DATA TRANSMISSION METHOD AND APPARATUS FOR INTERNET OF VEHICLES, STORAGE MEDIUM, AND SYSTEM
A terminal device obtains first data based on data collected by at least one sensor on at least one vehicle, generates a first message based on the first data, and sends the first message. The first message includes first indication information, which can indicate a data type of the first data, when the first message includes the first indication information. The data type can include one of the following: raw data, feature level data, or object level data, where raw data is data collected by the sensor, the feature level data is data extracted from the raw data collected by the sensor and that represents a feature of a detected object, and the object level data is data extracted from the raw data or feature level data and that represents an attribute of the detected object.
1 . A data transmission apparatus for an internet of vehicles, comprising at least one processor and at least one memory coupled to the at least one processor, wherein the at least one memory stores program instructions, which, when executed by the at least one processor, cause the apparatus to:
obtain first data, wherein the first data is obtained based on data collected by at least one sensor;
generate a first message based on the first data, wherein the first message comprises the first data and first indication information, the first indication information indicates a data type of the first data, the data type of the first data comprises at least one of raw data, feature level data, or object level data, and wherein the raw data is data collected by the sensor, the feature level data is data that is extracted from the raw data collected by the sensor and that can represent a feature of a detected object, and the object level data is data that is extracted from the raw data or the feature level data and that can represent an attribute of the detected object; and
send the first message.
2 . The apparatus according to claim 1 , wherein:
the first message further comprises second indication information;
the second indication information indicates a format of the first message; and
the format of the first message comprises a first preset format or a second preset format, wherein:
when the first data comprises information about a target element collected by using the at least one sensor, the format of the first message is the first preset format, and the target element is a detected element not associated with an element on a map; or
when the first data comprises information about a map element collected by using the at least one sensor, the format of the first message is the second preset format, and the map element is a detected element associated with an element on a map.
3 . The apparatus according to claim 2 , wherein when the first data comprises the information about the map element collected by using the at least one sensor, the first data further comprises:
map information corresponding to the map element.
4 . The apparatus according to claim 2 , wherein the information about the map element comprises at least one of the following:
a map element that is in the map elements collected by the at least one sensor and that moves relative to a location of a corresponding map element in a current map; or
a map element that is in the map elements collected by the at least one sensor and that has no corresponding map element in a current map.
5 . The apparatus according to claim 2 , wherein:
the first message comprises a header area and a payload area;
the first indication information is carried in the header area; and
the first data comprises information about at least one target element or map element collected by using the at least one sensor, the payload area comprises at least one element area, the information about the at least one target element or map element is carried in the at least one element area, and the information about the target element or the map element is in a one-to-one correspondence with the element area.
6 . The apparatus according to claim 5 , wherein when the first data comprises the information about the map element collected by using the at least one sensor, the header area further comprises at least one of the following:
a map version number of the map element, a map tile number, a change type of the map element, a transmission type of the information about the map element, or a quantity of the map elements.
7 . The apparatus according to claim 5 , wherein when the first data comprises the information about the map element collected by using the at least one sensor, the payload area further comprises at least one of the following:
an area identification corresponding to the map element, a tile identification corresponding to the map element, an element group identification corresponding to the map element, a change type of the map element, or a location information type of the map element.
8 . The apparatus according to claim 5 , wherein:
the header area comprises a first subheader area and a second subheader area; and
data carried in the first subheader area is used to parse data carried in the second subheader area.
9 . The apparatus according to claim 8 , wherein the first indication information is carried in the first subheader area.
10 . The apparatus according to claim 2 , wherein the first message further comprises:
environment information during collection of the information about the target element or the map element by the sensor; or
obstructed information of the target element or the map element collected by the sensor.
11 . The apparatus according to claim 1 , wherein:
the first message further comprises third indication information; and
the third indication information indicates a type of the at least one sensor used to obtain the first data.
12 . A data transmission method for an internet of vehicles, comprising:
obtaining first data, wherein the first data is obtained based on data collected by at least one sensor;
generating a first message based on the first data, wherein the first message comprises the first data and first indication information, the first indication information indicates a data type of the first data, the data type of the first data comprises at least one of raw data, feature level data, or object level data, and wherein the raw data is data collected by the sensor, the feature level data is data that is extracted from the raw data collected by the sensor and that can represent a feature of a detected object, and the object level data is data that is extracted from the raw data or the feature level data and that can represent an attribute of the detected object; and
sending the first message.
13 . The method according to claim 12 , wherein:
the first message further comprises second indication information;
the second indication information indicates a format of the first message; and
the format of the first message comprises a first preset format or a second preset format, wherein:
when the first data comprises information about a target element collected by using the at least one sensor, the format of the first message is the first preset format, and the target element is a detected element not associated with an element on a map; or
when the first data comprises information about a map element collected by using the at least one sensor, the format of the first message is the second preset format, and the map element is a detected element associated with an element on a map.
14 . The method according to claim 13 , wherein when the first data comprises the information about the map element collected by using the at least one sensor, the first data further comprises:
map information corresponding to the map element.
15 . The method according to claim 13 , wherein the information about the map element comprises at least one of the following:
a map element that is in the map elements collected by the at least one sensor and that moves relative to a location of a corresponding map element in a current map; or
a map element that is in the map elements collected by the at least one sensor and that has no corresponding map element in a current map.
16 . The method according to claim 13 , wherein:
the first message comprises a header area and a payload area;
the first indication information is carried in the header area; and
the first data comprises information about at least one target element or map element collected by using the at least one sensor, the payload area comprises at least one element area, the information about the at least one target element or map element is carried in the at least one element area, and the information about the target element or the map element is in a one-to-one correspondence with the element area.
17 . The method according to claim 16 , wherein when the first data comprises the information about the map element collected by using the at least one sensor, the header area further comprises at least one of the following:
a map version number of the map element, a map tile number, a change type of the map element, a transmission type of the information about the map element, or a quantity of the map elements.
18 . The method according to claim 16 , wherein when the first data comprises the information about the map element collected by using the at least one sensor, the payload area further comprises at least one of the following:
an area identification corresponding to the map element, a tile identification corresponding to the map element, an element group identification corresponding to the map element, a change type of the map element, or a location information type of the map element.
19 . The method according to claim 13 , wherein the first message further comprises:
environment information during collection of the information about the target element or the map element by the sensor; or
obstructed information of the target element or the map element collected by the sensor.
20 . The method according to claim 12 , wherein:
the first message further comprises third indication information; and
the third indication information indicates a type of the at least one sensor used to obtain the first data.