WO2022006761A1 - 一种高精度地图、高精度地图生成方法和使用方法 - Google Patents

一种高精度地图、高精度地图生成方法和使用方法 Download PDF

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Publication number
WO2022006761A1
WO2022006761A1 PCT/CN2020/100746 CN2020100746W WO2022006761A1 WO 2022006761 A1 WO2022006761 A1 WO 2022006761A1 CN 2020100746 W CN2020100746 W CN 2020100746W WO 2022006761 A1 WO2022006761 A1 WO 2022006761A1
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Prior art keywords
data
map
sensitive data
sensitive
general
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PCT/CN2020/100746
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English (en)
French (fr)
Inventor
吕涛
李明
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华为技术有限公司
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Priority to EP20944810.9A priority Critical patent/EP4170533A4/en
Priority to PCT/CN2020/100746 priority patent/WO2022006761A1/zh
Priority to CN202080004323.1A priority patent/CN112513854B/zh
Publication of WO2022006761A1 publication Critical patent/WO2022006761A1/zh
Priority to US18/150,638 priority patent/US20230148050A1/en

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    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F16/00—Information retrieval; Database structures therefor; File system structures therefor
    • G06F16/20—Information retrieval; Database structures therefor; File system structures therefor of structured data, e.g. relational data
    • G06F16/29—Geographical information databases
    • 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
    • G01C21/38—Electronic maps specially adapted for navigation; Updating thereof
    • G01C21/3885—Transmission of map data to client devices; Reception of map data by client devices
    • G01C21/3889—Transmission of selected map data, e.g. depending on route
    • 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
    • G01C21/38—Electronic maps specially adapted for navigation; Updating thereof
    • G01C21/3804—Creation or updating of map data
    • G01C21/3807—Creation or updating of map data characterised by the type of data
    • 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
    • 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
    • G01C21/38—Electronic maps specially adapted for navigation; Updating thereof
    • G01C21/3804—Creation or updating of map data
    • G01C21/3807—Creation or updating of map data characterised by the type of data
    • G01C21/3815—Road data
    • 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
    • G01C21/38—Electronic maps specially adapted for navigation; Updating thereof
    • G01C21/3863—Structures of map data
    • G01C21/387—Organisation of map data, e.g. version management or database structures
    • 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
    • G01C21/38—Electronic maps specially adapted for navigation; Updating thereof
    • G01C21/3885—Transmission of map data to client devices; Reception of map data by client devices
    • G01C21/3896—Transmission of map data from central databases
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F21/00—Security arrangements for protecting computers, components thereof, programs or data against unauthorised activity
    • G06F21/60—Protecting data
    • G06F21/62—Protecting access to data via a platform, e.g. using keys or access control rules
    • G06F21/6218—Protecting access to data via a platform, e.g. using keys or access control rules to a system of files or objects, e.g. local or distributed file system or database
    • G06F21/6245—Protecting personal data, e.g. for financial or medical purposes
    • G—PHYSICS
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    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F21/00—Security arrangements for protecting computers, components thereof, programs or data against unauthorised activity
    • G06F21/60—Protecting data
    • G06F21/62—Protecting access to data via a platform, e.g. using keys or access control rules
    • G06F21/6218—Protecting access to data via a platform, e.g. using keys or access control rules to a system of files or objects, e.g. local or distributed file system or database
    • G06F21/6245—Protecting personal data, e.g. for financial or medical purposes
    • G06F21/6254—Protecting personal data, e.g. for financial or medical purposes by anonymising data, e.g. decorrelating personal data from the owner's identification
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F21/00—Security arrangements for protecting computers, components thereof, programs or data against unauthorised activity
    • G06F21/60—Protecting data
    • G06F21/62—Protecting access to data via a platform, e.g. using keys or access control rules
    • G06F21/6218—Protecting access to data via a platform, e.g. using keys or access control rules to a system of files or objects, e.g. local or distributed file system or database
    • G06F21/6272—Protecting access to data via a platform, e.g. using keys or access control rules to a system of files or objects, e.g. local or distributed file system or database by registering files or documents with a third party

Definitions

  • the present application relates to the fields of navigation and automatic driving, and in particular, to a high-precision map, a method for generating a high-precision map, and a method for using it.
  • autonomous driving technology With the rapid development of 5G communication and vehicle networking technologies, autonomous driving technology has become a research hotspot.
  • the core technologies in the field of autonomous driving include intelligent environment perception, automatic navigation and positioning, driving behavior decision-making, and intelligent path planning and control.
  • high-precision maps are an important infrastructure and prerequisite for autonomous driving. Compared with traditional maps, high-precision maps can reach centimeter-level accuracy and contain multi-dimensional high-precision data, such as road curvature and elevation. , slope, coordinates, height data of bridges and tunnels, etc. High-precision maps can provide accurate navigation for vehicles and are an indispensable key component in autonomous driving.
  • various embodiments of the present application provide a method for generating a high-precision map, a high-precision map generated based on the method, and a method for using the high-precision map.
  • an embodiment of the present application provides a method for using a high-precision map.
  • the method may be implemented by a map service provider.
  • the method may specifically include: first, splitting the high-precision map into general data and sensitive data, and store the sensitive data on the dedicated server; when receiving the request of the business party, transmit the general data to the business party, if the request of the business party includes a request for sensitive data, transmit the sensitive data of the single point object
  • a single point object consists of a single map element on a high-resolution map. After the business side has finished using the sensitive data, the sensitive data will be deleted from the business side.
  • the above general data includes data that can be disclosed according to law, and the above sensitive data includes data that cannot be disclosed according to law; the above-mentioned dedicated server includes the data authorized by the regulatory authority. servers and cloud services authorized by regulatory authorities.
  • the high-precision map is divided into general data and sensitive data, and the sensitive data is stored in a secure dedicated server.
  • the high-precision map for navigation, according to the specific needs of business parties Provide the sensitive data of a single point object to the business party, and delete the sensitive data after the business party finishes using the sensitive data, thus preventing the business party from acquiring and holding sensitive data in large quantities for a long time, so that the high-precision map can be used in the application of high-precision maps. Compliance issues for autonomous driving are resolved.
  • sensitive data includes geographic information that is a state secret as stipulated by law. It should be understood that the above categories may change with the revision of laws.
  • the dedicated server includes a dedicated server and a dedicated cloud
  • the dedicated server may be, for example, a server of a service provider authorized by a government regulatory authority.
  • a proprietary cloud may be a cloud service provided by a cloud computing service provider for a service provider authorized by a government regulatory authority.
  • the map element includes an identification ID (Identification), and the business party requests the sensitive data of the single-point object based on the ID of the map element.
  • the business side includes a vehicle end and a mobile terminal
  • the vehicle end may include an autonomous vehicle, such as various autonomous vehicles classified as L1-L5 according to SAE (Society of Automotive Engineers).
  • mobile terminals include mobile phones, laptop computers, IoT devices, etc.
  • a method for using a high-precision map is provided.
  • the method can be implemented by a business party.
  • the business party requests high-precision map data from the service side based on business requirements.
  • the high-precision map data includes general data and sensitive data.
  • the service side includes Dedicated service side, the dedicated service side is configured to store the sensitive data; the general data is received from the service side, and the sensitive data is received from the dedicated service side; after the sensitive data is used, the sensitive data is deleted; the general data includes The data that can be disclosed according to the law, the above-mentioned sensitive data includes the data that cannot be disclosed according to the law; the above-mentioned dedicated server includes the server authorized by the regulatory authority and the cloud service authorized by the regulatory authority.
  • the method provided by the second aspect can be matched with the method provided corresponding to the first aspect. Therefore, the implementation manners of the second aspect and the technical effects achieved may refer to the relevant descriptions of the implementation manners of the first aspect.
