CN114322979A - High-precision dynamic map generation and updating method based on P2P mode - Google Patents
High-precision dynamic map generation and updating method based on P2P mode Download PDFInfo
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Abstract
The invention discloses a high-precision dynamic map generating and updating method based on a P2P mode, which comprises the steps of firstly, forming a sharing network by utilizing the P2P mode to realize the sharing of dynamic high-precision map data of each OEM (original equipment manufacturer) car factory; secondly, unifying the space-time reference: extension and improvement are carried out on the basis of CGCS2000, a time service system taking Beidou time as a unified time reference is established, and the time reference consistent with each car factory data system is kept; then, high-precision dynamic data encryption is carried out, and data backtracking and tamper resistance are realized; and finally, unifying high-precision dynamic data standards: the data unification standard is established by establishing a data encryption deviation-rectifying coordinate system and a data structure unification mode, and the safe use of the data is guaranteed. The invention connects the service nodes of each OEM car factory through the P2P network, thereby sharing the high-precision dynamic data of each service node and forming a high-precision dynamic map of the whole country; the production efficiency and the cost of the high-precision dynamic map can be rapidly improved, and a new ecological business of shared drawing is formed.
Description
Technical Field
The invention belongs to the field of dynamic map generation, and particularly relates to a high-precision dynamic map generation and updating method based on a P2P mode.
Background
The navigation map is one of the foundations of the navigation industry and is the most intuitive application of navigation products. In recent years, free Web-side navigation maps are rapidly developed, so that the navigation maps become a necessary mass consumer product, and with the popularization of intelligent mobile terminals and the development of 5G networks, the navigation maps serve as a composite product of map, positioning and position services, and the future development trend of the navigation maps has an important influence on the whole navigation industry, particularly the civil navigation industry.
The high-precision dynamic map comprises a quasi-dynamic map and a dynamic map. The quasi-dynamic map comprises information such as signal lamps, road congestion conditions, road construction, road surface information and weather, and the dynamic map comprises high-instantaneity information such as surrounding traffic participants, traffic accident information and sudden roadblocks. The dynamic map generally acquires information through terminal sensors such as vision, laser radar and millimeter wave radar at a vehicle end and a road side end, and the terminal platform performs cleaning, classification, encoding, positioning, extraction and other processing on the sensed information, uploads the information to a map cloud platform or performs differential processing on local basic data, static data and the like of the terminal to generate or update dynamic map data.
After the difference calculation is carried out on the high-precision dynamic map and the static map data, the static map data can be updated, and real-time dynamic information with position information is generated through fusion and calculation with the static map data and is transmitted to terminals such as a vehicle end and a road side for path planning and the like. The method is characterized in that large-scale high-precision dynamic maps are updated and generated uniformly, and a centralized subpackage mode is adopted in the industry at the present stage. However, due to the problems of data copyright, data security, business model and the like, a unified standard cannot be formed all the time. The high-precision dynamic map data are managed by a centralized mechanism, all data are gathered and managed at one place, the data are extremely high in risk and extremely low in disaster tolerance rate, and the problem of data safety cannot be effectively solved. Dynamic map data needs to be updated and maintained in real time, and data access is performed on a sharing center by a mechanism of a centralized data sharing center, so that separation of data updating and applied intellectual property cannot be guaranteed.
The automatic driving automobile as an intelligent terminal independently exists in the whole data network of the data monitoring management platform. The vehicle end is used as an acquisition end of high-precision map data and an application end of the high-precision map. The dynamic high-precision map information used by the vehicle end is not only acquired by the sensor of the vehicle end, but also acquired by other vehicle ends and road side ends in the block chain data network. And (4) establishing a consensus mechanism by each terminal, and carrying out data sharing transaction based on the principles of safety, reliability, sharing and the like. Each terminal is independent, decentralized point-to-point data transmission and transaction are achieved, and data transmission efficiency can be guaranteed to the greatest extent.
The existing home and abroad Internet of vehicles data center mainly aims at: integrating vehicle data, establishing a data platform and providing big data service; most of the data centers are data centers in the industry or in enterprise groups, and data sharing barriers, standards and the like often exist among the centers, so that the nationwide integrated data centers are not effectively formed.
