CN114623838A - Map data acquisition method and device based on Internet of vehicles and storage medium - Google Patents
Map data acquisition method and device based on Internet of vehicles and storage medium Download PDFInfo
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Abstract
The application discloses a map data acquisition method, a device and a storage medium based on Internet of vehicles, wherein the method is executed by a vehicle end and comprises the following steps: acquiring a map data acquisition task, wherein the map data acquisition task comprises a target geographic position and a vehicle machine system timestamp when the target geographic position is generated; determining map video data corresponding to the vehicle-mounted machine system timestamp according to the map data acquisition task, wherein the map video data comprise a target map video file and the position of a target map image in the target map video file; extracting a corresponding target map image from the target map video file according to the position of the target map image in the target map video file; and sending the target map image to the server so that the server obtains the map image corresponding to the target geographic position. The data acquisition that this application had solved traditional mode slow, gather incomplete scheduling problem, improved the collection efficiency of high-precision map data, compare in the mode that uses GPS timestamp matching, the accuracy is higher.
Description
Technical Field
The application relates to the technical field of automatic driving, in particular to a map data acquisition method and device based on the Internet of vehicles and a storage medium.
Background
The high-precision map is a digital map with high resolution, and the function of an automatic driving vehicle at an L3 level (conditional automatic driving) is realized, so that the high-precision map is required to be used. In order to ensure that a vehicle can normally run based on a high-precision map and ensure the safety and high efficiency of automatic driving, the precision, freshness and richness of the high-precision map are required to be higher, so that the present situation of the high-precision map and the quick updating of data are very important, and the high-precision map data in roads need to be acquired.
The traditional high-precision map data acquisition method depends on a data acquisition vehicle provided with sensors such as a laser radar, a camera and a high-precision combined inertial navigation sensor, and the data acquisition party is required to have professional surveying and mapping capability, so that the data acquisition, manufacturing and maintenance costs are high.
Along with the continuous construction and extension of roads, when road data in a certain area needs to be collected, the data are collected through a traditional single data collection vehicle, the cost is high, the data collection speed is slow and incomplete, and the technical requirement for quickly updating the high-precision map cannot be met. In order to meet the use requirement of a high-precision map, the generally acquired image has high precision requirement, and mainly includes that the acquired geographic position and the acquired image can be in one-to-one correspondence in time, and the time error cannot be too large.
Disclosure of Invention
The embodiment of the application provides a map data acquisition method and device based on the Internet of vehicles and a storage medium, so that the acquisition efficiency and accuracy of high-precision map data are improved.
The embodiment of the application adopts the following technical scheme:
in a first aspect, an embodiment of the present application provides a map data acquisition method based on a vehicle networking, where the method is executed by a vehicle end, and the method includes:
acquiring a map data acquisition task, wherein the map data acquisition task comprises a target geographic position and a vehicle machine system timestamp when the target geographic position is generated;
according to the map data acquisition task, determining map video data corresponding to the vehicle-mounted device system timestamp when the target geographic position is generated, wherein the map video data comprise a target map video file and the position of a target map image in the target map video file;
extracting a corresponding target map image from the target map video file according to the position of the target map image in the target map video file;
and sending the target map image to a server so that the server obtains a map image corresponding to the target geographic position.
Optionally, the acquiring the map data acquisition task includes:
sending a map data acquisition task acquisition request to the server side in a polling mode, wherein the map data acquisition task acquisition request comprises a device identifier of a vehicle side; alternatively, the first and second electrodes may be,
and receiving the map data acquisition task issued by the server through the long connection service.
Optionally, the determining, according to the map data collection task, map video data corresponding to the vehicle-mounted device system timestamp when the target geographic position is generated includes:
sending the map data acquisition task to a vehicle data recorder service of a vehicle end through inter-process communication;
obtaining a map video file through the automobile data recorder service, wherein the start and stop time of video recording is marked in the map video file;
and determining the positions of the target map video file and the target map image in the target map video file according to the vehicle-machine system timestamp of the target geographic position and the start-stop time of the video recording identified in the map video file.
Optionally, the map video file is obtained by:
under the condition that the service of the driving recorder is started, a map video recording function is started to obtain a recorded map video;
generating a timestamp watermark of the map video in an asynchronous mode by utilizing a callback interface of the automobile data recorder service;
and generating the map video file according to the recorded map video and the timestamp watermark of the map video based on a preset video segmentation strategy.
Optionally, before acquiring the map data collection task, the method further comprises:
after the vehicle end is started, acquiring an equipment identifier of the vehicle end, wherein the equipment identifier is used for representing the identity of the vehicle end;
based on the equipment identification of the vehicle end, establishing a long connection channel with the service end through a long connection service and starting a geographic position data reporting service;
acquiring geographical position data through the geographical position data reporting service;
and reporting the geographical position data to the server according to a preset reporting strategy so that the server screens and stores the geographical position data according to a preset geographical position data screening condition.
