Cross-module data transmission method, system, information transmission module, storage medium, and computer program product

Abstract

Embodiments of the present disclosure provide a cross-module data transmission method, a system, an information transmission module, a storage medium, and a computer program product. The method comprises: acquiring positioning data acquired by each positioning data acquisition unit, each piece of positioning data carrying a corresponding timestamp; on the basis of the timestamp of each piece of positioning data, saving the positioning data to a sensor data buffer; and in response to a data acquisition request from an information utilization module in a vehicle, on the basis of the timestamps, transparently transmitting the positioning data in the sensor data buffer to the information utilization module, wherein an information transmission module is connected to the information utilization module on the basis of the sensor data buffer, and no positioning data acquisition unit is provided on the information utilization module.

Description

Cross-module data transmission methods, systems, information transmission modules, storage media, and computer program products

[0001] Relevant publicly available cross-references

[0002] This disclosure is based on and claims priority to Chinese patent applications No. 202411019646.4, filed on July 26, 2024, entitled "Cross-module data transmission method, system, information transmission module and storage medium", and No. 202411018966.8, filed on July 26, 2024, entitled "A data transmission method, data transmission device, vehicle-mounted equipment and storage medium", the entire contents of which are incorporated herein by reference. Technical Field

[0003] This disclosure relates to, but is not limited to, the field of data processing technology, and in particular to a cross-module data transmission method, system, information transmission module, storage medium, and computer program product. Background Technology

[0004] With the development of intelligent vehicles, there are various in-vehicle modules, such as in-vehicle communication terminals (TBOX, Telematics Box), in-vehicle infotainment systems (IVI, In-Vehicle Infotainment), and advanced driver assistance systems (ADAS, Advanced Driver Assistance Systems). Each module needs to use the vehicle's location data.

[0005] To ensure real-time data processing for different vehicle modules, related technologies have incorporated data sensors into each module to collect positioning data. This results in redundant hardware integrated into the vehicle, leading to resource waste and increased costs.

[0006] Summary of the Invention

[0007] One embodiment of this disclosure provides a cross-module data transmission method, system, information transmission module, and storage medium. The information transmission module can directly transmit positioning data to the information usage module through an independent channel between the sensor data buffer and the information usage module, avoiding additional waiting for other data, improving the efficiency and stability of positioning data transmission, reducing packet loss and latency, and overcoming the limitation of transmission efficiency on the acquisition frequency of positioning data.

[0008] One embodiment of this disclosure provides a cross-module data transmission method, system, information transmission module, and storage medium. In this method, after the data acquisition unit acquires positioning data, the data is stored in the sensor data buffer according to the timestamp of the positioning data. Based on the positioning data acquisition requests of other modules, the positioning data is sent to other modules according to the timestamp for their use. Since the information usage module directly acquires the positioning data with the timestamp, there is no need for data alignment between different modules, which reduces latency and improves data transmission efficiency.

[0009] Another embodiment of this disclosure provides a cross-module data transmission method, system, information transmission module, and storage medium. In this method, based on the data type required by the positioning application, the information transmission module transmits the corresponding positioning data to the information usage module. This allows the data in the sensor data buffer to meet the different data requirements of different positioning applications in the information usage module. Consequently, it is no longer necessary to redundantly set up separate sensors for positioning data collection in the information usage module, thereby reducing redundant hardware integration in the vehicle and lowering costs.

[0010] Another embodiment of this disclosure provides a cross-module data transmission method, system, information transmission module, and storage medium. In this embodiment, the sensor data buffer is scheduled using a first-in-first-out algorithm to ensure the order of storage and transmission of positioning data. This prevents positioning data that has been stored for a long time from being ignored and thus not being transmitted to the information usage module, thereby improving the stability of data transmission.

[0011] Another embodiment of this disclosure provides a cross-module data transmission method, system, information transmission module, and storage medium. In this embodiment, after the information transmission module transmits the target positioning data to the positioning application, it clears unnecessary data in the buffer, which can reduce unnecessary storage requirements, save new positioning data, and improve the efficiency of data management.

[0012] Another embodiment of this disclosure provides a cross-module data transmission method, system, information transmission module, and storage medium, wherein different positioning data acquisition units acquire data at different acquisition frequencies according to the accuracy requirements of different positioning data. In this way, not only can different types of positioning data be acquired, ensuring the availability of positioning data, but also data with low positioning accuracy requirements are acquired at a low acquisition frequency, reducing the amount of data acquired and the amount of data stored in the sensor data buffer, thereby improving data processing efficiency.

[0013] Another embodiment of this disclosure provides a cross-module data transmission method, system, information transmission module, and storage medium. In this method, positioning data is collected by different positioning data acquisition units to obtain positioning data with as many fields as possible, making the positioning data fields more complete and able to meet the needs of different positioning modules in the information use module. This avoids the problem that some fields of data are not collected, resulting in the inability to calibrate these data, which in turn leads to a lack of data and failure to meet positioning requirements during subsequent positioning data fusion.

[0014] Another embodiment of this disclosure provides a cross-module data transmission method, system, information transmission module, and storage medium. The information transmission module can operate continuously in a low-power mode, providing positioning data collected by a gyroscope even when the vehicle is in a sleep or off state. This enables timely detection of abnormalities such as vehicle movement, collisions, and scratches, thereby improving vehicle safety. Simultaneously, the vehicle owner can access the vehicle's status and location information at any time, helping them better understand the vehicle's usage and maintenance needs.

[0015] Another embodiment of this disclosure provides a cross-module data transmission method, system, information transmission module, and storage medium, wherein by collecting positioning data of different frequencies and as many fields as possible, the positioning data can meet the data requirements of both standard precision positioning and high-precision combined positioning, thereby satisfying both ordinary navigation needs and high-precision combined positioning capabilities.

[0016] To achieve one or more of the above objectives, the technical solutions of this disclosure are implemented as follows:

[0017] In a first aspect, embodiments of this disclosure provide a cross-module data transmission method applied to an information transmission module of a vehicle. The information transmission module includes at least a sensor data buffer and at least one positioning data acquisition unit. The method includes: acquiring positioning data collected by each positioning data acquisition unit, the positioning data carrying a corresponding timestamp; saving the positioning data to the sensor data buffer according to the timestamp of each positioning data; and, in response to a data acquisition request from an information usage module in the vehicle, transmitting the positioning data in the sensor data buffer to the information usage module based on the timestamp. The information transmission module is connected to the information usage module via the sensor data buffer, and the information usage module does not have a positioning data acquisition unit.

[0018] Secondly, this disclosure further provides a cross-module data transmission system, the system including at least an information transmission module and at least one information usage module. The information transmission module includes at least a sensor data buffer and at least one positioning data acquisition unit. The information usage module is connected to the information transmission module based on the sensor data buffer. The information transmission module is configured to acquire positioning data collected by each positioning data acquisition unit, the positioning data carrying a corresponding timestamp; save the positioning data to the sensor data buffer according to the timestamp of each positioning data; and, in response to a data acquisition request from the information usage module, transmit the positioning data in the sensor data buffer to the information usage module based on the timestamp. The information usage module is configured to process the positioning data to achieve a positioning function.

[0019] Thirdly, this disclosure provides an information transmission module, which includes a processor and a memory; the memory stores a computer program that can run on the processor; when the processor executes the computer program, it implements the above-described cross-module data transmission method.

[0020] Fourthly, this disclosure provides another terminal, including the aforementioned cross-module data transmission system, to implement the cross-module data transmission method provided in this disclosure when executing the program.

[0021] Fifthly, embodiments of this disclosure further provide a computer-readable storage medium having executable instructions stored thereon, which, when a processor executes the executable instructions, implement the cross-module data transmission method provided in embodiments of this disclosure.

[0022] Sixthly, embodiments of this disclosure provide a computer program product, the computer program product including executable instructions stored in a computer-readable storage medium; when the processor of a power supply vehicle or a device to be charged reads the executable instructions from the computer-readable storage medium and executes the executable instructions, the cross-module data transmission method provided in embodiments of this disclosure is implemented.