Disclosure of Invention
The purpose of the invention is as follows: the invention provides a high-precision dynamic map generation and updating method based on a P2P mode, which is characterized in that service nodes of all OEM car factories are connected through a P2P network, so that high-precision dynamic data of the service nodes are shared, and a high-precision dynamic map of the whole country is formed.
The technical scheme is as follows: the invention provides a high-precision dynamic map generation and updating method based on a P2P mode, which comprises the following steps:
(1) a P2P mode is utilized to form a sharing network, and the sharing of dynamic high-precision map data of each OEM car factory is realized; the OEM car factory can provide dynamic high-precision map data resources, and can also use dynamic high-precision map data resources maintained by other OEM car factories;
(2) unifying space-time reference: extension and improvement are carried out on the basis of CGCS2000, a time service system taking Beidou time as a unified time reference is established, and the time reference consistent with each car factory data system is kept;
(3) high-precision dynamic data encryption is carried out, and data backtracking and tamper resistance are realized;
(4) unifying high-precision dynamic data standard: the data unification standard is established by establishing a data encryption deviation-rectifying coordinate system and a data structure unification mode, and the safe use of the data is guaranteed.
Further, the step (2) comprises the steps of:
(21) unifying the space reference: firstly, uniformly selecting 300 base stations from base stations established in the whole country as frame stations of a coordinate system, carrying out joint calculation on the frame stations, national CORS stations and peripheral IGS stations, and aligning to the latest international earth reference frame to obtain frame station coordinates of the base coordinate system; then, fixing the frame site and performing joint calculation with the regional encryption reference site to obtain a nationwide consistency site coordinate network; finally, the coordinates of the reference station of each positioning service provider are solved in a unified manner by taking the constructed reference coordinate system as a reference, so that the space reference unification of high-precision positioning service is achieved;
(22) unifying time reference: the method comprises the steps of establishing a time service system with Beidou time as a unified time reference, tracing to a China civil liberation military standard time frequency center in the Beidou time, simultaneously comparing time through a satellite bidirectional and GNSS common view based on a C wave band, synchronously tracing to UTC maintained by a national time service center, further tracing to coordinated world time, finally sending a real-time precision clock error product obtained by resolving to a user positioning terminal, and positioning the terminal according to the satellite precision clock error product, so that the time reference consistent with each car factory data system can be maintained.
Further, the step (3) is realized as follows:
on the basis of establishing a high-precision dynamic map data sharing network platform containing a P2P mode of an automobile manufacturer, encrypting data of each manufacturer node, wherein each node has an encryption transformation algorithm and a decryption transformation algorithm, and generates a pseudorandom encryption ciphertext sequence through encryption transformation based on an encryption key to form an encryption ciphertext data service; when another legal node reads the pseudo-random encrypted ciphertext data service, the pseudo-random encrypted ciphertext data service is read through decryption transformation based on the decryption key without difference, but without editing authority.
Further, the encrypted ciphertext data service comprises a high-precision dynamic map data service, a path planning service, a navigation service and a data query service.
Further, the high-precision dynamic data of the step (4) comprises metadata and a data body; the metadata comprises the name, copyright, production date, update date and other contents of a data producer, and is the only basis for identifying the copyright of the high-precision dynamic data; the data body is the main content of data, a set of exchange format high-precision map vector data suitable for being rapidly shared with P2P is established based on an industry universal data standard, a data structure must contain module contents such as uniqueness codes, element types, associated attributes, parent-child element external keys, topological structure relations and the like of unit geometric elements, decryption processing is carried out on map elements related to national secrets, and data subjected to encryption compression is externally issued; the data body generates high-precision dynamic data in a display scene, high-precision dynamic data in a path planning scene, high-precision dynamic data in a navigation scene and high-precision dynamic data in a query scene from data types through a data compiling and converting algorithm.
