CN111460071B - Deflection method, deflection device, deflection equipment and readable storage medium for high-precision map - Google Patents
Deflection method, deflection device, deflection equipment and readable storage medium for high-precision map Download PDFInfo
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Abstract
The application provides a deflection method, a deflection device, deflection equipment and a readable storage medium of a high-precision map, which relate to a map technology and comprise the steps of obtaining original position information comprising original longitude, original latitude and original height in the high-precision map; determining a deflection longitude and a deflection latitude according to the original longitude and the original latitude; determining a deflection height according to the original longitude, the original latitude, the deflection longitude, the deflection latitude and the original height; position information including a yaw longitude, a yaw latitude, and a yaw altitude is determined as position information obtained by biasing the original position information. According to the technical scheme, the limitations of the existing deflection algorithm are considered, the deflection height is determined, the requirements of continuous smoothness, small relative distance and small relative azimuth angle distortion can be met, and the obtained deflected map is suitable for application scenes of auxiliary driving and automatic driving.
Description
Technical Field
The present application relates to data processing technology, and more particularly, to map technology.
Background
The high-precision map is core basic data of the auxiliary driving system; the modules of positioning, sensing, path planning, control and the like in the auxiliary driving system all need high-precision map data to provide powerful support. Chinese regulations dictate that all commercial map-like products must be encrypted via the deflection of the national survey geographic information authorities. High-precision maps are no exception, and are required to be encrypted and deflected before being used normally.
The encrypted and deflected high-precision map needs to meet the characteristics of continuous smoothness and small distortion, and can be used without affecting unmanned vehicles. In the prior art, two methods for biasing the map exist, one is to bias the map by using a GCJ-02 biasing algorithm, and the other is to bias the map by using a BD-09 biasing algorithm.
However, the GCJ-02 bias algorithm is designed aiming at a 2D map, is not suitable for a high-precision map, and can directly influence the performance of an auxiliary driving system due to the fact that the BD-09 algorithm is used for deflecting the high-precision map and is not continuous smooth and small in distortion.
Disclosure of Invention
The application provides a deflection method, a deflection device, deflection equipment and a readable storage medium for a high-precision map, which are used for solving the problems that the deflection method for the high-precision map in the prior art does not meet the characteristics of continuous smoothness and small distortion.
According to a first aspect, the present application provides a deflection method for a high-precision map, comprising:
acquiring original position information comprising original longitude, original latitude and original altitude in a high-precision map;
determining a deflection longitude and a deflection latitude according to the original longitude and the original latitude;
determining a deflection altitude from the raw longitude, the raw latitude, the deflection longitude, the deflection latitude, and the raw altitude;
And determining the position information comprising the deflection longitude, the deflection latitude and the deflection height as the position information after the original position information is biased.
According to a second aspect, the present application provides a deflection apparatus for a high-precision map, comprising:
the acquisition module is used for acquiring original position information comprising original longitude, original latitude and original altitude in the high-precision map;
the first deflection module is used for determining deflection longitude and deflection latitude according to the original longitude and the original latitude;
a second deflection module for determining a deflection altitude from the raw longitude, the raw latitude, the deflection longitude, the deflection latitude, the raw altitude;
and the determining module is used for determining the position information comprising the deflection longitude, the deflection latitude and the deflection height as the position information after the original position information is biased.
According to a third aspect, the present application provides an electronic device comprising:
at least one processor; and
a memory communicatively coupled to the at least one processor; wherein,,
the memory stores instructions executable by the at least one processor to enable the at least one processor to perform the high-precision map deflection method of the first aspect.
According to a fourth aspect, the present application provides a non-transitory computer-readable storage medium storing computer instructions for causing the computer to perform the deflection method of the high-precision map according to the first aspect.
The method comprises the steps of obtaining original position information including original longitude, original latitude and original altitude in a high-precision map; determining a deflection longitude and a deflection latitude according to the original longitude and the original latitude; determining a deflection height according to the original longitude, the original latitude, the deflection longitude, the deflection latitude and the original height; position information including a yaw longitude, a yaw latitude, and a yaw altitude is determined as position information obtained by biasing the original position information. According to the technical scheme, the limitations of the existing deflection algorithm are considered, the deflection height is determined, the requirements of continuous smoothness, small relative distance and small relative azimuth angle distortion can be met, and the obtained deflected map is suitable for application scenes of auxiliary driving and automatic driving.
It should be understood that the description in this section is not intended to identify key or critical features of the embodiments of the application or to delineate the scope of the application. Other features of the present application will become apparent from the description that follows.
Drawings
The drawings are included to provide a better understanding of the present application and are not to be construed as limiting the application. Wherein:
FIG. 1 is a flow chart of a deflection method for a high-precision map according to an exemplary embodiment of the present application;
FIG. 2 is a schematic illustration of a deflection process of a high-precision map, according to an exemplary embodiment of the present application;
FIG. 3 is a flow chart of a deflection method of a high-precision map shown in another exemplary embodiment of the application;
fig. 4 is a schematic view showing a distortion effect according to an exemplary embodiment of the present application;
fig. 5 is a block diagram of a deflection apparatus of a high-precision map according to an exemplary embodiment of the present application;
fig. 6 is a block diagram of a deflection apparatus of a high-precision map according to another exemplary embodiment of the present application;
fig. 7 is a block diagram of an electronic device according to an exemplary embodiment of the present application.
Detailed Description
Exemplary embodiments of the present application will now be described with reference to the accompanying drawings, in which various details of the embodiments of the present application are included to facilitate understanding, and are to be considered merely exemplary. Accordingly, those of ordinary skill in the art will recognize that various changes and modifications of the embodiments described herein can be made without departing from the scope and spirit of the application. Also, descriptions of well-known functions and constructions are omitted in the following description for clarity and conciseness.