[0023] It should be understood that the foregoing general description and the following detailed description are exemplary and explanatory only, and are not intended to limit this disclosure. Other features and aspects of this disclosure will become clear from the following detailed description of exemplary embodiments with reference to the accompanying drawings. Attached Figure Description

[0024] To more clearly illustrate the technical solutions of the embodiments of this disclosure, the accompanying drawings used in the embodiments of this disclosure will be described below.

[0025] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this disclosure and, together with the specification, serve to illustrate the technical solutions of this disclosure.

[0026] Figure 1 is a schematic diagram of an application scenario of the cross-module data transmission method provided in the embodiments of this disclosure;

[0027] Figure 2 is a schematic flowchart of an optional cross-module data transmission method provided in an embodiment of this disclosure;

[0028] Figure 3 is a schematic diagram of an optional cross-module data transmission method provided in an embodiment of this disclosure;

[0029] Figure 4 is a schematic diagram of an optional cross-module data transmission method provided in this embodiment of the present disclosure;

[0030] Figure 5 is a schematic diagram of the cross-module data transmission system provided in an embodiment of this disclosure;

[0031] Figure 6 is a schematic diagram of the data transmission system provided in an embodiment of this disclosure;

[0032] Figure 7 is a schematic diagram of the hardware entity of the information transmission module provided in an embodiment of this disclosure. Detailed Implementation

[0033] To more clearly illustrate the objectives, technical solutions, and advantages of the embodiments of this disclosure, the embodiments of this disclosure will be described in detail below with reference to the accompanying drawings. It should be understood that the following description of the embodiments is intended to explain and illustrate the overall concept of the embodiments of this disclosure, and should not be construed as limiting the embodiments of this disclosure. In the specification and drawings, the same or similar reference numerals refer to the same or similar parts or components. For clarity, the drawings are not necessarily drawn to scale, and some well-known parts and structures may be omitted in the drawings.

[0034] In some embodiments, unless otherwise defined, the technical or scientific terms used in this disclosure should have the ordinary meaning understood by one of ordinary skill in the art to which this disclosure pertains. The terms “first,” “second,” and similar terms used in this disclosure do not indicate any order, quantity, or importance, but are merely used to distinguish different components. The word “a” or “an” does not exclude a plurality. Terms such as “comprising” or “including” mean that the element or object preceding the word encompasses the elements or objects listed following the word and their equivalents, without excluding other elements or objects. Terms such as “connected” or “linked” are not limited to physical or mechanical connections, but can include electrical connections, whether direct or indirect. Terms such as “upper,” “lower,” “left,” “right,” “top,” or “bottom” are used only to indicate relative positional relationships, which may change accordingly when the absolute position of the described object changes. When an element such as a layer, film, region, or substrate is referred to as being “upper” or “lower” than another element, the element may be “directly” located “upper” or “lower” than the other element, or there may be intermediate elements present.

[0035] In related technologies, to meet the data usage needs of different vehicle modules, data sensors are set up in each vehicle module for data collection, resulting in excessive hardware integration in the vehicle. Furthermore, when data from other modules is needed, data is transmitted via a common channel packet method (e.g., location data). This not only introduces additional waiting time for data transmission, leading to untimely data transmission and failing to meet real-time requirements, but also, because the packet data differs from the actual data needed by other modules, some fields in the packet data may not meet the requirements. Simultaneously, the data transmission efficiency of the common channel is limited by the data reading frequency of different applications; different types of data are transmitted at different frequencies, making it difficult to standardize and affecting the synchronization between the transmitted data acquired by different vehicle modules.

[0036] To address the problems existing in related technologies, this disclosure provides a cross-module data transmission method applied to an information transmission module in a vehicle's cross-module data transmission system. The information transmission module includes at least a sensor data buffer and at least one positioning data acquisition unit. The information transmission module acquires positioning data collected by each positioning data acquisition unit. The positioning data carries a corresponding timestamp. Based on the timestamp of each positioning data, the positioning data is saved to the sensor data buffer. In response to a data acquisition request from an information usage module in the vehicle, the positioning data in the sensor data buffer is transmitted to the information usage module based on the timestamp. The information transmission module is connected to the information usage module via the sensor data buffer, and the information usage module does not have a positioning data acquisition unit.

[0037] Thus, this embodiment of the disclosure only sets up a positioning-related data acquisition unit in one module (information transmission). The positioning data is stored in the sensor data buffer according to the timestamp, and based on positioning data acquisition requests from other modules, the positioning data is sent to those modules based on the timestamp. Firstly, this eliminates the need to deploy positioning-related sensors on multiple modules, reducing the amount of hardware integrated into the vehicle and lowering costs. Secondly, the positioning data collected by the information transmission module includes timestamps, allowing the information usage module to directly obtain the timestamped positioning data without requiring data alignment between different modules, reducing latency and improving data transmission efficiency.

[0038] The cross-module data transmission method provided in this disclosure can be applied to the information transmission module in a vehicle's cross-module data transmission system. The information transmission module can be the vehicle's TBOX or deployed on the TBOX. Since the TBOX has a long power-on cycle, it can continue to be powered on even when the vehicle is off, thus enabling the execution of a sentry mode to perform detections such as vehicle movement, collisions, and scratches. By collecting data in real time, the occurrence of these events can be detected promptly.

[0039] The following will describe an exemplary application when the execution subject is a TBOX, and the technical methods in the embodiments of this disclosure will be clearly and completely described in conjunction with the accompanying drawings.

[0040] Figure 1 is a schematic diagram of an application scenario of the cross-module data transmission method provided in this embodiment. The cross-module data transmission system 10 provided in this embodiment includes a vehicle information transmission module 100 and at least one information usage module 200. The information transmission module 100 includes at least a sensor data buffer 101 and at least one positioning data acquisition unit 102. The information usage module 200 does not have a positioning data acquisition unit. The information transmission module 100 and the information usage module 200 are different vehicle modules. The information transmission module 100 can be a TBOX module, and the information usage module 200 can be a module with positioning data requirements, such as an IVI or ADAS module. Communication and data transmission between the information transmission module 100 and each information usage module 200 can be via a cellular network (e.g., 4G / 5G), a physical channel (e.g., USB or Ethernet), short-range wireless communication (e.g., Starlight technology), or a Controller Area Network (CAN) bus. Exemplarily, data transmission can use a transparent transmission method, and the data transmission channel can be an independent channel, meaning that this independent channel is only used for transmitting positioning data.

[0041] Here, the sensor data buffer is a memory area used to collect and store data acquired from various positioning data acquisition units. The positioning data acquisition units may include a Global Navigation Satellite System (GNSS), an Inertial Measurement Unit (IMU), a Microcontroller Unit (MCU), a gyroscope sensor, a vehicle speed sensor, an odometer, a compass sensor, and a steering wheel angle sensor, etc., used to collect the vehicle's current positioning data.

[0042] The vehicle's information transmission module 100 acquires positioning data collected by each positioning data acquisition unit 102. The positioning data carries a corresponding timestamp. Based on the timestamp of each positioning data, the positioning data is saved to the sensor data buffer 101. In response to the data acquisition request of the vehicle's information usage module 200, the positioning data in the sensor data buffer 101 is transmitted to the information usage module 200 based on the timestamp, so that the information usage module 200 can acquire and use the vehicle's positioning data even when there is no positioning data acquisition unit.

[0043] Based on the cross-module data transmission system provided in this disclosure, Figure 2 is an optional flowchart of the cross-module data transmission method provided in this disclosure. The cross-module data transmission method for power supply vehicles provided in this disclosure can be implemented through steps S201 to S203:

[0044] Step S201: Obtain the positioning data collected by each positioning data acquisition unit, wherein the positioning data carries a corresponding timestamp.

[0045] In some embodiments, the positioning data acquisition unit may include devices such as a global navigation satellite system, an inertial measurement unit, a microprocessor, a gyroscope sensor, a vehicle speed sensor, an odometer, a compass sensor, and a steering wheel angle sensor, for collecting positioning data related to the vehicle's current positioning.

