CN115348651B

CN115348651B - A data interaction method, system, device, terminal device and storage medium

Info

Publication number: CN115348651B
Application number: CN202210875681.0A
Authority: CN
Inventors: 请求不公布姓名
Original assignee: Shenzhen Huichen Software Co ltd
Current assignee: Shenzhen Huichen Software Co ltd
Priority date: 2022-07-25
Filing date: 2022-07-25
Publication date: 2025-02-25
Anticipated expiration: 2042-07-25
Also published as: CN115348651A

Abstract

The present application is applicable to the field of positioning technology, and provides a data interaction method, system, device, terminal equipment and storage medium. The above-mentioned data interaction system includes a vehicle-mounted unit and a roadside unit; after the vehicle-mounted unit enters the perception range of the roadside unit, the vehicle-mounted unit sends a positioning flag to the roadside unit; when the positioning flag is the first flag, the roadside unit obtains the positioning data and/or mileage data stored in the vehicle-mounted unit, wherein the first flag is used to indicate that the vehicle-mounted unit stores the positioning data recorded after the previous data upload and/or the mileage data recorded after the previous data upload. The embodiments of the present application can reduce the power consumption of the data interaction system.

Description

Data interaction method, system, device, terminal equipment and storage medium

Technical Field

The present application belongs to the field of positioning technologies, and in particular, to a data interaction method, system, device, terminal equipment, and storage medium.

Background

In the field of intelligent traffic, various functions are often realized by means of interaction of vehicle automatic induction recognition and related data through an On Board Unit (OBU) mounted On a vehicle and a Road Side Unit (RSU) mounted On a Road accessory. For example, electronic toll collection systems (Electronic Toll Collection, ETC) use vehicle automatic identification technology to communicate wireless data between vehicles and toll booths, precisely through OBUs and RSUs.

In order to realize interaction of positioning data, currently, an OBU is connected with an RSU in real time, and the OBU uploads the positioning data to the RSU in real time. The OBU is continuously connected with the RSU in the mode, positioning data is continuously reported through communication, and the power consumption of the system is high.

Disclosure of Invention

The embodiment of the application provides a data interaction method, a system, a device, terminal equipment and a storage medium, which can reduce system power consumption.

The first aspect of the embodiment of the application provides a data interaction method which is applied to a vehicle-mounted unit and comprises the steps of sending a positioning marker bit to a road side unit after entering a perception range of the road side unit, and sending positioning data and/or mileage data to the road side unit when the positioning marker bit is a first marker bit, wherein the first marker bit is used for representing that the vehicle-mounted unit stores the positioning data recorded after the previous uploading of the data and/or the mileage data recorded after the previous uploading of the data.

The second aspect of the embodiment of the application provides a data interaction method which is applied to a road side unit and comprises the steps of receiving a positioning marker bit sent by a vehicle-mounted unit after entering a perception range of the road side unit, and acquiring positioning data and/or mileage data stored by the vehicle-mounted unit if the positioning marker bit is a first marker bit, wherein the first marker bit is used for representing that the vehicle-mounted unit stores the positioning data recorded after the previous uploading of the data and/or the mileage data recorded after the previous uploading of the data.

The third aspect of the embodiment of the application provides a data interaction system, which comprises a vehicle-mounted unit and a road side unit, wherein the vehicle-mounted unit sends a positioning marker bit to the road side unit after entering a perception range of the road side unit, and the road side unit acquires positioning data and/or mileage data stored in the vehicle-mounted unit when the positioning marker bit is a first marker bit, wherein the first marker bit is used for representing that the vehicle-mounted unit stores the positioning data recorded after the data is uploaded last time and/or the mileage data recorded after the data is uploaded last time.

The data interaction device provided by the fourth aspect of the embodiment of the application is configured in a vehicle-mounted unit and comprises a positioning zone bit sending unit and a positioning data sending unit, wherein the positioning zone bit sending unit is used for sending a positioning zone bit to a road side unit after entering the perception range of the road side unit, the positioning data sending unit is used for sending positioning data and/or mileage data to the road side unit when the positioning zone bit is a first zone bit, and the first zone bit is used for representing that the vehicle-mounted unit stores the positioning data recorded after the previous uploading of the data and/or the mileage data recorded after the previous uploading of the data.

The data interaction device provided by the fifth aspect of the embodiment of the application is configured in a road side unit, and comprises a positioning zone bit receiving unit and a positioning data acquisition unit, wherein the positioning zone bit receiving unit is used for receiving a positioning zone bit sent by a vehicle-mounted unit after entering a sensing range of the road side unit, and the positioning data acquisition unit is used for acquiring positioning data and/or mileage data stored in the vehicle-mounted unit if the positioning zone bit is a first zone bit, wherein the first zone bit is used for representing that the vehicle-mounted unit stores the positioning data recorded after the last uploading of the data and/or the mileage data recorded after the last uploading of the data.

A sixth aspect of the embodiment of the present application provides a terminal device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, where the processor implements the steps of the data interaction method described above when executing the computer program.

A seventh aspect of the embodiments of the present application provides a computer readable storage medium storing a computer program which, when executed by a processor, implements the steps of the data interaction method described above.

An eighth aspect of the embodiments of the present application provides a computer program product for causing a terminal device to execute the above-mentioned data interaction method when the computer program product is run on the terminal device.

In the embodiment of the application, after the vehicle-mounted unit enters the sensing range of the road side unit, a positioning marker bit is sent to the road side unit, and when the positioning marker bit is a first marker bit, the road side unit acquires positioning data and/or mileage data stored in the vehicle-mounted unit, wherein the first marker bit is used for representing that the vehicle-mounted unit stores the positioning data recorded after the last uploading data or mileage data recorded after the last uploading data, that is, new data is generated between the front uploading time point and the rear uploading time point, the vehicle-mounted unit and the road side unit can interact with the positioning data and/or mileage data, and when the positioning marker bit is not the first marker bit, the road side unit does not need to be connected with the vehicle-mounted unit in a unicast mode, so that the connection time between the road side unit and the vehicle-mounted unit can be reduced, and the power consumption of the system is further reduced.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are needed in the embodiments or the description of the prior art will be briefly described below, it being obvious that the drawings in the following description are only some embodiments of the present application, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.