Optionally, the obtaining of the geographic location data by the geographic location data reporting service includes:
acquiring the geographic position of the vehicle end and a GPS timestamp corresponding to the geographic position through the geographic position data reporting service, wherein the GPS timestamp is used for representing the time when a positioning satellite generates the geographic position;
generating a current vehicle-mounted machine system timestamp corresponding to the geographic position, wherein the current vehicle-mounted machine system timestamp is used for representing vehicle-mounted machine system time when the vehicle end receives the geographic position;
and taking the geographic position, the corresponding GPS time stamp and the current vehicle-machine system time stamp as the geographic position data.
Optionally, the reporting the geographic location data to the server according to the preset reporting policy includes:
determining an accumulated amount of current geographic location data;
and reporting the current geographic position data to the server through the long connection service under the condition that the accumulated number reaches a preset number threshold.
Optionally, before generating the current in-vehicle system timestamp corresponding to the geographic location, the method further includes:
after the vehicle end is started, starting time synchronization service of the vehicle end;
sending a time synchronization request to an NTP server through the time synchronization service;
receiving the current time returned by the NTP server;
and setting the system time of the vehicle end according to the current time.
In a second aspect, an embodiment of the present application further provides a map data collection device based on the internet of vehicles, where the device is applied to a vehicle end, and the device includes:
the map data acquisition unit is used for acquiring a map data acquisition task, wherein the map data acquisition task comprises a target geographic position and a vehicle machine system timestamp when the target geographic position is generated;
the determining unit is used for determining map video data corresponding to the vehicle-mounted machine system timestamp when the target geographic position is generated according to the map data acquisition task, wherein the map video data comprise a target map video file and the position of a target map image in the target map video file;
the extraction unit is used for extracting a corresponding target map image from the target map video file according to the position of the target map image in the target map video file;
and the first sending unit is used for sending the target map image to a server so that the server obtains the map image corresponding to the target geographic position.
In a third aspect, an embodiment of the present application further provides an electronic device, including:
a processor; and
a memory arranged to store computer executable instructions that, when executed, cause the processor to perform any of the methods described above.
In a fourth aspect, embodiments of the present application further provide a computer-readable storage medium storing one or more programs that, when executed by an electronic device including a plurality of application programs, cause the electronic device to perform any of the methods described above.
The embodiment of the application adopts at least one technical scheme which can achieve the following beneficial effects: the map data acquisition method based on the Internet of vehicles is executed by a vehicle end, and comprises the following steps: acquiring a map data acquisition task, wherein the map data acquisition task comprises a vehicle machine system timestamp of a target geographic position; according to the map data acquisition task, determining map video data corresponding to the vehicle-mounted machine system timestamp of the target geographic position, wherein the map video data comprise a target map video file and the position of a target map image in the target map video file; extracting a corresponding target map image from the target map video file according to the position of the target map image in the target map video file; and sending the target map image to the server so that the server obtains the map image corresponding to the target geographic position. The map data collection method based on the internet of vehicles, disclosed by the embodiment of the application, uses vehicles running in the internet of vehicles to collect map data such as geographic positions and geographic images, can solve the problems that data collection in a traditional mode is slow, data collection is incomplete and the like, improves the collection efficiency of high-precision map data, and is higher in accuracy compared with a mode of matching by using a GPS timestamp.
Drawings
The accompanying drawings, which are included to provide a further understanding of the application and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the application and together with the description serve to explain the application and not to limit the application. In the drawings:
fig. 1 is a schematic flowchart of a map data acquisition method based on internet of vehicles according to an embodiment of the present application;
fig. 2 is a schematic diagram illustrating a map video recording process of a tachograph service in an embodiment of the present application;
fig. 3 is a schematic view illustrating a reporting flow of a vehicle-end geographical location reporting service in an embodiment of the present application;
FIG. 4 is a schematic diagram illustrating a system time calibration process according to an embodiment of the present application;
FIG. 5 is a schematic diagram of a map data collection process based on the Internet of vehicles in the embodiment of the present application;
FIG. 6 is a schematic structural diagram of a map data acquisition device based on the Internet of vehicles in an embodiment of the application;
fig. 7 is a schematic structural diagram of an electronic device in an embodiment of the present application.
Detailed Description
In order to make the objects, technical solutions and advantages of the present application more apparent, the technical solutions of the present application will be described in detail and completely with reference to the following specific embodiments of the present application and the accompanying drawings. It should be apparent that the described embodiments are only a few embodiments of the present application, and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
The technical solutions provided by the embodiments of the present application are described in detail below with reference to the accompanying drawings.
Along with the rapid development of the field of intelligent vehicles, more and more networked vehicles run on daily roads, the vehicles form a huge internet of vehicles, the networked vehicles can receive real-time messages from a cloud end in real time and report data of the vehicles to the cloud end in real time, and generally video recording devices such as a camera and a vehicle data recorder are equipped, so that powerful data support can be provided for the collection of high-precision map data.
