CN113654550A - High-precision map acquisition system - Google Patents
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- CN113654550A CN113654550A CN202111057052.9A CN202111057052A CN113654550A CN 113654550 A CN113654550 A CN 113654550A CN 202111057052 A CN202111057052 A CN 202111057052A CN 113654550 A CN113654550 A CN 113654550A
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- 238000004891 communication Methods 0.000 claims abstract description 46
- 238000000034 method Methods 0.000 claims abstract description 12
- 230000008569 process Effects 0.000 claims abstract description 7
- 238000003384 imaging method Methods 0.000 claims abstract description 5
- 230000005540 biological transmission Effects 0.000 abstract description 8
- 230000006870 function Effects 0.000 description 4
- 238000013507 mapping Methods 0.000 description 4
- 230000001413 cellular effect Effects 0.000 description 3
- 230000003993 interaction Effects 0.000 description 2
- 230000002093 peripheral effect Effects 0.000 description 2
- 230000001133 acceleration Effects 0.000 description 1
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- 238000013500 data storage Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000004927 fusion Effects 0.000 description 1
- 230000001788 irregular Effects 0.000 description 1
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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
- G01C21/28—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network with correlation of data from several navigational instruments
- G01C21/30—Map- or contour-matching
- G01C21/32—Structuring or formatting 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
- G01C21/38—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
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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
- G01C21/38—Electronic maps specially adapted for navigation; Updating thereof
- G01C21/3804—Creation or updating of map data
- G01C21/3833—Creation or updating of map data characterised by the source of data
- G01C21/3841—Data obtained from two or more sources, e.g. probe vehicles
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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
- G01C21/38—Electronic maps specially adapted for navigation; Updating thereof
- G01C21/3804—Creation or updating of map data
- G01C21/3833—Creation or updating of map data characterised by the source of data
- G01C21/3848—Data obtained from both position sensors and additional sensors
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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
- G01C21/38—Electronic maps specially adapted for navigation; Updating thereof
- G01C21/3804—Creation or updating of map data
- G01C21/3833—Creation or updating of map data characterised by the source of data
- G01C21/3852—Data derived from aerial or satellite images
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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
- G01C21/38—Electronic maps specially adapted for navigation; Updating thereof
- G01C21/3885—Transmission of map data to client devices; Reception of map data by client devices
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- Engineering & Computer Science (AREA)
- Remote Sensing (AREA)
- Radar, Positioning & Navigation (AREA)
- Automation & Control Theory (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Navigation (AREA)
- Traffic Control Systems (AREA)
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Abstract
The invention relates to a high-precision map acquisition system, which comprises a miniature map acquisition instrument and a mobile terminal; the micro map acquisition instrument acquires IMU state information of the vehicle, high-precision position information of the vehicle and road traffic information in real time at a fixed period, and packages and encrypts data; transmitting the encrypted data to the mobile terminal in a near field communication mode; the mobile terminal decrypts the received data, stores the data in a cache, and processes the data in the cache by using an imaging algorithm stored in the mobile terminal to generate a three-dimensional high-precision map data packet; and the mobile terminal encrypts the three-dimensional high-precision map data packet and transmits the three-dimensional high-precision map data packet back to the miniature map acquisition instrument for storage in a near field communication mode, and meanwhile, the data in the cache is deleted. In the data acquisition and transmission process of the system, unencrypted data are always in the cache of the mobile phone of the user, and after the real-time transmission is finished, the cache is deleted, so that the system has higher data security.
Description
Technical Field
The invention relates to the technical field of automatic driving and high-precision maps, in particular to a high-precision map acquisition system.
Background
Recently, high-precision map collectors have become a hotspot in the mapping industry today. The high-precision map acquisition instrument generally comprises an independent geographic image sensing system, a high-precision inertial navigation system, a high-performance processing system, a high-capacity storage system, a communication system and other high-end sensor fusion systems. The professional map acquisition instrument has good performance and high acquisition precision, but the equipment is very expensive, and the composition principle and the electrical connection of each internal system are extremely complex, so that the engineering implementation and maintenance are not convenient.
Disclosure of Invention
Aiming at the technical problems in the prior art, the invention provides a high-precision map acquisition system, which is characterized in that a map acquisition instrument is constructed by using the simplest hardware system scheme, and is connected with a user through WiFi (wireless fidelity) and the Internet technology is applied to form a set of high-precision map acquisition system with low cost, high performance and high-speed data return function.