FIG. 1 is a schematic view of a data interaction system according to an embodiment of the present application;

FIG. 2 is a schematic diagram of a data interaction system according to an embodiment of the present application;

fig. 3 is a schematic structural diagram of a background server according to an embodiment of the present application;

Fig. 4 is a schematic structural diagram of a road side unit according to an embodiment of the present application;

fig. 5 is a schematic structural diagram of an on-board unit according to an embodiment of the present application;

Fig. 6 is a schematic implementation flow diagram of an interaction process between a road side unit and a vehicle-mounted unit according to an embodiment of the present application;

Fig. 7 is a schematic diagram of data flow in an interaction process between a road side unit and a vehicle-mounted unit according to an embodiment of the present application;

FIG. 8 is a flowchart of a specific implementation of determining a positioning wakeup period according to an embodiment of the present application;

FIG. 9 is a second schematic diagram of a scenario of a data interaction system according to an embodiment of the present application;

FIG. 10 is a flowchart illustrating a specific implementation of storing positioning data according to an embodiment of the present application;

FIG. 11 is a second flowchart of a specific implementation of storing positioning data according to an embodiment of the present application;

Fig. 12 is a schematic implementation flow chart of a data interaction method applied to a vehicle-mounted unit according to an embodiment of the present application;

Fig. 13 is a schematic implementation flow chart of a data interaction method applied to a road side unit according to an embodiment of the present application;

fig. 14 is a schematic structural diagram of a data interaction device configured in a vehicle-mounted unit according to an embodiment of the present application;

Fig. 15 is a schematic structural diagram of a data interaction device configured in a road side unit according to an embodiment of the present application;

Fig. 16 is a schematic structural diagram of a terminal device according to an embodiment of the present application.

Detailed Description

The present application will be described in further detail with reference to the drawings and examples, in order to make the objects, technical solutions and advantages of the present application more apparent. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the application. All other embodiments, which can be made by a person skilled in the art without any inventive effort, are intended to be protected by the present application based on the embodiments of the present application.

For ease of understanding, some terms that appear in the present application will first be described.

OBU: on Board Unit, on-Board Unit.

RSU, road Side Unit.

DSRC DEDICATED SHORT RANGE COMMUNICATION, dedicated short-range communication technology.

LTE-V Long Term Evolution V X, long term evolution technology.

5G, fifth generation wireless communication technology.

5.8G ETC, particularly an electronic toll collection technique using the wireless band 5.8G.

MAC MEDIA ACCESS Control, media access Control address.

PSAM is Purchase Secure Access Module, terminal safety control module, which is used for safety encryption.

And the ESAM is Embedded Secure Access Module, and the embedded security control module is used for security encryption.

In order to illustrate the technical scheme of the application, the following description is made by specific examples.

Referring to fig. 1 and fig. 2 together, fig. 1 shows a schematic view of a scenario of a data interaction system according to the present application, and fig. 2 shows a schematic view of a structure of the data interaction system according to the present application. The data interaction system may include an OBU and an RSU, among others.

In a specific application scene, a portal frame can be arranged on a road at regular intervals, each portal frame can be provided with an RSU, a road side rod can be arranged between two adjacent portal frames at regular intervals, and the RSU can be deployed on the road side rod. The road may be a highway, national road, provincial road, urban road, etc. of different types. When the vehicle passes the RSU, the RSU may communicate with an OBU configured within the vehicle, which may report positioning data and/or mileage data during communication with the RSU. The positioning data acquired by the OBU may be positioning data obtained by communication with a beidou satellite, or may be positioning data obtained by a global positioning system (Global Positioning System, GPS) or other common positioning methods, which is not limited in the present application.

In some embodiments of the present application, the data interaction system may further include a background server, where the OBU supports acquiring positioning data and/or mileage data, and reporting the positioning data and/or mileage data to the RSU through wireless communication, where the wireless communication method includes, but is not limited to, DSRC, 5.8G ETC, LTE-V, and other wireless communication technologies, and preferably, the 5.8G ETC wireless communication technology is adopted. After the RSU obtains the positioning data and/or mileage data sent by the OBU, the positioning data and/or mileage data may be reported to the background server by means of wireless communication or wired communication, and preferably, a wired communication technology is adopted.

The background server can refer to a cloud computing service center, an edge computing center and the like, and can realize various intelligent traffic functions based on positioning data. For example, the positioning data reported by the vehicles on each road section can be integrated, the running tracks of the vehicles can be spliced, mileage charges can be calculated according to the running tracks of the vehicles, or counting of the vehicles in a scene can be performed, or vehicle tracking can be performed based on the running tracks of the vehicles, and the like.

In some embodiments of the present application, a schematic structural diagram of a background server is shown in fig. 3. The background server may include at least a first communication unit and a data processing unit. The first communication unit may be configured to communicate with a second communication module of the RSU, where the communication content includes, but is not limited to, first configuration information sent by the background server to the RSU, and positioning data and/or mileage data obtained from the OBU and sent by the RSU to the background server. The data processing unit can be used for integrating the positioning data and mileage data of the same vehicle reported by different RSUs to obtain a complete running track of the vehicle, distinguishing corresponding passing distances of the vehicle in different types of roads (such as expressways, national roads, provincial roads, urban roads and the like) according to the vehicle track, and further calculating mileage charges of the vehicle according to the rates of the different types of roads and the corresponding passing distances. In some embodiments, the background server may further include a configuration unit operable to generate the first configuration information and send the first configuration information to the second communication unit of the designated RSU via the first communication unit.

In some embodiments of the present application, a schematic structural diagram of the RSU is shown in fig. 4. The RSU may include at least a second communication unit, a first control unit, a third communication unit, a first power supply unit, a first security unit, and the like.

The second communication unit may be configured to communicate with the first communication unit of the background server, where the communication content includes, but is not limited to, receiving the first configuration information sent by the background server, and reporting, to the background server, the positioning data and/or the mileage data obtained from the OBU. The first control unit may be used to control other units of the RSU, implementing the basic functions of the RSU. The third communication unit may be configured to wirelessly communicate with the OBU using communication means including, but not limited to, DSRC, 5.8get, LTE-V, 5G, etc., preferably using 5.8G ETC. The first power supply unit is operable to power the various units of the RSU and the first security unit is operable to provide secure authentication encryption for wireless communications, preferably using a PSAM.

In some embodiments of the application, a schematic structural diagram of an OBU is shown in fig. 5. The OBU may include at least a fourth communication unit, a second control unit, a positioning unit, a second power unit, a second safety unit, and the like.

The fourth communication unit may be configured to communicate with a third communication module of the RSU by, but not limited to, DSRC, 5.8get, LTE-V, 5G, etc., preferably using 5.8G ETC. The second control unit can be used for controlling other units of the OBU to perform data processing to form positioning data and mileage data. The positioning unit may be configured to obtain positioning data, for example, may communicate with a beidou satellite to obtain positioning data of the OBU, or may obtain positioning data via GPS. The positioning unit may be composed of a Beidou chip, a filter, a low-noise amplifier (low-noise amplifier) and an antenna, and the antenna may be an internal antenna or an external antenna. The second security element may be used to provide secure authenticated encryption for wireless communications, preferably using ESAM. The second power supply unit may be used to power other units of the OBU.

In the embodiment of the application, the OBU may send a positioning flag bit to the RSU after entering the sensing range of the RSU. And when the positioning marker bit is the first marker bit, the RSU can acquire the positioning data and/or mileage data stored by the OBU. The first flag bit is used for representing that the OBU stores positioning data recorded after the data is uploaded last time and/or mileage data recorded after the data is uploaded last time.