At present, the auxiliary driving and automatic driving technologies need to rely on high-precision maps to provide corresponding technical support. The high-precision map in China can be normally used after being encrypted and deflected. The encrypted and deflected high-precision map can hide original geographic position information, so that the original geographic data is kept secret.
In the prior art, the map can be biased by using a GCJ-02 biasing algorithm, and the map can also be biased by using a BD-09 biasing algorithm.
GCJ-02 is a geodetic system formulated based on WGS-84, formulated by the China national survey and geography information agency. The confusion algorithm adopted by the coordinate system can add seemingly random offset into longitude and latitude so as to ensure the safety of the national basic geographic information data. Sites recorded using GCJ-02 will be shown in the correct position in the map of GCJ-02, however changing to the map or site record of WGS-84 may cause an unequal shift of 100-700 meters. Since GCJ-02 produces high frequency noise using a large number of sine functions, an overrunning equation is formed, resulting in the substantial impossibility of obtaining an analytical solution, and thus the inverse transformation can only be performed numerically. However, random errors and truncation errors are introduced into the method, so that jitter or jump of the spatial position can be caused; in addition, the method aims at 2D map design, and is not applicable to the application scene of the current 3D high-precision map.
BD-09 is a geographic coordinate system used by a hundred degree map, which adds one more transformation on GCJ-02 to preserve user data privacy. However, in a small-range local area of the high-precision map deflected by the method, the distortion of the relative distance and the relative azimuth angle is large, and the operation of a path planning and control module of the vehicle of the auxiliary driving technology or the automatic driving technology is directly influenced.
The deflection scheme of the high-precision map provided by the application deflects longitudes and latitudes in the high-precision map respectively, and determines the deflection height by combining the deflected longitudes and latitudes with original longitudes and latitudes. In the scheme of the application, the limitations of the existing deflection algorithm are considered, the deflection height is determined, the requirements of continuous smoothness, small relative distance and small relative azimuth angle distortion can be met, and the obtained deflected map is suitable for application scenes of auxiliary driving and automatic driving.
Fig. 1 is a flowchart illustrating a deflection method of a high-precision map according to an exemplary embodiment of the present application.
As shown in fig. 1, the deflection method of the high-precision map provided by the application comprises the following steps:
step 101, acquiring original position information including original longitude, original latitude and original altitude in a high-precision map.
The method provided by the application can be executed by an electronic device with computing capability, and the electronic device can be a computer, for example. The electronic device may also be a server made up of multiple computers, such as a distributed server.
Specifically, the high-precision map may include a plurality of original location information, and each location information may include information of an original longitude, an original latitude, and an original altitude. The raw location information may be real geographic location information.
Further, the original position information in the high-precision map may be position information under the WGS84 coordinate frame. It can express the real location, for example, there is a building a in the high-precision map, its original location information is (l, b, h), and the corresponding building a can be found in the world space based on the original location information. l is the original longitude, b is the original latitude, and h is the original altitude.
In practical application, if the high-precision map is directly applied to the market, the problem of country geographic information leakage is easily caused, for example, the specific geographic position information of a target place can be accurately obtained through the high-precision map. Therefore, it is necessary to perform encryption deflection on the high-definition map, and this is avoided.
When the high-precision map is deflected, each piece of original position information can be processed to obtain corresponding deflected position information. Specifically, the original position information can be acquired one by one, the acquired original position information can be processed one by one, or a plurality of original position information can be acquired simultaneously, and the acquired plurality of original position information can be processed in parallel.
And 102, determining the deflection longitude and the deflection latitude according to the original longitude and the original latitude.
Specifically, when the original position information is processed, the deflection longitude and the deflection latitude can be determined according to the original longitude and the original latitude respectively.
The deflected longitude B may be a longitude value obtained by deflecting the original longitude, and the deflected latitude L is a latitude value obtained by deflecting the original latitude. The obtained deflected position information includes the deflected longitude and the deflected latitude.
Further, when the original longitude is deflected, a longitude deflection value may be determined according to the original longitude and the original latitude, and the original longitude may be deflected by using the longitude deflection value, for example, the longitude deflection value is added to the original longitude to obtain the deflected longitude.
In practical application, when the original latitude is deflected, the latitude deflection value can be respectively determined according to the original latitude and the original latitude, and then the original latitude is deflected by using the latitude deflection value, for example, the latitude deflection value is added on the basis of the original latitude, so as to obtain the deflected latitude.
In this embodiment, the longitude of deflection and the latitude of deflection are determined according to the original longitude and the original latitude, so that the position after deflection is smoother and has less distortion.
Step 103, determining the deflection height according to the original longitude, the original latitude, the deflection longitude, the deflection latitude and the original height.
In the method provided in this embodiment, the deflection height H may also be determined by combining the original longitude, the original latitude, the deflection longitude, the deflection latitude, and the original height.
The deflection height H may be a height obtained by deflecting the original height. The deflection height is included in the obtained deflected position information.
Further, when the original height is deflected, a height deflection value can be determined according to the original longitude, the original latitude, the deflection longitude and the deflection latitude, and then the original height is deflected by using the height deflection value, for example, the height deflection value is added on the basis of the original height, so as to obtain the deflection height.
In actual application, in the application scenes of auxiliary driving and automatic driving, planning is needed by utilizing the height information of the geographic position information, so that the method provided by the embodiment also deflects the original height in the high-precision map, and the deflected map can be suitable for the application scenes of auxiliary driving and automatic driving.