  • a high-precision map generation system is provided.
  • the system can be arranged on the map service provider side to generate and manage high-precision maps.
  • the high-precision map generation system includes: a surveying and mapping data processing module, and the surveying and mapping data processing module is configured as: The original surveying and mapping data are processed to obtain the processed surveying and mapping data; the map data generation module, the map data generation module is configured to generate map elements based on the processed surveying and mapping data, and each map element includes a unique ID corresponding to it; sub-module, the map data splitting module is configured to split the data of the map element into general data and sensitive data according to the map element ID; the map data management module, the map data management module is configured to analyze the sensitive data in the map element Provides a single interface output.
  • the above system can realize the generation of high-precision maps, and the high-precision maps can provide a single-interface output for sensitive data, so that separate management of sensitive data can be realized.
  • the map data management module further includes a general data interface for outputting general data.
  • a general data interface for outputting general data. For ordinary business requirements that do not involve sensitive data, only general data is required, so general data can be output through the general data interface.
  • the single-interface output includes SDK (Software Development Kit).
  • SDK Software Development Kit
  • a high-precision map calling system can be arranged on a business side, and includes: a map download module, where the map download module is configured to download general data, and the map download module includes a general data interface for obtaining general data; a business processing module, the business processing module is configured to determine the required sensitive data according to the navigation plan, and the business processing module includes a sensitive data interface for acquiring the sensitive data; a sensitive data deletion module, a sensitive data deletion module and the business processing module module communication connection, the sensitive data deletion module is configured to delete the sensitive data after the sensitive data is used; the general data includes data that can be disclosed according to law, the sensitive data includes data that cannot be disclosed according to law;
  • the server side includes servers authorized by regulatory authorities and cloud services authorized by regulatory authorities.
  • a fifth aspect provides a high-precision map, comprising: a plurality of map elements, each of the plurality of map elements includes an ID corresponding thereto, the plurality of map elements include general data and sensitive data, and the same map Generic data and sensitive data in an element have the same ID; such generic data includes data that can be disclosed by law. It can be understood that the high-precision map of the fifth aspect can be generated by, for example, the high-precision map generating system of the third aspect.
  • general data and sensitive data are configured to be stored separably.
  • general data and sensitive data can be stored on dedicated servers, including dedicated servers and dedicated clouds.
  • general data is stored on a common server, and the common server includes a common server and a public cloud; and sensitive data is stored on a dedicated server, and the dedicated server includes a dedicated server and a private cloud.
  • Various embodiments of the present application provide a method for generating a high-precision map, a high-precision map generated based on the method, and a method for using the high-precision map.
  • the high-precision map can be divided into categories. and store them separately or in a unified manner according to the split data types.
  • general data it can be obtained and used according to the general map data.
  • sensitive data the technical solution of the present application provides single-point object output, and the business party can request and obtain the sensitive data of single-point objects according to specific business requirements.
  • the sensitive data will be deleted in a timely manner, so that the business party can not only have sensitive data for a long time, but also can not have a large number of sensitive data at the same time.
  • the legal compliance of using high-precision map data in the field of automatic driving can be solved, which is greatly beneficial to popularize the application of high-precision maps in the field of automatic driving.
  • 1-1 is a schematic diagram of a high-precision map provided by an embodiment of the present application.
  • FIGS. 1-2 are schematic diagrams of a high-precision map provided by an embodiment of the present application.
  • FIG. 2 is a schematic diagram of a method for using a high-precision map provided by an embodiment of the present application
  • FIG. 3 is a schematic diagram of a method for using a high-precision map provided by an embodiment of the present application
  • FIG. 4 is a schematic diagram of a high-precision map generation system and a high-precision map calling system provided by an embodiment of the present application;
  • Figure 7 is a schematic diagram of a high-precision map NDS specification.
  • Various embodiments of the present application provide a method for generating a high-precision map, a high-precision map generated based on the method, and a method for using the high-precision map. Based on the technical solutions provided by the various embodiments of the present application, it is possible to eliminate legal compliance risks in the process of using high-precision maps for navigating autonomous vehicles, thereby having a positive effect on popularizing the application of high-precision maps in autonomous driving.
  • Figure 7 shows a schematic diagram of the NDS specifications. Objects in the real world are represented by features in the high-precision map.
  • the high-precision map 110 includes a plurality of map elements 111 , 112 . . . 11n , and each map element has a unique identification code ID corresponding to it , for a plurality of map elements 111, 112...11n, the corresponding identification codes ID are ID1, ID2...IDn respectively.
  • Map elements are primitives for high-resolution maps, and they represent road traffic information such as roads, lane lines on roads, traffic lights, bridges, tunnels, and culverts.
  • Each map element may include a plurality of related information, for example, for a certain bridge, as a map element, it may include various information such as length, height, slope and so on.
  • For a map element it generally includes general data (that is, data that can be disclosed to the society based on current laws), and may also include sensitive data (that is, data that cannot be held by unqualified subjects based on current laws).
  • the length of the bridge is general data, while the height of the bridge is sensitive data. It should be understood that not every map element will necessarily contain sensitive data, and some map elements contain only generic data and not sensitive data.
  • map element 111 in FIG. Configured as ID1 For a map element including general data and sensitive data, its general data and sensitive data have the same ID, for example, for map element 111 in FIG. Configured as ID1.
  • the high-resolution map can be stored in its entirety on a dedicated server, which can include, for example, a dedicated server or a dedicated cloud.
  • the dedicated server may be, for example, a server of a service provider authorized by a government regulatory authority.
  • a proprietary cloud may be a cloud service provided by a cloud computing service provider for a service provider authorized by a government regulatory authority.
  • general data and sensitive data may be stored in different locations, for example, for general data in map elements ID1, ID2...IDn, they may be stored in a common server 1202
  • the common server 1202 can be, for example, a common server or a public cloud/hybrid cloud; and for the sensitive data in the map elements ID1, ID2...IDn, they are stored in the dedicated server 1201, and the dedicated server 1201 may include, for example, a dedicated Server or Proprietary Cloud.
  • the dedicated server may be, for example, a server of a service provider authorized by a government regulatory authority.
  • a proprietary cloud may be a cloud service provided by a cloud computing service provider for a service provider authorized by a government regulatory authority. It should be understood that, in the embodiment shown in FIGS. 1-2 , for a map element including general data and sensitive data, the general data and the sensitive data have the same ID.
  • the present application provides a high-precision map, wherein the map elements in the high-precision map are divided into two types: general data and sensitive data. For the same map element, its general data and sensitive data are shared With the same ID, sensitive data is stored on a dedicated server.
  • the high-precision map generation system 41 includes:
  • the surveying and mapping data processing module is used to collect, desensitize, and extract the original surveying and mapping data.
  • the original surveying and mapping data mainly includes location information, image and video information, and point cloud data based on cameras, millimeter-wave radar, lidar, GPS, etc. etc., based on these data, a high-precision map can be constructed comprehensively.
  • the map data generation module is connected in communication with the surveying and mapping data processing module.
  • the map data generation module is used to perform map elements such as roads, lane lines, traffic lights, bridges, tunnels, and culverts based on location, image, and point cloud data. Identify and classify, generate a storage structure of map elements according to the map storage specification, and generate a unique identification ID for each map element.
  • the map data splitting module is connected in communication with the map data generating module. After the map data generating module generates map elements, the map data splitting module splits the information of the map elements to obtain general data and sensitive information. It should be understood that the basis for splitting is the current laws and regulations. If the laws and regulations change in the future, a certain data that is currently sensitive data may become general data after the laws and regulations change, and vice versa for general data. in this way. Technicians can adjust the split basis in real time according to changes in laws and regulations.
  • the split sensitive data and general data have the same identification ID.