Specifically, the OBU may be configured to periodically acquire positioning data according to a positioning wakeup period, determine mileage data according to the positioning data, and, after the previous uploading of the data, if the positioning data is acquired, update the positioning flag bit to be the first flag bit. After the next time the RSU enters the sensing range, a positioning flag bit can be sent to the RSU, so that communication is established, and newly acquired positioning data and/or mileage data determined based on the newly acquired positioning data are sent to the RSU.

The following describes a specific interaction procedure between an OBU and an RSU in a data interaction system. Fig. 6 shows a flow diagram of an interaction procedure.

In step S601, the OBU establishes a communication connection with the RSU.

Specifically, the OBU and the RSU may establish a communication connection based on the foregoing third communication unit and the fourth communication unit, and it should be understood that establishing the communication connection means that the OBU enters the sensing range of the RSU, and at this time, the OBU may send the positioning flag bit to the RSU to confirm whether the positioning data and/or the mileage data needs to be transmitted.

In step S602, the OBU performs mutual authentication with the RSU.

Specifically, in order to ensure the security of communication between the OBU and the RSU, to avoid that an illegal OBU uploads erroneous data to the RSU, the OBU may perform mutual authentication based on the foregoing second security element and the first security element of the RSU, and confirm identities of each other.

In step S603, after the authentication is passed, the OBU reports the positioning data and/or mileage data to the RSU.

The positioning data may include a vehicle identifier of a vehicle in which the OBU is located, a current position of the vehicle, and a historical position of the vehicle. Mileage data may be combined from a plurality of vehicle history locations.

Specifically, referring to fig. 7, fig. 7 shows a schematic diagram of data flow during interaction of an OBU and an RSU.

In some embodiments of the present application, the interaction procedure of the OBU and the RSU may specifically include the following steps S701 to S708.

In step S701, the RSU broadcasts a first message instruction within a scope of perception.

The first message instruction may be used to instruct the OBU that receives the first message instruction to establish a communication connection, and may carry a frame control byte, a location identifier of the RSU, pre-reading information, a frame check bit, and so on. Wherein the frame control byte includes at least four bytes of full F for characterizing the first message instruction as a broadcast message. The location identifier of the RSU may be used to represent the road type of the road segment where the RSU is located, and in an alternative manner, the location identifiers corresponding to the RSU being located at high speed, national roads, provincial roads, tourist roads, and urban roads are 01, 02, 03, 04, 05, and 06, respectively. The pre-reading information at least comprises a pre-reading positioning information zone bit, and the OBU can read the positioning information after judging the pre-reading positioning information zone bit. The frame check bits may be used to check whether the frame is complete and correct.

In other embodiments of the present application, the first message instruction may further carry peripheral road side unit information of a peripheral RSU, that is, other RSUs deployed within a certain distance range of the RSU. Optionally, the peripheral road side unit information may include first configuration information, the encoding mode may adopt an asn.1 encoding mode, and the first configuration information may include the number and the number of the peripheral RSUs, the longitude, the latitude, the distance between the RSUs, and the like.

In step S702, the OBU feeds back a second message instruction after receiving the first message instruction.

In the embodiment of the application, after receiving the first message instruction, the OBU may pre-store the location identifier of the RSU and the surrounding roadside unit information, and then reply to the second message instruction. To ensure that the RSU can receive the second message instruction replied by the OBU, the OBU may delay the random duration and then resend the second message instruction.

The second message instruction is used for indicating the RSU to perform authentication and communication, and may carry a frame control byte, a system information file, an OBU status, and a frame check bit. Wherein the frame control byte may include at least an OBU unique identifier. The system information file may include at least a service provider code, a protocol type, a protocol version, etc. of the OBU, and is mainly used for determining whether the OBU is legal. The OBU status may include at least whether an anti-tamper bit, a locating flag bit is included. The anti-disassembly feature indicates whether the OBU is disassembled again, and in some embodiments, if the anti-disassembly feature is the identifier corresponding to the disassembled OBU, the data sent by the OBU may be discarded. The frame check bits may be used to check whether the frame is complete and correct.

Specifically, the positioning flag bit may include a positioning data flag bit and a mileage data flag bit. Alternatively, if the OBU stores positioning data, the positioning data flag bit and the first flag bit, e.g., TRUE. If the OBU does not store Beidou positioning information, the positioning data flag bit is the fourth flag bit, such as FALSE. Likewise, if the OBU stores positioning data, the mileage data flag bit is a first flag bit, e.g., TRUE, and if the OBU does not store positioning data, the mileage data flag bit is a fourth flag bit, e.g., FALSE.

In step S703, the RSU sends a third message instruction to the OBU when the positioning flag bit is the first flag bit.

Specifically, after receiving the second message instruction, the RSU may determine whether the positioning flag bit in the OBU state is the first flag bit, if so, issue a third message instruction, or issue a seventh message instruction.

The third message instruction is used for performing security authentication and may carry a frame control header, first authentication data, frame verification, and the like. The frame control header may include at least the MAC address of the OBU with which unicast communication is available. The first authentication data may be a random number generated by the PSAM. Frame verification may be used to verify whether a frame is complete and correct.

In step S704, after receiving the third message instruction, the OBU feeds back a fourth message instruction according to the first authentication data.

The fourth message instruction is used for bidirectional authentication of the OBU and the RSU, and may carry a frame control header, second authentication data and frame verification. The frame control header may include at least a MAC address of the OBU for enabling unicast communication with the OBU, and the second authentication data may be ciphertext data of the vehicle information, or the like, and may be data generated by the ESAM. Frame verification may be used to verify whether a frame is complete and correct.

In step S705, the RSU authenticates the OBU based on the second authentication data, and when the authentication is successful, sends a fifth message instruction to the OBU.

In the embodiment of the application, after receiving the fourth message instruction, the RSU may parse the fourth message instruction and authenticate through the second authentication data therein. If authentication fails, an authentication failure message may be sent to the OBU, or other data sent by the OBU may be discarded. If the authentication is successful, a fifth message instruction may be sent to the OBU.

The fifth message instruction is mainly used for acquiring positioning data and/or mileage data stored in the OBU, and may carry a frame control header, a request message and a frame check. The frame control header may include the MAC address of the OBU with which unicast communication is available. The request message is used for requesting the OBU to upload positioning data and/or mileage data, and the frame check can be used for checking whether the frame is complete and correct.

Of course, in other embodiments, the OBU and RSU may be authenticated in other ways. Specifically, the RSU may directly obtain the authenticated identifier sent by the peripheral RSU, and if the authenticated identifier is obtained, it may confirm that the OBU authentication is successful, and obtain the positioning data and/or the mileage data. The authenticated identifier is an identifier which is sent by the surrounding RSU after the surrounding RSU completes authentication of the OBU and used for representing that the OBU authentication is successful. Thus, after the OBU completes authentication with any RSU in the scene, the surrounding RSUs can communicate directly without authentication, and the communication efficiency is improved.

In step S706, the OBU feeds back a sixth message instruction according to the fifth message instruction.