Has the advantages that: compared with the prior art, the invention has the beneficial effects that:
1. according to the high-precision dynamic map production hardware resource, decentralization and resource allocation are realized through establishment of a sharing consensus mechanism, data sharing can be performed without forming a shared data center, resources of all regions and all vehicles and factories are integrated, the effect of one network in the whole country is formed, the hardware cost for generating and updating the high-precision dynamic map is reduced, and the maximization of the utilization of the production hardware resources is realized;
2. the safety and disaster tolerance of data storage sharing are guaranteed: each node simultaneously acts as a data producer and a data consumer, and a resource platform and resource sharing among the nodes are adopted, so that the data loss and interruption of other vehicle plant nodes can be avoided when one vehicle plant node fails, and the disaster tolerance of the data is effectively improved; through the development of the encryption and decryption algorithm, data cannot be read and edited even if being illegally stolen, and the safety of the data is ensured from two dimensional levels of high-precision map data encryption and metadata encryption;
3. the standardization and integration of data production are realized: by establishing an intelligent contract, qualification requirements of data manufacturers are stipulated, a data quality and specification unified standard is established for each data manufacturer, and meanwhile, the contract stipulates the data production range and content of the data manufacturers, so that the standardization and integration of high-precision dynamic map data production are realized, and the problems of data repeated construction and data isolated island are solved;
4. a new ecology of shared charting is established: the main tasks of generating and updating the traditional high-precision dynamic map include mapping, correcting, compiling and the like, a large amount of manpower and financial resources are consumed, the obtained income is limited, the data of all OEM car factories are fused by adopting the P2P technology to form a high-precision dynamic map resource in the whole country, the production efficiency and the cost of the high-precision dynamic map can be rapidly improved, and the novel ecological business of shared drawing is formed.
Drawings
FIG. 1 is a flow chart of the data sharing business based on P2P in EM vehicle factory;
FIG. 2 is a high-precision network diagram of a dynamic map across the country;
FIG. 3 is a diagram of national reference station network location;
FIG. 4 is a unified spatiotemporal reference implementation diagram;
FIG. 5 is a flow chart of data encryption and decryption;
FIG. 6 is a high-precision dynamic data structure.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings.
The invention provides a high-precision dynamic map generation and updating method based on a P2P mode, and as shown in figure 1, an open P2P shared network ecosystem is established for getting through high-precision data sharing of various car factories to form a picture nationwide, wherein an OEM car factory in the ecosystem is a producer and a consumer. The vehicle factory A collects, processes and issues high-precision dynamic map data services, a data chain is formed through a P2P network, if other vehicle factories need to use data of the vehicle factories, an instruction is broadcast to the vehicle factory A to carry out request calculation, and the data services are obtained for use, so that the purpose of availability and inadvisability is achieved, the copyright of the data of each vehicle factory is guaranteed, and a shared point book is formed according to the service access data volume. In the ecological system, each car factory needs to achieve consensus of data standards and space-time standards so as to ensure that each shared data service is unified and realize fusion between data. The method specifically comprises the following steps:
step 1: and a P2P (peer-to-peer, P2P for short) mode is utilized to form a sharing network, so that the dynamic high-precision map data sharing of each OEM (original equipment manufacturer) car factory is realized.
The OEM vehicle manufacturer is responsible for generating and updating own dynamic high-precision map data, and the dynamic high-precision map data of all blocks in the country are linked by utilizing a P2P mode, so that a high-precision network of dynamic maps in the country is formed; as shown in fig. 2.
By utilizing the P2P mode, the sharing and the use of the dynamic high-precision map data become easy and direct, and the intermediate quotient and the integrator are really eliminated. In this network, each OEM car manufacturer is a service node, each node acts as both a client and a server, there is no central server, and there is no central router.
All OEM car factories can provide dynamic high precision map data resources while also using dynamic high precision map data resources maintained by other OEM car factories, and can share bandwidth, storage space and computing power. This is the goal. When new OEM vehicle factory nodes are added and requests for the system are increased, the capacity of the whole system is increased, the more OEM vehicle factory service nodes are, and the more smooth resource sharing speed and experience are achieved. This is not possible with a fixed set of servers, where the addition of clients means slower data transfer for all users.
Step 2: and unifying space-time reference.