In the prior art, a scheme for acquiring map image data based on a GPS (Global Positioning System) timestamp is provided, and the scheme uses the GPS timestamp for Positioning, and when a time watermark is written in a driving recorder, the time deviation between the GPS timestamp and a vehicle System timestamp needs to be calculated. Because the positioning satellites may be different, in order to reduce the time difference between different satellites and the time difference between the GPS timestamp and the vehicle system timestamp of the intelligent internet, the latest values need to be accumulated and then averaged. However, in the averaging process, the CPU computation power, the GC delay, and the like may increase the delay of writing the time watermark, and thus accurate image data cannot be acquired.
Based on this, an embodiment of the present application provides a map data collection method based on the internet of vehicles, and as shown in fig. 1, provides a schematic flow chart of the map data collection method based on the internet of vehicles in the embodiment of the present application, where the method is executed by a vehicle, and the method at least includes the following steps S110 to S140:
step S110, a map data acquisition task is obtained, wherein the map data acquisition task comprises a target geographic position and a vehicle machine system timestamp when the target geographic position is generated.
The map data collection method based on the Internet of vehicles can be executed by any vehicle terminal under the Internet of vehicles. Specifically, the vehicle end needs to acquire a map data acquisition task, where the map data acquisition task refers to a task of acquiring map image data at which time and at which position, and specifically, the map data acquisition task can be flexibly defined according to actual business requirements. Therefore, the necessary information required to be included in the map data acquisition task is the vehicle-machine system timestamp when the target geographic position is generated, wherein the target geographic position can be understood as a position in which the server is interested, and the vehicle-machine system timestamp can represent one moment, and can also represent multiple moments or one time period.
The vehicle-mounted system time is the vehicle-mounted system time when the target geographic position is generated, so that the vehicle-mounted system time can be used as an important basis for aligning data acquired by different sensor equipment at a vehicle end.
Step S120, according to the map data acquisition task, determining map video data corresponding to the vehicle-mounted device system timestamp when the target geographic position is generated, wherein the map video data comprise a target map video file and the position of a target map image in the target map video file.
After the map data acquisition task is obtained, the map video data corresponding to the vehicle-mounted machine system timestamp when the target geographic position is generated needs to be determined according to the map data acquisition task, and the map video data can be understood as road condition video data acquired in the driving process.
For example, if the vehicle-mounted machine system timestamp when the target geographic position is generated is t1, the map video file corresponding to t1 can be found according to the system time information carried in the map video data acquired by the vehicle end in real time, and further which frame of map image in the map video file corresponds to the time t1 can be found.
Step S130, extracting a corresponding target map image from the target map video file according to the position of the target map image in the target map video file.
After the positions of the target map video file and the target map image in the target map video file are determined, preset image extraction software can be used for extracting the frame of target map image from the target map video file, wherein the preset image extraction software can adopt FFmpeg, the FFmpeg is free software of an open source code, the FFmpeg is used for converting formats of video files or audio files, and specifically can perform video recording, conversion and streaming functions of multiple formats of audio and video.
Step S140, the target map image is sent to a server side, so that the server side obtains a map image corresponding to the target geographic position.
After the target map image is extracted, the target map image is sent to the server side, so that the server side can obtain the target map image corresponding to the target geographic position, and the server side can conveniently perform subsequent processing on the geographic position and the corresponding map image.
The map data collection method based on the internet of vehicles, disclosed by the embodiment of the application, uses vehicles running in the internet of vehicles to collect map data such as geographic positions and geographic images, can solve the problems that data collection in a traditional mode is slow, data collection is incomplete and the like, improves the collection efficiency of high-precision map data, and is higher in accuracy compared with a mode of matching by using a GPS timestamp.
In one embodiment of the present application, the acquiring of the map data collection task includes: sending a map data acquisition task acquisition request to the server side in a polling mode, wherein the map data acquisition task acquisition request comprises a device identifier of a vehicle side; or receiving the map data acquisition task issued by the server through the long connection service.
The method for acquiring the map data acquisition task in the embodiment of the application can be two, one method is that after the vehicle end of the intelligent network connection is started, the data acquisition service is automatically started, then the acquisition request of the map data acquisition task is actively sent to the server end in a polling mode, and the request can specifically include unique identification information such as the equipment serial number of the vehicle end, so that the server end can distinguish different vehicle ends.
In another mode, the server issues the map data acquisition task to the corresponding vehicle end in a long connection mode, and for this mode, the server needs to determine a reporting object of the target geographic position, that is, the target geographic position reported by which vehicle end, and then issues the map data acquisition task to the vehicle end correspondingly, so as to obtain the corresponding map image through the image data acquired by the vehicle end.
In an embodiment of the application, the determining, according to the map data collection task, map video data corresponding to the in-vehicle machine system timestamp when the target geographic location is generated includes: sending the map data acquisition task to a vehicle data recorder service of a vehicle end through inter-process communication; obtaining a map video file through the automobile data recorder service, wherein the start and stop time of video recording is marked in the map video file; and determining the positions of the target map video file and the target map image in the target map video file according to the vehicle-machine system timestamp of the target geographic position and the start-stop time of the video recording identified in the map video file.