  • the original map element uses multiple surface data structures to describe the bridge structure, and the description of the vertical surface will include the height information of the bridge, so the vertical surface of the bridge needs to be split and saved.
  • the example is as follows (taking NDS storage structure modification as an example):
  • the map data management module, the map data management module and the map data splitting module are communicatively connected, and are used for storing map data and providing external data query interfaces.
  • the map data management module includes general data interface and sensitive data interface.
  • the general data interface is used to provide general data to the outside, and the sensitive data interface is used to provide sensitive data to the outside.
  • the sensitive data interface may be, for example, SDK (Software Development Kits).
  • the sensitive data interface provides the capability of outputting through a single interface, preventing users from obtaining sensitive data in batches to form sensitive data bands.
  • the single interface output provides the sensitive data output of a single point object, and a single point object refers to a single specific object/map element on the high-precision map, such as a specific bridge or tunnel. Examples of interface parameters are as follows:
  • the map data management module can store both general data and sensitive data on the dedicated service side, such as a dedicated server or private cloud, or store general data and sensitive data on the common service side and the dedicated service side respectively.
  • the usage side/service side 42 includes:
  • a map download module the map download module includes a general data interface.
  • general data can be obtained from, for example, the high-precision map generation system 41 through the general data interface.
  • the general data interface of the map download module and the map data management module.
  • the map download module can obtain general data from the map data management module.
  • the service processing module includes a sensitive data interface, and the user side determines the sensitive data currently needed to be used based on real-time services, such as navigation and positioning, path planning, etc.
  • the current autonomous vehicle is about to pass a bridge, and it is necessary to obtain the height of the bridge (the height data of the bridge is sensitive data) to determine whether the vehicle can pass, and connect the business processing module and map data through communication.
  • the sensitive data interface of the management module, the business processing module requests the map data management module to obtain the height data (sensitive data) of the bridge (single point object) according to the map element ID and target data category (height) of the bridge, and the map data management module Return the bridge height data to the business processing module according to the map element ID.
  • the sensitive data deletion module When the sensitive data is used by the user side 42 (for example, the vehicle in the above example has passed the bridge), the sensitive data deletion module will delete the sensitive data on the user side 42, so that the user side cannot have the sensitive data for a long time. If the sensitive data is deleted in time, no aggregated sensitive data band will be formed on the use side 42, that is, the use side cannot possess a large amount of sensitive data at the same time period.
  • the sensitive data interface may be SDK (Software Development Kits).
  • the sensitive data deletion module can be used in conjunction with the SDK so that the sensitive data deletion can be controlled from the high-resolution map generation system 41 .
  • the use side 42 may be an autonomous vehicle; in other embodiments, the use side 42 may be a smart terminal device, such as a mobile phone, a smart speaker, and other devices.
  • FIG. 2 it shows a schematic diagram of a method of using a high-precision map based on some embodiments.
  • the high-precision map is provided from the service side 21 to the business party 22.
  • the high-precision map includes general data and sensitive data.
  • General data and sensitive data The data are all stored on the dedicated server 20, which may include, for example, a dedicated server or a dedicated cloud.
  • the dedicated server may be, for example, a server of a service provider authorized by a government regulatory authority.
  • a proprietary cloud may be a cloud service provided by a cloud computing service provider for a service provider authorized by a government regulatory authority.
  • the dedicated server 20 also includes a general data interface and a sensitive data interface.
  • the business side 22 includes a general data interface and a sensitive data interface.
  • the service side 21 can transmit the general data to the business side 22 via the general data interface of the communication connection.
  • the business processing module of the business side 22 requests the required sensitive data of the single point object from the service side 21 based on the real-time requirements (such as navigation, path planning) based on the map element ID, and then sends the data from the sensitive data interface of the communication connection from the service side 21.
  • the service side 21 obtains the sensitive data of the required single point object.
  • the business side 22 also includes a sensitive data deletion module, when the business side 22 finishes using the sensitive data), the sensitive data deletion module will delete the sensitive data in the business side 22, so that the business side cannot have the sensitive data for a long time, on the other hand, because If the sensitive data is deleted in time, the aggregated sensitive data band will not be formed on the business side 22, that is, the user side cannot possess a large amount of sensitive data at the same time period.
  • the sensitive data interface may be SDK (Software Development Kits).
  • the sensitive data deletion module can be used in conjunction with the SDK so that the server side 21 can control the deletion of sensitive data.
  • FIG. 3 it shows a schematic diagram of a method of using a high-precision map based on some embodiments.
  • the high-precision map is provided from the service side 31 to the business party 32 , and the high-precision map includes general data and sensitive data.
  • General data is stored on the common server 301, and sensitive data is stored on the dedicated server 302;
  • the common server 301 may be, for example, a common server or a public cloud/hybrid cloud;
  • the dedicated server 302 may include, for example, a dedicated server or a private cloud .
  • the dedicated server may be, for example, a server of a service provider authorized by a government regulatory authority.
  • a proprietary cloud may be a cloud service provided by a cloud computing service provider for a service provider authorized by a government regulatory authority.
  • the common server 301 also includes a general data interface
  • the dedicated server 302 also includes a sensitive data interface.
  • the business side 32 includes a general data interface and a sensitive data interface.
  • the service side 31 transmits the general data to the business side 32 via the general data interface of the communication connection.
  • the business processing module of the business side 32 requests the required sensitive data of the single point object from the service side 31 based on the real-time requirements (such as navigation, route planning) based on the ID of the map element, and then via the sensitive data interface of the communication connection from the service side 31 The service side 31 obtains the sensitive data of the required single point object.
  • the business side 32 also includes a sensitive data deletion module, when the business side 32 finishes using the sensitive data), the sensitive data deletion module will delete the sensitive data in the business side 32, so that the business side cannot own the sensitive data for a long time. If the sensitive data is deleted in time, the aggregated sensitive data band will not be formed on the business side 22, that is, the user side cannot possess a large amount of sensitive data at the same time period.
  • the sensitive data interface may be SDK (Software Develop Kits).
  • the sensitive data deletion module can be used in conjunction with the SDK so that the server side 21 can control the deletion of sensitive data.
  • FIG. 5 illustrates a flow chart of high-precision map production and business use according to some embodiments.
  • the surveying and mapping data are processed, specifically, including compliance processing of the surveying and mapping data;
  • the surveying and mapping data mainly include location information, image and video information, point clouds obtained based on cameras, millimeter-wave radars, lidars, GPS, etc. Data, etc., based on these data, a high-precision map can be comprehensively constructed;
  • map data is generated based on the processed surveying and mapping data. Specifically, based on location, image, and point cloud data, map elements such as roads, lane lines, traffic lights, bridges, tunnels, and culverts are identified and classified.
  • the map storage specification generates the storage structure of map elements, and generates a unique identification ID for each map element;
  • the map data is split, that is, the map data is divided into general data and sensitive data based on the map element ID, and for the same map element, the general data and the sensitive data have the same ID;
  • both general data and sensitive data may be stored on a dedicated server
  • the dedicated server 20 may include, for example, a dedicated server or a dedicated cloud.
  • the dedicated server may be, for example, a server of a service provider authorized by a government regulatory authority.
  • a proprietary cloud may be a cloud service provided by a cloud computing service provider for a service provider authorized by a government regulatory authority; in other embodiments, general data may be stored on a common server, and sensitive data may be stored On the dedicated server; the ordinary server may be, for example, a common server or a public cloud/hybrid cloud; the dedicated server may include, for example, a dedicated server or a dedicated cloud.
  • the dedicated server may be, for example, a server of a service provider authorized by a government regulatory authority.
  • a proprietary cloud can be a cloud service provided by a cloud computing service provider for service providers authorized by government regulatory authorities;
  • map data includes general data and sensitive data, and general data can be transmitted to the business party by, for example, direct download; Sensitive data, based on the real-time requirements of business processing (such as navigation, route planning), based on the ID of the map element, request the sensitive data of the single point object required by the high-precision map server.