At present, the CGCS2000(2000 national geodetic coordinate system, which is the latest national geodetic coordinate system in China) coordinate system or WGS84 (coordinate system established by the GPS global positioning system) coordinate system is used as a spatial reference in China, and the adopted time reference is more diversified. The CGCS2000 coordinate system has the problems or defects of uneven distribution of frame points, different degree of difference among different places, continuous amplification of errors of the instantaneous coordinate system along with the time, and the like. Meanwhile, the difference between the CGCS2000 coordinate system and the WGS84 coordinate system causes systematic errors to easily occur in the spatial information transformation. In addition, the time service difference corresponding to different time references is large. The time-space reference of the positioning service of the current nationwide car factories is not uniform due to the integration of the factors, and the method is as follows:
(1) spatial unified reference
The establishment of the spatial unified reference is extension and improvement on the basis of the CGCS2000, and can avoid the problems that the differences of all parts of the traditional CGCS2000 coordinate system are different and the error of the coordinate system is continuously enlarged along with the time. Firstly, 300 reference stations are uniformly selected from reference stations established in the whole country as frame stations of a coordinate system, the frame stations, national CORS (a product of high and new technology, such as satellite positioning technology, computer network technology, digital communication technology and the like, multidirectional and deep crystallization) stations and peripheral IGS stations are subjected to combined solution, and the latest international earth reference frame (ITRF) is aligned to obtain frame station coordinates of the reference coordinate system. And then, fixing the frame site and performing joint calculation with the regional encryption reference site to obtain a nationwide consistent site coordinate network. And finally, uniformly resolving the coordinates of the reference station of each positioning service provider by taking the constructed reference coordinate system as a reference so as to achieve the spatial reference uniformity of the high-precision positioning service, as shown in fig. 3.
(2) Unified time reference
And establishing a time service system taking Beidou time as a unified time reference. In the big Dipper, the source tracing needs to be carried out on a China civil liberation army standard time frequency center (CMTC), meanwhile, the time comparison is carried out through the satellite bidirectional and GNSS common view based on the C wave band, the source tracing is synchronously carried out on UTC (UTC) (NSTC) maintained by a national time service center, the source tracing is further carried out on the coordinated world time, finally, the real-time precision clock error product obtained through calculation is sent to a user positioning terminal, the terminal carries out positioning according to the satellite precision clock error product, and the time reference consistent with each car factory data system can be maintained. The specific flow is shown in fig. 4 below.
And step 3: the high-precision dynamic data encryption realizes copyright backtracking and tamper resistance, as shown in fig. 5.
On the basis of establishing a high-precision dynamic map data sharing network platform containing a P2P mode of an automobile manufacturer, data of each manufacturer node is encrypted, each node has an encryption transformation algorithm and a decryption transformation algorithm, the nodes generate a pseudorandom encryption ciphertext sequence through encryption transformation based on an encryption key to form an encryption ciphertext data service (including a high-precision dynamic map data service, a path planning service, a navigation service, a data query service and the like), and when another legal node reads the pseudorandom encryption ciphertext data service, the data is read indiscriminately through decryption transformation based on the decryption key (without editing authority). For legal node automobile manufacturers, the encrypted files are transparent, namely, as if the encrypted files are not encrypted, the encrypted files have the use and reading authority of data service, but have no editing and downloading authority; for car manufacturers of illegal nodes, even if the data files are obtained by other illegal means, the files are encrypted, so that the data contents cannot be read and cannot be edited and tampered.
And 4, step 4: unifying high-precision dynamic data standard: the data unification standard is established by establishing a data encryption deviation-rectifying coordinate system and a data structure unification mode, and the safe use of the data is guaranteed.
Encryption offset criteria: according to nonlinear encryption offset on a coordinate system (GCJ-02) released by the State mapping administration in 2002, a high-precision dynamic map is formed by data subjected to encryption offset, encryption offset is carried out on original data from a data source and a map base map, and the use safety and uniform encryption offset of the data are ensured.
The high-precision dynamic data comprises two structures of a data head (metadata) and a data body. The metadata comprises the name, copyright, production date, update date and other contents of a data producer, and is the only basis for identifying the copyright of the high-precision dynamic data; the data body is the main content of the data, a set of exchange format high-precision map vector data suitable for being rapidly shared with P2P is established based on an industry universal data standard, a data structure must contain module contents such as uniqueness codes of unit geometric elements, element types, associated attributes, parent-child element external keys, topological structure relations and the like, meanwhile, decryption processing is carried out on map elements related to national secrets, and data after encryption and compression are externally issued. The data volume can generate high-precision dynamic data in a display scene, high-precision dynamic data in a path planning scene, high-precision dynamic data in a navigation scene and high-precision dynamic data in a query scene from the data type through a data compiling and converting algorithm, as shown in fig. 6.