In the embodiment of the application, after receiving the fifth message instruction, the OBU may perform data analysis, and after analyzing to obtain the request message, may frame the positioning data and/or mileage data, and reply to the RSU in the form of the sixth message instruction.

The sixth message instruction may carry a frame control header, positioning data, mileage data, frame check, and the like. The frame control header may include at least the MAC address of the OBU with which unicast communication is available. The positioning data may include at least the total number of positioning points, positioning data number, time, longitude, latitude, and may also include information of direction, speed, etc. The mileage data at least comprises a mileage record mark bit, a mileage segment number, a mileage time and a mileage length, wherein the mileage record mark bit is used for representing whether mileage statistics data are reported or not, the mileage segment number is used for representing how many mileage segments exist, the mileage time represents the time corresponding to the mileage segment, and the mileage length represents the total length of the mileage segment. Frame verification may be used to verify that the frame is complete and correct.

Considering the limitation of the transmission data amount, if the total data amount exceeds the maximum transmission data amount of a single frame transmission when transmitting the positioning data and/or the mileage data, the packetized transmission is required. Thus, the sixth message instruction may further carry a packetization flag bit, if packetization is required, the packetization flag bit is a second flag bit, for example TRUE, otherwise the packetization flag bit is a third flag bit, for example FALSE.

After receiving the sixth message instruction, the RSU analyzes, if the sub-packet flag bit is the second flag bit, the step of sending the fifth message instruction to the OBU is executed, and the step of receiving the sixth message instruction fed back by the OBU according to the fifth message instruction is executed until the complete positioning data and/or mileage data are obtained.

In step S707, the RSU stores the positioning data and/or mileage data, and transmits a seventh message instruction to the OBU, and releases the link after completing the transmission of the seventh message instruction.

Specifically, the RSU may sort the positioning data and the mileage data to form the path data of the vehicle on the road section, and send the path data to the background server through the second communication module. The path data may include vehicle license plate, OBU unique identification, total number of anchor points, time, longitude, latitude, direction, speed, etc.

The seventh message instruction may be used to instruct the OBU to clear the positioning data and/or mileage data. After completing the sending of the seventh message instruction, the RSU may release the link and thus pause the interaction with the OBU. More specifically, if a message instruction sent by the same OBU is received within a preset duration, no reply may be made.

In step S708, the OBU clears the positioning data and/or mileage data after receiving the seventh message instruction, and pauses the interaction with the RSU.

Specifically, after the seventh message instruction is received by the OBU, if the first message instruction broadcast by the same RSU is received again, the OBU will not perform processing, so as to inhibit communication with the same RSU, and avoid the problem of high power consumption caused by long-time communication with the RSU.

In order to relieve the storage pressure of the OBU, since the OBU has uploaded the positioning data and/or mileage data, the stored positioning data and/or mileage data may be cleared after receiving the seventh message instruction. Then, new positioning data and/or new mileage data are stored, and the new positioning data and/or the new mileage data are uploaded when the next time the sensing range of any one RSU is entered.

In the embodiment of the application, after entering the sensing range of the RSU, the OBU sends the positioning marker bit to the OBU, and the RSE acquires the positioning data and/or mileage data stored by the OBU when the positioning marker bit is the first marker bit, wherein the first marker bit is used for representing that the OBU stores the positioning data recorded after the last uploading data and/or the mileage data recorded after the last uploading data, that is, new data is generated between the front uploading time point and the rear uploading time point, the OBU and the RSU can interact with the positioning data and/or mileage data, and when the positioning marker bit is not the first marker bit, the RSU does not need to be connected with the OBU in a unicast way, so that the connection time between the RSU and the OBU can be reduced, and the power consumption of a system is further reduced.

In some embodiments of the present application, the backend server may configure the RSU and OBU based on actual needs. For example, when the location of the RSU changes, or an RSU is newly added, the RSU and the peripheral RSUs may be configured.

Specifically, the background server may send a first configuration instruction to the RSU, where the first configuration instruction may carry first configuration information. The RSU may be updated according to the first configuration information, e.g. update location identity, update surrounding roadside unit information, etc. Meanwhile, the RSU may also issue the first configuration information to the accessed OBU. And further, configuration updating of the OBU and the RSU is realized, and the position identification of the RSU and the surrounding road side unit information can be ensured to be accurate.

Correspondingly, after receiving the seventh message instruction, the OBU may calculate and determine a positioning wakeup period before uploading data next according to the peripheral roadside unit information carried in the first message instruction. The positioning wake-up period is the period during which the OBU records positioning data.

Specifically, as shown in fig. 8, in some embodiments of the present application, determining the positioning wakeup period may include the following steps S801 to S804.

In step S801, a target peripheral RUS farthest from the RSU is determined according to the peripheral roadside unit information.

It should be understood that the distance between the RSU and each peripheral RSU is included in the peripheral roadside unit information, and thus, the peripheral RSU whose distance is farthest can be determined as the target peripheral RSU.

Step S802, obtaining the upper limit number of positioning points when the positioning data are stored.

When the OBU stores the positioning data, the OBU often stores the positioning data one by one. That is, when the OBU reaches the positioning wake-up period, positioning data of the current position, that is, a positioning point, can be collected and stored. The number of anchor points increases gradually over time. The OBU has a limited storage space, and therefore, the upper limit number N may be preset based on the limitation of the storage space.

Step S803, calculating the acquisition interval of adjacent positioning points according to the distance between the target peripheral RSU and the upper limit number.

Wherein, the average positioning interval L _per＝L_max/N of the acquisition interval.

Step S804, determining a positioning wake-up period according to the current moving speed and the acquisition interval recorded by the OBU.

Wherein the wake-up period T _per＝L_per/V is located. And after that, the OBU can count time based on a timer in the second control unit, when the period reaches Tper each time, a control instruction is sent to the positioning unit, the positioning unit is started to acquire satellite signals, positioning data is obtained through calculation, the positioning data is sent to the second control unit, and the second control unit screens and stores the data.

It should be understood that, according to the current moving speed, when the OBU moves to the vicinity of the target peripheral RSU (i.e. enters the sensing range of the target peripheral RSU), the number of the stored positioning points is less than or equal to the upper limit number, and at this time, the OBU interacts with the target peripheral RSU, uploads the positioning data and/or mileage data, and clears the positioning data and/or mileage data after uploading. The specific interaction process can refer to the descriptions of fig. 6 and fig. 7, and the description of the present application is omitted. The distance between the other peripheral RSUs and the RSU is smaller than that between the target peripheral RSU and the RSU, so that the number of the stored positioning points should be theoretically smaller than the upper limit number when the OBU moves to the vicinity of the other peripheral RSUs. In this way, the OBU moves among the RSUs, the number of the stored locating points is kept within the upper limit number, and data loss caused by overload storage is avoided.

