CN115265516A - Transverse precision deviation testing method and system based on encryption plug-in - Google Patents
Transverse precision deviation testing method and system based on encryption plug-in Download PDFInfo
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- CN115265516A CN115265516A CN202210665572.6A CN202210665572A CN115265516A CN 115265516 A CN115265516 A CN 115265516A CN 202210665572 A CN202210665572 A CN 202210665572A CN 115265516 A CN115265516 A CN 115265516A
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- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/38—Electronic maps specially adapted for navigation; Updating thereof
- G01C21/3804—Creation or updating of map data
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
- G01C21/34—Route searching; Route guidance
- G01C21/3407—Route searching; Route guidance specially adapted for specific applications
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Abstract
The invention provides a method and a system for testing transverse precision deviation based on an encryption plug-in, which are applied to a high-precision map, and the method comprises the following steps: for the time T0, obtaining the position coordinate P0 of the current vehicle; matching a lane V0 in an unbiased map based on the current vehicle position coordinate P0, and calculating a side line distance L0 from the current vehicle position coordinate P0 to the lane V0; based on the fact that the current vehicle position coordinate P0' subjected to offset adding through the encryption plug-in is matched with the lane V0' in the offset adding map, calculating the side line distance L0' from the current vehicle position coordinate P0' subjected to offset adding to the lane V0 '; the difference Δ L0= L0-L0 'between the side line pitch L0' and the side line pitch L0 is calculated as the lateral accuracy deviation at the time T0. By the method and the device, whether the precision deviation caused by the encryption plug-in the high-precision map meets the lane-level positioning navigation requirement or not can be tested.
Description
Technical Field
The invention relates to the field of high-precision maps, in particular to a transverse precision deviation testing method and a transverse precision deviation testing system based on an encryption plug-in.
Background
Due to the data security requirement, map service providers can release the map to the public only after map encryption is carried out by national bureaus. The encryption plug-in, also called as a security plug-in or a bias or SM module, is used for carrying out artificial bias processing on a real map and a navigation coordinate system, encrypting real coordinates into false coordinates according to a bias adding algorithm, wherein the bias adding processing is not linear bias adding, and a coordinate system after bias adding is called as a Mars coordinate system. After the map company draws the map, the state bureau encrypts the real map coordinates into 'mars coordinates'. When an automobile navigation application company applies to an electronic map, an encryption plug-in needs to be integrated in software, and real coordinate signals received by an automobile sensor are encrypted and converted into secret coordinates required by the country, so that the biased positioning coordinates and the biased map can be completely matched for automobile application, and meanwhile, due to the difference of the biased modes of the map and the coordinate signals, precision deviation exists.
When the traditional vehicle navigation map is applied, the accuracy deviation caused by the encryption plug-in can meet the road-level navigation positioning requirement, and the encryption plug-in testing method is provided based on the low-accuracy map and the road-level navigation positioning requirement. Under the background of nationwide automatic driving automobile application of a high-precision electronic map, a new testing method is needed for testing whether precision deviation caused by an encryption plug-in meets the requirement of lane-level positioning navigation.
Disclosure of Invention
Aiming at the technical problems in the prior art, the invention provides a method and a system for testing the transverse precision deviation based on an encryption plug-in.
According to a first aspect of the present invention, there is provided a method for testing lateral accuracy deviation based on an encryption plug-in, which is applied to a high-accuracy map, and includes:
for the time T0, obtaining the position coordinate P0 of the current vehicle;
based on the fact that the current vehicle position coordinate P0 is matched with a lane V0 in an unbiased map, calculating a side line distance L0 from the current vehicle position coordinate P0 to the lane V0;
based on the fact that the current vehicle position coordinate P0' subjected to offset adding through the encryption plug-in is matched with the lane V0' in the offset adding map, the sideline distance L0' from the current vehicle position coordinate P0' subjected to offset adding to the lane V0' is calculated;
the difference Δ L0= L0-L0 'between the side line pitch L0' and the side line pitch L0 is calculated as the lateral accuracy deviation at the time T0.
On the basis of the technical scheme, the invention can be improved as follows.
Optionally, the calculating a difference between the edge distance L0' and the edge distance L0 as the lateral precision deviation of the time T0 further includes:
when the sideline distance L0 or the sideline distance L0 'is larger than the corresponding set distance threshold, the sideline distance L0 and the sideline distance L0' are removed, and the calculation of the transverse precision deviation is not carried out; and the number of the first and second groups,
and when the lane V0 and the lane V0 'are not the same lane, removing the side line distance L0 and the side line distance L0', and not calculating the transverse precision deviation.