The map video data of the embodiment of the application is mainly provided by a vehicle-end automobile data recorder service, so that when the map video data corresponding to the vehicle system timestamp at the time of generating the target geographic position is determined, the map data acquisition task can be sent to the automobile data recorder service in an Inter-Process Communication (IPC) mode, and Android devices generally refer to an aid layer (Android Interface Definition Language), a Binder, a broadcast and the like.
The automobile data recorder service can record a series of map video files along with the running of the vehicle, and the start-stop time of video recording can be marked in the file name of each map video file, so that the automobile data recorder service can quickly find the target map video file from the series of map video files according to the automobile machine system timestamp of the target geographic position carried in the map data acquisition task, and then find the frame of map image specifically corresponding to the automobile machine system timestamp of the target geographic position from the specific timestamp information contained in the target map video file.
For example, if the timestamp of the car machine system when the target geographic location is generated is 08 minutes 05 seconds at 9 am and the map video recorded by the car recorder service is a map video file stored every minute, the map video file with the start-stop time of "08 minutes 00 seconds at 9 am to 08 minutes 59 seconds at 9 am" included in the file name of the map video file can be found and is the target map video file. On the basis, it can be further determined which frame of map image in the target map video file corresponds to the 9 th 08 min 05 sec specifically, for example, one frame of image is recorded every 0.1 sec, and then the 50 th frame of image in the target map video file can be determined as the target map image.
In one embodiment of the present application, the map video file is obtained by: under the condition that the service of the driving recorder is started, a map video recording function is started to obtain a recorded map video; generating a timestamp watermark of the map video in an asynchronous mode by utilizing a callback interface of the automobile data recorder service; and generating the map video file according to the recorded map video and the timestamp watermark of the map video based on a preset video segmentation strategy.
As described above, the map video data in the embodiment of the present application is mainly provided by the automobile-end automobile data recorder service, and as shown in fig. 2, a map video recording flow diagram of the automobile data recorder service in the embodiment of the present application is provided.
Specifically, after a vehicle end of the intelligent internet is started, the automobile data recorder service can be automatically started to start recording of the map video, video watermarks of corresponding moments can be generated for each frame of image in the recording process, certain time consumption is needed for generation and addition of the watermarks, and in order to shorten the time consumption as much as possible and cause deviation between the added timestamp watermarks and the actual generation time of the video images, the callback interface YuvCallback of the automobile data recorder service can be utilized to generate the timestamp watermarks of the map video in an asynchronous mode, the map video is written in, and the timestamp watermarks of the map video are generated at the same time.
Yuv is a color coding method, often used in various video processing components. Yuv allows for a reduction in the bandwidth of the chrominance in view of human perception when encoding an image or video. Where "Y" represents brightness (Luma) or gray scale value, and "U" and "V" represent Chroma (Chroma or Chroma) and are used to describe the color and saturation of the image for specifying the color of the pixel.
Finally, the generated map video can be stored in segments according to a preset video segmentation strategy, for example, one map video file is stored every minute, and the recording start time and the recording end time of the video file are recorded in the file name of each generated map video file, so that the efficiency of subsequent retrieval and matching is improved.
In one embodiment of the present application, before the obtaining of the map data collection task, the method further comprises: after the vehicle end is started, acquiring an equipment identifier of the vehicle end, wherein the equipment identifier is used for representing the identity of the vehicle end; based on the equipment identification of the vehicle end, establishing a long connection channel with the service end through a long connection service and starting a geographic position data reporting service; acquiring geographical position data through the geographical position data reporting service; and reporting the geographical position data to the server according to a preset reporting strategy so that the server screens and stores the geographical position data according to preset geographical position data screening conditions.
The geographical location data in the embodiment of the present application is mainly acquired by a location update service of a vehicle-end geographical location reporting service, and as shown in fig. 3, a reporting flow diagram of a vehicle-end geographical location reporting service in the embodiment of the present application is provided.
Specifically, after a vehicle end of the intelligent network is started, an equipment identifier for representing the identity of the vehicle end, such as an equipment serial number, is obtained, then a long connection service SocketService is started, a long connection channel is established with the service end by using the equipment serial number through the SocketService, and then a geographical location reporting service is started. LocationUploadService may obtain geographic location data collected by a positioning device at the vehicle end at a certain frequency, such as every second. And finally, reporting the geographical position data to the server through the SocketService according to a preset reporting strategy, wherein the server can screen the geographical position data according to the geographical position data screening conditions set by the server, such as screening out the geographical position interested by the server, and correspondingly storing the screened geographical position data and the equipment serial number of the vehicle end.