[0046] For example, the positioning data can be the vehicle's position and speed data collected by GNSS, the vehicle's rotation, tilt and acceleration data collected by gyroscope sensors, the vehicle's speed and acceleration data collected by vehicle speed sensors, the vehicle's steering wheel rotation angle data collected by steering wheel angle sensors, used for trajectory prediction and calculation; continuous data of the vehicle's motion state collected by IMU, and the vehicle's travel distance collected by odometer.

[0047] In this embodiment, the timestamp of the positioning data can be the acquisition time of the positioning data. Since only the information transmission module in the cross-module data transmission system has a positioning data acquisition unit, other modules need to obtain positioning data from the information transmission module when they need to use it. To ensure data alignment and synchronization between different modules, timestamps are used to associate the positioning data, ensuring synchronization when other modules use the positioning data. Therefore, when each positioning data acquisition unit acquires positioning data, it associates the positioning data with the corresponding timestamp. Since the acquisition time of the positioning data is collected by the information transmission module under the same clock basis, using timestamps can determine the acquisition time of each positioning data. This allows the information usage module to directly use the timestamp of the positioning data without data alignment when acquiring positioning data from the information transmission module, ensuring the accuracy and traceability of the positioning data and facilitating the fulfillment of data requirements for high-precision combined positioning. The timestamp can be local time or a monotonically increasing time, thus providing a stable and reliable time reference unaffected by changes or resets to the system time, helping to avoid potential time-related errors.

[0048] Step S202: Save the positioning data to the sensor data buffer according to the timestamp of each positioning data.

[0049] In some embodiments, the sensor data buffer can be managed by a first-in-first-out (FIFO) scheduling algorithm, that is, the location data is processed and stored in the order of its timestamps. When the sensor data buffer is full and needs to be replaced, the location data that entered the buffer earliest is removed first.

[0050] Here, the TBOX can have multiple positioning data acquisition units. Each positioning data acquisition unit collects positioning data in real time at its own data acquisition frequency. The information transmission module may acquire data collected by at least one positioning data acquisition unit at a time. Therefore, after acquiring at least one positioning data, the positioning data can be saved to the sensor data buffer in sequence according to the time order of the timestamps corresponding to each positioning data.

[0051] In some embodiments, applications within the TBOX may also require location data, in which case the corresponding location data can be directly obtained from the sensor data buffer.

[0052] Step S203: In response to the data acquisition request from the information usage module in the vehicle, the positioning data in the sensor data buffer is transmitted to the information usage module based on the timestamp; wherein, the information transmission module is connected to the information usage module based on the sensor data buffer, and the information usage module does not have a positioning data acquisition unit.

[0053] In this embodiment of the disclosure, the information usage module can refer to a module in the vehicle that does not have a positioning data acquisition unit but needs to use positioning data, such as IVI and ADAS. After the IVI acquires the positioning data, it can realize navigation, assisted driving and real-time traffic conditions. After the ADAS acquires the positioning data, it combines the environmental data and map around the vehicle to perform real-time analysis, identify and track static and dynamic objects around the vehicle.

[0054] Here, the information usage module may include multiple location applications, such as navigation software. The data acquisition request can be a data acquisition request sent by the information usage module to the information transmission module when the user clicks on the navigation software on the vehicle's central control screen, in order to request location data for vehicle navigation.

[0055] A data acquisition request may include at least the data request time, that is, the data usage time of the application that needs the location data (such as navigation software). For example, if a user opens the navigation software at 15:36, the data request time is 15:36. After receiving the data acquisition request, the information transmission module can send all the location data with timestamps after 15:36 to the information usage module so that the navigation software can perform vehicle navigation based on the location data.

[0056] In this embodiment, the information usage module does not have a positioning data acquisition unit. Therefore, when navigation data is needed, a data acquisition request needs to be sent to the information transmission module. The information usage module is connected to the information transmission module based on the sensor data buffer of the information transmission module.

[0057] In this embodiment of the disclosure, the positioning data is saved to the sensor data buffer corresponding to the positioning data. When the positioning data is transmitted from the information transmission module to the information usage module, it can be transmitted through the dedicated channel corresponding to the positioning data, instead of all types of data being transmitted between the information transmission module and the information usage module through the general channel. Transmitting the positioning data through the dedicated channel not only improves the transmission efficiency of the positioning data, but also ensures the real-time use of the positioning data by other modules.

[0058] This embodiment only includes a positioning-related data acquisition unit in the information transmission module. The positioning data is stored in the sensor data buffer according to its timestamp, and based on positioning data acquisition requests from other modules, the positioning data is sent to those modules according to the timestamp for their use. First, this eliminates the need to deploy positioning-related sensors on every module, reducing the amount of integrated hardware and lowering costs. Second, the positioning data collected by the information transmission module includes timestamps, allowing the information usage module to directly obtain the timestamped positioning data without requiring data alignment between different modules, reducing latency and improving data transmission efficiency. Finally, the information transmission module can directly transmit positioning data to the information usage module through an independent channel between the sensor data buffer and the information usage module, avoiding additional waiting for other data and further improving transmission efficiency.

[0059] In some embodiments, the information usage module includes a sensor data management unit and a positioning application. The sensor data management unit may be a smart sensor hub for managing and processing positioning data from the information transmission module. The positioning application may be an application in the information usage module that requires the use of positioning data, such as navigation software, reversing camera, and driving recorder applications, or it may be a location manager or navigator location in the vehicle's infotainment system for obtaining the vehicle's location information. Based on the foregoing embodiments, step S203 can be implemented through steps S2031 and S2032:

[0060] Step S2031: In response to the data acquisition request of the location application, determine the data type of the location application.

[0061] In some embodiments, the data acquisition request may be issued by the location application in the data usage module, and the data acquisition request may include at least the data type of the location application. For example, navigation software may require data of data types such as vehicle location coordinates and IMU data.

[0062] After receiving a data acquisition request, the information transmission module can parse the request to obtain the data type required by the location application.

[0063] Step S2032: Based on the sensor data management unit and the timestamp, the positioning data with the data type in the sensor data buffer is transmitted to the positioning application according to the acquisition order of the positioning data; wherein, the acquisition order of the positioning data is determined based on the order of the timestamps of each positioning data.

[0064] In some embodiments, the order in which the positioning data is acquired may be the order in which the positioning data is saved to the sensor data buffer, or the order in which the timestamps corresponding to each positioning data in the sensor data buffer are stored.

[0065] After receiving a data acquisition request, the information transmission module can transmit the positioning data with that data type from the sensor data buffer to the positioning application according to the acquisition order of these positioning data with that data type, based on the data type in the data request.

[0066] In this embodiment of the disclosure, the data transmitted from the information transmission module to the information usage module can be transmitted in a transparent manner. Transparent transmission does not perform any processing or parsing on the positioning data during the data transmission process, and directly transmits the original positioning data from the information transmission module to the positioning application of the information usage module, thereby improving the efficiency and stability of data transmission and reducing problems such as packet loss and delay.

[0067] Based on the data types required by the positioning application, the embodiments of this disclosure transmit the corresponding positioning data to the information usage module, so that the data in the sensor data buffer can meet the different data requirements of different positioning applications in the information usage module. As a result, the information usage module no longer needs to redundantly set up separate sensors for collecting positioning data, and the transmission efficiency and stability are improved by passing through the data, reducing problems such as packet loss and latency.

[0068] In some embodiments of the cross-module data transmission method provided in this disclosure, after the information transmission module acquires the location data, it may further include step S1:

[0069] Step S1: Parse each location data to obtain the timestamp of each location data.

[0070] In this embodiment of the disclosure, after acquiring the positioning data, the information transmission module can parse the positioning data to extract the required information, such as extracting the timestamp of each positioning data to determine the order in which each positioning data is stored in the sensor data buffer.

[0071] Correspondingly, step S202 can be achieved through steps S2021 and S2022:

[0072] Step S2021: Based on the timestamp of each location data, obtain the time order of each location data in all location data.

[0073] Here, the chronological order of each location data point within the total location data is determined based on its timestamp. The earlier the timestamp when the location data was acquired, the earlier it appears in the chronological order. In other words, the chronological order is determined by the order of the timestamps.