Optionally, for different times T1, T2,. And Tn, the lateral precision deviation Δ Ln = Ln-Ln' corresponding to each time is calculated.
Optionally, for different times T1, T2, a.
And outputting the transverse accuracy deviation at each time and corresponding time as a transverse deviation test report.
Optionally, the side line distance L0 includes a left side line distance L0(1)And right line spacing L0(2)And the side line distance L0 'comprises a left side line distance L0'(1)And right side line distance L0'(2)Corresponding Δ L0 includes Δ L0(1)＝L0’(1)-L0(1)And Δ L0(2)＝L0’(2)-L0(2)。
Optionally, the outputting each time and the corresponding lateral precision deviation as a lateral deviation test report further includes:
and judging whether the encryption plug-in meets the lane-level precision requirement of the high-precision map or not based on the transverse precision deviation at each moment.
Optionally, for different areas of the high-precision map, corresponding encryption plug-ins are provided, so that the encryption plug-ins bias the current vehicle position coordinates and the high-precision map of the corresponding area.
According to a second aspect of the present invention, there is provided a system for testing lateral accuracy deviation based on an encrypted plug-in, which is applied to a high-accuracy map, and comprises:
the acquisition module is used for acquiring the current vehicle position coordinate P0 at the moment T0;
the first calculation module is used for calculating a side line distance L0 from the current vehicle position coordinate P0 to the lane V0 based on the fact that the current vehicle position coordinate P0 is matched with the lane V0 in an unbiased map;
the second calculation module is used for calculating the side line distance L0' from the current vehicle position coordinate P0' to the lane V0' after the offset is added on the basis that the current vehicle position coordinate P0' after the offset is added through the encryption plug-in is matched with the lane V0' in the offset map;
and the third calculation module is used for calculating the difference value delta L0= L0-L0 'between the side line distance L0' and the side line distance L0 as the transverse precision deviation at the time T0.
According to a third aspect of the present invention, there is provided an electronic device comprising a memory, a processor for implementing the steps of the cryptographic plug-in based lateral precision deviation testing method when executing a computer management class program stored in the memory.
According to a fourth aspect of the present invention, there is provided a computer readable storage medium having stored thereon a computer management like program, which when executed by a processor, performs the steps of the cryptographic plug-in based lateral precision deviation testing method.
The invention provides a method and a system for testing the lateral accuracy deviation based on an encryption plug-in, which are characterized in that at each moment, the deviation between the current position of a vehicle and the side line distance of a lane line, which is the deviation of the current position of the vehicle without using the encryption plug-in, and the deviation between the current position of the vehicle encrypted by using the encryption plug-in and the side line distance of the lane line are respectively calculated as the lateral accuracy deviation, and whether the encryption plug-in meets the accuracy requirement of a high-accuracy map is tested based on the lateral accuracy deviation at each moment.
Drawings
FIG. 1 is a flow chart of a method for testing lateral accuracy deviation based on an encryption plug-in provided by the present invention;
FIG. 2 is a schematic diagram of an unbiased edge distance and an unbiased edge distance;
FIG. 3 is an overall flow diagram of a method for cryptographic plug-in based lateral deviation of accuracy testing;
FIG. 4 is a schematic structural diagram of a system for testing lateral accuracy deviation based on an encryption plug-in according to the present invention;
fig. 5 is a schematic diagram of a hardware structure of a possible electronic device provided in the present invention;
fig. 6 is a schematic diagram of a hardware structure of a possible computer-readable storage medium according to the present invention.
Detailed Description
The following detailed description of the present invention is provided in connection with the accompanying drawings and examples. The following examples are intended to illustrate the invention but are not intended to limit the scope of the invention.
Compared with the traditional vehicle navigation map, the high-precision map has the advantages that the precision reaches the decimeter level or is even higher, and lane-level side lines are drawn. The biasing mode of the map is different from that of the vehicle-end coordinate signal, and compared with the positioning matching of the non-biased coordinate signal and the non-biased map, the accuracy deviation can be generated when the vehicle-end encryption plug-in is matched with the biased map during application. The original encryption plug-in testing method is based on the road grade, so that the application of the encryption plug-in at the vehicle end can be guaranteed, a map with higher precision and more detailed belongings can help a vehicle to more accurately navigate and position, and the testing method provided by the invention can more accurately test the precision influence caused by the encryption plug-in.
Fig. 1 is a flowchart of a method for testing lateral accuracy deviation based on an encrypted plug-in, as shown in fig. 1, the method for testing lateral accuracy deviation mainly includes the following steps:
s1, acquiring the current vehicle position coordinate P0 at the time of T0.