The technical scheme for solving the technical problems is as follows: a high-precision map acquisition system comprises a miniature map acquisition instrument and a mobile terminal;
the micro map acquisition instrument acquires IMU state information of the vehicle, high-precision position information of the vehicle and road traffic information in real time at a fixed period, and packages and encrypts data; transmitting the encrypted data to the mobile terminal in a near field communication mode;
the mobile terminal decrypts the received data, stores the data in a cache, and processes the data in the cache by using an imaging algorithm stored in the mobile terminal to generate a three-dimensional high-precision map data packet; and the mobile terminal encrypts the three-dimensional high-precision map data packet and transmits the three-dimensional high-precision map data packet back to the miniature map acquisition instrument for storage in a near field communication mode, and meanwhile, the data in the cache is deleted.
And further, the system also comprises a cloud server, and when the size of the data stored in the miniature map acquisition instrument exceeds a threshold value, the encrypted data is uploaded to the cloud server in a remote communication mode for storage.
Furthermore, the miniature map collector comprises a GNSS module, a remote communication module, an IMU chip, a near field communication module, a SOC minimum system, an image sensor and a memory; the GNSS module, the remote communication module, the IMU chip, the near field communication module, the image sensor and the memory are all electrically connected with the SOC minimum system;
the image sensor and the SOC minimum system form a map sensing system for collecting and sensing road traffic information;
the SOC minimum system is in remote communication with a cloud server through the remote communication module;
the SOC minimum system acquires the IMU state information of the vehicle and the high-precision position information of the vehicle through the GNSS module and the IMU chip;
and the SOC minimum system carries out near field communication with the mobile terminal through the near field communication module.
Further, the remote communication module is a 4G or 5G module; the near field communication module comprises a WiFi module and a Bluetooth module.
Further, a national secret security algorithm is adopted for encryption and decryption.
The invention has the beneficial effects that:
1. the device has a compact feature with volume parameters of 6cm by 5cm by 3.5 cm. The equipment can be conveniently installed on the surveying and mapping vehicle, such as attached to the front windshield of the driving vehicle of the surveying and mapping vehicle.
2. The cost performance is high, low cost, easy to popularize, easy to install and maintain.
3. The hardware has low power consumption and saves energy.
4. In the data acquisition and transmission process, unencrypted data are always in the mobile phone cache of the user, and after the real-time transmission is finished, the cache is deleted. No matter the communication between the terminals or the interaction between the terminals and the cloud server, the encryption is carried out by adopting a national secret data security algorithm, so that the data is secure.
Drawings
FIG. 1 is a schematic diagram of a high-precision map acquisition system according to an embodiment of the present invention
Detailed Description
The principles and features of this invention are described below in conjunction with the following drawings, which are set forth by way of illustration only and are not intended to limit the scope of the invention.
As shown in fig. 1, an embodiment of the present invention provides a high-precision map collecting system, which is composed of a miniature map collecting instrument, a cloud server, and a mobile terminal, where the mobile terminal is a user smart phone in this embodiment.
The micro map collector comprises a GNSS module, a remote communication module, an IMU chip, a near field communication module, an SOC minimum system, an image sensor and a memory; the GNSS module, the remote communication module, the IMU chip, the near field communication module, the image sensor and the memory are all electrically connected with the SOC minimum system; the remote communication module is a 4G or 5G module; the near field communication module comprises a WiFi module and a Bluetooth module.
The image sensor and the SOC minimum system form a map sensing system, and the map sensing system has an AI function and is used for collecting and sensing road traffic information such as lane lines, traffic lights, road signs and the like.
The SOC minimum system is in remote communication with the cloud server through the remote communication module, can access the cloud server (fixed IP or domain name) on the Internet at a high speed, and has the capacity of transmitting data at a high speed and with low delay.
The SOC minimum system acquires the IMU state information of the vehicle and the high-precision position information of the vehicle through the GNSS module and the IMU chip.
And the SOC minimum system carries out near field communication with the mobile terminal through the near field communication module.
The cloud server is used for equipment management, data storage, streaming media service, webpage service and the like.
The micro map acquisition instrument acquires IMU state information of the vehicle, high-precision position information of the vehicle and road traffic information in real time at a fixed period, and packages and encrypts data; and transmitting the encrypted data to the mobile terminal in a near field communication mode.
The mobile terminal decrypts the received data, stores the data in a cache, and processes the data in the cache by using an imaging algorithm stored in the mobile terminal to generate a three-dimensional high-precision map data packet; and the mobile terminal encrypts the three-dimensional high-precision map data packet and transmits the three-dimensional high-precision map data packet back to the miniature map acquisition instrument for storage in a near field communication mode, and meanwhile, the data in the cache is deleted.
And when the size of the data stored in the miniature map acquisition instrument exceeds a threshold value, uploading the encrypted data to a cloud server for storage in a remote communication mode.