And 104, determining position information comprising deflection longitude, deflection latitude and deflection altitude as position information obtained by adding the deflection to the original position information.
After determining the deflection longitude, the deflection latitude and the deflection height, the electronic device can output position information comprising the deflection longitude, the deflection latitude and the deflection height, and takes the position information as biased position information corresponding to the original position information.
Specifically, the above processing procedure can be executed for each original position information in the high-precision map, so that each original position information is biased, and a deflected high-precision map is obtained.
Further, the deflected high-precision map may be applied in driving assistance and autopilot technology, for example, may be provided in a vehicle having driving assistance technology or autopilot technology.
Fig. 2 is a schematic diagram showing a deflection process of a high-precision map according to an exemplary embodiment of the present application.
As shown in fig. 2, an original position information in the high-precision map may be obtained, where the original position information may include an original longitude 21, an original latitude 22, and an original altitude 23, and a yaw longitude 24 and a yaw latitude 25 may be determined according to the original longitude 21 and the original latitude 22. The deflection altitude 26 is determined in combination with the original longitude 21, the original latitude 22, the original altitude 23, and the determined deflection longitude 24, deflection latitude 25.
Through the above process, a piece of position information including the deflection longitude 24, the deflection latitude 25 and the deflection altitude 26 can be obtained, and the position information is obtained by adding the deflection to the original position information.
The method provided by the present embodiment is used for biasing a high-precision map, and is performed by an apparatus provided with the method provided by the present embodiment, which is typically implemented in hardware and/or software.
The deflection method of the high-precision map comprises the steps of obtaining original position information comprising original longitude, original latitude and original height in the high-precision map; determining a deflection longitude and a deflection latitude according to the original longitude and the original latitude; determining a deflection height according to the original longitude, the original latitude, the deflection longitude, the deflection latitude and the original height; position information including a yaw longitude, a yaw latitude, and a yaw altitude is determined as position information obtained by biasing the original position information. In the method provided by the application, the limitations of the existing deflection algorithm are considered, the deflection height is determined, the requirements of continuous smoothness, small relative distance and small relative azimuth angle distortion can be met, and the obtained deflected map is suitable for application scenes of auxiliary driving and automatic driving.
Fig. 3 is a flowchart illustrating a deflection method of a high-precision map according to another exemplary embodiment of the present application.
As shown in fig. 3, the deflection method of the high-precision map provided by the application comprises the following steps:
step 301, obtaining original position information including original longitude, original latitude and original altitude in the high-precision map.
The method provided by the application can be executed by an electronic device with computing capability, and the electronic device can be a computer, for example. The electronic device may also be a server made up of multiple computers, such as a distributed server.
The implementation principle and manner of step 301 are similar to those of step 101, and will not be described in detail here.
In step 302, a longitude deviation value is determined according to the original longitude and the original latitude.
In the method provided in this embodiment, a longitude deviation value may be determined according to the acquired original longitude l and the original latitude b, so that the original longitude may be deflected by using the longitude deviation value.
In this embodiment, the magnitude of the longitude deviation value may be related to the original position information, so that the longitude deviation values corresponding to different original positions are different, that is, the purpose of nonlinear deviation is achieved, and the encryption effect is better.
Specifically, when determining the longitude deviation value, the offset longitude lnew may be determined according to the original longitude l and the first preset value, and the offset latitude bnew may be determined according to the original latitude b and the second preset value.
Further, the original longitude is offset by the first preset value, so that the original position information can be initially encrypted and deflected. The first preset value may be set according to requirements, for example, may be 70. The original latitude is offset through the second preset value, so that the original position information can be initially encrypted and deflected. The second preset value may be set according to requirements, for example, may be 35.
In practice, the offset longitude lnew=l-70; offset latitude bnew = b-35.
The longitude intermediate δl may be determined from the offset longitude lnew and the offset latitude bnew, and the longitude intermediate δl may be used to determine the longitude offset Δl.
Specifically, the intermediate amount δl of longitude may be determined using the following equation:
further, determining the longitude intermediate quantity δl, and determining the longitude deflection value Δl according to the longitude intermediate quantity δl, the original latitude b, the preset ellipsoid long radius a and the preset parameter mm.
In practice, the longitude offset Δl may be determined using the following equation:
Wherein, mm can be preset, also can calculate through the following formula:
mm＝1-ee×sin(δb) 2 where ee= 0.00669342 is the ellipsoidal eccentricity. δb is an intermediate amount of latitude, and specifically, the intermediate amount of latitude δb may be determined according to the determined offset longitude and offset latitude. For example, the intermediate latitude amount δb may be determined according to the following equation:
in this embodiment, the longitude deviation value is obtained through a series of processes, so that the complexity of determining the longitude deviation value can be increased, and the probability of cracking the longitude deviation value can be reduced.
In step 303, the longitude of the deflection is determined according to the original longitude and the longitude deflection value.
After determining the longitude deviation value Δl, the original longitude l may be cryptographically deflected using the longitude deviation value.
Specifically, the longitude deviation value Δl may be increased on the basis of the original longitude L, thereby obtaining the deflection longitude L. I.e. l=l+Δl.
In this embodiment, since the longitude deviation value Δl is determined using the original position information and is obtained by performing a series of processes on the original position information, the original longitude is deflected by the longitude deviation value, and thus an encryption function can be provided. Moreover, the original longitude is deflected by using the original position information, so that the position is convenient to restore.
Step 304, determining latitude deviation value according to the original longitude and the original latitude.