  • FIG. 6 illustrates a flow chart of high-resolution map update and service usage based on some embodiments.
  • update processing of the surveying and mapping data specifically, including compliance processing of the updated surveying and mapping data
  • the surveying and mapping data mainly includes location information, image and video information obtained based on cameras, millimeter-wave radars, lidars, GPS, etc. , point cloud data, etc., based on these data, a high-precision map can be comprehensively constructed
  • updated map data is generated based on the processed updated surveying and mapping data.
  • map elements such as roads, lane lines, traffic lights, bridges, tunnels, and culverts are identified based on location, image, and point cloud data.
  • Classification processing the storage structure of map elements is generated according to the map storage specification, and a unique identification ID is generated for each map element;
  • the updated map data is split, that is, the map data is divided into general data and sensitive data based on the updated map element ID, and for the same map element, the general data and the sensitive data have the same ID;
  • both general data and sensitive data may be stored on a dedicated server, which may include, for example, a dedicated server or a dedicated cloud.
  • the dedicated server may be, for example, a server of a service provider authorized by a government regulatory authority.
  • a proprietary cloud may be a cloud service provided by a cloud computing service provider for a service provider authorized by a government regulatory authority; in other embodiments, general data may be stored on a common server, and sensitive data may be stored On the dedicated server; the ordinary server may be, for example, a common server or a public cloud/hybrid cloud; the dedicated server may include, for example, a dedicated server or a dedicated cloud.
  • the dedicated server may be, for example, a server of a service provider authorized by a government regulatory authority.
  • a proprietary cloud can be a cloud service provided by a cloud computing service provider for service providers authorized by government regulatory authorities;
  • map data transmission is performed, and map data is requested from the high-precision map server based on the business processing requirements of process 66.
  • the map data includes general data and sensitive data, and general data can be transmitted to the business party by, for example, direct download; Sensitive data, based on the real-time requirements of business processing (such as navigation, route planning), based on the ID of the map element, request the sensitive data of the single point object required by the high-precision map server.
  • process 66 after the sensitive data is used up, the sensitive data is deleted.
  • the above-mentioned various embodiments of the present application provide a method for generating a high-precision map, a high-precision map generated based on the method, and a method for using the high-precision map.
  • the high-precision map can be divided into categories. and store them separately or in a unified manner according to the split data types. For general data, it can be obtained and used according to the general map data.
  • the technical solution of the present application provides single-point object output, and the business party can request and obtain the sensitive data of single-point objects according to specific business requirements. After that, the sensitive data will be deleted in a timely manner, so that the business party can not only have sensitive data for a long time, but also can not have a large number of sensitive data at the same time.
  • the technical solution of the present application the legal compliance of using high-precision map data in the field of automatic driving can be solved, which is greatly beneficial to popularize the application of high-precision maps in the field of automatic driving.
  • the disclosed system, apparatus and method may be implemented in other manners.