In an embodiment of the present application, the obtaining geographic location data by the geographic location data reporting service includes: acquiring the geographic position of the vehicle end and a GPS timestamp corresponding to the geographic position through the geographic position data reporting service, wherein the GPS timestamp is used for representing the time when a positioning satellite generates the geographic position; generating a current vehicle-mounted machine system timestamp corresponding to the geographic position, wherein the current vehicle-mounted machine system timestamp is used for representing vehicle-mounted machine system time when the vehicle end receives the geographic position; and taking the geographic position, the corresponding GPS time stamp and the current vehicle-machine system time stamp as the geographic position data.
The geographic location data of the embodiment of the application may specifically include longitude and latitude coordinates of a geographic location, a GPS timestamp when the geographic location is acquired, that is, a GPS time when the geographic location is generated, and a current vehicle-mounted device system timestamp when a vehicle-mounted device receives a returned geographic location, and the like.
In an embodiment of the present application, reporting the geographic location data to the server according to a preset reporting policy includes: determining an accumulated amount of current geographic location data; and reporting the current geographic position data to the server through the long connection service under the condition that the accumulated number reaches a preset number threshold.
The reporting strategy of the geographical location data in the embodiment of the application can be flexibly set according to an actual scene, for example, considering that communication connection needs to be established with the server side every time of reporting, the reporting can be performed together after a certain amount of geographical location data is accumulated, for example, reporting is performed once every 5 geographical location data are accumulated, so that the number of times of communication connection with the server side can be reduced, and network traffic consumption is reduced. In order to improve the real-time reporting performance, the reporting time may be set to be one for each acquired geographic location data. Of course, how to set the reporting frequency specifically is a flexible setting that can be set by a person skilled in the art according to the requirement, and is not limited specifically herein.
In an embodiment of the present application, before generating the current car-machine system timestamp corresponding to the geographic location, the method further includes: after the vehicle end is started, starting time synchronization service of the vehicle end; sending a time synchronization request to an NTP server through the time synchronization service; receiving the current time returned by the NTP server; and setting the system time of the vehicle end according to the current time.
In order to reduce a time error, in the embodiment of the present application, before the in-vehicle machine system timestamp corresponding to the geographic location is set, a correction process of the system time may also be performed, as shown in fig. 4, a schematic diagram of a correction flow of the system time in the embodiment of the present application is provided.
Specifically, after a vehicle end of the intelligent internet is started, a Time synchronization service SysTimeService of the vehicle end is started, then a Time synchronization request is sent to an NTP (Network Time Protocol) server through the SysTimeService, the NTP server returns a current Time according to the Time synchronization request, and finally the SysTimeService sets the current Time returned by the NTP server to be the system Time of the vehicle end by calling a system interface, which can be specifically realized through a pseudo code:
((AlarmManager)mContext.getSystemService(Context.ALARM_SERVICE)).setTime(time)
in order to facilitate understanding of the embodiments of the present application, as shown in fig. 5, a map data collection flow diagram based on the internet of vehicles in the embodiments of the present application is provided. Firstly, a vehicle end of the intelligent network connection is started, a data acquisition service is started, then, the data acquisition service can send an acquisition request of a map data acquisition task to a server end in a polling mode to acquire the map data acquisition task on one hand, and can also receive the map data acquisition task issued by the server end through a long connecting channel on the other hand, and the task can specifically include a target geographic position, a vehicle machine system timestamp and a vehicle end equipment serial number.
And then, the vehicle end sends the map data acquisition task to a driving recorder service through IPC inter-process communication according to the map data acquisition task, the driving recorder service finds out a path of a corresponding target map video file and a frame of the target map video file of a map image corresponding to the vehicle machine system timestamp according to the target geographic position and the vehicle machine system timestamp, and returns the result to the data acquisition service through IPC inter-process communication.
And finally, the data acquisition service extracts the frame of map image from the target map video file by using FFmpeg software according to the position of the map image corresponding to the vehicle-machine system timestamp in the target map video file, stores the frame of map image to the local part of the vehicle end, and simultaneously sends the frame of map image to the service end, thereby completing the whole map data acquisition process based on the internet of vehicles.
In summary, since the video is recorded all the time while the vehicle is driving, the recorded video content has a comparison relationship with the geographic position, and based on this, the map data acquisition method based on the internet of vehicles according to the embodiment of the present application maps the geographic position and the image in the video in the dimension of the system time. Specifically, when the driving recorder records videos, timestamp watermarks of map videos generated by using system time are written into each frame of map images, and simultaneously, geographic positions are reported in real time, vehicle system timestamps when the geographic positions and longitude and latitude coordinates of the geographic positions are generated are transmitted to the server side at the same time, and the server side stores the geographic positions and current vehicle system timestamps of the vehicle side. When image data of a certain geographic position is needed, a vehicle-mounted computer system timestamp corresponding to the geographic position is found, an image acquisition task is issued to an image data acquisition service of a vehicle end, the image data acquisition service finds a recorded target map video file, finally, image extraction is carried out on the target map video file, and the extracted image is uploaded to a service end. The method and the system meet the requirement of the server for image acquisition on the interested geographic position, and improve the accuracy and the acquisition efficiency of image data acquisition by carrying out image identification on the acquired image.