In the method provided in this embodiment, a latitude deviation value may be determined according to the obtained original longitude l and the original latitude b, so that the original latitude may be deflected by using the latitude deviation value.
In this embodiment, the magnitude of the longitude deviation value may be related to the original position information, so that the longitude deviation values corresponding to different original positions are different, that is, the purpose of nonlinear deviation is achieved, and the encryption effect is better.
Specifically, when determining the latitude deflection value, the offset latitude new may be determined according to the original latitude b and the second preset value, and the offset latitude bnew may be determined according to the original latitude b and the second preset value.
Further, the original longitude is offset by the first preset value, so that the original position information can be initially encrypted and deflected. The first preset value may be set according to requirements, for example, may be 70. The original latitude is offset through the second preset value, so that the original position information can be initially encrypted and deflected. The second preset value may be set according to requirements, for example, may be 35.
In practice, the offset longitude lnew=l-70; offset latitude bnew = b-35.
The latitude intermediate quantity δb may be determined from the offset longitude lnew and the offset latitude bnew, and the longitude intermediate quantity is used to determine the latitude offset value Δb.
Specifically, the intermediate latitude amount δb may be determined using the following formula:
further, determining the intermediate latitude amount δb may determine the latitude deflection value Δb according to the intermediate latitude amount δb, the preset ellipsoid long radius a, the preset parameter mm, and the preset ellipsoid eccentricity ee.
In practical application, the latitude deviation value Δb may be determined by the following formula:
wherein ee= 0.00669342 is the ellipsoidal eccentricity. mm can be preset or calculated by the following formula:
mm＝1-ee×sin(δb) 2 。
in this embodiment, the latitude deviation value is obtained through a series of processes, so that the complexity of determining the latitude deviation value can be increased, and the probability of cracking the latitude deviation value can be reduced.
In step 305, the latitude of deflection is determined according to the original latitude and the latitude deflection value.
After determining the latitude deviation value Δb, the original latitude b may be cryptographically deflected using the latitude deviation value.
Specifically, the latitude deviation value Δb may be increased based on the original latitude B, so as to obtain the deviation latitude B. I.e. b=b+Δb.
In this embodiment, since the latitude deviation value Δb is determined using the original position information and is obtained by performing a series of processes on the original position information, the original latitude is deflected by the latitude deviation value, and thus an encryption effect can be achieved. And the original latitude is deflected by utilizing the original position information, so that the position is convenient to restore.
Further, the execution timing of steps 302-303 and steps 304-305 is not limited, and in the execution process, the step of determining the same parameter may be performed only once, and the corresponding parameter may be directly obtained when the corresponding parameter is used later, for example, for an original position information, the offset longitude and the offset latitude may be determined only once, and the preset parameter mm may be determined only once according to the intermediate amount of the latitude.
Step 306, determining an altitude deflection value according to the original longitude, the original latitude, the deflection longitude and the deflection latitude.
In practical application, the method provided by the application also determines the height deflection value delta h, so that the original height can be deflected by using the height deflection value delta h.
The altitude deflection value Δh may be determined by using the original longitude L, the original latitude B, the deflection longitude L, and the deflection latitude B after determining the deflection longitude L and the deflection latitude B.
In this embodiment, the altitude is deflected by using the longitude information and latitude information of the position, and the deflected position is obtained more smoothly and continuously.
Specifically, when determining the height deviation value Δh, the corresponding original abscissa and original ordinate under the universal horizontal ink card grid system can be determined according to the original longitude and the original latitude based on a preset conversion algorithm.
Further, the obtained raw longitude l and raw latitude b may be position information in WGS84 coordinate system. A preset conversion algorithm can be provided that can convert the location information from the WGS84 coordinate system to a universal transverse ink card grid system (UTM coordinate system).
UTM (Universal Transverse Mercator Grid System, universal transverse ink card grid system) coordinates are a type of planar rectangular coordinates, and such grid system and the projections upon which it is based have been widely used for topography, as a reference grid for satellite images and natural resource databases, and other applications requiring accurate positioning.
The WGS-84 coordinate system (World Geodetic System-1984 Coordinate System) is an internationally adopted geocentric coordinate system. The origin of coordinates is the earth centroid, the Z axis of the earth centroid space rectangular coordinate system points to the direction of the protocol earth polar (CTP) defined by BIH (International time service organization) 1984.0, the X axis points to the intersection point of the zero meridian plane of BIH 1984.0 and the CTP equator, and the Y axis is perpendicular to the Z axis and the X axis to form a right-hand coordinate system, which is called as the world geodetic coordinate system in 1984.
The original longitudes l, the original latitudes b in the WGS-84 coordinate system can be converted into the original abscissas x, the original ordinates y in the UTM coordinate system using an algorithm in the prior art.
In practical application, the projection belt where the original longitude is located can be determined, and the corresponding deflection abscissa x under the universal transverse ink card grid system is determined according to the projection belt, the deflection longitude and the deflection latitude based on a preset conversion algorithm distort Deflection ordinate y distort 。
UTM projection divides the earth's surface area between 84 degrees north latitude and 80 degrees south latitude into longitudinal bands (projected bands) north and south by 6 degrees longitude. The projections are numbered from 1 to 60 starting from the 180 degree meridian and going east. The projection belt where the original position information is located can be determined according to the original longitude l, and the deflection abscissa x is determined by combining the projection belt distort Deflection ordinate y distort After the original position information and the deflected position information are converted under the UTM coordinate system, the original position information and the deflected position information can still be in the same projection belt.
Wherein, the X-axis can be deflected according to the original X-axis, the original Y-axis and the deflection X-axis distort Deflection ordinate y distort A height deflection value ah is determined.