  • the apparatus embodiments described above are only illustrative.
  • the division of units is only a logical business division. In actual implementation, there may be other division methods.
  • multiple units or components may be combined or integrated. to another system, or some features can be ignored, or not implemented.
  • the shown or discussed mutual coupling or direct coupling or communication connection may be through some interfaces, indirect coupling or communication connection of devices or units, and may be in electrical, mechanical or other forms.
  • Units described as separate components may or may not be physically separated, and components shown as units may or may not be physical units, that is, may be located in one place, or may be distributed to multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution in this embodiment.
  • each service unit in each embodiment of the present application may be integrated into one processing unit, or each unit may exist physically alone, or two or more units may be integrated into one unit.
  • the above-mentioned integrated unit may be implemented in the form of hardware, or may be implemented in the form of a software business unit.
  • the integrated unit if implemented as a software business unit and sold or used as a stand-alone product, may be stored in a computer-readable storage medium.
  • the technical solutions of the present application can be embodied in the form of software products in essence, or the parts that contribute to the prior art, or all or part of the technical solutions, and the computer software products are stored in a storage medium , including several instructions to cause a computer device (which may be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the methods in the various embodiments of the present application.
  • the aforementioned storage medium includes: U disk, mobile hard disk, Read-Only Memory (ROM, Read-Only Memory), Random Access Memory (RAM, Random Access Memory), magnetic disk or optical disk and other media that can store program codes .
  • the services described in this application may be implemented by hardware, software, firmware or any combination thereof.
  • the services may be stored on or transmitted over as one or more instructions or code on a computer-readable medium.
  • Computer-readable media includes both computer storage media and communication media including any medium that facilitates transfer of a computer program from one place to another.
  • a storage medium can be any available medium that can be accessed by a general purpose or special purpose computer.

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Abstract

一种高精度地图（110）的生成方法，基于该方法生成的高精度地图（110）以及一种高精度地图（110）的使用方法，涉及人工智能领域的自动驾驶领域。通过在高精度地图（110）的生成过程中将高精度地图（110）拆分为通用数据和敏感数据，并且通用数据和敏感数据具有相同的地图元素ID，从而可以将高精度地图（110）进行类别拆分，并依据拆分后的数据类型进行分别存储或者统一存储。对于通用数据，按照一般的地图数据获取使用方法即可，对于敏感数据，提供单点对象输出，业务方（22、32）可以依据具体的业务需求请求获取到单点对象的敏感数据，在使用完之后将敏感数据及时地删除，从而使得业务方（22、32）不能长期拥有敏感数据，也不能在同一时段大量地拥有敏感数据。通过该方法，可以使得在自动驾驶领域使用高精度地图（110）数据的法律合规性得到解决，从而极大地有利于普及高精度地图（110）在自动驾驶领域的应用。

Description

一种高精度地图、高精度地图生成方法和使用方法 技术领域
本申请涉及导航和自动驾驶领域，特别地，涉及一种高精度地图、高精度地图的生成方法和使用方法。
背景技术
随着5G通信和车联网技术的快速发展，自动驾驶技术已经成为研究热点。自动驾驶领域核心技术包括智能环境感知、自动导航定位、驾驶行为决策和智能路径规划控制等。在自动驾驶技术中，高精度地图是实现自动驾驶的重要基础设施和前提，较之传统地图，高精度地图的精度可以达到厘米级，包含了多维度的高精度数据，例如道路的曲率、高程、坡度、坐标，桥梁、隧道的高度数据等，高精度地图可以为车辆提供精确的导航，是自动驾驶中不可或缺的关键组件。
基于现行国家法律，尤其是《测绘法》规定，对于高精度地图中的敏感的涉及国家安全的数据不可公开，也不可被没有资质的主体所持有。一般而言，在地图以及测绘等领域，将国家法律规定的不可公开的数据称为敏感数据，而将依据法律规定可以公开的数据称为通用数据。目前国内具有甲级测绘资质的主体仅有十几家，而在使用高精度地图对车辆进行导航的过程中，难免会使用到一些敏感数据(例如桥梁的高度等)，而这些敏感数据如果长期、大量地被使用方所持有将和现行法律规定发生冲突，因此该问题对于在自动驾驶中普及高精度地图进行导航提出了严峻的挑战。
发明内容
为了解决上述问题，本申请各种实施例提供了一种高精度地图的生成方法、基于该方法生成的高精度地图以及高精度地图的使用方法。
作为本申请的第一方面，本申请实施例提供了一种高精度地图使用方法，该方法可以由地图服务提供侧所实施，该方法具体可以包括：首先，将高精度地图拆分为通用数据和敏感数据，将敏感数据存储在专用服务端；在接到业务方的请求时，将通用数据传输至业务方，如果业务方的请求包括对于敏感数据的请求，将单点对象的敏感数据传输至业务方，单点对象包括高精度地图上的单个地图元素。而在业务方使用完敏感数据后，将敏感数据从业务方删除，上述通用数据包括依据法律可以公开的数据，上述敏感数据包括依据法律不可以公开的数据；上述专用服务端包括经过监管部门授权的服务器和经过监管部门授权的云服务。
通过本申请实施例提供的方法，将高精度地图拆分为通用数据和敏感数据，敏感数据被存储在安全的专用服务端，这样，在利用高精度地图进行导航时，依据业务方的具体需求向业务方提供单点对象的敏感数据，并在业务方使用完敏感数据后将敏感数据删除，从而防止了业务方长时间、大批量地获取和持有敏感数据，从而使得高精度地图应用于自动驾驶的合规问题得以解决。