For ease of understanding, please refer to the schematic diagram of fig. 9, when the vehicle travels near the RSU ₁, the RSU ₁ interacts with the RSU ₁ to issue surrounding roadside unit information of the surrounding RUS (RSU ₀,RSU₂,RSU₃,RSU₄) to the OBU in the vehicle. The furthest distance L _max＝max{L₁₀、L₁₂、L₁₃、L₁₄};L₁₀ represents the distance of the RSU ₁ from the RSU ₀, and L ₁₂ represents the distance of the RSU ₁ from the RSU ₂, L ₁₃ represents the distance of RSU ₁ from RSU ₃, and L ₁₄ represents the distance of RSU ₁ from RSU ₄. Assuming L _max＝L₁₃, then the acquisition pitch average positioning pitch L _per＝L₁₃/N. The wake-up period T _per＝L_per/V is located. If the vehicle is traveling at a constant speed to the RSU ₃, then the arriving RSU ₃ may obtain positioning data for N positioning points. Of course, in an actual scenario, when the vehicle runs near the RSU ₃ at a constant speed, that is, when positioning data smaller than N positioning points is acquired, the vehicle enters the sensing range of the RSU ₃, so that the vehicle can directly interact with the RSU ₃, and upload positioning data and/or mileage data.

In some cases, for example, the vehicle is parked for a period of time between two RSUs, or the vehicle is decelerating between two RSUs, etc., when the number of localization points increases to the upper limit number N, the vehicle may not have entered the perception range of the next RSU. Therefore, the positioning data cannot be uploaded. In order to ensure the integrity of the mileage, the stored positioning data needs to be processed.

Specifically, the OBU may determine, according to the location identifier of the RSU, a data storage policy before uploading data next time.

When the RSU is positioned on the expressway, the vehicle can not turn around and stop at will on the expressway, so that the running direction of the vehicle is unique when the vehicle runs on the expressway, and the OBU can integrate positioning data according to a corresponding data storage strategy.

Specifically, as shown in fig. 10, the OBU may store positioning data through steps S1001 to S1004.

Step S1001, according to the positioning wake-up period, the positioning data of the positioning point is acquired and stored.

Step S1002, if the location identifier is the first identifier and the number of positioning points included in the positioning data is equal to the upper limit number, determining two positioning points closest to each other in the positioning data in the next positioning wakeup period.

In step S1003, the positioning data of the two positioning points closest to each other are combined.

Step S1004, acquiring and storing positioning data of a new positioning point generated in a next positioning wakeup period.

The road section where the first identifier represents the RSU has the uniqueness of the vehicle driving direction, for example, the road type of the road section where the RSU represents is an expressway.

The OBU periodically acquires and records positioning data according to the positioning wake-up period, and when the number of positioning points contained in the positioning data is equal to the upper limit number N, in order to integrate the positioning data, meanwhile, the integrated data is enabled to more completely represent path data, and the positioning data of two positioning points closest to each other can be combined.

The combination mode can be selected according to actual requirements. In some embodiments, the positioning data of one of the positioning points may be deleted. In other embodiments, the position of the midpoint of the two positioning points may be calculated instead of the positioning data of the two positioning points.

In this way, positioning data of a new positioning point generated in the next positioning wakeup period can be acquired and stored. So that the number of the stored positioning points does not exceed the upper limit number.

Specifically, the first table shows a storage topology diagram of anchor points, and M _N represents the positioning data of the nth anchor point, and based on the positioning data of each anchor point, the distance D between two adjacent anchor points can be calculated. Table two shows a storage topology of anchor point distances.

List one

M₁

M₂

M₃

...

M_N-2

M_N-1

M_N

Watch II

D_1,2

D_2,3

D_3,4

...

D_N-2,N-1

D_N-1,N

Wherein,

Representing the distance between the N-1 th anchor point and the N-th anchor point. M _Nlat represents the latitude of the nth anchor point, M _Nlong represents the longitude of the nth anchor point, and M _Nh represents the elevation of the nth anchor point.

In some embodiments of the application, the OBU may traverse a stored topology map of anchor point distances, looking for a minimum distance D _min＝min{D_1,2、D_2,3、D_3,4、…、D_N-2,N-1、D_N-1,N. The foregoing process is performed according to the two anchor points corresponding to the location D _min, the location data is stored in the storage location M _x of the earlier anchor point, and the location data of the anchor point after M _x is moved forward by one storage location, for example, the location data of M _N is moved to the storage location of M _N-1. And then storing the positioning data of the new positioning point to a storage position of M _N, and recording the positioning data of the N positioning point. In this way, it can be ensured that the anchor point data does not exceed the upper storage limit.

In other embodiments, if the running direction of the road section vehicle where the RSU is located is not unique, the positioning data are not suitable to be combined, because each positioning point corresponding to the positioning data may be an inflection point of the running track of the vehicle, so the OBU may integrate the positioning data and the mileage data in the manner shown in fig. 11.

Step 1101, according to the positioning wake-up period, the positioning data of the positioning point is acquired and stored.

In step S1102, if the location identifier is the second identifier and the number of positioning points included in the positioning data is equal to the upper limit number, determining new mileage data according to the positioning data, and storing the new mileage data in the mileage data storage space.

Step S1103, empty the positioning data storage space.

In step S1104, the positioning data of the new positioning point generated in the next positioning wakeup period is stored in the positioning data storage space.

The positioning data storage space is used for storing positioning data, the mileage data storage space is used for storing mileage data, and the positioning data storage space is different from the mileage data storage space.

The second identifier may be used to indicate that the road segment on which the RSU is located does not have a uniqueness of the vehicle's direction of travel. That is, if the running direction of the road section vehicle where the RSU is located does not have uniqueness, when the number of positioning points included in the positioning data is equal to the upper limit number N, that is, the storage space of the positioning data reaches the upper storage limit, the stored positioning data can be integrated to obtain new mileage data, and the new mileage data is stored in the mileage data storage space. The positioning data storage space is then emptied so that the positioning data of the new positioning point can be stored in the positioning data storage space.

Specifically, the OBU may add distances of the locating points stored in the previous road section to obtain the ith mileage L _i. Wherein, J is taken from (1, 2,3,) N.

In the embodiment of the application, the upper limit of the storage of the positioning data can be avoided through the integration of the data, so that the data loss is avoided. Meanwhile, based on different position identifications, different data storage strategies are adopted, and corresponding modes can be selected in different scenes to integrate positioning data, so that the stored positioning data and/or mileage data can be ensured to accurately represent the driving path of the vehicle on a corresponding road section.

Correspondingly, fig. 12 shows a schematic implementation flow chart of a data interaction method according to an embodiment of the present application, where the method may be applied to an OBU of a data interaction system, and may be applicable to a situation where power consumption of the data interaction system needs to be reduced. Specifically, the above-described data interaction method may include the following steps S1201 to S1202.

Step S1201, after entering the sensing range of the RSU, sends a positioning flag bit to the RSU.

Step S1202, when the positioning flag bit is the first flag bit, positioning data and/or mileage data are sent to the RSU.