Determining an original abscissa x, an original ordinate y and a deflection abscissa x distort Deflection ordinate y distort The execution timing of (a) is not limited.
In this embodiment, the deflection height is correlated with the abscissa information and the ordinate information of the position, so that the position after deflection is highly smooth and the distortion is small.
Specifically, a horizontal coordinate difference value between the original horizontal coordinate and the deflection horizontal coordinate can be determined; determining a difference value of a vertical coordinate between an original vertical coordinate and a deflection vertical coordinate; and determining the square sum evolution of the horizontal coordinate difference value and the vertical coordinate difference value as a height deviation value.
Further, the height deflection value Δh may be determined using the following equation:
in this embodiment, the height deflection value is determined by using the original abscissa, the original ordinate, the deflection abscissa and the deflection ordinate, so that the confidentiality of the height deflection value is stronger, and the height deflection value is related to the abscissa information and the ordinate information of the position, so that the smoothness of the position after deflection is high and the distortion is small.
Step 307, determining the deflection height according to the original height and the height deflection value.
Wherein, after determining the height deflection value Δh, the original height b may be cryptographically deflected using the height deflection value.
Specifically, after the height deflection value is determined, the height deflection value Δh can be directly increased on the basis of the original height H to obtain the deflection height H. I.e. h=h+Δh.
In this embodiment, since the height deflection value Δh is determined using the original position information and is obtained by performing a series of processes on the original position information, the original height is deflected by the height deflection value, and thus an encryption effect can be achieved. Moreover, the original height is deflected by utilizing the original position information, so that the position is convenient to restore.
Step 308, determining position information including deflection longitude, deflection latitude and deflection altitude as position information obtained by adding the deflection to the original position information.
Step 308 is similar to the implementation and principle of step 104 and will not be described again.
After the original position of an area is deflected, the deflection distance before and after the deflection of the same position is different from 270m to 1200m, so that the effect of nonlinear offset of the original position can be realized.
Fig. 4 is a schematic view showing a distortion effect according to an exemplary embodiment of the present application.
As shown in fig. 4, in order to determine the distortion degree of the deflected position, the present embodiment selects a geographical position as a sampling point (longitude: 116.2674943; latitude: 40.0432204) for illustration.
After selecting a sampling point, forming polar coordinates by taking the sampling point as an origin; respectively at 15 ° Relative displacement distortion and relative angular distortion are evaluated for 24 rays at intervals (360/15). On the selected ray 2 n ×0.000001 ° N=0, 1, …,11 is sampled for a step size such that there are 12 test points on each ray. Then calculating the displacement distortion (distortion distance/ray length, distortion distance=length of original point pair-length of point pair after deflection) and angle distortion (degree, angle distortion=azimuth angle of original point pair-azimuth angle of point pair after deflection) from the test point to the original point respectively; finally, 24 x 12 groups of test point results of displacement distortion and angle distortion are formed at one sampling point, as shown in fig. 4. And finally, selecting the maximum displacement distortion and angle distortion as the displacement distortion value and angle distortion value of the sampling point.
Fig. 5 is a block diagram of a deflection apparatus for a high-definition map according to an exemplary embodiment of the present application.
As shown in fig. 5, the deflection apparatus for a high-precision map provided by the present application includes:
an obtaining module 61, configured to obtain original position information including an original longitude, an original latitude, and an original altitude in the high-precision map;
a first deflection module 62 for determining a deflection longitude and a deflection latitude according to the original longitude and the original latitude;
a second deflection module 63 for determining a deflection altitude from the original longitude, the original latitude, the deflection longitude, the deflection latitude, the original altitude;
a determining module 64, configured to determine location information including the yaw longitude, the yaw latitude, and the yaw altitude as location information obtained by biasing the original location information.
The deflection device of the high-precision map comprises an acquisition module, a control module and a control module, wherein the acquisition module is used for acquiring original position information including original longitude, original latitude and original height in the high-precision map; the first deflection module is used for determining the deflection longitude and the deflection latitude according to the original longitude and the original latitude; the second deflection module is used for determining deflection height according to the original longitude, the original latitude, the deflection longitude, the deflection latitude and the original height; and the determining module is used for determining the position information comprising the deflection longitude, the deflection latitude and the deflection altitude as the position information obtained by biasing the original position information. In the method provided by the application, the limitations of the existing deflection algorithm are considered, the deflection height is determined, the requirements of continuous smoothness, small relative distance and small relative azimuth angle distortion can be met, and the obtained deflected map is suitable for application scenes of auxiliary driving and automatic driving.
The specific principle and implementation of the deflection device for high-precision map provided in this embodiment are similar to those of the embodiment shown in fig. 1, and will not be described here again.
Fig. 6 is a block diagram of a deflection apparatus of a high-definition map according to another exemplary embodiment of the present application.
As shown in fig. 6, in the deflection device for high-precision map provided by the present application, optionally, the first deflection module 62 includes a longitude deflection unit 621, configured to:
determining a longitude deflection value according to the original longitude and the original latitude;
and determining the deflection longitude according to the original longitude and the longitude deflection value.
Optionally, the first deflection module 62 includes a latitude deflection unit 622 for:
determining a latitude deflection value according to the original longitude and the original latitude;
and determining the deflection latitude according to the original latitude and the latitude deflection value.
Optionally, the second deflection module 63 includes:
a deflection value determining unit 631 for determining an altitude deflection value from the original longitude, the original latitude, the deflection longitude, and the deflection latitude;
and a deflecting unit 632 for determining a deflection height according to the original height and the height deflection value.
