes a first deflection function and a second deflection function, the first deflection function is used to determine the offset of the first coordinate information of the anchor point relative to the second coordinate information of the anchor point on the first coordinate axis, and the second deflection function is used to determine the offset of the first coordinate information of the anchor point relative to the second coordinate information of the anchor point on the second coordinate axis, and the first deflection function is different from the second deflection function.

30. The apparatus according to any one of claims 25-29, wherein, the anchor points include a first set of anchor points corresponding to a first scenario and a second set of anchor points corresponding to a second scenario, and the time information corresponding to the anchor points includes the time information corresponding to each anchor point in the first set of anchor points and the time information corresponding to each anchor point in the second set of anchor points, wherein, the time information corresponding to each anchor point in the first set of anchor points is obtained based on a first timestamp reference quantity, and the time information corresponding to each anchor point in the second set of anchor points is obtained based on a second timestamp reference quantity, and the first timestamp reference quantity is different from the second timestamp reference quantity.

31. A data processing apparatus, wherein, the apparatus includes a memory and a processor, the memory stores computer program instructions, and the processor runs the computer program instructions to enable the apparatus to execute the method according to any one of claims 1-9, or execute the method according to any one of claims 10-15.

32. A data processing system, wherein, the system includes a first device and a second device, wherein the first device is used to implement the method according to any one of claims 1-9, and the second device is used to implement the method according to any one of claims 10-15.

33. A vehicle, wherein, the vehicle includes the apparatus according to any one of claims 16-24, or includes the apparatus according to claim 31.

34. A computer-readable storage medium, wherein, including computer instructions, when the computer instructions are run by a processor, implementing the method according to any one of claims 1-9, or implementing the method according to any one of claims 10-15.

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