结合第一方面的一种可能实现方式，敏感数据包括由法律所规定的属于国家秘密的地理 信息，应当理解的是，上述范畴可能随着法律的修订变更而发生变化。
结合第一方面的一种可能实现方式，专用服务端包括专用服务器和专有云，专用服务器可以是例如经过政府监管部门授权的服务商的服务器。类似地，专有云可以是云计算服务商所提供的为经过政府监管部门授权的服务商所供应的云服务。
结合第一方面的一种可能实现方式，地图元素包括标识ID(Identification)，业务方基于地图元素的ID请求单点对象的敏感数据。
结合第一方面的一种可能实现方式，所述业务方包括车端和移动终端，车端可以包括自动驾驶车辆，例如按照SAE(Society of Automotive Engineers)分级为L1-L5的各种自动驾驶车辆，移动终端包括手机、手提电脑、IoT设备等。
第二方面，提供一种高精度地图使用方法，该方法可以由业务方所实施，业务方基于业务需求向服务侧请求高精度地图数据，高精度地图数据包括通用数据和敏感数据，服务侧包括专用服务侧，专用服务侧配置为存储所述敏感数据；从服务侧接收所述通用数据，从专用服务侧接收敏感数据；在使用完所述敏感数据后，将敏感数据删除；上述通用数据包括依据法律可以公开的数据，上述敏感数据包括依据法律不可以公开的数据；上述专用服务端包括经过监管部门授权的服务器和经过监管部门授权的云服务。
可以理解的是，第二方面提供的方法可以配合对应于第一方面提供的方法，故第二方面各实现方式以及达到的技术效果可参见第一方面各实现方式的相关描述。
第三方面，提供一种高精度地图生成系统，该系统可以布置在地图服务提供侧，用于生成和管理高精度地图，高精度地图生成系统包括：测绘数据处理模块，测绘数据处理模块配置为对原始测绘数据进行处理，以得到处理后的测绘数据；地图数据生成模块，地图数据生成模块配置为基于处理后的测绘数据生成地图元素，每个地图元素包括与之对应的唯一ID；数据拆分模块，所述地图数据拆分模块配置为依据地图元素ID将地图元素的数据拆分为通用数据和敏感数据；地图数据管理模块，地图数据管理模块配置为对所述地图元素中的敏感数据提供单接口输出。上述系统可以实现生成高精度地图，高精度地图可以对敏感数据提供单接口输出，从而可以实现对敏感数据的单独管理。
结合第三方面的一种可能实现方式，地图数据管理模块还包括用于输出通用数据的通用数据接口。对于普通的不涉及敏感数据的业务需求，只需要通用数据即可，因此可以通过通用数据接口输出通用数据。
结合第三方面的一种可能实现方式，单接口输出包括SDK(Software Development Kit)。通过SDK的接口输出可以实现对数据提供方对敏感数据的使用后删除。
第四方面，提供一种高精度地图调用系统，该系统可以布置在业务方，包括：地图下载模块，地图下载模块配置为下载通用数据，地图下载模块包括用于获取通用数据的通用数据接口；业务处理模块，业务处理模块配置为可依据导航规划确定所需要的敏感数据，业务处理模块包括用于获取所述敏感数据的敏感数据接口；敏感数据删除模块，敏感数据删除模块和所述业务处理模块通信连接，敏感数据删除模块配置为在所述敏感数据使用完毕后将所述敏感数据删除；上述通用数据包括依据法律可以公开的数据，上述敏感数据包括依据法律不可以公开的数据；上述专用服务端包括经过监管部门授权的服务器和经过监管部门授权的云服务。
可以理解的是，第四方面提供的系统可以配合对应于第三方面提供的系统，故第四方面 各实现方式以及达到的技术效果可参见第三方面各实现方式的相关描述。
第五方面，提供一种高精度地图，包括：多个地图元素，所述多个地图元素中的每一个均包括与之对应的ID，多个地图元素包括通用数据和敏感数据，在同一地图元素中的通用数据和敏感数据具有相同的ID；上述通用数据包括依据法律可以公开的数据，。可以理解的是，第五方面的高精度地图可以由例如上述第三方面的高精度地图生成系统所生成。
结合第三方面的一种可能实现方式，通用数据和敏感数据被配置为可拆分地存储。例如：通用数据和敏感数据可以均存储在专用服务端，专用服务端包括专用服务器和专有云。或者，通用数据存储在普通服务端，所述普通服务端包括普通服务器和公有云；而敏感数据存储在专用服务端，专用服务端包括专用服务器和专有云。
本申请的各个实施例提供了一种高精度地图的生成方法，基于该方法生成的高精度地图以及一种高精度地图的使用方法。本申请的技术方案，通过在高精度地图的生成过程中将高精度地图拆分为通用数据和敏感数据，并且通用数据和敏感数据具有相同的地图元素ID，从而可以将高精度地图进行类别拆分，并依据拆分后的数据类型进行分别存储或者统一存储。对于通用数据，按照一般的地图数据获取使用方法即可，对于敏感数据，本申请技术方案提供单点对象输出，业务方可以依据具体的业务需求请求并获取到单点对象的敏感数据，在使用完之后将敏感数据及时地删除，从而使得业务方不仅不能长期拥有敏感数据，也不能在同一时段大量地拥有敏感数据。通过本申请的技术方案，可以使得在自动驾驶领域使用高精度地图数据的法律合规性得到解决，从而极大地有利于普及高精度地图在自动驾驶领域的应用。
附图说明
图1-1是本申请实施例提供的一种高精度地图示意图；
图1-2是本申请实施例提供的一种高精度地图示意图；
图2是本申请实施例提供的高精度地图使用方法示意图；
图3是本申请实施例提供的高精度地图使用方法示意图；
图4是本申请实施例提供的高精度地图生成系统和高精度地图调用系统示意图；
图5是本申请实施例提供的高精度地图生产及业务使用流程图；
图6是本申请实施例提供的高精度地图更新及业务使用流程图；
图7是高精地图NDS规范示意图。
具体实施方式
本申请各种实施例提供了一种高精度地图生成方法，基于该方法生成的高精度地图，以及一种高精度地图使用方法。基于本申请各种实施例提供的技术方案，可以实现消除使用高精度地图对自动驾驶车辆进行导航过程中的法律合规风险，从而对于普及高精度地图在自动驾驶中的应用具有积极作用。
目前高精度地图的主要规范包括NDS和OpenDrive两种，图7示出了NDS规范的示意图，现实世界的物体在高精地图中以特征(Feature)来表示。
对于Feature的详细伪代码定义如下：
Figure PCTCN2020100746-appb-000001
Figure PCTCN2020100746-appb-000002
Figure PCTCN2020100746-appb-000003
参见图1-1，其示出了基于本申请实施例的高精度地图示意，高精度地图110包括多个地图元素111、112…11n，每个地图元素具有一个唯一的识别码ID与之对应，对于多个地图元素111、112…11n，与之对应的识别码ID分别为ID1、ID2…IDn。
地图元素是高精度地图的基元，它们代表道路、道路上的车道线、交通信号灯、桥梁、隧道、涵洞等道路交通信息。每个地图元素可以包括多个相关信息，例如，对于某一桥梁，其作为一个地图元素，可以包括诸如长度、高度、坡度等多种信息。对于一个地图元素，其一般包括有通用数据(即基于现行法律可以向社会公开的数据)，也可能会包括由敏感数据(即基于现行法律不可以由无资质的主体持有的数据)。仍以上述的桥梁为例，桥梁的长度是通用数据，而桥梁的高度是敏感数据。应当理解的是，并非每个地图元素都一定会包括敏感数据，有些地图元素仅包括通用数据而不包括敏感数据。
在一些实施例中，对于一个包括通用数据和敏感数据的地图元素，其通用数据和敏感数据具有相同的ID，例如，对于图1中的地图元素111，其通用数据和敏感数据的ID都被配置为ID1。
可以将高精度地图整体存储在专用服务端，专用服务端可以包括例如专用服务器或专有云。专用服务器可以是例如经过政府监管部门授权的服务商的服务器。类似地，专有云可以是云计算服务商所提供的为经过政府监管部门授权的服务商所供应的云服务。
参见图1-2，在一些实施例中，可以将通用数据和敏感数据分别存储在不同的位置，例如对于地图元素ID1、ID2…IDn中的通用数据，可以将它们存储在普通的服务端1202上，普通的服务端1202可以是例如普通服务器或者公有云/混合云；而对于地图元素ID1、ID2…IDn中的敏感数据，将它们存储在专用服务端1201，专用服务端1201可以包括例如专用服务器或专有云。专用服务器可以是例如经过政府监管部门授权的服务商的服务器。类似地，专有云可以是云计算服务商所提供的为经过政府监管部门授权的服务商所供应的云服务。应当理解的是，在图1-2所示出的实施例中，对于一个包括通用数据和敏感数据的地图元素，其通用数据和敏感数据具有相同的ID。
基于上述的实施例，本申请提供了一种高精度地图，其中，高精度地图中的地图元素被分为两种类型：通用数据和敏感数据，对于同一地图元素，其通用数据和敏感数据共享同一ID，敏感数据被存储在专用服务端。
下面详细介绍本申请实施例的高精度地图的生成和使用方法。
参见图4，其示出了基于本申请一些实施例提供的高精度地图生成系统41，高精度地图生成系统41包括：
测绘数据处理模块，用于对原始测绘数据进行收集、脱敏、抽取等处理，原始测绘数据主要包括基于摄像头、毫米波雷达、激光雷达、GPS等得到的位置信息、图像视频信息、点 云数据等，基于这些数据可以综合构建高精度地图。
地图数据生成模块，地图数据生成模块和测绘数据处理模块通信连接，地图数据生成模块用于基于位置、图像、点云数据，对道路、车道线、交通信号灯、桥梁、隧道、涵洞等地图元素进行识别分类处理，按照地图存储规范生成地图元素的存储结构，并对每一个地图元素生成一个唯一的标识ID。
