CN114322979B - High-precision dynamic map generation and update method based on P2P mode - Google Patents
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Abstract
The invention discloses a high-precision dynamic map generation and updating method based on a P2P mode, which comprises the steps of firstly, forming a sharing network by using the P2P mode to realize dynamic high-precision map data sharing of various OEM factories; secondly, unifying space-time reference: extending and improving on the basis of CGCS2000, and establishing a time service system taking Beidou time as a unified time reference, and keeping the time reference consistent with the data system of each vehicle factory; then, high-precision dynamic data encryption is carried out, so that data backtracking and tamper resistance are realized; finally, unifying high-precision dynamic data standards: and establishing a data encryption deviation rectifying coordinate system and a data structure unification mode, so as to establish a data unification standard and ensure the safe use of data. The invention connects the service nodes of each OEM vehicle factory through the P2P network, thereby sharing the high-precision dynamic data of each service node and forming a national high-precision dynamic map; the production efficiency and cost of the high-precision dynamic map can be rapidly improved, and the nascent state business of the shared drawing is formed.
Description
Technical Field
The invention belongs to the field of dynamic map generation, and particularly relates to a high-precision dynamic map generation and updating method based on a P2P mode.
Background
The navigation map is one of the bases of the navigation industry and is the most intuitive application of navigation products. In recent years, free Web-end navigation maps are rapidly developed, so that the navigation maps become an essential mass consumer product, and with the popularization of intelligent mobile terminals and the development of 5G networks, the navigation maps are taken as a composite product of map, positioning and position services, and the future development trend of the navigation maps has important influence on the whole navigation industry, particularly the civil navigation industry.
The high-precision dynamic map includes a quasi-dynamic map and a dynamic map. The quasi-dynamic map comprises information such as signal lamps, road congestion conditions, road construction, road surface information, weather and the like, and the dynamic map comprises high real-time information such as surrounding traffic participants, traffic accident information, sudden roadblocks and the like. The dynamic map generally acquires information through terminal sensors such as vehicle end and road side end vision, laser radar, millimeter wave radar and the like, the terminal platform performs processing such as cleaning, classifying, encoding, positioning, extracting and the like on the perceived information, and the perceived information is uploaded to the map cloud platform or subjected to differential processing with basic data, static data and the like of the terminal to generate or update dynamic map data.
After differential calculation is carried out on the high-precision dynamic map and the static map data, the static map data can be updated, and real-time dynamic information with position information is generated through fusion and calculation with the static map data and is transmitted to terminals such as a vehicle end and a road side for path planning and the like. Unified large-scale high-precision dynamic map updating and generating, and a centralized sub-packaging mode is adopted in the current industry. However, due to the problems of copyright of data, security of data, business mode and the like, a unified standard cannot be formed all the time. The high-precision dynamic map data is managed by a centralized mechanism, all the data are collected and managed in one place, the danger of the data is extremely high, the disaster recovery rate is extremely low, and the problem of data safety can not be effectively solved. The dynamic map data needs to be updated and maintained in real time, and the mechanism of the centralized data sharing center is used for data access on the sharing center, so that the separation of the data update and the intellectual property of the application cannot be ensured.
The automatic driving automobile is used as an intelligent terminal and independently exists in the whole data network of the data monitoring management platform. The vehicle end is used as an acquisition end of the high-precision map data and an application end of the high-precision map. The dynamic high-precision map information used by the vehicle end is not only acquired by a sensor of the vehicle end, but also can be data acquired by other vehicle ends and road side ends in the block chain data network. And each terminal establishes a consensus mechanism and performs data sharing transaction based on the principles of safety, reliability, sharing and the like. The terminals are mutually independent, so that decentralised point-to-point data transmission and transaction are realized, and the data transmission efficiency can be ensured to the greatest extent.
The existing internet of vehicles data center at home and abroad mainly aims at: integrating vehicle data, establishing a data platform, and providing big data service; and most of the data centers are in industry or enterprise groups, and data sharing barriers, standard difference and the like often exist among the centers, so that the data centers integrated in the whole country are not formed effectively.
