CN113961656A - Method and system for distributing high-precision map based on IPFS technology - Google Patents
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Abstract
The invention discloses a method and a system for distributing a high-precision map based on an IPFS (Internet protocol file system) technology, belonging to the field of distributed storage application; the method comprises the following specific steps: s1, acquiring high-precision map data from the unified map source station through longitude and latitude; s2, pulling a nearby map from the base station through the IPFS network; s3 establishes connection with a map source station, a 5G base station and an automatic driving module of a nearby automobile through an IPFS protocol; the following benefits are mainly achieved: 1. the data volume of the high-precision map is large, the high-precision map is required to be pulled quickly, and the IPFS technology is adopted, so that mutual acceleration between vehicles and 5G base stations can be realized, and the pulling time is reduced; 2. the change between the new version and the old version of the high-precision map is usually small, the map data can be divided into a plurality of small blocks by adopting an IPFS technology, and the vehicle only needs to acquire the changed data blocks when pulling, so that the waste of flow is reduced; 3. each node is a data source, so that single-point failure can be avoided, and the blocking condition of a backbone network is reduced.
Description
Technical Field
The invention discloses a method and a system for distributing a high-precision map based on an IPFS (Internet protocol file system) technology, and relates to the technical field of distributed storage application.
Background
The high-precision map is a novel electronic map with precision far higher than that of the traditional map as the name suggests. The high-precision map is not only high in the quantization degree of centimeter level, higher in its space abstract level, as the important component of the automatic driving system, the high-precision map is compared in traditional navigation electronic map, is absorbed in the automatic driving scene, let the humanized understanding constantly changing real environment of automatic driving vehicle, through the real-time multi-layer high-precision map data that updates in high in the clouds, play an important role in modules such as automatic driving vehicle perception, location, decision-making, planning, be an indispensable ring of automatic driving solution. With the coming of the 5G era, the network environment with large bandwidth and low time delay enables the problems of high real-time requirement and large data volume of the previous elbow-control high-precision map to be solved, and the high-precision map scheme is more and more emphasized by automobile automatic driving companies.
The traditional high-precision map storage scheme is divided into pre-storage and real-time distribution, wherein the pre-storage is to store map data in an automobile, and the data volume stored by the scheme is limited and cannot be updated in real time; the real-time distribution scheme is to obtain a local map from a map distribution source in real time when a vehicle runs to a certain area, and the scheme has the problems that when the number of vehicles is large, very large flow pressure is brought to a network and a source station, and delay is also a problem.
IPFS (interplanetary file storage system) is a content addressable, decentralized, distributed storage, transport protocol for point-to-point hypermedia. The files within the IPFS have the property of being non-tamperable, and only the file data corresponding to an identification code that is never changed is accessible by a certain CID (identification code of the file). The IPFS nodes are equal to each other, and no central node exists, so that traffic pressure cannot be brought to a main network, and all the nodes can pull data mutually, and the P2P acceleration effect is achieved. In addition, when the file is stored in the IPFS, the file is stored in a plurality of small blocks, and if the local file is different from a certain file on the line only in a small part, the changed part is pulled.
Therefore, the invention provides a method and a system for distributing high-precision maps based on an IPFS technology, so as to solve the problems.
Disclosure of Invention
Aiming at the problems in the prior art, the invention provides a method and a system for distributing high-precision maps based on an IPFS technology, and the adopted technical scheme is as follows: a high-precision map distribution method based on an IPFS technology comprises the following specific steps:
s1, acquiring high-precision map data from the unified map source station through longitude and latitude;
s2, pulling a nearby map from the base station through the IPFS network;
and S3 establishes connection with a map source station, a 5G base station and an automatic driving module of a nearby automobile through an IPFS protocol.
The specific steps of S1 obtaining high-precision map data from the unified map source station through longitude and latitude are as follows:
s101, uploading latest high-precision map data to an IPFS network;
s102, providing a CID of corresponding high-precision map data mapped by longitude and latitude numbers;
s103, correcting high-precision map data according to data fed back by the automatic driving automobile;
the specific steps of S2 pulling the vicinity map from the base station through the IPFS network are as follows:
s201, the base station inquires the CID of the high-precision map data nearby the base station at regular time in the map source station;
s202, when finding that the CID is changed, obtaining the latest high-precision map from the IPFS network through the CID.
The specific steps of establishing connection between the S3 and the map source station, the 5G base station and the automatic driving module of the nearby automobile through an IPFS protocol are as follows:
s301, transmitting the longitude and latitude where the automobile runs to a map source station, and requesting CID of map data of the located position;
s302, if the CID is consistent with the CID of the local cache, the operation is not carried out
And S303, if the map data are inconsistent, the map data are updated, and the map data are pulled from the 5G base station, the nearby automobile and the map source station through the IPFS network.