[0074] Step S2022: According to the time sequence, save each positioning data to the sensor data buffer in sequence.

[0075] In this embodiment of the disclosure, the sensor data buffer can be managed by a FIFO scheduling algorithm. Therefore, after determining the time order of each positioning data in all positioning data, each positioning data can be saved to the sensor data buffer in sequence according to the time order.

[0076] In this embodiment, the sensor data buffer is scheduled using a first-in-first-out algorithm, which ensures the order of storage and transmission of positioning data. This prevents positioning data that has been stored for a long time from being ignored and thus not being transmitted to the information usage module, thereby improving the stability of data transmission.

[0077] In some embodiments, the information usage module includes a sensor data management unit and a positioning application, and the data acquisition request issued by the data usage module includes at least the data request time of the positioning application.

[0078] Correspondingly, Figure 3 is an optional flowchart of the cross-module data transmission method provided in this embodiment of the present disclosure. Step S203 may further include steps S301 and S302:

[0079] Step S301: In response to the data acquisition request from the information usage module, based on the data request time and the timestamp, determine the positioning data in the sensor data buffer that meets the target conditions as the target positioning data; wherein, the target conditions include at least the timestamp being located after the data request time.

[0080] In some embodiments, the data request time is the time when the location application issues a data acquisition request, representing the time when the location application needs to use location data.

[0081] After receiving a data acquisition request, the information transmission module uses the positioning data in the sensor data buffer whose timestamp is after the data request time as the target positioning data required by the positioning application.

[0082] Step S302: Transmit the target positioning data to the positioning application via the sensor data management unit.

[0083] In some embodiments, the sensor data management unit in the data usage module can be a Sensor HUB. After the information usage module obtains the target positioning data required by the positioning application sent by the information transmission module, it transmits the target positioning data to the positioning application through the Sensor HUB.

[0084] In some embodiments, after the target positioning data is transparently transmitted to the positioning application, the cross-module data transmission method provided in this disclosure may further include: deleting positioning data in the sensor data buffer whose timestamps are located before the data request time.

[0085] In this embodiment of the disclosure, the location data is real-time. The location data required by the user is the data after the data request time, which means that the data before the data request time is not the data required by the user. Since location requires real-time data, the previous data will not be used. Therefore, after the information transmission module transmits the target location data to the location application, it can delete the location data with timestamps before the data request time.

[0086] In this way, after the information transmission module transmits the target location data to the location application, it can clear the unnecessary data in the buffer, reduce unnecessary storage requirements, save new location data, and improve the efficiency of data management.

[0087] In some embodiments, the step S203 of transmitting the positioning data in the sensor data buffer to the information usage module may be to transmit each positioning data to the sensor data management unit sequentially according to the time order, i.e., to schedule it using a FIFO algorithm.

[0088] In some embodiments, the positioning data has multiple data types, and each positioning data acquisition unit acquires positioning data of the corresponding data type. Step S201 can be implemented through step S2011:

[0089] Step S2011: Based on each positioning data acquisition unit, collect positioning data corresponding to each data type at the data acquisition frequency corresponding to each positioning data acquisition unit.

[0090] In some embodiments, different positioning data require different levels of precision; therefore, different acquisition frequencies can be used for acquisition. For example, navigation and autonomous driving require high-precision positioning data, so the acquisition frequency of the positioning data acquisition unit that acquires the corresponding positioning data is relatively high, such as 30 Hz or higher. On the other hand, traffic information applications do not require high-precision positioning data, so the acquisition frequency of the positioning data acquisition unit that acquires the corresponding positioning data can be relatively low, such as 10 Hz.

[0091] In some embodiments, different location applications in the data usage module have corresponding data reading frequencies. If the data collection frequency is different from the data reading frequency used by the application, the data transmission interface will not support it, causing the data to fail to be transmitted. Therefore, this disclosure collects location data with the same data type as the data reading frequency according to the data type and data reading frequency required by each location application, so that location data of different data types can be used by the corresponding location applications, thus ensuring the availability of the data.

[0092] In this embodiment, different positioning data acquisition units have different acquisition frequencies. This allows the positioning data acquisition units to acquire data at a high acquisition frequency when acquiring data with high positioning accuracy requirements, and at a low acquisition frequency when acquiring data with low positioning accuracy requirements. This not only allows for the acquisition of different types of positioning data, ensuring the availability of the positioning data, but also reduces the amount of data acquired and the amount of data stored in the sensor data buffer by acquiring data with low positioning accuracy requirements at a low acquisition frequency, thus improving data processing efficiency. At the same time, the sensor data buffer and the information usage module transmit data through an independent channel, reducing latency and ensuring the data transmission frequency. Therefore, this disclosure does not require limiting the data acquisition frequency.

[0093] In some embodiments, the positioning data acquisition unit includes at least a Global Navigation Satellite System (GNSS), an Inertial Measurement Unit (IMU), and a Microprocessor (MCU), wherein the Inertial Measurement Unit includes at least a gyroscope.

[0094] Figure 4 is an optional flowchart of the cross-module data transmission method provided in this embodiment of the present disclosure. Step S201 may further include steps S401 to S403:

[0095] Step S401: Based on the global navigation satellite system, collect positioning data including satellite positioning information.

[0096] In some embodiments, satellite positioning information can be GNSS data, including Global Positioning System fix data (GGA). GNSS calculates the precise location of a vehicle by receiving signals from multiple satellites, typically including data such as longitude, latitude, and altitude. GNSS can also provide dynamic data such as the vehicle's speed and direction of movement for analyzing the vehicle's driving status and trajectory. The satellite positioning information includes timestamps, enabling the collected satellite positioning data to correspond to specific points in time, facilitating data processing and analysis for subsequent positioning applications.

[0097] In some embodiments, Nmea data may also include Recommended Minimum GPS / USARSAT-2 Data (RMC), including information on location, speed, and heading; it may also include GPS Satellite Information (GSA) and GPS Satellite View (GSV).

[0098] In some embodiments, the positioning application in the vehicle cannot directly use Nmea data. Therefore, the information transmission module also includes a hardware abstraction layer (GNSS HAL). The GNSS HAL provides an interface and data processing capability for upper-layer applications to achieve high-precision positioning and navigation functions, namely parsing Nmea data and converting Nmea data into a format that can be used by upper-layer applications.

[0099] After acquiring positioning data including satellite positioning information, step S202 can, based on the hardware abstraction layer, transmit each piece of positioning data including satellite positioning information to the sensor data buffer. Here, the GNSS HAL can convert the satellite positioning information into a data format usable by the vehicle before transmitting the data to the sensor data buffer.

[0100] Step S402: Based on the inertial measurement unit, acquire positioning data including inertial parameters and the temperature of the gyroscope.

[0101] In some embodiments, the inertial measurement unit may include devices such as a three-axis accelerometer, a three-axis gyroscope, and a three-axis magnetometer. The inertial measurement unit can measure the inertial parameters of the vehicle, such as acceleration, angular velocity, velocity, and attitude information. The inertial measurement unit can also measure the temperature of the inertial measurement unit based on the gyroscope. Temperature affects the zero bias of the accelerometer and gyroscope, and the data can be corrected based on the temperature to obtain more accurate positioning data.

[0102] Here, the combination of gyroscope and acceleration data can detect whether the vehicle has moved, which can be used to determine whether the vehicle has collided or moved. At the same time, scratches on the vehicle usually cause slight vibrations or deformations on the vehicle surface. By collecting data from the gyroscope and accelerometer, these subtle vibrations and changes can be monitored, thereby detecting whether the vehicle has been scratched or other abnormal conditions.

[0103] Step S403: Based on the microprocessor, collect positioning data including the vehicle driving information of the information transmission module.

[0104] In some embodiments, the microprocessor can determine the vehicle's speed, altitude, and latitude and longitude based on GPS data, and can also acquire heading and steering commands to determine the vehicle's direction of travel and current driving status, i.e., vehicle driving information.