Disclosure of Invention
The invention aims to: the invention provides a high-precision dynamic map generation and update method based on a P2P mode, which is characterized in that service nodes of OEM (original equipment manufacture) factories are connected through a P2P network, so that high-precision dynamic data of the service nodes are shared, and a national high-precision dynamic map is formed.
The technical scheme is as follows: the invention provides a high-precision dynamic map generation and update method based on a P2P mode, which comprises the following steps:
(1) Forming a sharing network by using a P2P mode to realize dynamic high-precision map data sharing of each OEM vehicle factory; the OEM garage can provide dynamic high-precision map data resources, and can also use dynamic high-precision map data resources maintained by other OEM garage;
(2) Unified space-time reference: extending and improving on the basis of CGCS2000, and establishing a time service system taking Beidou time as a unified time reference, and keeping the time reference consistent with the data system of each vehicle factory;
(3) High-precision dynamic data encryption is carried out, so that data backtracking and tamper resistance are realized;
(4) Unifying high-precision dynamic data standard: and establishing a data encryption deviation rectifying coordinate system and a data structure unification mode, so as to establish a data unification standard and ensure the safe use of data.
Further, the step (2) includes the steps of:
(21) Unifying space reference: firstly, uniformly selecting 300 reference stations from nationally established reference stations as frame stations of a coordinate system, carrying out joint calculation on the frame stations, national CORS stations and peripheral IGS stations, and aligning the latest international earth reference frames to obtain frame station coordinates of the reference coordinate system; then, fixing the frame site and carrying out joint calculation with the regional encryption reference site to obtain a nationwide consistent site coordinate network; finally, unifying and calculating the coordinates of the reference stations of each positioning service provider by taking the constructed reference coordinate system as a reference, so as to achieve unification of the spatial references of high-precision positioning service;
(22) Unifying time reference: the time service system taking the Beidou as a unified time reference is established, the Beidou needs to trace the standard time frequency center of the liberated army of China, meanwhile, the time reference is compared by the bidirectional satellite and GNSS co-vision based on the C wave band, the time is synchronously traced to UTC maintained by the national time service center, the time is further traced to the coordinated world time, finally, the real-time precise clock difference product obtained by resolving is sent to a user positioning terminal, the terminal performs positioning according to the precise clock difference product of the satellite, and the time reference consistent with the data system of each vehicle factory can be maintained.
Further, the implementation process of the step (3) is as follows:
On the basis of establishing a high-precision dynamic map data sharing network platform containing a P2P mode of an automobile manufacturer, encrypting data of each manufacturer node, wherein each node has an encryption transformation algorithm and a decryption transformation algorithm, and the node generates a pseudo-random encryption ciphertext sequence through encryption transformation based on an encryption key, so that an encryption ciphertext data service is formed; when another legal node is reading the pseudorandom encrypted ciphertext data service, the other legal node is read indiscriminately through decryption transformation based on a decryption key, but no editing authority exists.
Further, the encrypted ciphertext data service comprises a high-precision dynamic map data service, a path planning service, a navigation service and a data query service.
Further, the high-precision dynamic data of the step (4) comprises metadata and a data body; the metadata comprises the contents such as the name, copyright, production date, update date and the like of a data producer, and is the only basis for identifying the high-precision dynamic data copyright; the data body is the main content of the data, is a set of exchange format high-precision map vector data which is suitable for being rapidly shared with P2P based on industry universal data standard, the data structure must contain the module content such as unique coding of unit geometric elements, element types, association attributes, male-female element external keys, topological structure relations and the like, and meanwhile, the map elements related to national secrets are subjected to decryption processing and the encrypted and compressed data is issued to the outside; the data volume generates high-precision dynamic data in a display scene, high-precision dynamic data in a path planning scene, high-precision dynamic data in a navigation scene and high-precision dynamic data in a query scene from the data types through a data compiling and converting algorithm.