The first flag bit is used for representing that the OBU stores positioning data recorded after the data is uploaded last time and/or mileage data recorded after the data is uploaded last time.

Optionally, the OBU may receive a first message instruction broadcasted by the RSU in the sensing range, confirm entering the sensing range of the RSU, and feed back a second message instruction to the RSU, where the second message instruction carries a positioning flag bit.

Optionally, the OBU may receive a third message instruction sent by the RSU, where the third message instruction carries first authentication data, feed back a fourth message instruction to the RSU according to the first authentication data, where the fourth message instruction carries second authentication data, where the second authentication data is used for authenticating the RSU and the OBU, receive a fifth message instruction sent by the RSU after authentication is successful, and feed back a sixth message instruction to the RSU according to the fifth message instruction, where the sixth message instruction carries positioning data and/or mileage data.

Optionally, the OBU may receive a seventh message instruction sent by the RSU, clear the positioning data and/or mileage data according to the seventh message instruction, and suspend interaction with the RSU.

Optionally, the first message instruction carries peripheral road side unit information of the peripheral RSU, and the OBU may determine a positioning wake-up period before uploading the data next time according to the peripheral road side unit information.

Optionally, the OBU may determine a target peripheral RSU farthest from the RSU according to the peripheral road side unit information, obtain an upper limit number of positioning points when storing positioning data, calculate an acquisition interval of adjacent positioning points according to a distance between the target peripheral RSU and the upper limit number, and determine a positioning wake-up period according to a current moving speed and the acquisition interval recorded by the OBU.

Optionally, the first message instruction carries a location identifier of the RSU, where the location identifier is used to identify a road type of a road segment where the RSU is located, and the OBU may determine a data storage policy before uploading data next according to the location identifier.

Optionally, the OBU may acquire and store positioning data of the positioning points according to the positioning wake-up period, if the position identifier is the first identifier and the number of positioning points included in the positioning data is equal to the upper limit number, then in the next positioning wake-up period, determining two positioning points closest to the positioning data, merging the positioning data of the two positioning points closest to the positioning point, and acquiring and storing the positioning data of the new positioning point generated in the next positioning wake-up period.

Optionally, the positioning data is stored in the positioning data storage space, the mileage data is stored in the mileage data storage space, the OBU can acquire and store the positioning data of the positioning points according to the positioning wake-up period, if the position mark is the second mark and the number of the positioning points contained in the positioning data is equal to the upper limit number, the new mileage data is determined according to the positioning data and stored in the mileage data storage space, the positioning data storage space is emptied, and the positioning data of the new positioning points generated in the next positioning wake-up period is stored in the positioning data storage space.

Correspondingly, fig. 13 shows a schematic implementation flow chart of a data interaction method according to an embodiment of the present application, where the method may be applied to an RSU of a data interaction system, and may be applicable to situations where power consumption of the data interaction system needs to be reduced. Specifically, the data interaction method may include the following steps S1301 to S1302.

Step S1301, a positioning flag bit sent by the OBU after entering the sensing range of the RSU is received.

In step S1302, if the positioning flag bit is the first flag bit, positioning data and/or mileage data stored in the OBU are obtained.

Optionally, the RSU can broadcast a first message instruction in a perception range, and receive a second message instruction fed back by the OBU after receiving the first message instruction, wherein the second message instruction carries a positioning flag bit.

Optionally, the RSU may send a third message instruction to the OBU, where the third message instruction carries first authentication data, receive a fourth message instruction fed back by the OBU according to the first authentication data after the third message instruction is received, where the fourth message instruction carries second authentication data, authenticate the OBU based on the second authentication data, and obtain positioning data and/or mileage data when authentication is successful. Optionally, if the authenticated identifier sent by the peripheral RSU is obtained, the RSU may confirm that the OBU authentication is successful, and obtain positioning data and/or mileage data, where the authenticated identifier is an identifier sent by the peripheral RSU after the authentication of the OBU is completed and used for characterizing that the OBU authentication is successful.

Optionally, the RSU may send a fifth message instruction to the OBU, where the fifth message instruction is used to instruct the OBU to feed back positioning data and/or mileage data, and receive a sixth message instruction fed back by the OBU according to the fifth message instruction, where the sixth message instruction carries positioning data and/or mileage data.

Optionally, the sixth message instruction further carries a sub-packet flag bit, and if the sub-packet flag bit is the second flag bit, the RSU may return to execute the step of sending the fifth message instruction to the OBU, and the step of receiving the sixth message instruction fed back by the OBU according to the fifth message instruction, until complete positioning data and/or mileage data are obtained.

Optionally, the RSU can store the positioning data and/or mileage data, send a seventh message instruction to the OBU, and release the link after completing the sending of the seventh message instruction, where the seventh message instruction is used to instruct the OBU to clear the positioning data and/or mileage data, and pause interaction with the RSU.

It should be noted that, the specific implementation process of the data interaction method may refer to the description of the data interaction system of the present application. For the foregoing method embodiments, for simplicity of explanation, the methodologies are shown as a series of acts, but one of ordinary skill in the art will appreciate that the present application is not limited by the order of acts described, as some steps may occur in other orders in accordance with the application.

Fig. 14 is a schematic structural diagram of a data interaction device 1400 according to an embodiment of the present application, where the data interaction device 1400 is configured on an OBU.

Specifically, the data interaction device 1400 may include:

The system comprises a positioning flag bit sending unit 1401, a positioning data sending unit 1402 and an OBU, wherein the positioning flag bit sending unit 1401 is used for sending a positioning flag bit to an RSU after entering the sensing range of the RSU, and the positioning data sending unit 1402 is used for sending positioning data and/or mileage data to the RSU when the positioning flag bit is a first flag bit, and the first flag bit is used for representing that the OBU stores the positioning data recorded after the previous uploading data and/or the mileage data recorded after the previous uploading data.

Wherein, the positioning flag bit transmitting unit 1401 and the positioning data transmitting unit 1402 may be implemented by a fourth communication unit shown in fig. 5.

Fig. 15 is a schematic structural diagram of a data interaction device 1500 according to an embodiment of the present application, where the data interaction device 1500 is configured on an RSU.

Specifically, the data interaction device 1500 may include:

The system comprises a positioning flag bit receiving unit 1501 for receiving a positioning flag bit sent by an OBU after entering a sensing range of the RSU, and a positioning data obtaining unit 1502 for obtaining positioning data and/or mileage data stored by the OBU if the positioning flag bit is a first flag bit, wherein the first flag bit is used for characterizing that the OBU stores the positioning data recorded after the previous uploading data and/or the mileage data recorded after the previous uploading data.

Wherein the positioning flag bit receiving unit 1501 and the positioning data acquiring unit 1502 may be implemented by a third communication unit shown in fig. 4.

It should be noted that, for convenience and brevity, the specific working process of the data interaction device 1400 and the data interaction device 1500 may refer to the corresponding process of the data interaction system, which is not described herein again.