[0105] In this embodiment of the disclosure, the data collected by different positioning data acquisition units may overlap, and the data can be corrected by the data collected by different positioning data acquisition units to obtain more accurate positioning data.

[0106] This embodiment of the disclosure collects positioning data through different positioning data acquisition units, which will obtain positioning data of as many fields as possible, making the positioning data more complete and able to meet the needs of different positioning modules in the information use module. It avoids the problem that some fields of data are not collected, resulting in the failure to calibrate this part of the data, which leads to the lack of data and failure to meet positioning requirements during subsequent positioning data fusion.

[0107] Here, positioning data is collected by different positioning data acquisition units, which reduces the problem that some acquisition units may be affected by signal blockage or interference in complex environments (such as tunnels or between tall buildings in cities), resulting in a decrease in positioning accuracy. By acquiring data from multiple sensors, data from different sensors can be fused to obtain more complete data, thereby improving the overall positioning accuracy.

[0108] In some embodiments, in response to the vehicle being in any one of a standby state, a hibernation state, or an engine-off state, the information transmission module continuously acquires positioning data collected by each positioning data acquisition unit and saves the positioning data to the sensor data buffer.

[0109] In this embodiment, the TBOX has a long power-on cycle. The TBOX is still working when the vehicle is in standby, hibernation, or engine off state. Therefore, the information transmission module can continuously acquire the positioning data collected by each positioning data acquisition unit in any state of the vehicle and save the positioning data to the sensor data buffer.

[0110] In this embodiment, the information transmission module can operate continuously in a low-power mode. Even if the vehicle is in a sleep or off state, it can continuously provide positioning data collected by the gyroscope, thereby enabling timely detection of abnormal situations such as vehicle movement, collisions, and scratches, thus improving vehicle safety. At the same time, the vehicle owner can know the vehicle's status and location information at any time, which helps the owner better understand the vehicle's usage and maintenance needs.

[0111] This embodiment of the disclosure collects positioning data at different frequencies and with as many fields as possible, so that the positioning data can meet the data requirements of both standard precision positioning and high-precision combined positioning, thereby satisfying both ordinary navigation needs and high-precision combined positioning capabilities.

[0112] Those skilled in the art will understand that, in the above-described method of the specific implementation, the order in which each step is written does not imply a strict execution order and does not constitute any limitation on the implementation process. The specific execution order of each step should be determined by its function and possible internal logic.

[0113] Figure 5 is a schematic diagram of the cross-module data transmission system provided in the embodiments of this disclosure. As shown in Figure 5, the cross-module data transmission system 50 includes at least an information transmission module 501 and at least one information usage module 502. The information transmission module 501 includes at least a sensor data buffer 5011 and at least one positioning data acquisition unit 5012. The information usage module 502 is connected to the information transmission module 501 based on the sensor data buffer 5011.

[0114] The information transmission module 501 is configured to acquire positioning data collected by each positioning data acquisition unit 5012, wherein the positioning data carries a corresponding timestamp; save the positioning data to the sensor data buffer 5011 according to the timestamp of each positioning data; and, in response to a data acquisition request from the information usage module 502, transmit the positioning data in the sensor data buffer 5011 to the information usage module 502 based on the timestamp. The information usage module 502 is configured to process the positioning data to achieve the positioning function.

[0115] Here, the information processing module can perform data processing on the positioning data in several ways: data fusion, which combines positioning data from different positioning data acquisition units to improve positioning accuracy; feature extraction, which extracts useful feature information from the positioning data of different positioning data acquisition units for subsequent positioning calculations; map construction, which uses the extracted feature information and existing map data to build or update a map of the vehicle's location; and error correction, which corrects errors in the acquired positioning data to ensure the accuracy of the positioning results.

[0116] In some embodiments, the information usage module includes a sensor data management unit and a positioning application; the information transmission module 501 is further configured to, in response to a data acquisition request from the positioning application, determine the data type of the positioning application; based on the sensor data management unit and the timestamp, transmit the positioning data of the data type in the sensor data buffer to the positioning application according to the acquisition order of the positioning data; wherein the acquisition order of the positioning data is determined based on the order of the timestamps of each positioning data.

[0117] In some embodiments, after acquiring the positioning data, the information transmission module 501 is further configured to perform data parsing on each positioning data to obtain the timestamp of each positioning data; obtain the time order of each positioning data in all positioning data based on the timestamp of each positioning data; and save each positioning data to the sensor data buffer in sequence according to the time order.

[0118] In some embodiments, the information usage module includes a sensor data management unit and a positioning application, and the data acquisition request includes at least the data request time of the positioning application; the information transmission module 501 is further configured to, in response to the data acquisition request of the information usage module, determine the positioning data in the sensor data buffer that meets the target conditions as target positioning data according to the data request time and the timestamp; wherein, the target conditions include at least the timestamp being located after the data request time; and transmit the target positioning data to the positioning application via the sensor data management unit.

[0119] In some embodiments, after the target positioning data is transmitted to the positioning application, the information transmission module 501 is further configured to delete the positioning data in the sensor data buffer whose timestamp is located before the data request time.

[0120] In some embodiments, the information usage module includes a sensor data management unit; the information transmission module 501 is further configured to sequentially transmit each positioning data to the sensor data management unit according to the time sequence.

[0121] In some embodiments, the positioning data has multiple data types, and each positioning data acquisition unit acquires positioning data of the corresponding data type; the information transmission module 501 is further configured to acquire positioning data corresponding to each data type based on each positioning data acquisition unit at the data acquisition frequency corresponding to each positioning data acquisition unit.

[0122] In some embodiments, the positioning data acquisition unit includes at least a global navigation satellite system, an inertial measurement unit, and a microprocessor, wherein the inertial measurement unit includes at least a gyroscope; the information transmission module 501 is further configured to acquire positioning data including satellite positioning information based on the global navigation satellite system; acquire positioning data including inertial parameters and the temperature of the gyroscope based on the inertial measurement unit; and acquire positioning data including vehicle driving information of the vehicle where the information transmission module is located based on the microprocessor.

[0123] In some embodiments, the information transmission module further includes a hardware abstraction layer; the information transmission module 501 is also configured to transmit each positioning data including satellite positioning information to the sensor data buffer based on the hardware abstraction layer.

[0124] In some embodiments, the information transmission module 501 is further configured to continuously acquire positioning data collected by each positioning data acquisition unit and save the positioning data to the sensor data buffer in response to the vehicle being in any one of a standby state, a hibernation state, or a ignition-off state.

[0125] In the embodiments disclosed herein and other embodiments, "part" can be a part of a circuit, a part of a processor, a part of a program or software, etc., and can also be a unit, a module or a non-modular one.

[0126] It should be noted that the description of the system in this disclosure is similar to the description of the method embodiments described above, and has similar beneficial effects as the method embodiments; therefore, it will not be repeated. For technical details not disclosed in this system embodiment, please refer to the description of the method embodiments in this disclosure for understanding.

[0127] The following will describe an exemplary application of the embodiments of this disclosure in a practical application scenario.

[0128] Related technologies typically employ a universal channel packetization method, assembling various positioning-related fields in the vehicle and transmitting them to the required modules. However, a universal channel implies an additional waiting process for data to be transmitted. This disclosure, however, uses an independent channel between the TBOX and the IVI (or other information-using modules such as ADAS) for data transmission. This independent channel transmits only positioning data, avoiding the extra waiting time for other data and improving transmission efficiency.

[0129] In related technologies, due to the differences in the actual usage of positioning data by different applications, the definition of some fields cannot meet the requirements of some applications. However, the embodiments of this disclosure acquire data of all fields through different sensors, such as the temperature of the gyroscope, so that the data required by the positioning module is complete and meets the needs of different positioning modules.

[0130] In related technologies, the frequency of data transmission is limited by transmission efficiency and application, typically using a specified frequency. However, different applications have different frequency requirements for sensor data when using positioning data, resulting in the data collected in related technologies failing to meet the needs of various applications. Furthermore, the synchronization between transmitted data severely impacts the subsequent practical use of the positioning application. The accuracy of positioning calculations also decreases.