Optionally, the deflection value determining unit 631 is specifically configured to:
based on a preset conversion algorithm, determining corresponding original abscissa and original ordinate under a universal horizontal ink card grid system according to the original longitude and the original latitude;
based on the preset conversion algorithm, determining corresponding deflection abscissas and deflection ordinates under the universal ink-jet card grid system according to a projection belt where the original longitude is located, the deflection longitudes and the deflection latitudes;
and determining the height deflection value according to the original abscissa, the original ordinate, the deflection abscissa and the deflection ordinate.
Optionally, the longitude deflection unit 621 is specifically configured to:
determining an offset longitude according to the original longitude and a first preset value, and determining an offset latitude according to the original latitude and a second preset value;
determining a longitude intermediate quantity according to the offset longitude and the offset latitude;
and determining the longitude deflection value according to the longitude intermediate quantity, the original latitude, a preset ellipsoid long radius and preset parameters.
Optionally, the latitude deflection unit 622 is specifically configured to:
determining an offset longitude according to the original longitude and a first preset value, and determining an offset latitude according to the original latitude and a second preset value;
Determining a latitude intermediate quantity according to the offset longitude and the offset latitude;
and determining the latitude deflection value according to the latitude intermediate quantity, the preset ellipsoid long radius, the preset parameter and the preset ellipsoid eccentricity.
Optionally, the deflection value determining unit 631 is specifically configured to:
determining a horizontal coordinate difference value between the original horizontal coordinate and the deflection horizontal coordinate;
determining a difference in ordinate between the original ordinate and the deflection ordinate;
and determining the square sum and the square evolution of the horizontal coordinate difference value and the vertical coordinate difference value as the height deflection value.
Optionally, the longitude deflection unit 621 is specifically configured to:
the sum of the original longitude and the longitude offset value is determined as the deflection longitude.
Optionally, the latitude deflection unit 622 is specifically configured to:
and determining the sum of the original latitude and the latitude deflection value as the deflection latitude.
Optionally, the biasing unit 632 is specifically configured to:
determining the sum of the original height and the height deflection value as the deflection height.
The specific principle and implementation of the deflection device for high-precision map provided in this embodiment are similar to those of the embodiment shown in fig. 3, and will not be described here again.
According to an embodiment of the present application, the present application also provides an electronic device and a readable storage medium.
As shown in fig. 7, is a block diagram of an electronic device according to an embodiment of the application. Electronic devices are intended to represent various forms of digital computers, such as laptops, desktops, workstations, personal digital assistants, servers, blade servers, mainframes, and other appropriate computers. The electronic device may also represent various forms of mobile devices, such as personal digital processing, cellular telephones, smartphones, wearable devices, and other similar computing devices. The components shown herein, their connections and relationships, and their functions, are meant to be exemplary only, and are not meant to limit implementations of the applications described and/or claimed herein.
As shown in fig. 7, the electronic device includes: one or more processors 801, memory 802, and interfaces for connecting the components, including high-speed interfaces and low-speed interfaces. The various components are interconnected using different buses and may be mounted on a common motherboard or in other manners as desired. The processor may process instructions executing within the electronic device, including instructions stored in or on memory to display graphical information of the GUI on an external input/output device, such as a display device coupled to the interface. In other embodiments, multiple processors and/or multiple buses may be used, if desired, along with multiple memories and multiple memories. Also, multiple electronic devices may be connected, each providing a portion of the necessary operations (e.g., as a server array, a set of blade servers, or a multiprocessor system). One processor 801 is illustrated in fig. 7.
Memory 802 is a non-transitory computer readable storage medium provided by the present application. Wherein the memory stores instructions executable by the at least one processor to cause the at least one processor to perform the deflection method of the high-precision map provided by the present application. The non-transitory computer readable storage medium of the present application stores computer instructions for causing a computer to execute the deflection method of the high-precision map provided by the present application.
The memory 802 is used as a non-transitory computer readable storage medium, and may be used to store non-transitory software programs, non-transitory computer executable programs, and modules, such as program instructions/modules (e.g., the acquisition module 61, the first deflection module 62, the second deflection module 63, and the determination module 64 shown in fig. 5) corresponding to the deflection method of the high-precision map in the embodiment of the present application. The processor 801 executes various functional applications of the server and data processing, that is, implements the deflection method of the high-definition map in the above-described method embodiment, by running non-transitory software programs, instructions, and modules stored in the memory 802.
Memory 802 may include a storage program area that may store an operating system, at least one application program required for functionality, and a storage data area; the storage data area may store data created according to the use of the electronic device, etc. In addition, memory 802 may include high-speed random access memory, and may also include non-transitory memory, such as at least one magnetic disk storage device, flash memory device, or other non-transitory solid-state storage device. In some embodiments, memory 802 may optionally include memory located remotely from processor 801, which may be connected to the electronic device via a network. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.
The electronic device may further include: an input device 803 and an output device 804. The processor 801, memory 802, input devices 803, and output devices 804 may be connected by a bus or other means, for example in fig. 7.
Input device 803 may receive entered numeric or character information and generate key signal inputs related to user settings and function control of an electronic device of XXX, such as a touch screen, keypad, mouse, trackpad, touchpad, pointer stick, one or more mouse buttons, trackball, joystick, and like input devices. The output device 804 may include a display apparatus, auxiliary lighting devices (e.g., LEDs), and haptic feedback devices (e.g., vibration motors), among others. The display device may include, but is not limited to, a Liquid Crystal Display (LCD), a Light Emitting Diode (LED) display, and a plasma display. In some implementations, the display device may be a touch screen.