Fig. 16 is a schematic diagram of a terminal device according to an embodiment of the present application, where the terminal device may be an OBU or an RSU. The terminal device 16 may comprise a processor 160, a memory 161 and a computer program 162, such as a positioning program, stored in said memory 161 and executable on said processor 160. The steps in the above-described respective data interaction method embodiments are implemented when the processor 160 executes the computer program 162, for example, steps S1201 to S1202 shown in fig. 12, or steps S1301 to S1302 shown in fig. 13.

Or the processor 160 when executing the computer program 162 implements the functions of the modules/units in the above-described apparatus embodiments, for example, the positioning flag bit transmitting unit 1401 and the positioning data transmitting unit 1402 shown in fig. 14, or the positioning flag bit receiving unit 1501 and the positioning data acquiring unit 1502 shown in fig. 15.

The computer program may be divided into one or more modules/units, which are stored in the memory 161 and executed by the processor 160 to accomplish the present application. The one or more modules/units may be a series of computer program instruction segments capable of performing the specified functions, which instruction segments are used for describing the execution of the computer program in the terminal device.

For example, the computer program may be divided into a positioning flag bit transmitting unit and a positioning data transmitting unit. The positioning information processing unit comprises a positioning zone bit sending unit and a positioning data sending unit, wherein the positioning zone bit sending unit is used for sending positioning zone bits to the RSU after entering the sensing range of the RSU, the positioning data sending unit is used for sending positioning data and/or mileage data to the RSU when the positioning zone bits are first zone bits, and the first zone bits are used for representing that the OBU stores the positioning data recorded after the previous uploading of the data and/or the mileage data recorded after the previous uploading of the data.

Also or for example, the computer program may be split into a positioning flag bit receiving unit and a positioning data obtaining unit. The positioning system comprises a positioning zone bit receiving unit and a positioning data acquisition unit, wherein the positioning zone bit receiving unit is used for receiving a positioning zone bit sent by an OBU after entering the sensing range of the RSU, and the positioning data acquisition unit is used for acquiring positioning data and/or mileage data stored by the OBU if the positioning zone bit is a first zone bit, wherein the first zone bit is used for representing that the OBU stores the positioning data recorded after the previous uploading of the data and/or the mileage data recorded after the previous uploading of the data.

The terminal device may include, but is not limited to, a processor 160, a memory 161. It will be appreciated by those skilled in the art that fig. 16 is merely an example of a terminal device and is not limiting of the terminal device, and may include more or fewer components than shown, or may combine some components, or different components, e.g., the terminal device may also include input and output devices, network access devices, buses, etc.

The Processor 160 may be a central processing unit (Central Processing Unit, CPU), other general purpose Processor, digital signal Processor (DIGITAL SIGNAL Processor, DSP), application SPECIFIC INTEGRATED Circuit (ASIC), off-the-shelf Programmable gate array (Field-Programmable GATE ARRAY, FPGA) or other Programmable logic device, discrete gate or transistor logic device, discrete hardware components, or the like. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.

The memory 161 may be an internal storage unit of the terminal device, such as a hard disk or a memory of the terminal device. The memory 161 may also be an external storage device of the terminal device, such as a plug-in hard disk, a smart memory card (SMART MEDIA CARD, SMC), a Secure Digital (SD) card, a flash memory card (FLASH CARD), or the like, which are provided on the terminal device. Further, the memory 161 may also include both an internal storage unit and an external storage device of the terminal device. The memory 161 is used for storing the computer program and other programs and data required by the terminal device. The memory 161 may also be used to temporarily store data that has been output or is to be output.

It should be noted that, for convenience and brevity of description, the structure of the above terminal device may also refer to a specific description of the structure in the method embodiment, which is not repeated herein.

It will be apparent to those skilled in the art that, for convenience and brevity of description, only the above-described division of the functional units and modules is illustrated, and in practical application, the above-described functional distribution may be performed by different functional units and modules according to needs, i.e. the internal structure of the apparatus is divided into different functional units or modules to perform all or part of the above-described functions. The functional units and modules in the embodiment may be integrated in one processing unit, or each unit may exist alone physically, or two or more units may be integrated in one unit, where the integrated units may be implemented in a form of hardware or a form of a software functional unit. In addition, the specific names of the functional units and modules are only for distinguishing from each other, and are not used for limiting the protection scope of the present application. The specific working process of the units and modules in the above system may refer to the corresponding process in the foregoing method embodiment, which is not described herein again.

In the foregoing embodiments, the descriptions of the embodiments are emphasized, and in part, not described or illustrated in any particular embodiment, reference is made to the related descriptions of other embodiments.

Those of ordinary skill in the art will appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware, or combinations of computer software and electronic hardware. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the solution. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present application.

In the embodiments provided in the present application, it should be understood that the disclosed apparatus/terminal device and method may be implemented in other manners. For example, the apparatus/terminal device embodiments described above are merely illustrative, e.g., the division of the modules or units is merely a logical function division, and there may be additional divisions in actual implementation, e.g., multiple units or components may be combined or integrated into another system, or some features may be omitted or not performed. Alternatively, the coupling or direct coupling or communication connection shown or discussed may be an indirect coupling or communication connection via interfaces, devices or units, which may be in electrical, mechanical or other forms.

The units described as separate units may or may not be physically separate, and units shown as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

In addition, each functional unit in the embodiments of the present application may be integrated in one processing unit, or each unit may exist alone physically, or two or more units may be integrated in one unit. The integrated units may be implemented in hardware or in software functional units.

The integrated modules/units, if implemented in the form of software functional units and sold or used as stand-alone products, may be stored in a computer readable storage medium. Based on such understanding, the present application may implement all or part of the flow of the method of the above embodiment, or may be implemented by a computer program to instruct related hardware, where the computer program may be stored in a computer readable storage medium, and when the computer program is executed by a processor, the computer program may implement the steps of each of the method embodiments described above. Wherein the computer program comprises computer program code which may be in source code form, object code form, executable file or some intermediate form etc. The computer readable medium may include any entity or device capable of carrying the computer program code, a recording medium, a U disk, a removable hard disk, a magnetic disk, an optical disk, a computer Memory, a Read-Only Memory (ROM), a random access Memory (Random Access Memory, RAM), an electrical carrier signal, a telecommunications signal, a software distribution medium, and so forth. It should be noted that the computer readable medium contains content that can be appropriately scaled according to the requirements of jurisdictions in which such content is subject to legislation and patent practice, such as in certain jurisdictions in which such content is subject to legislation and patent practice, the computer readable medium does not include electrical carrier signals and telecommunication signals.

The foregoing embodiments are merely illustrative of the technical solutions of the present application, and not restrictive, and although the present application has been described in detail with reference to the foregoing embodiments, it should be understood by those skilled in the art that modifications may still be made to the technical solutions described in the foregoing embodiments or equivalent substitutions of some technical features thereof, and that such modifications or substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present application.