地图数据拆分模块，地图数据拆分模块和地图数据生成模块通信连接，在地图数据生成模块生成地图元素后，地图数据拆分模块对地图元素的信息进行拆分以得到通用数据和敏感信息。应当理解的是，拆分的基础是现行的法律法规，如果未来法律法规发生了变化，某一数据在当前属于敏感数据在法律法规发生了变化后可能会变成通用数据，反之对于通用数据也是如此。技术人员可以依据法律法规的变化而实时地调整拆分依据。
对于同一地图元素而言，拆分后的敏感数据和通用数据具有同一标识ID。例如：对于某一桥梁，原有的地图元素中通过多个面数据结构来描述桥梁结构，其中对于垂直面的描述中会包含桥梁的高度信息，因此需要把桥梁的垂直面拆分出来保存，示例如下(以NDS存储结构修改为例)：
Figure PCTCN2020100746-appb-000004
Figure PCTCN2020100746-appb-000005
地图数据管理模块，地图数据管理模块和地图数据拆分模块通信连接，并用于地图数据的存储以及对外提供数据查询接口。地图数据管理模块包括通用数据接口和敏感数据接口。通用数据接口用于向外部提供通用数据，敏感数据接口用于向外部提供敏感数据，在一些实施例中，敏感数据接口可以是例如SDK(Software Development Kits)。
敏感数据接口提供单接口输出的能力，防止使用方批量获取敏感数据形成敏感数据带。对于提供的敏感数据接口，单接口输出提供单点对象的敏感数据输出，单点对象指高精地图上的单个具体的对象/地图元素，例如某一具体的桥梁或隧道。接口参数示例如下：
Figure PCTCN2020100746-appb-000006
地图数据管理模块可以将通用数据和敏感数据都存储在专用服务侧，例如专用服务器或专有云上，也可以将通用数据和敏感数据分别存储在普通服务侧和专用服务侧。
继续参见图4，其还示出了用以调用高精度地图的使用侧/业务方42的示意图，使用侧/业务方42包括：
地图下载模块，地图下载模块包括通用数据接口，在使用侧需要地图数据时，通过通用数据接口可以从例如高精度地图生成系统41获取通用数据，举例而言，在图4中，通过通信地连接地图下载模块和地图数据管理模块的通用数据接口，地图下载模块可以从地图数据管理模块获取到通用数据。
业务处理模块，业务处理模块包括敏感数据接口，使用侧基于实时的业务，例如导航定位、路径规划等来确定当前所需要使用的敏感数据。仍以图4为例，例如当前自动驾驶车辆即将要通过一座桥梁，需要获取该桥梁的高度(桥梁的高度数据是敏感数据)以判断车辆是否可以通过，通过通信地连接业务处理模块和地图数据管理模块的敏感数据接口，业务处理模块依据该桥梁的地图元素ID和目标数据类别(高度)向地图数据管理模块请求获取该桥梁 (单点对象)的高度数据(敏感数据)，地图数据管理模块依据地图元素ID向业务处理模块返回桥梁高度数据。
当使用侧42使用完敏感数据后(例如上例中的车辆通过了桥梁)，敏感数据删除模块会将敏感数据在使用侧42删除，从而使得使用侧不能长期拥有敏感数据，另一方面，因为及时地删除了敏感数据，在使用侧42不会形成聚集的敏感数据带，即使用侧不能在同一时段大量地拥有敏感数据。
在一些实施例中，敏感数据接口可以是SDK(Software Development Kits)。
在一些实施例中，敏感数据删除模块可以和SDK配合使用以使得从高精度地图生成系统41即可控制将敏感数据删除。
应当理解的是，上述的通用数据和敏感数据的传输既可以通过无线网络进行传输，也可以通过有线网络进行传输，本申请对此不做限定。
在一些实施例中，使用侧42可以是自动驾驶汽车；在另一些实施例中，使用侧42可以是智能终端设备，例如手机、智能音箱等设备。
参见图2，其示出了基于一些实施例的高精度地图的使用方法示意图，将高精度地图自服务侧21向业务方22提供服务，高精度地图包括通用数据和敏感数据，通用数据和敏感数据均存储在专用服务端20上，专用服务端20可以包括例如专用服务器或专有云。专用服务器可以是例如经过政府监管部门授权的服务商的服务器。类似地，专有云可以是云计算服务商所提供的为经过政府监管部门授权的服务商所供应的云服务。
专用服务端20还包括通用数据接口和敏感数据接口。
业务方22包括通用数接口和敏感数据接口，对于通用数据，服务侧21可以经由通信连接的通用数据接口传输给业务方22。对于敏感数据，业务方22的业务处理模块基于实时的需求(例如导航、路径规划)基于地图元素ID向服务侧21请求所需要的单点对象的敏感数据，然后经由通信连接的敏感数据接口从服务侧21获取所需单点对象的敏感数据。
业务方22还包括敏感数据删除模块，当业务方22使用完敏感数据后)，敏感数据删除模块会将敏感数据在业务方22删除，从而使得业务方不能长期拥有敏感数据，另一方面，因为及时地删除了敏感数据，在业务方22不会形成聚集的敏感数据带，即使用侧不能在同一时段大量地拥有敏感数据。
在一些实施例中，敏感数据接口可以是SDK(Software Development Kits)。
在一些实施例中，敏感数据删除模块可以和SDK配合使用以使得从服务侧21可控制将敏感数据删除。
参见图3，其示出了基于一些实施例的高精度地图的使用方法示意图，将高精度地图自服务侧31向业务方32提供服务，高精度地图包括通用数据和敏感数据。通用数据存储在普通服务端301上，敏感数据存储在专用服务端302上；普通服务端301可以是是例如普通服务器或者公有云/混合云；专用服务端302可以包括例如专用服务器或专有云。专用服务器可以是例如经过政府监管部门授权的服务商的服务器。类似地，专有云可以是云计算服务商所提供的为经过政府监管部门授权的服务商所供应的云服务。
普通服务端301还包括通用数接口，专用服务端302还包括敏感数据接口。
业务方32包括通用数接口和敏感数据接口，对于通用数据，服务侧31经由通信连接的通用数据接口传输给业务方32。对于敏感数据，业务方32的业务处理模块基于实时的需求 (例如导航、路径规划)基于地图元素ID向服务侧31请求所需要的单点对象的敏感数据，然后经由通信连接的敏感数据接口从服务侧31获取所需单点对象的敏感数据。
业务方32还包括敏感数据删除模块，当业务方32使用完敏感数据后)，敏感数据删除模块会将敏感数据在业务方32删除，从而使得业务方不能长期拥有敏感数据，另一方面，因为及时地删除了敏感数据，在业务方22不会形成聚集的敏感数据带，即使用侧不能在同一时段大量地拥有敏感数据。
在一些实施例中，敏感数据接口可以是SDK(Software Develop Kits)。
在一些实施例中，敏感数据删除模块可以和SDK配合使用以使得从服务侧21可控制将敏感数据删除。
图5示出了基于一些实施例的高精度地图生产及业务使用流程图。
在流程51，对测绘数据进行处理，具体而言，包括对测绘数据进行合规处理；测绘数据主要包括基于摄像头、毫米波雷达、激光雷达、GPS等得到的位置信息、图像视频信息、点云数据等，基于这些数据可以综合构建高精度地图；
在流程52，基于处理后的测绘数据生成地图数据，具体而言，基于位置、图像、点云数据，对道路、车道线、交通信号灯、桥梁、隧道、涵洞等地图元素进行识别分类处理，按照地图存储规范生成地图元素的存储结构，并对每一个地图元素生成一个唯一的标识ID；
在流程53，将地图数据进行拆分，即基于地图元素ID将地图数据分为通用数据和敏感数据，对于同一地图元素，通用数据和敏感数据具有相同的ID；
在流程54，将拆分后的地图数据进行存储，在一些实施例中，可以将通用数据和敏感数据都存储在专用服务端，专用服务端20可以包括例如专用服务器或专有云。专用服务器可以是例如经过政府监管部门授权的服务商的服务器。类似地，专有云可以是云计算服务商所提供的为经过政府监管部门授权的服务商所供应的云服务；在另一些实施例中，可以将通用数据存储在普通服务端，敏感数据存储在专用服务端；普通服务端可以是是例如普通服务器或者公有云/混合云；专用服务端可以包括例如专用服务器或专有云。专用服务器可以是例如经过政府监管部门授权的服务商的服务器。类似地，专有云可以是云计算服务商所提供的为经过政府监管部门授权的服务商所供应的云服务；
在流程55进行地图数据传输，基于流程56的业务处理的需求向高精度地图服务端请求地图数据，地图数据包括通用数据和敏感数据，通用数据可以通过例如直接下载的方式传输到业务方；对于敏感数据，基于业务处理实时的需求(例如导航、路径规划)基于地图元素ID向高精度地图服务端请求所需要的单点对象的敏感数据。
在流程56，当使用完敏感数据后，将敏感数据删除。
图6示出了基于一些实施例的高精度地图更新及业务使用流程图。
在流程61，对测绘数据进行更新处理，具体而言，包括对更新的测绘数据进行合规处理；测绘数据主要包括基于摄像头、毫米波雷达、激光雷达、GPS等得到的位置信息、图像视频信息、点云数据等，基于这些数据可以综合构建高精度地图；
在流程62，基于处理后的更新的测绘数据生成更新的地图数据，具体而言，基于位置、图像、点云数据，对道路、车道线、交通信号灯、桥梁、隧道、涵洞等地图元素进行识别分类处理，按照地图存储规范生成地图元素的存储结构，并对每一个地图元素生成一个唯一的标识ID；
在流程63，将更新的地图数据进行拆分，即基于更新的地图元素ID将地图数据分为通用数据和敏感数据，对于同一地图元素，通用数据和敏感数据具有相同的ID；