It can be understood that the tested vehicle can be integrated with an encryption plug-in or not, and the encryption plug-in can encrypt the vehicle end coordinate signal and the map.
As an embodiment, for different areas of the high-precision map, corresponding encryption plugins are provided, so that the encryption plugins bias the current vehicle position coordinates of the corresponding areas and the high-precision map.
The high-precision map can be divided into a plurality of areas, each area corresponds to one encryption plug-in, and subsequently, for the vehicle end coordinates of a certain area and the map of the area, the encryption plug-ins corresponding to the area are used for carrying out biasing processing.
And (5) starting a test for the vehicle, and outputting the current vehicle position coordinate P0 by a positioning module on the tested vehicle at the moment of T0.
S2, matching a lane V0 in an unbiased map based on the current vehicle position coordinate P0, and calculating a side line distance L0 from the current vehicle position coordinate P0 to the lane V0.
S3, based on the lane V0' matched in the offset map by the current vehicle position coordinate P0' offset by the encryption plug-in, calculating the side line distance L0' from the offset current vehicle position coordinate P0' to the lane V0 '.
By way of example, the edge line spacing L0 includes the left edge line spacing L0(1)And right line spacing L0(2)Line spacing L0 'includes left line spacing L0'(1)And right side line distance L0'(2)Corresponding Δ L0 includes Δ L0(1)＝L0’(1)-L0(1)And Δ L0(2)＝L0’(2)-L0(2)。
It can be understood that, referring to fig. 2, for the current vehicle position coordinate P0 without encryption, the current lane matching the unbiased map is V0, and the distance L0 from the current position to the left of the matched current lane is calculated(1)And a right side line distance L0(2). Then the position of the current position coordinate P0 is biased to be P0' by the encryption plug-in, the current lane of the biased map is matched to be V0' based on P0', and the left line distance L0' from the current position to the current lane is calculated '(1)And a right side line distance L0'(2)。
As an embodiment, the calculating a difference between the edge distance L0' and the edge distance L0 as the lateral precision deviation at the time T0 further includes: when the side line distance L0 or the side line distance L0 'is larger than the corresponding set distance threshold value, the side line distance L0 and the side line distance L0' are removed, and the calculation of the transverse precision deviation is not carried out; and when the lane V0 and the lane V0 'are not the same lane, removing the side line distance L0 and the side line distance L0' without calculating the transverse precision deviation.
It can be understood that, for the edge distance calculated when the deviation is not added, and the edge distance calculated after the deviation is added, some abnormal data need to be cleaned, for example, the deviation of the tunnel positioning coordinates from the lane causes the output edge distance to be abnormal, specifically, when the values of the edge distance L0 or the edge distance L0' are extremely large, which indicates that these data are abnormal, these data are rejected, and the subsequent calculation of the transverse accuracy deviation is not performed. For another example, when the vehicle position is not biased, if the lane V0 matched in the non-biased map and the lane V0' matched in the biased map are not consistent, it indicates that the data is abnormal, and at this time, the corresponding abnormal data is removed, and the subsequent calculation of the lateral accuracy deviation is not involved.
It is understood that, for different times T1, T2,. And Tn, L1, L2,. And Ln, and L1', L2',. And Ln ' corresponding to each time are calculated according to step S2 and step S3.
S4, the difference Δ L0= L0-L0 'between the side line pitch L0' and the side line pitch L0 is calculated as the lateral accuracy deviation at the time T0.
It can be understood that after data cleaning and elimination are performed on data obtained at different times, for each time, the corresponding lateral precision deviation is calculated, and as an embodiment, for different times T1, T2,. · and Tn, the lateral precision deviation Δ Ln = Ln-Ln' corresponding to each time is calculated.
After the lateral accuracy deviation at each time is calculated, the lateral accuracy deviation at each time and the corresponding lateral accuracy deviation are output as a lateral deviation test report. And judging whether the encryption plug-in meets the lane-level precision requirement of the high-precision map or not based on the transverse precision deviation at each moment.
Referring to fig. 3, the overall flowchart of the method for testing the lateral accuracy deviation based on the encryption plug-in is shown, wherein a high-accuracy map is sent to the national testing bureau for biasing, and the encryption plug-in is applied to the national testing bureau, wherein the high-accuracy map is partitioned, different areas correspond to different encryption plug-ins, and the encryption plug-ins are used for biasing the high-accuracy map of the corresponding areas.