The beneficial effects are that: compared with the prior art, the invention has the beneficial effects that:
1. The invention realizes the decentralization and resource allocation by establishing the sharing consensus mechanism, can also perform data sharing without forming a sharing data center, integrates the resources of various places and various factories, forms the effect of one network nationwide, reduces the hardware cost of high-precision dynamic map generation and updating, and realizes the maximization of the utilization of the production hardware resources;
2. the safety and disaster tolerance of data storage sharing are ensured: each node serves as a data producer and a data consumer at the same time, and resource platforms and resource sharing among the nodes ensure that the node failure of one vehicle factory can not cause the data loss and interruption of other vehicle factory nodes, thereby effectively improving the disaster tolerance of the data; through development of an encryption and decryption algorithm, even if data is illegally stolen, the data cannot be read and edited, and the data security is ensured from two dimensional layers of high-precision map data encryption and metadata encryption;
3. standardization and integration of data production are realized: the intelligent contract is established to define qualification requirements of data manufacturers, unified standards of data quality and specification are established for each data manufacturer, meanwhile, the contract defines data production range and content of the data manufacturer, standardization and integration of high-precision dynamic map data production are realized, and the problems of repeated data construction and data island are solved;
4. A new ecology of shared drawing is established: the main tasks of the traditional high-precision dynamic map generation and updating are map drawing, correction, compiling and the like, a great deal of manpower and financial resources are consumed, the gain is limited, the P2P technology is adopted to fuse the data of each OEM vehicle factory, a national high-precision dynamic map resource is formed, the production efficiency and cost of the high-precision dynamic map can be rapidly improved, and the nascent state business of shared drawing is formed.
Drawings
FIG. 1 is a flow chart of a P2P-based data sharing service of an EM vehicle factory;
FIG. 2 is a high-precision network diagram of a dynamic map of the whole country;
FIG. 3 is a nationwide reference station network positioning map;
FIG. 4 is a diagram of a unified space-time reference implementation;
FIG. 5 is a flow chart of data encryption and decryption;
Fig. 6 is a high-precision dynamic data structure.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings.
The invention provides a P2P mode-based high-precision dynamic map generation and updating method, which is characterized in that an open P2P sharing network ecological system is established as shown in figure 1 and is used for sharing high-precision data of various factories to form a map nationwide, and OEM factories in the ecological system are producers and consumers. A car factory collects, processes and issues high-precision dynamic map data service, a data chain is formed through a P2P network, if other car factories need to use the data of the car factories, an instruction is broadcasted to the A car factory to carry out request calculation, the use of the data service is obtained, the purposes of availability and unavailability are achieved, the copyright of the data of each car factory is guaranteed, and a shared integrating account book is formed according to the service access data volume. In the ecological system, each vehicle factory needs to achieve consensus of data standard and space-time reference so as to ensure unification of each shared data service and realize fusion between data. The method specifically comprises the following steps:
step 1: and forming a sharing network by using a P2P (peer-to-peer) mode, so as to realize dynamic high-precision map data sharing of each OEM vehicle factory.
The OEM car factory is responsible for generating and updating own dynamic high-precision map data, and the dynamic high-precision map data of all the blocks in the whole country are connected by utilizing a P2P mode, so that a dynamic map high-precision network is ready for the whole country; as shown in fig. 2.
By using the P2P mode, the dynamic high-precision map data sharing and using become easy and direct, and the intermediaries and the integrators are truly eliminated. In this network, each OEM driver is a service node, and each node acts as both a client and a server, without a central server, and without a central router.
All OEM vendors can provide dynamic high-precision map data resources while other OEM vendors can also use dynamic high-precision map data resources maintained by other OEM vendors, and can share bandwidth, memory space, and computing power. This goal. When new OEM vehicle factory nodes are added and requests for the system are increased, the capacity of the whole system is increased, and the more OEM vehicle factory service nodes are realized, the smoother the speed and experience of sharing resources are. This is not possible with a set of fixed servers where the addition of clients means slower data transfer for all users.
Step 2: unifying space-time references.