It should be further noted that, no matter in the existing map data acquisition scheme or the map data acquisition method based on the internet of vehicles, the influence of time errors cannot be completely eliminated, because the processing of each link necessarily requires certain time consumption, some time consumption can be ignored, but some time consumption will cause qualitative influence on the actual data acquisition result. In addition, an error caused by inaccurate positioning will also affect an actual data acquisition result, for example, if the current geographic position corresponds to the positioning of a certain intersection, and the fed back geographic position is a map image but is an image of a position still having a certain distance from the intersection, which results in that the geographic position does not correspond to the map image.
Therefore, the core of the embodiments of the present application is how to reduce the influence on the accuracy of map data acquisition due to the existence of time error or positioning error as much as possible, that is, to provide a method for optimizing the existing map data acquisition scheme.
The embodiment of the present application further provides a map data acquisition device 600 based on the internet of vehicles, as shown in fig. 6, provides a map data acquisition device's based on the internet of vehicles structural diagram in the embodiment of the present application, the device is applied to the car end, the device 600 includes: a first obtaining unit 610, a determining unit 620, an extracting unit 630 and a first sending unit 640, wherein:
a first obtaining unit 610, configured to obtain a map data collection task, where the map data collection task includes a target geographic location and a vehicle system timestamp when the target geographic location is generated;
a determining unit 620, configured to determine, according to the map data acquisition task, map video data corresponding to the vehicle-mounted device system timestamp when the target geographic location is generated, where the map video data includes a target map video file and a location of a target map image in the target map video file;
an extracting unit 630, configured to extract a corresponding target map image from the target map video file according to a position of the target map image in the target map video file;
the first sending unit 640 is configured to send the target map image to a server, so that the server obtains a map image corresponding to the target geographic location.
In an embodiment of the present application, the first obtaining unit 610 is specifically configured to: sending a map data acquisition task acquisition request to the server side in a polling mode, wherein the map data acquisition task acquisition request comprises a device identifier of a vehicle side; or receiving the map data acquisition task issued by the server through a long connection service.
In an embodiment of the application, the determining unit 620 is specifically configured to: sending the map data acquisition task to a vehicle data recorder service of a vehicle end through inter-process communication; acquiring a map video file through the automobile data recorder service, wherein the start and stop time of video recording is marked in the map video file; and determining the positions of the target map video file and the target map image in the target map video file according to the vehicle-machine system timestamp of the target geographic position and the start-stop time of the video recording identified in the map video file.
In one embodiment of the present application, the map video file is obtained by: under the condition that the service of the driving recorder is started, a map video recording function is started to obtain a recorded map video; generating a timestamp watermark of the map video in an asynchronous mode by utilizing a callback interface of the automobile data recorder service; and generating the map video file according to the recorded map video and the timestamp watermark of the map video based on a preset video segmentation strategy.
In one embodiment of the present application, the apparatus further comprises: the second obtaining unit is used for obtaining the equipment identifier of the vehicle end after the vehicle end is started, wherein the equipment identifier is used for representing the identity of the vehicle end; the connection unit is used for establishing a long connection channel with the service end through a long connection service and starting a geographic position data reporting service based on the equipment identifier of the vehicle end; a third obtaining unit, configured to obtain geographic position data through the geographic position data reporting service; and the reporting unit is used for reporting the geographical position data to the server according to a preset reporting strategy so that the server screens and stores the geographical position data according to a preset geographical position data screening condition.
In an embodiment of the application, the third obtaining unit is specifically configured to: acquiring the geographic position of the vehicle end and a GPS timestamp corresponding to the geographic position through the geographic position data reporting service, wherein the GPS timestamp is used for representing the time when a positioning satellite generates the geographic position; generating a current vehicle-mounted machine system timestamp corresponding to the geographic position, wherein the current vehicle-mounted machine system timestamp is used for representing vehicle-mounted machine system time when the vehicle end receives the geographic position; and taking the geographic position, the corresponding GPS time stamp and the current vehicle-machine system time stamp as the geographic position data.
In an embodiment of the present application, the reporting unit is specifically configured to: determining an accumulated amount of current geographic location data; and reporting the current geographic position data to the server through the long connection service under the condition that the accumulated number reaches a preset number threshold.
In one embodiment of the present application, the apparatus further comprises: the starting unit is used for starting the time synchronization service of the vehicle end after the vehicle end is started; a second sending unit, configured to send a time synchronization request to an NTP server through the time synchronization service; a receiving unit, configured to receive a current time returned by the NTP server; and the setting unit is used for setting the system time of the vehicle end according to the current time.
It can be understood that, the map data acquisition device based on the internet of vehicles can realize the steps of the map data acquisition method based on the internet of vehicles provided in the foregoing embodiments, and the related explanations about the map data acquisition method based on the internet of vehicles are all applicable to the map data acquisition device based on the internet of vehicles, and are not described herein again.