Claims

1. A data interaction method, characterized in that it is applied to a vehicle-mounted unit, and the data interaction method comprises:

receiving a first message instruction broadcasted by a roadside unit within a sensing range, confirming entry into the sensing range of the roadside unit, wherein the first message instruction carries surrounding roadside unit information of surrounding roadside units;

Feedback a second message instruction to the roadside unit, where the second message instruction carries a positioning flag;

When the positioning flag is the first flag, the positioning data and/or the mileage data are sent to the roadside unit, wherein the first flag is used to indicate that the onboard unit stores the positioning data recorded after the last data upload and/or the mileage data recorded after the last data upload;

After sending the positioning data and/or mileage data to the roadside unit, the data interaction method also includes: determining the target surrounding roadside unit farthest from the roadside unit based on the surrounding roadside unit information; obtaining the upper limit number of positioning points when storing the positioning data; calculating the collection spacing of adjacent positioning points based on the distance between the target surrounding roadside unit and the roadside unit, and the upper limit number; and determining the positioning wake-up period before the next data upload based on the current moving speed recorded by the on-board unit and the collection spacing.

2. The data interaction method according to claim 1, wherein the sending of positioning data and/or mileage data to the roadside unit comprises:

Receiving a third message instruction sent by the roadside unit, wherein the third message instruction carries the first authentication data;

Feedback a fourth message instruction to the roadside unit according to the first authentication data, wherein the fourth message instruction carries second authentication data; the second authentication data is used for the roadside unit to authenticate with the vehicle-mounted unit;

Receiving a fifth message instruction sent by the roadside unit after successful authentication;

A sixth message instruction is fed back to the roadside unit according to the fifth message instruction, wherein the sixth message instruction carries the positioning data and/or the mileage data.

3. The data interaction method according to claim 1 or 2, characterized in that after sending the positioning data and/or mileage data to the roadside unit, the data interaction method further comprises:

Receiving a seventh message instruction sent by the roadside unit;

According to the seventh message instruction, the positioning data and/or the mileage data are cleared, and the interaction with the roadside unit is suspended.

4. The data interaction method according to claim 2, characterized in that the first message instruction carries a location identifier of the roadside unit, and the location identifier is used to identify the road type of the road section where the roadside unit is located;

After sending the positioning data and/or mileage data to the roadside unit, the data interaction method further includes:

A data storage strategy is determined before uploading data next time according to the location identifier.

5. The data interaction method according to claim 4, wherein determining the data storage strategy before uploading data next time according to the location identifier comprises:

According to the positioning wake-up cycle, the positioning data of the positioning point is obtained and stored;

If the location identifier is the first identifier, and the number of positioning points included in the positioning data is equal to the upper limit, then in the next positioning wake-up cycle, the two closest positioning points in the positioning data are determined;

Merging the positioning data of the two positioning points closest to each other;

Acquire and store the positioning data of the new positioning point generated in the next positioning wake-up cycle.

6. The data interaction method according to claim 4, characterized in that the positioning data is stored in the positioning data storage space, and the mileage data is stored in the mileage data storage space; and the data storage strategy before the next data upload is determined according to the location identifier, comprising:

If the location identifier is the second identifier, and the number of positioning points included in the positioning data is equal to the upper limit, determining new mileage data according to the positioning data, and storing the new mileage data in the mileage data storage space;

Clear the positioning data storage space;

The positioning data of the new positioning point generated in the next positioning wake-up cycle is stored in the positioning data storage space.

7. A data interaction system, characterized by comprising a vehicle-mounted unit and a roadside unit;

The on-board unit receives a first message instruction broadcasted by the roadside unit within the sensing range, confirms that the vehicle has entered the sensing range of the roadside unit, and feeds back a second message instruction to the roadside unit, wherein the second message instruction carries a positioning flag; and the first message instruction carries surrounding roadside unit information of surrounding roadside units;

The roadside unit acquires the positioning data and/or mileage data stored in the vehicle-mounted unit when the positioning flag is the first flag, wherein the first flag is used to indicate that the vehicle-mounted unit stores the positioning data recorded after the last data upload and/or the mileage data recorded after the last data upload;

After the on-board unit sends the positioning data and/or mileage data to the roadside unit, the data interaction method also includes: determining the target surrounding roadside unit farthest from the roadside unit based on the surrounding roadside unit information; obtaining the upper limit number of positioning points when storing the positioning data; calculating the collection spacing of adjacent positioning points based on the distance between the target surrounding roadside unit and the roadside unit, and the upper limit number; and determining the positioning wake-up period before the next data upload based on the current moving speed recorded by the on-board unit and the collection spacing.

8. The data interaction system according to claim 7, characterized in that it comprises:

The roadside unit broadcasts a first message instruction within the sensing range;

The on-board unit feeds back a second message instruction after receiving the first message instruction, wherein the second message instruction carries the positioning flag bit;

When the positioning flag is the first flag, the roadside unit sends a third message instruction to the vehicle-mounted unit, where the third message instruction carries the first authentication data;

After receiving the third message instruction, the on-board unit feeds back a fourth message instruction according to the first authentication data, wherein the fourth message instruction carries the second authentication data;

The roadside unit authenticates the onboard unit based on the second authentication data, and sends a fifth message instruction to the onboard unit when the authentication succeeds;

The on-board unit feeds back a sixth message instruction according to the fifth message instruction, wherein the sixth message instruction carries the positioning data and/or the mileage data;

The roadside unit stores the positioning data and/or the mileage data, sends a seventh message instruction to the onboard unit, and releases the link after completing the sending of the seventh message instruction;

After receiving the seventh message instruction, the onboard unit clears the positioning data and/or the mileage data, and suspends interaction with the roadside unit.

9. A data interaction device, characterized in that it is configured in a vehicle-mounted unit, and the data interaction device comprises:

A positioning flag sending unit is used to receive a first message instruction broadcasted by a roadside unit within a sensing range, confirm that the roadside unit has entered the sensing range, and feed back a second message instruction to the roadside unit, wherein the second message instruction carries a positioning flag; and the first message instruction carries surrounding roadside unit information of surrounding roadside units;

a positioning data sending unit, used to send positioning data and/or mileage data to the roadside unit when the positioning flag is a first flag, wherein the first flag is used to indicate that the onboard unit stores the positioning data recorded after the last data upload and/or the mileage data recorded after the last data upload;

The data interaction device is also used to determine the target surrounding roadside unit farthest from the roadside unit based on the surrounding roadside unit information after sending the positioning data and/or mileage data to the roadside unit; obtain the upper limit number of positioning points when storing the positioning data; calculate the collection spacing of adjacent positioning points based on the distance between the target surrounding roadside unit and the roadside unit, and the upper limit number; determine the positioning wake-up period before the next data upload based on the current moving speed recorded by the on-board unit and the collection spacing.

10. A terminal device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the steps of the data interaction method according to any one of claims 1 to 6 when executing the computer program.

11. A computer-readable storage medium storing a computer program, wherein the computer program, when executed by a processor, implements the steps of the data interaction method according to any one of claims 1 to 6.