[0131] To address the problems existing in related technologies, this embodiment places positioning-related sensors on the TBOX (i.e., the information transmission module). Other modules, such as the IVI (i.e., the information usage module), obtain positioning data from the TBOX when needed. This reduces costs by eliminating the need to deploy sensors on each module, as related technologies require positioning sensor data on the IVI, TBOX, and ADAS modules. While reducing costs, using a dedicated channel to transmit positioning data from the TBOX to the IVI improves data transmission efficiency, achieving the goal of cost reduction without compromising effectiveness. Since the TBOX has a long operating cycle, sensors deployed on the TBOX can perform safety procedures, such as vehicle movement, collision, and scratch detection.

[0132] Figure 6 is a schematic diagram of the data transmission system provided in this embodiment. As shown in Figure 6, the positioning sensor is deployed on the TBOX601 side to collect the vehicle's positioning data. When the application in IVI602 needs to use the positioning data, it obtains the data from TBOX601.

[0133] As shown in Figure 6, the TBOX601 side is equipped with Gnss6011, IMU6012 and TBOX MCU6013 to acquire positioning data. The acquired data is transmitted to the positioning data buffer (sensor data buffer) 6017 (i.e., sensor positioning buffer). Each frame of data needs to contain at least two parts of data, namely the data entity and the timestamp. The timestamp can be local time or monotonically increasing time.

[0134] The Gnss6011 is used to collect Nmea data, which can be transmitted to the Gnss HAL6018 via interface 6014. The Gnss HAL6018 then transmits the Nmea data to the positioning data buffer 6017. The Nmea data typically includes GGA, RMC, GSA, and GSV data. The GST statement can be used to describe errors, especially distance measurement errors. The GGA contains positioning time, latitude, longitude, altitude, the number of satellites used for positioning, and the Dilution of Precision (DOP). The GSA contains the GPS accuracy factor and information on active satellites. The RMC contains the current location's time, latitude, longitude, speed, and heading. The GSV message contains information about visible satellites, such as satellite number, elevation angle, azimuth angle, and signal-to-noise ratio.

[0135] Applications on the TBOX601 side can access location data in the location data buffer 6017 through the TBOX Location Manager 6019.

[0136] As shown in Figure 6, the IMU6012 connects to the IMU driver 6015. The IMU driver 6015 uses FIFO sampling to ensure that the reading frequency is not disturbed. The IMU6012's output data rate (ODR) can use a frequency of 100 Hz or higher, because frequency downsampling is relatively easy in practical use, allowing it to simultaneously provide data to multiple positioning applications with different positioning data requirements. The acquired high-frequency data can be used for real-time and high-precision vehicle trajectory prediction, autonomous driving, path planning, and collision warning, while low-frequency data can be used for vehicle positioning and traffic data collection at intersections. The data reading frequency does not need to be high; it can be set according to the positioning accuracy requirements. Standard precision positioning can use a data reading frequency of 10 Hz, while high-precision positioning can use 30 Hz or higher.

[0137] The data acquired by the IMU6012 includes at least the IMU readings and temperature values. For applications requiring higher IMU data, timestamps corresponding to the IMU readings and temperature values ​​can be added to the data acquired by the IMU6012. This ensures that, during the fusion of data from multiple sensors, the timestamps guarantee that the data from all sensors can be matched and processed at precise points in time, thereby improving the accuracy of the positioning data.

[0138] In some embodiments, the data collected by the TBOX MCU6013 can be CAN data 6016, i.e., data transmitted and processed via the CAN bus protocol. CAN data 6016 may include vehicle speed. During vehicle operation, the update frequency of real-time vehicle speed data is relatively high. The frequency of vehicle speed collection can be set according to actual needs. For example, for standard precision positioning, i.e., ordinary navigation, high-precision positioning data is not required; therefore, the collection frequency can be set to no less than 3Hz. For high-precision positioning, such as autonomous driving, high-precision vehicle speed data is required; therefore, the collection frequency can be set to no less than 10Hz.

[0139] In some embodiments, the CAN data 6016 may also include gear position and steering wheel angle data, wherein the gear position data is real-time data and is collected in real time during gear shifting; the steering wheel angle is used for predictive trajectory calculation, and the collection frequency can also be set according to the actual project needs.

[0140] In this embodiment, the positioning data in the positioning data buffer 6017 of the TBOX can be transmitted to the IVI host or other host (such as ADAS) via transparent transmission. The transmission method during the transmission process can be transparent transmission, and the physical channel for transmission can be USB or Ethernet. Here, the data transmission channel is an independent channel, that is, this channel is only used to transmit positioning-related data and does not transmit other data.

[0141] During data transmission, the data in the positioning buffers on both sides of the TBOX and IVI (e.g., positioning data buffer 6017 on one side of the TBOX and Sensor HUB6021 on the receiving side) is stored in a queue based on the data acquisition time. Data that has not been used for a long time will be deleted. For example, data that has not been used for more than 7 days in the positioning data buffer 6017 and Sensor HUB6021 will be deleted on a daily basis.

[0142] In this embodiment of the disclosure, after the positioning data buffer 6017 transmits the positioning data to the host's positioning data buffer (such as Sensor HUB 6021) via TOBX data processing 6020 and IVI data processing 6022, the positioning application in the IVI reads the data in Sensor HUB 6021 and performs data processing to achieve navigation or other functions. For example, the positioning application accesses the positioning data in Sensor HUB 6021 through IVI Location Manager 6023 and Navigator Location 6024.

[0143] In this embodiment of the disclosure, the host runs an operating system. Referring again to FIG6, when data is transmitted across modules in the vehicle, the operating system can interact with the acquisition modules such as Gnss6011, IMU6012 and TBOX MCU6013 through the device layer. Gnss6011, IMU6012 and TBOX MCU6013 acquire positioning data. The positioning data acquired by Gnss6011 is transmitted to the positioning data buffer 6017 through the kernel layer interface 6014 and the hardware abstraction (HAL) layer Gnss HAL6018. The data processing speed of the interface 6014, IMU service 6015, and CAN processing module in the kernel layer is much higher than that of the application (APP) layer and framework layer. The kernel layer has a fast data processing speed, and the device can start working quickly after startup. For example, it can enter the working state within two or three seconds after the device is powered on to collect positioning data and transmit the positioning data to the positioning data buffer 6017. When other information use modules (such as IVI 602) and the navigator 6024 in the application layer need to use positioning data, they can directly obtain the data in the positioning data buffer 6017. The data in the positioning data buffer 6017 is sufficient and complete.

[0144] In this embodiment of the disclosure, the transmission paths corresponding to different types of positioning data in TBOX601 pass through the kernel layer and / or hardware abstraction layer of the operating system. Multiple data acquisition modules (e.g., GNSS6011 and IMU6012) can acquire corresponding types of positioning data at different frequencies and transmit different types of positioning data to the positioning data buffer 6017 through different transmission paths. It can be understood that all acquisition modules, such as the GNSS acquisition module (Gnss6011), the IMU acquisition module (IMU6012), and the MCU acquisition module (TBOX MCU6013), respectively transmit the corresponding positioning data, such as GNSS data, IMU data, and CAN data, through the corresponding transmission paths formed by the kernel layer and / or hardware abstraction layer of the operating system, to the positioning data buffer 6017 at their respective acquisition frequencies.

[0145] It should be noted that the location data transmission to the location data buffer 6017 only requires passing through the kernel layer and hardware abstraction layer, resulting in high speed. Furthermore, it avoids the need to go through the Framework layer and the cumbersome message transmission process, effectively solving the problems of lengthy transmission processes, large space consumption, low transmission efficiency, and asynchrony between location data from different modules. Located in the kernel layer, the location data buffer 6017 can be directly accessed and transmitted by all objects in the kernel layer, improving data transmission efficiency. It should also be noted that after acquiring location data, each acquisition module can package its own location data according to a preset format and then transmit the packaged location data to the location data buffer 6017.