A distribution high-precision map system based on IPFS technology specifically comprises a data acquisition module, a base station pulling module and a protocol connection module:
a data acquisition module: acquiring high-precision map data from the unified map source station through longitude and latitude;
a base station pulling module: pulling a nearby map from a base station through an IPFS network;
a protocol connection module: and establishing connection with a map source station, a 5G base station and an automatic driving module of a nearby automobile through an IPFS protocol.
The data acquisition module specifically comprises a data uploading module, a data mapping module and a data correction module:
the data uploading module: uploading the latest high-precision map data to an IPFS network;
a data mapping module: providing CID of corresponding high-precision map data mapped by longitude and latitude numbers;
a data correction module: correcting high-precision map data according to data fed back by an automatic driving automobile;
the base station pulling module specifically comprises a map query module and a map updating module:
a map query module: the base station regularly inquires the CID of the high-precision map data near the base station at the map source station;
the map updating module: when the CID is found to be changed, the latest high-precision map is obtained from the IPFS network through the CID.
The protocol connection module specifically comprises a real-time position module, a map correction module A and a map correction module B:
a real-time location module: sending the longitude and latitude where the automobile runs to a map source station, and requesting the CID of map data of the located position;
the map correction module A: if the CID is consistent with the CID of the local cache, no operation is performed;
the map correction module B: if the map data are inconsistent, the map data are updated, and the map data are pulled from the 5G base station, the nearby automobiles and the map source station through the IPFS network.
The invention has the beneficial effects that: the scheme of the invention applies the IPFS technology to the distribution of high-precision maps, and has the following benefits: 1. the data volume of the high-precision map is large, the high-precision map is required to be pulled quickly, and the IPFS technology is adopted, so that mutual acceleration between vehicles and 5G base stations can be realized, and the pulling time is reduced; 2. the change between the new version and the old version of the high-precision map is usually small, the map data can be divided into a plurality of small blocks by adopting an IPFS technology, and the vehicle only needs to acquire the changed data blocks when pulling, so that the waste of flow is reduced; 3. each node is a data source, so that single-point failure can be avoided, and the blocking condition of a backbone network is reduced.
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In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly introduced below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.
FIG. 1 is a flow chart of the method of the present invention; FIG. 2 is a schematic diagram of the system of the present invention; fig. 3 is a flowchart of the automatic driving module of the vehicle pulling a high-precision map according to the embodiment of the present invention.
Detailed Description
The present invention is further described below in conjunction with the following figures and specific examples so that those skilled in the art may better understand the present invention and practice it, but the examples are not intended to limit the present invention.
First, some terms referred to in the embodiments are explained:
1. IPFS: an interplanetary file storage system;
2. CID: the file identification code in the IPFS can directly acquire file data through the code;
the first embodiment is as follows:
a high-precision map distribution method based on an IPFS technology comprises the following specific steps:
s1, acquiring high-precision map data from the unified map source station through longitude and latitude;
s2, pulling a nearby map from the base station through the IPFS network;
s3 establishes connection with a map source station, a 5G base station and an automatic driving module of a nearby automobile through an IPFS protocol;
the method of the invention applies the IPFS technology to the distribution of high-precision maps, and has the following benefits: 1. the data volume of the high-precision map is large, the high-precision map is required to be pulled quickly, and the IPFS technology is adopted, so that mutual acceleration between vehicles and 5G base stations can be realized, and the pulling time is reduced; 2. the change between the new version and the old version of the high-precision map is usually small, the map data can be divided into a plurality of small blocks by adopting an IPFS technology, and the vehicle only needs to acquire the changed data blocks when pulling, so that the waste of flow is reduced; 3. each node is a data source, so that single-point failure can be avoided, and the blocking condition of a backbone network is reduced;
the specific steps of S1 obtaining high-precision map data from the unified map source station through longitude and latitude are as follows:
s101, uploading latest high-precision map data to an IPFS network;
s102, providing a CID of corresponding high-precision map data mapped by longitude and latitude numbers;
s103, correcting high-precision map data according to data fed back by the automatic driving automobile;
the unified map source station stores national high-precision map data, and the high-precision maps are divided into one piece of data bound with longitude and latitude. The source station mainly has three functions, wherein the first function is to upload the latest high-precision map data to an IPFS network, the second function is to provide CID (computer-aided identification) of corresponding high-precision map data mapped by longitude and latitude numbers, and the third function is to correct the high-precision map data according to data fed back by an automatic driving automobile;
in the step of mapping the CID, authentication processes of some users are also included, and only when the map application service is registered to a client side of the map application service, the conversion between the longitude and latitude and the CID can be carried out, so that the propagation range of the map information can be controlled; if further authority control reinforcement is needed, different keys can be used for encrypting each piece of map data, the encryption is performed periodically, when CID is returned, the decryption key is returned, and only if the CID and the decryption key are mastered at the same time, the correct high-precision map can be obtained; therefore, even if the IPFS network is broken by technical means, the data after encryption can be stolen and cannot be used by an attacker. The unified map source station is also accessed to the IPFS network, and all map data are distributed through the IPFS network;