在流程64，将拆分后的更新的地图数据进行存储，在一些实施例中，可以将通用数据和敏感数据都存储在专用服务端，专用服务端可以包括例如专用服务器或专有云。专用服务器可以是例如经过政府监管部门授权的服务商的服务器。类似地，专有云可以是云计算服务商所提供的为经过政府监管部门授权的服务商所供应的云服务；在另一些实施例中，可以将通用数据存储在普通服务端，敏感数据存储在专用服务端；普通服务端可以是是例如普通服务器或者公有云/混合云；专用服务端可以包括例如专用服务器或专有云。专用服务器可以是例如经过政府监管部门授权的服务商的服务器。类似地，专有云可以是云计算服务商所提供的为经过政府监管部门授权的服务商所供应的云服务；
在流程65进行地图数据传输，基于流程66的业务处理的需求向高精度地图服务端请求地图数据，地图数据包括通用数据和敏感数据，通用数据可以通过例如直接下载的方式传输到业务方；对于敏感数据，基于业务处理实时的需求(例如导航、路径规划)基于地图元素ID向高精度地图服务端请求所需要的单点对象的敏感数据。
在流程66，当使用完敏感数据后，将敏感数据删除。
上述本申请的各个实施例提供了一种高精度地图的生成方法，基于该方法生成的高精度地图以及一种高精度地图的使用方法。本申请的技术方案，通过在高精度地图的生成过程中将高精度地图拆分为通用数据和敏感数据，并且通用数据和敏感数据具有相同的地图元素ID，从而可以将高精度地图进行类别拆分，并依据拆分后的数据类型进行分别存储或者统一存储。对于通用数据，按照一般的地图数据获取使用方法即可，对于敏感数据，本申请技术方案提供单点对象输出，业务方可以依据具体的业务需求请求并获取到单点对象的敏感数据，在使用完之后将敏感数据及时地删除，从而使得业务方不仅不能长期拥有敏感数据，也不能在同一时段大量地拥有敏感数据。通过本申请的技术方案，可以使得在自动驾驶领域使用高精度地图数据的法律合规性得到解决，从而极大地有利于普及高精度地图在自动驾驶领域的应用。
本申请的说明书和权利要求书及上述附图中的术语“第一”、“第二”、“第三”、“第四”等(如果存在)是用于区别类似的对象，而不必用于描述特定的顺序或先后次序。应该理解这样使用的数据在适当情况下可以互换，以便这里描述的实施例能够以除了在这里图示或描述的内容以外的顺序实施。此外，术语“包括”和“具有”以及他们的任何变形，意图在于覆盖不排他的包含，例如，包含了一系列步骤或单元的过程、方法、系统、产品或设备不必限于清楚地列出的那些步骤或单元，而是可包括没有清楚地列出的或对于这些过程、方法、产品或设备固有的其它步骤或单元。
所属领域的技术人员可以清楚地了解到，为描述的方便和简洁，上述描述的系统，装置和单元的具体工作过程，可以参考前述方法实施例中的对应过程，在此不再赘述。
在本申请所提供的几个实施例中，应该理解到，所揭露的系统，装置和方法，可以通过其它的方式实现。例如，以上所描述的装置实施例仅仅是示意性的，例如，单元的划分，仅仅为一种逻辑业务划分，实际实现时可以有另外的划分方式，例如多个单元或组件可以结合或者可以集成到另一个系统，或一些特征可以忽略，或不执行。另一点，所显示或讨论的相互之间的耦合或直接耦合或通信连接可以是通过一些接口，装置或单元的间接耦合或通信连接，可以是电性，机械或其它的形式。
作为分离部件说明的单元可以是或者也可以不是物理上分开的，作为单元显示的部件可以是或者也可以不是物理单元，即可以位于一个地方，或者也可以分布到多个网络单元上。可以根据实际的需要选择其中的部分或者全部单元来实现本实施例方案的目的。
另外，在本申请各个实施例中的各业务单元可以集成在一个处理单元中，也可以是各个单元单独物理存在，也可以两个或两个以上单元集成在一个单元中。上述集成的单元既可以采用硬件的形式实现，也可以采用软件业务单元的形式实现。
集成的单元如果以软件业务单元的形式实现并作为独立的产品销售或使用时，可以存储在一个计算机可读取存储介质中。基于这样的理解，本申请的技术方案本质上或者说对现有技术做出贡献的部分或者该技术方案的全部或部分可以以软件产品的形式体现出来，该计算机软件产品存储在一个存储介质中，包括若干指令用以使得一台计算机设备(可以是个人计算机，服务器，或者网络设备等)执行本申请各个实施例方法的全部或部分步骤。而前述的存储介质包括：U盘、移动硬盘、只读存储器(ROM，Read-Only Memory)、随机存取存储器(RAM，Random Access Memory)、磁碟或者光盘等各种可以存储程序代码的介质。
本领域技术人员应该可以意识到，在上述一个或多个示例中，本申请所描述的业务可以用硬件、软件、固件或它们的任意组合来实现。当使用软件实现时，可以将这些业务存储在计算机可读介质中或者作为计算机可读介质上的一个或多个指令或代码进行传输。计算机可读介质包括计算机存储介质和通信介质，其中通信介质包括便于从一个地方向另一个地方传送计算机程序的任何介质。存储介质可以是通用或专用计算机能够存取的任何可用介质。
以上的具体实施方式，对本申请的目的、技术方案和有益效果进行了进一步详细说明，所应理解的是，以上仅为本申请的具体实施方式而已。
以上实施例仅用以说明本申请的技术方案，而非对其限制；尽管参照前述实施例对本申请进行了详细的说明，本领域的普通技术人员应当理解：其依然可以对前述各实施例所记载的技术方案进行修改，或者对其中部分技术特征进行等同替换；而这些修改或者替换，并不使相应技术方案的本质脱离本申请各实施例技术方案的范围。

Claims (16)

  1. 一种高精度地图使用方法，包括：
    将高精度地图数据拆分为通用数据和敏感数据，所述通用数据包括依据法律可以公开的数据，所述敏感数据包括依据法律不可以公开的数据；
    将所述敏感数据存储在专用服务端，所述专用服务端包括经过监管部门授权的服务器和经过监管部门授权的云服务；
    在接到业务方请求时，传输通用数据至业务方，如果所述业务方请求包括对于所述敏感数据的请求，将单点对象的敏感数据传输至业务方，所述单点对象包括高精地图上的单个地图元素；
    在业务方使用完所述敏感数据后，将所述敏感数据从所述业务方删除。
  2. 根据权利要求1所述的方法，其中：
    所述敏感数据包括由法律所规定的属于国家秘密的地理信息。
  3. 根据权利要求1所述的方法，其中：
    所述地图元素包括标识ID，业务方基于地图元素的标识ID请求单点对象的敏感数据。
  4. 根据权利要求1-3任一所述的方法，其中：
    所述业务方包括车端和移动终端。
  5. 一种高精地图使用方法，包括：
    向服务侧请求高精度地图数据，所述高精度地图数据包括通用数据和敏感数据，所述通用数据包括依据法律可以公开的数据，所述敏感数据包括依据法律不可以公开的数据；所述服务侧包括专用服务侧，所述专用服务侧包括经过监管部门授权的服务器和经过监管部门授权的云服务，所述专用服务侧配置为存储所述敏感数据；
    从所述服务侧接收所述通用数据，从所述专用服务侧接收所述敏感数据；
    在使用完所述敏感数据后，将所述敏感数据删除。
  6. 根据权利要求5所述的方法，其中：
    所述敏感数据包括由法律所规定的属于国家秘密的地理信息。
  7. 根据权利要求5-6任一所述的方法，其中：
    所述地图元素包括标识ID，业务方基于地图元素的标识ID请求单点对象的敏感数据。
  8. 一种高精度地图生成系统，包括：
    测绘数据处理模块，所述测绘数据处理模块配置为对原始测绘数据进行处理，以得到处理后的测绘数据；
    地图数据生成模块，所述地图数据生成模块配置为基于处理后的测绘数据生成地图元素，所述每个地图元素包括与之对应的唯一标识ID；
    地图数据拆分模块，所述地图数据拆分模块配置为将依据地图元素的标识ID将地图元素的数据拆分为通用数据和敏感数据；
    地图数据管理模块，所述地图数据管理模块配置为对所述地图元素中的敏感数据提供单接口输出。
  9. 根据权利要求8所述的高精度地图生成系统，其中：
    所述地图数据管理模块还包括用于输出通用数据的通用数据接口。
  10. 根据权利要求8所述的高精度地图生成系统，其中：
    所述的单接口输出包括SDK。
  11. 一种高精度地图调用系统，包括：
    地图下载模块，所述地图下载模块配置为下载通用数据，所述通用数据包括依据法律可以公开的数据，所述地图下载模块包括用于获取通用数据的通用数据接口；
    业务处理模块，所述业务处理模块配置为可依据导航规划确定所需要的敏感数据，所述敏感数据包括依据法律不可以公开的数据；所述业务处理模块包括用于获取所述敏感数据的敏感数据接口；
    敏感数据删除模块，所述敏感数据删除模块和所述业务处理模块通信连接，所述敏感数据删除模块配置为在所述敏感数据使用完毕后将所述敏感数据删除。
  12. 根据权利要求11所述的高精度地图调用系统，其中：
    所述系统设置在自动驾驶车辆上。
  13. 一种高精度地图，包括：
    多个地图元素，所述多个地图元素中的每一个均包括与之对应的ID，所述多个地图元素中至少有一个包括通用数据和敏感数据，所述通用数据包括依据法律可以公开的数据，所述敏感数据包括依据法律不可以公开的数据；在同一地图元素中的通用数据和敏感数据具有相同的标识ID。
  14. 根据权利要求13所述的高精度地图，其中：
    所述通用数据和敏感数据被配置为可拆分地存储。
  15. 根据权利要求14所述的高精度地图，其中：
    所述通用数据和敏感数据均存储在专用服务端，所述专用服务端包括经过监管部门授权的专用服务器和经过监管部门授权的专有云。
  16. 根据权利要求13-15任一所述的高精度地图，其中：
    所述通用数据存储在普通服务端，所述普通服务端包括普通服务器和公有云中的至少一种；
    所述敏感数据存储在专用服务端，所述专用服务端包括专用服务器和专有云中的至少一种。
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