Fig. 7 is a schematic structural diagram of an electronic device according to an embodiment of the present application. Referring to fig. 7, at a hardware level, the electronic device includes a processor, and optionally further includes an internal bus, a network interface, and a memory. The Memory may include a Memory, such as a Random-Access Memory (RAM), and may further include a non-volatile Memory, such as at least 1 disk Memory. Of course, the electronic device may also include hardware required for other services.
The processor, the network interface, and the memory may be connected to each other via an internal bus, which may be an ISA (Industry Standard Architecture) bus, a PCI (Peripheral Component Interconnect) bus, an EISA (Extended Industry Standard Architecture) bus, or the like. The bus may be divided into an address bus, a data bus, a control bus, etc. For ease of illustration, only one double-headed arrow is shown in FIG. 7, but this does not indicate only one bus or one type of bus.
And the memory is used for storing programs. In particular, the program may include program code comprising computer operating instructions. The memory may include both memory and non-volatile storage and provides instructions and data to the processor.
The processor reads the corresponding computer program from the nonvolatile memory to the memory and then runs the computer program to form the map data acquisition device based on the Internet of vehicles on the logic level. The processor is used for executing the program stored in the memory and is specifically used for executing the following operations:
acquiring a map data acquisition task, wherein the map data acquisition task comprises a target geographic position and a vehicle machine system timestamp when the target geographic position is generated;
according to the map data acquisition task, determining map video data corresponding to the vehicle-mounted device system timestamp when the target geographic position is generated, wherein the map video data comprise a target map video file and the position of a target map image in the target map video file;
extracting a corresponding target map image from the target map video file according to the position of the target map image in the target map video file;
and sending the target map image to a server so that the server obtains a map image corresponding to the target geographic position.
The method executed by the map data acquisition device based on the internet of vehicles according to the embodiment shown in fig. 1 of the present application can be applied to or implemented by a processor. The processor may be an integrated circuit chip having signal processing capabilities. In implementation, the steps of the above method may be performed by integrated logic circuits of hardware in a processor or by instructions in the form of software. The Processor may be a general-purpose Processor, including a Central Processing Unit (CPU), a Network Processor (NP), and the like; but also Digital Signal Processors (DSPs), Application Specific Integrated Circuits (ASICs), Field Programmable Gate Arrays (FPGAs) or other Programmable logic devices, discrete Gate or transistor logic devices, discrete hardware components. The various methods, steps, and logic blocks disclosed in the embodiments of the present application may be implemented or performed. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like. The steps of the method disclosed in connection with the embodiments of the present application may be directly implemented by a hardware decoding processor, or implemented by a combination of hardware and software modules in the decoding processor. The software module may be located in ram, flash memory, rom, prom, or eprom, registers, etc. storage media as is well known in the art. The storage medium is located in a memory, and a processor reads information in the memory and completes the steps of the method in combination with hardware of the processor.
The electronic device may further execute the method executed by the map data acquisition device based on the internet of vehicles in fig. 1, and implement the functions of the map data acquisition device based on the internet of vehicles in the embodiment shown in fig. 1, which are not described herein again.
An embodiment of the present application further provides a computer-readable storage medium storing one or more programs, where the one or more programs include instructions, which, when executed by an electronic device that includes multiple application programs, enable the electronic device to perform the method performed by the map data acquisition apparatus based on the internet of vehicles in the embodiment shown in fig. 1, and are specifically configured to perform:
acquiring a map data acquisition task, wherein the map data acquisition task comprises a target geographic position and a vehicle machine system timestamp when the target geographic position is generated;
according to the map data acquisition task, determining map video data corresponding to the vehicle-mounted device system timestamp when the target geographic position is generated, wherein the map video data comprise a target map video file and the position of a target map image in the target map video file;
extracting a corresponding target map image from the target map video file according to the position of the target map image in the target map video file;
and sending the target map image to a server so that the server obtains a map image corresponding to the target geographic position.
As will be appreciated by one skilled in the art, embodiments of the present invention may be provided as a method, system, or computer program product. Accordingly, the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present invention may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The present invention is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the invention. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
In a typical configuration, a computing device includes one or more processors (CPUs), input/output interfaces, network interfaces, and memory.
The memory may include forms of volatile memory in a computer readable medium, Random Access Memory (RAM) and/or non-volatile memory, such as Read Only Memory (ROM) or flash memory (flash RAM). Memory is an example of a computer-readable medium.
Computer-readable media, including both non-transitory and non-transitory, removable and non-removable media, may implement information storage by any method or technology. The information may be computer readable instructions, data structures, modules of a program, or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), Static Random Access Memory (SRAM), Dynamic Random Access Memory (DRAM), other types of Random Access Memory (RAM), Read Only Memory (ROM), Electrically Erasable Programmable Read Only Memory (EEPROM), flash memory or other memory technology, compact disc read only memory (CD-ROM), Digital Versatile Discs (DVD) or other optical storage, magnetic cassettes, magnetic tape magnetic disk storage or other magnetic storage devices, or any other non-transmission medium that can be used to store information that can be accessed by a computing device. As defined herein, a computer readable medium does not include a transitory computer readable medium such as a modulated data signal and a carrier wave.