[0146] Furthermore, after receiving location data, the location data buffer 6017 can add a timestamp to the location data. Here, both the timestamp and the timestamp added when the location data was collected can be used for data access in the application layer of the information usage module. In one feasible scenario, when performing location tracking, the application layer of the information usage module performs synchronous calculations on different types of data based on the timestamps of each location data point, thereby improving the accuracy of the location data.

[0147] It should be noted that because the location data buffer 6017, used to store location data, is located in the kernel layer, its initialization speed is extremely fast. Data path preparation can be completed within seconds of system power-on, at which point location data can be recorded. This maximizes data integrity even when the system is powered off and then on. In contrast, related technologies only guarantee data integrity by setting the system to hibernation; otherwise, location data from the first 10 or tens of seconds after power-on will be lost.

[0148] In this embodiment, the vehicle collects corresponding types of positioning data at different frequencies through multiple acquisition modules. Furthermore, each acquisition module transmits the corresponding type of positioning data to a positioning data buffer 6017 located in the kernel layer of the operating system using different transmission paths. Thus, by having multiple acquisition modules collect different types of positioning data at different frequencies, multi-source data fusion can be achieved, significantly improving positioning accuracy and reliability. Different modules focus on acquiring different types of data, reducing the risk of single-point failures and providing accurate positioning information even under conditions of weak or blocked signals. The positioning data buffer 6017 is located in the kernel layer, bypassing the Framework layer, and can be directly accessed and transmitted by other kernel layer objects, improving data transmission efficiency. By using different transmission paths to send data to the positioning data buffer 6017 in the kernel layer, the positioning data buffer 6017 centralizes the positioning data from each acquisition module. Other information-using modules (e.g., IVI 602) can directly obtain positioning data from the positioning data buffer 6017, enabling more efficient use of system resources, reducing unnecessary energy consumption, and improving system operating efficiency.

[0149] In this embodiment of the disclosure, since the operating cycle of TBOX is longer than that of other modules in the vehicle, and one set of location-related data can be used by multiple location applications, multiple location applications can share data with each other.

[0150] The embodiments disclosed herein reduce unnecessary sensor redundancy design and lower costs; the data processing and transmission process provided in the embodiments of this disclosure has been verified to take less than 2 milliseconds in bench testing, and the delay does not affect the data and timeliness requirements of high-precision calculation; moreover, each frame of data in this disclosure is timestamped, which meets the data alignment requirements, so that the content and timeliness of the measurement data can meet the data requirements of high-precision combined positioning.

[0151] If the technical solution disclosed herein involves personal information, the product using this technical solution has clearly informed the user of the personal information processing rules and obtained the user's voluntary consent before processing the personal information. If the technical solution disclosed herein involves sensitive personal information, the product using this technical solution has obtained the user's separate consent before processing the sensitive personal information, and also meets the requirement of "express consent". For example, at personal information collection devices such as cameras, clear and prominent signs are set up to inform users that they have entered the scope of personal information collection and that personal information will be collected. If an individual voluntarily enters the collection scope, it is deemed that they have agreed to the collection of their personal information; or on the personal information processing device, with clear signs / information informing users of the personal information processing rules, authorization is obtained from the individual through pop-up information or by asking the individual to upload their personal information; wherein, the personal information processing rules may include information such as the personal information processor, the purpose of personal information processing, the processing method, and the types of personal information processed.

[0152] It should be noted that, in the embodiments of this disclosure, if the above-described cross-module data transmission method is implemented as a software functional module and sold or used as an independent product, it can also be stored in a computer-readable storage medium. Based on this understanding, the technical methods of the embodiments of this disclosure, essentially or in other words, the parts that contribute to related technologies, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a terminal to execute all or part of the methods described in the various embodiments of this disclosure. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), magnetic disks, or optical disks. Thus, the embodiments of this disclosure are not limited to any specific hardware and software combination.

[0153] This disclosure provides an information transmission module. Figure 7 is a schematic diagram of the hardware entity of the information transmission module provided in this disclosure. As shown in Figure 7, the hardware entity of the information transmission module includes a Central Processing Unit (CPU) 701, which can perform various appropriate actions and processes according to computer program instructions stored in Read Only Memory (ROM) 702 or loaded from storage unit 708 into Random Access Memory (RAM) 703. The RAM 703 can also store various programs and data required for the operation of the information transmission module. The CPU 701, ROM 702, and RAM 703 are interconnected via a bus 704. An input / output (I / O) interface 705 is also connected to the bus 704.

[0154] Multiple components in the information transmission module are connected to the I / O interface 705, including: an input unit 706, such as a keyboard or mouse; an output unit 707, such as various types of displays or speakers; a storage unit 708, such as a disk or optical disk; and a communication unit 709, such as a network interface card (NIC), a modem, or a wireless transceiver. The communication unit 709 allows the information transmission module to exchange information / data with other devices through computer networks such as the Internet and / or various telecommunications networks.

[0155] The various processes and procedures described above, such as the methods described above, can be executed by CPU 701. For example, in some embodiments, the methods described above can be implemented as computer software programs tangibly contained in a machine-readable medium, such as storage unit 708. In some embodiments, part or all of the computer program can be loaded and / or installed on the information transmission module via ROM 702 and / or communication unit 709. When the computer program is loaded into RAM 703 and executed by CPU 701, one or more actions of the methods described above can be performed.

[0156] This disclosure provides a storage medium storing executable instructions, wherein the executable instructions, when executed by a processor, will cause the processor to execute the cross-module data transmission method provided in this disclosure.

[0157] It should be noted that the descriptions of the storage medium and device embodiments above are similar to those of the method embodiments above, and have similar beneficial effects. For technical details not disclosed in the storage medium and device embodiments of this disclosure, please refer to the descriptions of the method embodiments of this disclosure for understanding.

[0158] In some embodiments, the storage medium may be a computer-readable storage medium, such as a ferromagnetic random access memory (FRAM), a read-only memory (ROM), a programmable read-only memory (PROM), an erasable programmable read-only memory (EPROM), an electrically erasable programmable read-only memory (EEPROM), flash memory, magnetic surface memory, optical disc, or a compact disk-read-only memory (CD-ROM); or it may be a device that includes one or any combination of the above-mentioned memories.

[0159] The computer program instructions described herein can be downloaded from computer storage media to various computing / processing devices, or downloaded via a network, such as the Internet, local area network, wide area network, and / or wireless network, to an external computer or external storage device. The network may include copper cables, fiber optic cables, wireless transmission, routers, firewalls, switches, gateway computers, and / or edge servers. A network adapter card or network interface in each computing / processing device receives computer-readable program instructions from the network and forwards those instructions to the computer storage media in the respective computing / processing device.

[0160] The computer program instructions used to perform the operations of this disclosure may be assembly instructions, instruction set architecture (ISA) instructions, machine instructions, machine-dependent instructions, microcode, firmware instructions, status setting data, or source code or object code written in any combination of one or more programming languages, including object-oriented programming languages ​​such as Smalltalk, C++, etc., and conventional procedural programming languages ​​such as the "C" language or similar programming languages. The computer-readable program instructions may execute entirely on the user's computer, partially on the user's computer, as a stand-alone software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In cases involving remote computers, the remote computer may be connected to the user's computer via any type of network—including a local area network (LAN) or a wide area network (WAN)—or may be connected to an external computer (e.g., via the Internet using an Internet service provider). In some embodiments, electronic circuits, such as programmable logic circuits, field programmable gate arrays (FPGAs), or programmable logic devices (PLDs), are personalized by utilizing state information from computer-readable program instructions. These electronic circuits can execute computer-readable program instructions to implement various aspects of this disclosure.

[0161] In some embodiments, executable instructions may take the form of a program, software, software module, script, or code, written in any form of programming language (including compiled or interpreted languages, or declarative or procedural languages), and may be deployed in any form, including as a standalone program or as a module, component, subroutine, or other unit suitable for use in a computing environment.

[0162] As an example, executable instructions may, but do not necessarily, correspond to files in a file system. They may be stored as part of a file containing other programs or data, for example, in one or more scripts within a Hyper Text Markup Language (HTML) document, in a single file dedicated to the program in question, or in multiple co-located files (e.g., files storing one or more modules, subroutines, or code sections). As an example, executable instructions may be deployed to execute on a single computing device, or on multiple computing devices located in one location, or on multiple computing devices distributed across multiple locations and interconnected via a communication network.