Various implementations of the systems and techniques described here can be realized in digital electronic circuitry, integrated circuitry, application specific ASIC (application specific integrated circuit), computer hardware, firmware, software, and/or combinations thereof. These various embodiments may include: implemented in one or more computer programs, the one or more computer programs may be executed and/or interpreted on a programmable system including at least one programmable processor, which may be a special purpose or general-purpose programmable processor, that may receive data and instructions from, and transmit data and instructions to, a storage system, at least one input device, and at least one output device.
These computing programs (also referred to as programs, software applications, or code) include machine instructions for a programmable processor, and may be implemented in a high-level procedural and/or object-oriented programming language, and/or in assembly/machine language. As used herein, the terms "machine-readable medium" and "computer-readable medium" refer to any computer program product, apparatus, and/or device (e.g., magnetic discs, optical disks, memory, programmable Logic Devices (PLDs)) used to provide machine instructions and/or data to a programmable processor, including a machine-readable medium that receives machine instructions as a machine-readable signal. The term "machine-readable signal" refers to any signal used to provide machine instructions and/or data to a programmable processor.
To provide for interaction with a user, the systems and techniques described here can be implemented on a computer having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to a user; and a keyboard and pointing device (e.g., a mouse or trackball) by which a user can provide input to the computer. Other kinds of devices may also be used to provide for interaction with a user; for example, feedback provided to the user may be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user may be received in any form, including acoustic input, speech input, or tactile input.
The systems and techniques described here can be implemented in a computing system that includes a background component (e.g., as a data server), or that includes a middleware component (e.g., an application server), or that includes a front-end component (e.g., a user computer having a graphical user interface or a web browser through which a user can interact with an implementation of the systems and techniques described here), or any combination of such background, middleware, or front-end components. The components of the system can be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: local Area Networks (LANs), wide Area Networks (WANs), and the internet.
The computer system may include a client and a server. The client and server are typically remote from each other and typically interact through a communication network. The relationship of client and server arises by virtue of computer programs running on the respective computers and having a client-server relationship to each other.
It should be appreciated that various forms of the flows shown above may be used to reorder, add, or delete steps. For example, the steps described in the present application may be performed in parallel, sequentially, or in a different order, provided that the desired results of the disclosed embodiments are achieved, and are not limited herein.
The above embodiments do not limit the scope of the present application. It will be apparent to those skilled in the art that various modifications, combinations, sub-combinations and alternatives are possible, depending on design requirements and other factors. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present application should be included in the scope of the present application.
Claims (20)
1. A deflection method of a high-precision map, comprising:
acquiring original position information comprising original longitude, original latitude and original altitude in a high-precision map;
determining a deflection longitude and a deflection latitude according to the original longitude and the original latitude; the deflection longitude is determined according to the original longitude and a longitude deflection value, the longitude deflection value is determined according to a longitude intermediate quantity, the original latitude, a preset ellipsoid long radius and a preset parameter, the longitude intermediate quantity is determined according to an offset longitude and an offset latitude, the offset longitude is determined according to the original longitude and a first preset value, and the offset latitude is determined according to the original latitude and a second preset value; the deflection latitude is determined according to the original latitude and a latitude deflection value, the latitude deflection value is determined according to an intermediate latitude amount, a preset ellipsoid long radius, a preset parameter and a preset ellipsoid eccentricity, the intermediate latitude amount is determined according to an offset longitude and an offset latitude, the offset longitude is determined according to the original longitude and a first preset value, and the offset latitude is determined according to the original latitude and a second preset value;
Determining a deflection altitude from the raw longitude, the raw latitude, the deflection longitude, the deflection latitude, and the raw altitude;
and determining the position information comprising the deflection longitude, the deflection latitude and the deflection height as the position information after the original position information is biased.
2. The method of claim 1, wherein determining a yaw longitude from the raw longitude and the raw latitude comprises:
determining a longitude deflection value according to the original longitude and the original latitude;
and determining the deflection longitude according to the original longitude and the longitude deflection value.
3. The method of claim 1, wherein determining a yaw latitude from the raw longitude and the raw latitude comprises:
determining a latitude deflection value according to the original longitude and the original latitude;
and determining the deflection latitude according to the original latitude and the latitude deflection value.
4. A method according to any one of claims 1-3, wherein said determining a deflection altitude from said original longitude, said original latitude, said deflection longitude, said deflection latitude, said original altitude comprises:
Determining an altitude deflection value according to the original longitude, the original latitude, the deflection longitude and the deflection latitude;
and determining the deflection height according to the original height and the height deflection value.
5. The method of claim 4, wherein said determining an altitude deflection value from said raw longitude, said raw latitude, said deflection longitude, said deflection latitude comprises:
based on a preset conversion algorithm, determining corresponding original abscissa and original ordinate under a universal horizontal ink card grid system according to the original longitude and the original latitude;
based on the preset conversion algorithm, determining corresponding deflection abscissas and deflection ordinates under the universal ink-jet card grid system according to a projection belt where the original longitude is located, the deflection longitudes and the deflection latitudes;
and determining the height deflection value according to the original abscissa, the original ordinate, the deflection abscissa and the deflection ordinate.
6. The method of claim 2, wherein said determining a longitude deviation value from said original longitude, said original latitude, comprises:
determining an offset longitude according to the original longitude and a first preset value, and determining an offset latitude according to the original latitude and a second preset value;
Determining a longitude intermediate quantity according to the offset longitude and the offset latitude;
and determining the longitude deflection value according to the longitude intermediate quantity, the original latitude, a preset ellipsoid long radius and preset parameters.