further, the specific step of S2 pulling the vicinity map from the base station through the IPFS network is as follows:
s201, the base station inquires the CID of the high-precision map data nearby the base station at regular time in the map source station;
s202, when finding that the CID is changed, obtaining the latest high-precision map from the IPFS network through the CID;
the communication base station basically covers all places where the automobile can drive, and the 5G base station is also laid as fiercely as possible, thanks to the good infrastructure of China; the high-precision map near the base station is stored in the 5G base station, when the vehicle runs to the range of the base station, the map near the base station can be pulled from the base station through the IPFS network, so that the delay is lowest, and the data flow pressure of a backbone network and a map source station can be greatly reduced; the 5G base station can regularly (every few seconds) go to the map source station to inquire the CID of the high-precision map data near the base station, if the change is found, the latest high-precision map is obtained from the IPFS network through the CID, and if the change is not found, the map data is not updated and the operation is not carried out; because the data of the high-precision map is not changed too much, the 5G base station can only pull the changed data part by virtue of the capability of the IPFS protocol;
the specific steps of establishing connection between the S3 and the map source station, the 5G base station and the automatic driving module of the nearby automobile through an IPFS protocol are as follows:
s301, transmitting the longitude and latitude where the automobile runs to a map source station, and requesting CID of map data of the located position;
s302, if the CID is consistent with the CID of the local cache, the operation is not carried out
S303, if the map data are inconsistent, the map data are updated, and the map data are pulled from the 5G base station, the nearby automobile and the map source station through the IPFS network;
an automatic driving module of an automobile is a user of a high-precision map, and a distribution acceleration node of high-precision map data is also arranged in the system; the automatic driving module establishes connection with a map source station, a 5G base station and an automatic driving module of a nearby automobile through an IPFS protocol; when the automobile runs, S301 sends the longitude and latitude to a map source station to request the CID of the map data of the located position; if the map data are consistent with the CID of the local cache, the operation is not carried out, if the map data are not consistent with the CID of the local cache, the map data are required to be updated, and the map data are pulled from the 5G base station, the nearby automobiles and the map source station through the IPFS network; only when the map source station, the 5G base station and the nearby automobile lose connection, the map pulling fails, so that the high availability of the high-precision map is ensured;
the flow chart of the high-precision map pulled by the automatic driving module of the automobile is shown in figure 1;
when an automatic driving module of an automobile runs to an area, firstly, longitude and latitude information is sent to a map source station, and a CID of map data of the area is requested, in the process, verification processes of some users are carried out, so that the automatic driving module of the automobile is ensured to have permission for inquiring high-precision map data; after the source station queries the database of the source station, the latest CID of the area is returned; the automatic driving module of the automobile can compare the CID of the map stored locally with the returned CID, and if the CID is consistent with the returned CID, the automatic driving module can determine that the latest map is stored locally;
if the local CID is inconsistent with the returned CID, the automatic driving module of the automobile downloads the latest map data from the network by utilizing the capability of an IPFS protocol; due to the characteristics of the IPFS, if the new map data and the old map data have consistent places, only the distinguishing data can be acquired, so that the consumption of bandwidth is greatly reduced; the data are obtained from the nearby 5G base station, the nearby vehicle and the map source station together, and the obtained data volume is determined according to the network connection degree of the local node;
if the map source station encrypts and releases the high-precision map data, the automatic driving module of the automobile can simultaneously acquire an encrypted public key of the data when acquiring the CID of the high-precision map data, and the map data can be decrypted and utilized through the encrypted public key after the complete data is pulled;
the automatic driving module of the automobile not only can be used as a user of a high-precision map, but also can be used as a real-time collector of map data; when a sensor of an automobile finds that the road condition is inconsistent with the latest high-precision map (such as accidents, road damage and the like in the road), different data can be sorted and recorded, the data are sent to an IPFS network, and CID of the data is sent to a map source station for the source station to utilize; after receiving the reported data, the source station discriminates the data, and if a plurality of sources indicate that the road condition of the place changes, the source station records the changes into a high-precision map and updates and releases the changes; if the data source conflicts with one or more data sources, the data sources are distinguished and processed manually.
Example two:
a distribution high-precision map system based on IPFS technology specifically comprises a data acquisition module, a base station pulling module and a protocol connection module:
a data acquisition module: acquiring high-precision map data from the unified map source station through longitude and latitude;
a base station pulling module: pulling a nearby map from a base station through an IPFS network;
a protocol connection module: and establishing connection with a map source station, a 5G base station and an automatic driving module of a nearby automobile through an IPFS protocol.