The CGCS2000 (2000 national geodetic coordinate system, which is the current latest national geodetic coordinate system) coordinate system or the WGS84 (coordinate system established by using GPS) coordinate system are used as space references in China at present, and the adopted time base criteria are more diversified. The CGCS2000 coordinate system has the problems or defects of uneven distribution of frame points, different difference degrees in various places, continuous amplification of errors of the instantaneous coordinate system along with time and the like. Meanwhile, the difference between the CGCS2000 coordinate system and the WGS84 coordinate system causes a systematic error easily occurring in the process of space information conversion. In addition, the time service corresponding to different time references has large difference. The above factors are combined to cause non-uniform space-time reference of the current nationwide vehicle factory positioning service, and the method is as follows:
(1) Spatial unification benchmark
The establishment of the space unified reference is an extension and improvement on the basis of the CGCS2000, and the problems that the traditional CGCS2000 coordinate systems are different from place to place and the errors of the coordinate systems are continuously enlarged along with the time can be avoided. Firstly, 300 reference stations are uniformly selected from the reference stations established nationally as frame stations of a coordinate system, the frame stations, the national CORS (high-tech multi-azimuth, deep crystallization product of satellite positioning technology, computer network technology, digital communication technology and the like) stations and peripheral IGS stations are combined and resolved, and the latest international earth reference frame (ITRF) is aligned to obtain frame station coordinates of the reference coordinate system. And then, fixing the frame site and carrying out joint calculation with the regional encryption reference site to obtain a nationwide consistent site coordinate network. Finally, the coordinates of the reference stations of each positioning service provider are uniformly solved by taking the constructed reference coordinate system as a reference, so that the spatial references of the high-precision positioning service are uniform, as shown in fig. 3.
(2) Unified time reference
And establishing a time service system taking the Beidou time as a unified time reference. The Beidou needs to trace to the China people's liberation army standard time frequency center (CMTC), and meanwhile, time comparison is carried out through satellite bi-directional and GNSS co-vision based on a C wave band, the Beidou synchronously traces to UTC (NSTC) maintained by the China time service center, and further traces to coordinated universal time, finally, the real-time precise clock difference product obtained through resolving is sent to a user positioning terminal, and the terminal performs positioning according to the satellite precise clock difference product, so that a time reference consistent with a data system of each vehicle factory can be maintained. The specific flow is shown in fig. 4 below.
Step 3: the high-precision dynamic data encryption realizes copyright backtracking and tamper resistance, as shown in fig. 5.
On the basis of establishing a high-precision dynamic map data sharing network platform containing a P2P mode of an automobile manufacturer, data of each manufacturer node are encrypted, each node has an encryption transformation algorithm and a decryption transformation algorithm, the node generates a pseudo-random encryption ciphertext sequence through encryption transformation based on an encryption key, an encryption ciphertext data service (comprising the high-precision dynamic map data service, a path planning service, a navigation service, a data query service and the like) is formed, and when another legal node reads the pseudo-random encryption ciphertext data service, the data is read indiscriminately (without editing permission) through decryption transformation based on a decryption secret key. For the automotive manufacturers of the legal nodes, the encrypted files are transparent, namely, have the use reading authority of the data service as if not encrypted, but have no editing and downloading authority; even if these data files are obtained by other illegal means, the automobile manufacturer of the illegal node cannot read and edit the tampered data content because the files are encrypted.
Step 4: unifying high-precision dynamic data standard: and establishing a data encryption deviation rectifying coordinate system and a data structure unification mode, so as to establish a data unification standard and ensure the safe use of data.
Encryption offset criteria: according to nonlinear encryption offset on a coordinate system (GCJ-02) published by the national surveying and mapping bureau in 2002, the data after encryption offset is formed into a high-precision dynamic map, and original data is encrypted offset from a data source and a map base map, so that the use safety of the data and unified encryption offset are ensured.