7. A method according to claim 3, wherein said determining a yaw latitude from said raw longitude, said raw latitude comprises:
determining an offset longitude according to the original longitude and a first preset value, and determining an offset latitude according to the original latitude and a second preset value;
determining a latitude intermediate quantity according to the offset longitude and the offset latitude;
and determining the latitude deflection value according to the latitude intermediate quantity, the preset ellipsoid long radius, the preset parameter and the preset ellipsoid eccentricity.
8. The method of claim 5, wherein said determining said height deflection value from said original abscissa, said original ordinate, said deflection abscissa, said deflection ordinate comprises:
determining a horizontal coordinate difference value between the original horizontal coordinate and the deflection horizontal coordinate;
determining a difference in ordinate between the original ordinate and the deflection ordinate;
and determining the square sum and the square evolution of the horizontal coordinate difference value and the vertical coordinate difference value as the height deflection value.
9. The method of claim 2, wherein said determining said longitude of deflection from said original longitude, said longitude deflection value, comprises:
the sum of the original longitude and the longitude offset value is determined as the deflection longitude.
10. A method according to claim 3, wherein said determining said latitude of deflection from said original latitude, said latitude deflection value, comprises:
and determining the sum of the original latitude and the latitude deflection value as the deflection latitude.
11. The method of claim 4, wherein said determining a deflection height from said raw height, said height deflection value, comprises:
determining the sum of the original height and the height deflection value as the deflection height.
12. A deflection apparatus for a high-precision map, comprising:
the acquisition module is used for acquiring original position information comprising original longitude, original latitude and original altitude in the high-precision map;
the first deflection module is used for determining deflection longitude and deflection latitude according to the original longitude and the original latitude; the deflection longitude is determined according to the original longitude and a longitude deflection value, the longitude deflection value is determined according to a longitude intermediate quantity, the original latitude, a preset ellipsoid long radius and a preset parameter, the longitude intermediate quantity is determined according to an offset longitude and an offset latitude, the offset longitude is determined according to the original longitude and a first preset value, and the offset latitude is determined according to the original latitude and a second preset value; the deflection latitude is determined according to the original latitude and a latitude deflection value, the latitude deflection value is determined according to an intermediate latitude amount, a preset ellipsoid long radius, a preset parameter and a preset ellipsoid eccentricity, the intermediate latitude amount is determined according to an offset longitude and an offset latitude, the offset longitude is determined according to the original longitude and a first preset value, and the offset latitude is determined according to the original latitude and a second preset value;
A second deflection module for determining a deflection altitude from the raw longitude, the raw latitude, the deflection longitude, the deflection latitude, the raw altitude;
and the determining module is used for determining the position information comprising the deflection longitude, the deflection latitude and the deflection height as the position information after the original position information is biased.
13. The apparatus of claim 12, wherein the first deflection module comprises a longitude deflection unit to:
determining a longitude deflection value according to the original longitude and the original latitude;
and determining the deflection longitude according to the original longitude and the longitude deflection value.
14. The apparatus of claim 12, wherein the first deflection module comprises a latitude deflection unit to:
determining a latitude deflection value according to the original longitude and the original latitude;
and determining the deflection latitude according to the original latitude and the latitude deflection value.
15. The apparatus according to any one of claims 12-14, wherein the second deflection module comprises:
a deflection value determining unit for determining an altitude deflection value according to the original longitude, the original latitude, the deflection longitude and the deflection latitude;
And the deflection adding unit is used for determining the deflection height according to the original height and the height deflection value.
16. The apparatus according to claim 15, wherein the deflection value determination unit is specifically configured to:
based on a preset conversion algorithm, determining corresponding original abscissa and original ordinate under a universal horizontal ink card grid system according to the original longitude and the original latitude;
based on the preset conversion algorithm, determining corresponding deflection abscissas and deflection ordinates under the universal ink-jet card grid system according to a projection belt where the original longitude is located, the deflection longitudes and the deflection latitudes;
and determining the height deflection value according to the original abscissa, the original ordinate, the deflection abscissa and the deflection ordinate.
17. The apparatus of claim 13, wherein the longitude deflection unit is specifically configured to:
determining an offset longitude according to the original longitude and a first preset value, and determining an offset latitude according to the original latitude and a second preset value;
determining a longitude intermediate quantity according to the offset longitude and the offset latitude;
and determining the longitude deflection value according to the longitude intermediate quantity, the original latitude, a preset ellipsoid long radius and preset parameters.
18. The apparatus of claim 14, wherein the latitude deflection unit is specifically configured to:
determining an offset longitude according to the original longitude and a first preset value, and determining an offset latitude according to the original latitude and a second preset value;
determining a latitude intermediate quantity according to the offset longitude and the offset latitude;
and determining the latitude deflection value according to the latitude intermediate quantity, the preset ellipsoid long radius, the preset parameter and the preset ellipsoid eccentricity.
19. An electronic device, comprising:
at least one processor; and
a memory communicatively coupled to the at least one processor; wherein,,
the memory stores instructions executable by the at least one processor to enable the at least one processor to perform the method of any one of claims 1-11.
20. A non-transitory computer readable storage medium storing computer instructions for causing the computer to perform the method of any one of claims 1-11.
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| CN114647709B (en) * | 2022-03-28 | 2024-03-12 | 阿波罗智联(北京)科技有限公司 | Map data processing method, map data processing device, electronic equipment and computer storage medium |
| CN114827200B (en) * | 2022-04-19 | 2022-11-15 | 中国测绘科学研究院 | Intelligent automobile basic map data safety protection assembly |
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