The data acquisition module specifically comprises a data uploading module, a data mapping module and a data correction module:
the data uploading module: uploading the latest high-precision map data to an IPFS network;
a data mapping module: providing CID of corresponding high-precision map data mapped by longitude and latitude numbers;
a data correction module: correcting high-precision map data according to data fed back by an automatic driving automobile;
the base station pulling module specifically comprises a map query module and a map updating module:
a map query module: the base station regularly inquires the CID of the high-precision map data near the base station at the map source station;
the map updating module: when the CID is found to be changed, the latest high-precision map is obtained from the IPFS network through the CID.
The protocol connection module specifically comprises a real-time position module, a map correction module A and a map correction module B:
a real-time location module: sending the longitude and latitude where the automobile runs to a map source station, and requesting the CID of map data of the located position;
the map correction module A: if the CID is consistent with the CID of the local cache, no operation is performed;
the map correction module B: if the map data are inconsistent, the map data are updated, and the map data are pulled from the 5G base station, the nearby automobiles and the map source station through the IPFS network.
Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.
Claims (8)
1. A high-precision map distribution method based on IPFS technology is characterized by comprising the following specific steps:
s1, acquiring high-precision map data from the unified map source station through longitude and latitude;
s2, pulling a nearby map from the base station through the IPFS network;
and S3 establishes connection with a map source station, a 5G base station and an automatic driving module of a nearby automobile through an IPFS protocol.
2. The method as claimed in claim 1, wherein the step of S1 obtaining high precision map data from the unified map source station by latitude and longitude includes the following steps:
s101, uploading latest high-precision map data to an IPFS network;
s102, providing a CID of corresponding high-precision map data mapped by longitude and latitude numbers;
s103, correcting the high-precision map data according to the data fed back by the automatic driving automobile.
3. The method as claimed in claim 2, wherein the step of S2 pulling the vicinity map from the base station through the IPFS network comprises:
s201, the base station inquires the CID of the high-precision map data nearby the base station at regular time in the map source station;
s202, when finding that the CID is changed, obtaining the latest high-precision map from the IPFS network through the CID.
4. The method as claimed in claim 3, wherein the step of establishing connection with map source station, 5G base station and automatic driving module of nearby cars through IPFS protocol at S3 is as follows:
s301, transmitting the longitude and latitude where the automobile runs to a map source station, and requesting CID of map data of the located position;
s302, if the CID is consistent with the CID of the local cache, the operation is not carried out
And S303, if the map data are inconsistent, the map data are updated, and the map data are pulled from the 5G base station, the nearby automobile and the map source station through the IPFS network.
5. A distribution high-precision map system based on IPFS technology is characterized by specifically comprising a data acquisition module, a base station pulling module and a protocol connection module:
a data acquisition module: acquiring high-precision map data from the unified map source station through longitude and latitude;
a base station pulling module: pulling a nearby map from a base station through an IPFS network;
a protocol connection module: and establishing connection with a map source station, a 5G base station and an automatic driving module of a nearby automobile through an IPFS protocol.
6. The system of claim 5, wherein the data acquisition module specifically comprises a data upload module, a data mapping module, and a data correction module:
the data uploading module: uploading the latest high-precision map data to an IPFS network;
a data mapping module: providing CID of corresponding high-precision map data mapped by longitude and latitude numbers;
a data correction module: and correcting the high-precision map data according to the data fed back by the automatic driving automobile.
7. The system as claimed in claim 6, wherein the base station pull module specifically comprises a map query module and a map update module:
a map query module: the base station regularly inquires the CID of the high-precision map data near the base station at the map source station;
the map updating module: when the CID is found to be changed, the latest high-precision map is obtained from the IPFS network through the CID.
8. The system of claim 7, wherein the protocol connection module specifically comprises a real-time location module, a map correction module a, and a map correction module B:
a real-time location module: sending the longitude and latitude where the automobile runs to a map source station, and requesting the CID of map data of the located position;
the map correction module A: if the CID is consistent with the CID of the local cache, no operation is performed;
the map correction module B: if the map data are inconsistent, the map data are updated, and the map data are pulled from the 5G base station, the nearby automobiles and the map source station through the IPFS network.
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| CN116504089A (en) * | 2023-06-27 | 2023-07-28 | 东风悦享科技有限公司 | Unmanned public transport cluster flexible scheduling system based on road surface damage factors |
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| CN116504089A (en) * | 2023-06-27 | 2023-07-28 | 东风悦享科技有限公司 | Unmanned public transport cluster flexible scheduling system based on road surface damage factors |
| CN116504089B (en) * | 2023-06-27 | 2023-09-12 | 东风悦享科技有限公司 | Unmanned public transport cluster flexible scheduling system based on road surface damage factors |
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