Whether the encryption plug-in of each area meets the precision requirement of the high-precision map needs to be tested, in the testing process, at the time of T0, according to the area where the current vehicle position coordinate is located, the lane V0 is matched in the unbiased map based on the current vehicle position coordinate P0, and the side line distance L0 from P0 to V0 is calculated; and matching the lane V0' in the biased map based on the biased current vehicle position coordinate P0', and calculating a side line distance L0' from P0' to V0 '. Then, for each time, the edge distances Ln when the Tn time is not biased are calculated, wherein Ln represents the edge distances when the Tn time is not biased, and the edge distances Ln 'and Ln' when the Tn time is biased are calculated. Then, for each time, its corresponding lateral precision deviation Δ Ln = Ln-Ln', Δ Ln representing the lateral precision deviation at time Tn is calculated. And judging whether the encryption plug-in meets the precision requirement of the high-precision map or not according to the transverse precision deviation at each moment so as to test the precision of the encryption plug-in.
Fig. 4 is a structural diagram of a system for testing lateral precision deviation based on an encrypted plug-in, as shown in fig. 4, the system includes an obtaining module 41, a first calculating module 42, a second calculating module 43, and a third calculating module 44, where:
an obtaining module 41, configured to obtain a current vehicle position coordinate P0 at a time T0;
a first calculating module 42, configured to calculate a boundary distance L0 from the current vehicle position coordinate P0 to the lane V0 based on that the current vehicle position coordinate P0 matches the lane V0 in an unbiased map;
a second calculating module 43, configured to calculate a boundary distance L0' from the biased current vehicle position coordinate P0' to the lane V0' based on the lane V0' matched in the biased map by the cryptographic plug-in unit of the biased current vehicle position coordinate P0 ';
a third calculating module 44, configured to calculate a difference Δ L0= L0-L0 'between the edge distance L0' and the edge distance L0 as the lateral precision deviation at the time T0.
It can be understood that, the system for testing lateral precision deviation based on an encrypted plug-in provided by the present invention corresponds to the method for testing lateral precision deviation based on an encrypted plug-in provided by the foregoing embodiments, and the relevant technical features of the system for testing lateral precision deviation based on an encrypted plug-in may refer to the relevant technical features of the method for testing lateral precision deviation based on an encrypted plug-in, and are not described herein again.
Referring to fig. 5, fig. 5 is a schematic diagram of an embodiment of an electronic device according to an embodiment of the invention. As shown in fig. 5, an embodiment of the present invention provides an electronic device 500, which includes a memory 510, a processor 520, and a computer program 511 stored in the memory 510 and executable on the processor 520, wherein the processor 520 executes the computer program 511 to implement the following steps: for the time T0, obtaining the position coordinate P0 of the current vehicle; based on the fact that the current vehicle position coordinate P0 is matched with a lane V0 in an unbiased map, calculating a side line distance L0 from the current vehicle position coordinate P0 to the lane V0; based on the fact that the current vehicle position coordinate P0' subjected to offset adding through the encryption plug-in is matched with the lane V0' in the offset adding map, the sideline distance L0' from the current vehicle position coordinate P0' subjected to offset adding to the lane V0' is calculated; the difference Δ L0= L0-L0 'between the side line pitch L0' and the side line pitch L0 is calculated as the lateral accuracy deviation at the time T0.
Referring to fig. 6, fig. 6 is a schematic diagram of a computer-readable storage medium according to an embodiment of the present invention. As shown in fig. 6, the present embodiment provides a computer-readable storage medium 600 having a computer program 611 stored thereon, the computer program 611, when executed by a processor, implementing the steps of: for the time T0, obtaining the position coordinate P0 of the current vehicle; matching a lane V0 in an unbiased map based on the current vehicle position coordinate P0, and calculating a side line distance L0 from the current vehicle position coordinate P0 to the lane V0; based on the fact that the current vehicle position coordinate P0' subjected to offset adding through the encryption plug-in is matched with the lane V0' in the offset adding map, calculating the side line distance L0' from the current vehicle position coordinate P0' subjected to offset adding to the lane V0 '; the difference Δ L0= L0-L0 'between the side line pitch L0' and the side line pitch L0 is calculated as the lateral accuracy deviation at the time T0.
According to the method and the system for testing the lateral accuracy deviation based on the encryption plug-in, provided by the embodiment of the invention, at each moment, the deviation between the current position of the vehicle and the boundary line of the lane line, which is obtained by biasing the vehicle without using the encryption plug-in, and the deviation between the current position of the vehicle encrypted by using the encryption plug-in and the boundary line of the lane line are respectively calculated to be used as the lateral accuracy deviation, and whether the encryption plug-in meets the accuracy requirement of a high-accuracy map is tested based on the lateral accuracy deviation at each moment.