It should also be noted that the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element.
As will be appreciated by one skilled in the art, embodiments of the present application may be provided as a method, system, or computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The above description is only an example of the present application and is not intended to limit the present application. Various modifications and changes may occur to those skilled in the art to which the present application pertains. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included in the scope of the claims of the present application.
Claims (10)
1. A map data acquisition method based on Internet of vehicles, wherein the method is executed by a vehicle end, and comprises the following steps:
acquiring a map data acquisition task, wherein the map data acquisition task comprises a target geographic position and a vehicle machine system timestamp when the target geographic position is generated;
according to the map data acquisition task, determining map video data corresponding to the vehicle-mounted device system timestamp when the target geographic position is generated, wherein the map video data comprise a target map video file and the position of a target map image in the target map video file;
extracting a corresponding target map image from the target map video file according to the position of the target map image in the target map video file;
and sending the target map image to a server so that the server obtains a map image corresponding to the target geographic position.
2. The method of claim 1, wherein the acquiring map data collection tasks comprises:
sending a map data acquisition task acquisition request to the server side in a polling mode, wherein the map data acquisition task acquisition request comprises a device identifier of a vehicle side; alternatively, the first and second electrodes may be,
and receiving the map data acquisition task issued by the server through the long connection service.
3. The method of claim 1, wherein the determining, according to the map data collection task, map video data corresponding to the in-vehicle system timestamp at the time of the generation of the target geographic location comprises:
sending the map data acquisition task to a vehicle data recorder service of a vehicle end through inter-process communication;
obtaining a map video file through the automobile data recorder service, wherein the start and stop time of video recording is marked in the map video file;
and determining the positions of the target map video file and the target map image in the target map video file according to the vehicle-machine system timestamp of the target geographic position and the start-stop time of the video recording identified in the map video file.
4. The method of claim 1, wherein the map video file is obtained by:
under the condition that the service of the driving recorder is started, a map video recording function is started to obtain a recorded map video;
generating a timestamp watermark of the map video in an asynchronous mode by utilizing a callback interface of the automobile data recorder service;
and generating the map video file according to the recorded map video and the timestamp watermark of the map video based on a preset video segmentation strategy.
5. The method of claim 1, wherein prior to obtaining the map data collection task, the method further comprises:
after the vehicle end is started, acquiring an equipment identifier of the vehicle end, wherein the equipment identifier is used for representing the identity of the vehicle end;
based on the equipment identification of the vehicle end, establishing a long connecting channel with the service end through a long connecting service and starting a geographic position data reporting service;
acquiring geographical position data through the geographical position data reporting service;
and reporting the geographical position data to the server according to a preset reporting strategy so that the server screens and stores the geographical position data according to a preset geographical position data screening condition.
6. The method of claim 5, wherein the obtaining geographic location data via the geographic location data reporting service comprises:
acquiring the geographic position of the vehicle end and a GPS timestamp corresponding to the geographic position through the geographic position data reporting service, wherein the GPS timestamp is used for representing the time when a positioning satellite generates the geographic position;
generating a current vehicle-mounted machine system timestamp corresponding to the geographic position, wherein the current vehicle-mounted machine system timestamp is used for representing vehicle-mounted machine system time when the vehicle end receives the geographic position;
and taking the geographic position, the corresponding GPS time stamp and the current vehicle-machine system time stamp as the geographic position data.
7. The method of claim 5, wherein reporting the geographical location data to the server according to a preset reporting policy comprises:
determining an accumulated amount of current geographic location data;
and reporting the current geographic position data to the server through the long connection service under the condition that the accumulated number reaches a preset number threshold.
8. The method of claim 6, wherein prior to generating the current in-vehicle system timestamp corresponding to the geographic location, the method further comprises:
after the vehicle end is started, starting time synchronization service of the vehicle end;
sending a time synchronization request to the NTP server through the time synchronization service;
receiving the current time returned by the NTP server;
and setting the system time of the vehicle end according to the current time.
9. A map data acquisition device based on internet of vehicles, wherein the device is applied to a vehicle end, and the device comprises:
the map data acquisition unit is used for acquiring a map data acquisition task, wherein the map data acquisition task comprises a target geographic position and a vehicle machine system timestamp when the target geographic position is generated;
the determining unit is used for determining map video data corresponding to the vehicle-mounted machine system timestamp when the target geographic position is generated according to the map data acquisition task, wherein the map video data comprise a target map video file and the position of a target map image in the target map video file;
the extraction unit is used for extracting a corresponding target map image from the target map video file according to the position of the target map image in the target map video file;
and the first sending unit is used for sending the target map image to a server so that the server obtains the map image corresponding to the target geographic position.
10. A computer readable storage medium storing one or more programs which, when executed by an electronic device comprising a plurality of application programs, cause the electronic device to perform the method of any of claims 1-8.
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