Data transmission method, related device, equipment and storage medium

The invention discloses a data transmission method, which can be applied to the fields including but not limited to the map field, the traffic field, the automatic driving field, the vehicle-mounted scene and the like, and the application scene at least comprises various terminals, such as a mobile phone, a computer, a vehicle-mounted terminal and the like. The method comprises the following steps: receiving a first certificate sent by first equipment, and sending a second certificate to the first equipment; if the first certificate and the second certificate are valid certificates, determining a first public key and a first device identifier according to the first certificate; if the first equipment identifier and the second equipment identifier are registered identifiers, receiving a data access request sent by the first equipment; and in response to a data access request sent by the first device, sending the target data to the first device. The invention further provides a device, equipment and a storage m