The high-precision dynamic data comprises two major structures of a data head (metadata) and a data body. The metadata contains the contents such as the name, copyright, production date, update date and the like of the data producer, and is the unique basis for identifying the high-precision dynamic data copyright; the data body is the main content of the data, is a set of exchange format high-precision map vector data suitable for being rapidly shared with P2P based on industry universal data standard, and the data structure must contain the module content such as unique codes of unit geometric elements, element types, association attributes, male and female element foreign keys, topological structure relations and the like, and simultaneously, the map elements related to national secrets are subjected to decryption processing and the encrypted and compressed data is issued to the outside. The data volume can generate high-precision dynamic data in a display scene, high-precision dynamic data in a path planning scene, high-precision dynamic data in a navigation scene and high-precision dynamic data in a query scene from the data types through a data compiling and converting algorithm, as shown in fig. 6.
Claims (2)
1. The high-precision dynamic map generation and updating method based on the P2P mode is characterized by comprising the following steps of:
(1) Forming a sharing network by using a P2P mode to realize dynamic high-precision map data sharing of each OEM vehicle factory; the OEM garage can provide dynamic high-precision map data resources, and can also use dynamic high-precision map data resources maintained by other OEM garage;
(2) Unified space-time reference: extending and improving the CGCS2000, establishing a time service system taking Beidou time as a unified time reference, and keeping the time reference consistent with the data system of each vehicle factory;
(3) High-precision dynamic data encryption is carried out, so that data backtracking and tamper resistance are realized;
(4) Unifying high-precision dynamic data standard: establishing a data encryption deviation correction coordinate system and a data structure unification mode, and establishing a data unification standard to ensure the safe use of data;
the step (2) comprises the following steps:
(21) Unifying space reference: firstly, uniformly selecting 300 reference stations from nationally established reference stations as frame stations of a coordinate system, carrying out joint calculation on the frame stations, national CORS stations and peripheral IGS stations, and aligning the latest international earth reference frames to obtain frame station coordinates of the reference coordinate system; then, fixing the frame site and carrying out joint calculation with the regional encryption reference site to obtain a nationwide consistent site coordinate network; finally, unifying and calculating the coordinates of the reference stations of each positioning service provider by taking the constructed reference coordinate system as a reference, so as to achieve unification of the spatial references of high-precision positioning service;
(22) Unifying time reference: establishing a time service system taking Beidou as a unified time reference, tracing the standard time frequency center of the liberated army of China when the Beidou needs to be traced to the source, synchronously tracing to UTC (universal time coordinated) held by the national time service center through the bidirectional satellite and GNSS (global navigation satellite system) co-vision based on C wave band for time comparison, tracing to the coordinated universal time, finally sending the real-time precise clock difference product obtained by resolving to a user positioning terminal, and positioning the terminal according to the satellite precise clock difference product, so that the time reference consistent with the data system of each vehicle and plant can be maintained;
the implementation process of the step (3) is as follows:
On the basis of establishing a high-precision dynamic map data sharing network platform containing a P2P mode of an automobile manufacturer, encrypting data of each manufacturer node, wherein each node has an encryption transformation algorithm and a decryption transformation algorithm, and the node generates a pseudo-random encryption ciphertext sequence through encryption transformation based on an encryption key, so that an encryption ciphertext data service is formed; when another legal node is reading the pseudo-random encrypted ciphertext data service, the other legal node is read indiscriminately through decryption transformation based on a decryption key, but no editing authority exists;
The high-precision dynamic data in the step (4) comprises metadata and a data body; the metadata comprises the name, copyright, production date and update date of the data producer, and is the only basis for identifying the high-precision dynamic data copyright; the data body is the main content of the data, is a set of exchange format high-precision map vector data which is suitable for being rapidly shared with P2P based on an industry universal data standard, the data structure must contain unique codes of unit geometric elements, element types, association attributes, male-female element foreign keys and topological structure relations, and meanwhile, the map elements related to national secrets are subjected to decryption processing and the encrypted and compressed data is issued to the outside; the data volume generates high-precision dynamic data in a display scene, high-precision dynamic data in a path planning scene, high-precision dynamic data in a navigation scene and high-precision dynamic data in a query scene from the data types through a data compiling and converting algorithm.
2. The P2P mode-based high-precision dynamic map generation and updating method according to claim 1, wherein the encrypted ciphertext data service comprises a high-precision dynamic map data service, a path planning service, a navigation service, a data query service.
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