[0163] Various aspects of this disclosure are described herein with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of this disclosure. It should be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer-readable program instructions.

[0164] The above description is merely an embodiment of this disclosure and is not intended to limit the scope of protection of this disclosure. Any modifications, equivalent substitutions, and improvements made within the spirit and scope of this disclosure are included within the scope of protection of this disclosure. It should be understood that "an embodiment" or "one embodiment" mentioned throughout the specification means that a specific feature, structure, or characteristic related to the embodiment is included in at least one embodiment of this disclosure. Therefore, "in one embodiment" or "in one embodiment" appearing throughout the specification does not necessarily refer to the same embodiment. Furthermore, these specific features, structures, or characteristics can be combined in any suitable manner in one or more embodiments. It should be understood that in the various embodiments of this disclosure, the sequence number of the above-described processes does not imply the order of execution; the execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of this disclosure. The sequence numbers of the above-described embodiments of this disclosure are merely for descriptive purposes and do not represent the superiority or inferiority of the embodiments.

[0165] It should be noted that, in this document, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes that element. In the several embodiments provided in this disclosure, it should be understood that the disclosed devices and methods can be implemented in other ways. The device embodiments described above are merely illustrative; for example, the division of units is only a logical functional division, and in actual implementation, there may be other division methods, such as: multiple units or components may be combined, or integrated into another system, or some features may be ignored or not performed.

[0166] The above description is merely an embodiment of this disclosure, but the scope of protection of this disclosure is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in this disclosure should be included within the scope of protection of this disclosure. Therefore, the scope of protection of this disclosure should be determined by the scope of the claims. Industrial applicability

[0167] This disclosure provides a cross-module data transmission method, system, information transmission module, storage medium, and computer program product. The cross-module data transmission method includes: acquiring positioning data collected by each positioning data acquisition unit, the positioning data carrying a corresponding timestamp; saving the positioning data to a sensor data buffer based on the timestamp of each positioning data; and, in response to a data acquisition request from an information usage module in the vehicle, transmitting the positioning data in the sensor data buffer to the information usage module based on the timestamp. The information transmission module is connected to the information usage module via the sensor data buffer, and the information usage module does not have a positioning data acquisition unit. In this solution, the information transmission module can directly transmit positioning data to the information usage module through an independent channel between the sensor data buffer and the information usage module, avoiding additional waiting for other data, improving the efficiency and stability of positioning data transmission, reducing packet loss and latency, and overcoming the limitation of transmission efficiency on the acquisition frequency of positioning data.

Claims

1. A cross-module data transfer method, wherein, The method is applied to an information transmission module of a vehicle, and the information transmission module at least includes a sensor data buffer and at least one positioning data acquisition unit; The cross-module data transmission method comprises: acquiring positioning data collected by each positioning data acquisition unit, the positioning data carrying a corresponding timestamp; storing the positioning data into the sensor data buffer according to the timestamp of each positioning data; in response to a data acquisition request of an information use module in the vehicle, transmitting the positioning data in the sensor data buffer to the information use module based on the timestamp, wherein the information transmission module is connected with the information use module based on the sensor data buffer, and the information use module does not have a positioning data acquisition unit.

2. The cross-module data transfer method of claim 1, wherein, The information use module comprises a sensor data management unit and a positioning application; The response to the data acquisition request of the information use module, the transmission of the positioning data in the sensor data buffer to the information use module based on the timestamp, comprises: in response to a data acquisition request of the positioning application, determining the data type of the positioning application; based on the sensor data management unit and the timestamp, transmitting the positioning data with the data type in the sensor data buffer to the positioning application in the order of acquisition of the positioning data, wherein the order of acquisition of the positioning data is determined based on the order of the timestamp of each positioning data.

3. The cross-module data transfer method of claim 1, wherein, After acquiring the positioning data, the cross-module data transmission method further comprises: performing data analysis on each positioning data to obtain the timestamp of each positioning data; The storage of the positioning data into the sensor data buffer according to the timestamp of each positioning data comprises: obtaining the time sequence of each positioning data in all positioning data according to the timestamp of each positioning data; according to the time sequence, sequentially storing each positioning data into the sensor data buffer.

4. The cross-module data transfer method of claim 3, wherein, The information use module comprises a sensor data management unit and a positioning application, and the data acquisition request at least includes a data request time of the positioning application; The response to the data acquisition request of the information use module in the vehicle, the transmission of the positioning data in the sensor data buffer to the information use module based on the timestamp, comprises: in response to a data acquisition request of the information use module, determining the positioning data in the sensor data buffer that meets a target condition as target positioning data according to the data request time and the timestamp, wherein the target condition at least includes that the timestamp is located after the data request time; transmitting the target positioning data to the positioning application via the sensor data management unit.

5. The cross-module data transfer method of claim 4, wherein, After transmitting the target positioning data to the positioning application, the cross-module data transmission method further comprises: deleting the positioning data in the sensor data buffer with a timestamp located before the data request time.

6. The cross-module data transfer method of claim 3, wherein, The information use module comprises a sensor data management unit; the transmission of the positioning data in the sensor data buffer to the information use module comprises: According to the time sequence, each positioning data is transmitted to the sensor data management unit in sequence.

7. The cross-module data transfer method according to any one of claims 1 to 6, wherein, The positioning data has multiple data types, and each positioning data collection unit collects positioning data of a corresponding data type. The positioning data collected by each positioning data collection unit includes: Based on each positioning data collection unit, positioning data of each data type is collected at a data collection frequency corresponding to each positioning data collection unit.

8. The cross-module data transfer method according to any one of claims 1 to 6, wherein, The positioning data collection unit includes at least a global navigation satellite system, an inertial measurement unit, and a microprocessor, and the inertial measurement unit includes at least a gyroscope. The positioning data collected by each positioning data collection unit includes: Based on the global navigation satellite system, positioning data including satellite positioning information is collected; Based on the inertial measurement unit, positioning data including inertial parameters and the temperature of the gyroscope is collected; Based on the microprocessor, positioning data including vehicle driving information of the information transmission module is collected.

9. The cross-module data transfer method of claim 8, wherein, The information transmission module further includes a hardware abstraction layer; and the positioning data is saved to the sensor data buffer according to the timestamp of each positioning data, including: Based on the hardware abstraction layer, each positioning data including satellite positioning information is transmitted to the sensor data buffer.

10. The cross-module data transfer method according to any one of claims 1 to 6, wherein, The method further includes: In response to the vehicle being in any one of a standby state, a sleep state, and an engine-off state, the information transmission module continuously collects the positioning data collected by each positioning data collection unit and saves the positioning data to the sensor data buffer; wherein the information transmission module is a vehicle-mounted TBOX.

11. A cross-module data transfer system, wherein, The system includes at least an information transmission module and at least one information use module, the information transmission module includes at least a sensor data buffer and at least one positioning data collection unit, and the information use module is connected to the information transmission module based on the sensor data buffer; The information transmission module is configured to collect positioning data collected by each positioning data collection unit, and the positioning data carries a corresponding timestamp; According to the timestamp of each positioning data, the positioning data is saved to the sensor data buffer; In response to a data acquisition request of the information use module, the positioning data in the sensor data buffer is transmitted to the information use module based on the timestamp; The information use module is configured to perform data processing on the positioning data to realize a positioning function.

12. An information transfer module, wherein, The information transmission module includes a processor and a memory; The memory stores a computer program that can run on the processor; The processor executes the computer program to implement the cross-module data transmission method of any one of claims 1 to 10.

13. A computer readable storage medium, wherein, The computer readable storage medium stores one or more computer programs that can be executed by one or more processors to implement the cross-module data transmission method of any one of claims 1 to 10.

14. A computer program product comprising computer programs or instructions which, if the computer programs or instructions are executed on an electronic device, cause the electronic device to perform the cross-module data transmission method of any one of claims 1 to 10.

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