Claims (5)
1. A high-precision dynamic map generation and update method based on a P2P mode is characterized by comprising the following steps:
(1) a P2P mode is utilized to form a sharing network, and the sharing of dynamic high-precision map data of each OEM car factory is realized; the OEM car factory can provide dynamic high-precision map data resources, and can also use dynamic high-precision map data resources maintained by other OEM car factories;
(2) unifying space-time reference: extension and improvement are carried out on the basis of CGCS2000, a time service system taking Beidou time as a unified time reference is established, and the time reference consistent with each car factory data system is kept;
(3) high-precision dynamic data encryption is carried out, and data backtracking and tamper resistance are realized;
(4) unifying high-precision dynamic data standard: the data unification standard is established by establishing a data encryption deviation-rectifying coordinate system and a data structure unification mode, and the safe use of the data is guaranteed.
2. The P2P pattern-based high-precision dynamic map generating and updating method according to claim 1, wherein the step (2) comprises the steps of:
(21) unifying the space reference: firstly, uniformly selecting 300 base stations from base stations established in the whole country as frame stations of a coordinate system, carrying out joint calculation on the frame stations, national CORS stations and peripheral IGS stations, and aligning to the latest international earth reference frame to obtain frame station coordinates of the base coordinate system; then, fixing the frame site and performing joint calculation with the regional encryption reference site to obtain a nationwide consistency site coordinate network; finally, the coordinates of the reference station of each positioning service provider are solved in a unified manner by taking the constructed reference coordinate system as a reference, so that the space reference unification of high-precision positioning service is achieved;
(22) unifying time reference: the method comprises the steps of establishing a time service system with Beidou time as a unified time reference, tracing to a China civil liberation military standard time frequency center in the Beidou time, simultaneously comparing time through a satellite bidirectional and GNSS common view based on a C wave band, synchronously tracing to UTC maintained by a national time service center, further tracing to coordinated world time, finally sending a real-time precision clock error product obtained by resolving to a user positioning terminal, and positioning the terminal according to the satellite precision clock error product, so that the time reference consistent with each car factory data system can be maintained.
3. The P2P pattern-based high-precision dynamic map generating and updating method according to claim 1, wherein the step (3) is implemented as follows:
on the basis of establishing a high-precision dynamic map data sharing network platform containing a P2P mode of an automobile manufacturer, encrypting data of each manufacturer node, wherein each node has an encryption transformation algorithm and a decryption transformation algorithm, and generates a pseudorandom encryption ciphertext sequence through encryption transformation based on an encryption key to form an encryption ciphertext data service; when another legal node reads the pseudo-random encrypted ciphertext data service, the pseudo-random encrypted ciphertext data service is read through decryption transformation based on the decryption key without difference, but without editing authority.
4. The P2P mode-based high-precision dynamic map generating and updating method according to claim 3, wherein the encrypted ciphertext data service comprises a high-precision dynamic map data service, a path planning service, a navigation service, and a data query service.
5. The P2P pattern-based high-precision dynamic map generating and updating method according to claim 1, wherein the high-precision dynamic data of step (4) comprises metadata and a data body; the metadata comprises the name, copyright, production date, update date and other contents of a data producer, and is the only basis for identifying the copyright of the high-precision dynamic data; the data body is the main content of data, a set of exchange format high-precision map vector data suitable for being rapidly shared with P2P is established based on an industry universal data standard, a data structure must contain module contents such as uniqueness codes, element types, associated attributes, parent-child element external keys, topological structure relations and the like of unit geometric elements, decryption processing is carried out on map elements related to national secrets, and data subjected to encryption compression is externally issued; the data body generates high-precision dynamic data in a display scene, high-precision dynamic data in a path planning scene, high-precision dynamic data in a navigation scene and high-precision dynamic data in a query scene from data types through a data compiling and converting algorithm.
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