It should be noted that, in the foregoing embodiments, the description of each embodiment has an emphasis, and reference may be made to the related description of other embodiments for a part that is not described in detail in a certain embodiment.
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 computer, 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.
While preferred embodiments of the present invention have been described, additional variations and modifications in those embodiments may occur to those skilled in the art once they learn of the basic inventive concepts. Therefore, it is intended that the appended claims be interpreted as including preferred embodiments and all such alterations and modifications as fall within the scope of the invention.
It will be apparent to those skilled in the art that various changes and modifications may be made in the present invention without departing from the spirit and scope of the invention. Thus, if such modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include such modifications and variations.
Claims (10)
1. A transverse accuracy deviation testing method based on an encryption plug-in is applied to a high-accuracy map and is characterized by comprising the following steps:
for the time T0, obtaining the position coordinate P0 of the current vehicle;
based on the fact that the current vehicle position coordinate P0 is matched with a lane V0 in an unbiased map, calculating a side line distance L0 from the current vehicle position coordinate P0 to the lane V0;
based on the fact that the current vehicle position coordinate P0' subjected to offset adding through the encryption plug-in is matched with the lane V0' in the offset adding map, the sideline distance L0' from the current vehicle position coordinate P0' subjected to offset adding to the lane V0' is calculated;
the difference Δ L0= L0-L0 'between the edge distance L0' and the edge distance L0 is calculated as the lateral accuracy deviation at the time T0.
2. The method according to claim 1, wherein the calculating a difference between the edge distance L0' and the edge distance L0 as the lateral precision deviation at the time T0 further comprises:
when the side line distance L0 or the side line distance L0 'is larger than the corresponding set distance threshold value, the side line distance L0 and the side line distance L0' are removed, and the calculation of the transverse precision deviation is not carried out; and the number of the first and second groups,
and when the lane V0 and the lane V0 'are not the same lane, removing the side line distance L0 and the side line distance L0' without calculating the transverse precision deviation.
3. The lateral accuracy deviation testing method according to claim 1,
for different times T1, T2,. And Tn, the lateral precision deviation Delta Ln = Ln-Ln' corresponding to each time is calculated.
4. The method according to claim 3, wherein the calculating the lateral precision deviation Δ Ln = Ln-Ln' for each time point T1, T2,. And Tn further comprises:
and outputting the lateral precision deviation at each time and corresponding time as a lateral deviation test report.
5. The lateral accuracy deviation testing method of claim 1, wherein the side line distance L0 comprises a left side line distance L0(1)And right line spacing L0(2)What is, what isThe side line distances L0 'comprise the left side line distance L0'(1)And right line distance L0'(2)Corresponding Δ L0 includes Δ L0(1)＝L0’(1)-L0(1)And Δ L0(2)＝L0’(2)-L0(2)。
6. The lateral accuracy deviation testing method according to claim 4, wherein the outputting of each time and the corresponding lateral accuracy deviation as a lateral deviation test report further comprises:
and judging whether the encryption plug-in meets the lane-level precision requirement of the high-precision map or not based on the transverse precision deviation at each moment.
7. The lateral accuracy deviation testing method according to claim 1,
and providing corresponding encryption plug-ins for different areas of the high-precision map, so that the encryption plug-ins can bias the current vehicle position coordinates of the corresponding areas and the high-precision map.
8. The utility model provides a horizontal precision deviation test system based on encrypt plug-in components, is applied to in the high accuracy map, its characterized in that includes:
the acquisition module is used for acquiring the current vehicle position coordinate P0 at the moment T0;
the first calculation module is used for calculating a side line distance L0 from the current vehicle position coordinate P0 to the lane V0 based on the fact that the current vehicle position coordinate P0 is matched with the lane V0 in an unbiased map;
the second calculation module is used for calculating the side line distance L0' from the current vehicle position coordinate P0' to the lane V0' after the offset is added on the basis that the current vehicle position coordinate P0' after the offset is added through the encryption plug-in is matched with the lane V0' in the offset map;
and the third calculation module is used for calculating the difference value delta L0= L0-L0 'between the side line distance L0' and the side line distance L0 as the transverse precision deviation at the time T0.
9. An electronic device comprising a memory, a processor for implementing the steps of the cryptographic plug-in based lateral accuracy deviation testing method of any one of claims 1-7 when executing a computer management class program stored in the memory.
10. A computer-readable storage medium, having stored thereon a computer management-like program, which when executed by a processor, carries out the steps of the cryptographic plug-in based lateral deviation of accuracy testing method according to any of the claims 1 to 7.
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