Specifically, in the actual use process of the system, first power-on initialization and parameter calibration self-checking are required, and the method comprises the following steps:
step1, mounting the micro map acquisition instrument on the front windshield of the surveying and mapping vehicle according to the standard requirement;
step2, electrifying the miniature map acquisition instrument, electrifying and initializing the interior of the system, automatically starting other peripheral equipment such as a 4G/5G communication module, a WiFi module and a Bluetooth module, and automatically connecting the peripheral equipment with a cloud server;
step3, the user mobile phone opens the cellular wireless network, simultaneously opens WiFi and Bluetooth functions through the mobile phone APP, automatically connects to the cloud server through the cellular network, simultaneously connects to the map collecting instrument locally in the vehicle through WiFi and Bluetooth, and connects the collecting instrument to the user mobile phone and the cloud server, and the detailed description is omitted in the Step. The user mobile phone, the acquisition instrument and the cloud server are communicated with each other, the working operation states of all parties, such as communication states and system self-checking results, are mutually informed, and when all functions are self-checked and normal, the next step is carried out;
step 4: and entering a calibration procedure. Optionally, the micro map acquisition instrument may calibrate parameters of the image sensor, IMU errors and an initialization state by itself, or a user mobile phone performs manual calibration through a local near field WiFi or bluetooth, and then the next step is performed after the calibration is completed, and details about a calibration method for the sensor are not described in this step;
step 5: and the mobile phone APP displays that the calibration is successful, and the initialization is completed for the first time.
After the power-on initialization and the parameter calibration self-checking are completed, the system performs data acquisition and data transmission, and the method comprises the following steps:
step1: the map acquisition instrument judges that when the vehicle moves according to the speed state of the GPS and the state of the IMU, the map acquisition instrument acquires the state information of the IMU of the vehicle, such as acceleration, angular velocity and other information, and high-precision position information of the vehicle in real time in a fixed period, and simultaneously senses road key information through a sensing system and packages data;
step2: the map acquisition instrument encrypts the packed data through a national security algorithm;
step3: the map acquisition instrument transmits the encrypted data to a mobile phone of a user in a local WiFi mode;
step 4: the mobile phone decrypts data through a corresponding national secret security algorithm, stores the data in a mobile phone cache instead of an eMMC memory, generates a three-dimensional high-precision map data packet through an imaging algorithm of a mobile phone APP, encrypts the data again through the national secret security algorithm, packages the data, transmits the data to a map acquisition instrument, and deletes the cache data after the encrypted data is successfully transmitted and the integrity of the data is verified;
step 5: the map acquisition instrument stores the received encrypted data into a self-contained storage card, and when the data size exceeds a certain data size, the map acquisition instrument selects and transmits the encrypted data to the cloud server through the 4G or 5G module at regular time or at irregular time according to the state of the wireless cellular network;
step 6: when the next acquisition cycle comes, the process goes back to Step1 again by judging that the vehicle is in motion. If the vehicle stops for a self-set time threshold, the system remains in a standby state.
In summary, the system scheme has the following characteristics:
the data acquisition and transmission method has the advantages that unencrypted data are always in the mobile phone cache of a user, and the cache is deleted after real-time transmission is finished. In the process of data transmission between the map acquisition instrument and the mobile phone APP, no matter communication between terminals or interaction between the terminals and the cloud server, the data are encrypted by adopting a national secret data security algorithm, so that the data are safe.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents, improvements and the like that fall within the spirit and principle of the present invention are intended to be included therein.
Claims (5)
1. A high-precision map acquisition system is characterized by comprising a miniature map acquisition instrument and a mobile terminal;
the micro map acquisition instrument acquires IMU state information of the vehicle, high-precision position information of the vehicle and road traffic information in real time at a fixed period, and packages and encrypts data; transmitting the encrypted data to the mobile terminal in a near field communication mode;
the mobile terminal decrypts the received data, stores the data in a cache, and processes the data in the cache by using an imaging algorithm stored in the mobile terminal to generate a three-dimensional high-precision map data packet; and the mobile terminal encrypts the three-dimensional high-precision map data packet and transmits the three-dimensional high-precision map data packet back to the miniature map acquisition instrument for storage in a near field communication mode, and meanwhile, the data in the cache is deleted.
2. The high-precision map acquisition system according to claim 1, further comprising a cloud server, wherein when the size of data stored in the miniature map acquisition instrument exceeds a threshold value, the encrypted data is uploaded to the cloud server for storage in a remote communication mode.
3. The high-precision map collecting system of claim 2, wherein the micro map collecting instrument comprises a GNSS module, a remote communication module, an IMU chip, a near field communication module, a SOC minimum system, an image sensor and a memory; the GNSS module, the remote communication module, the IMU chip, the near field communication module, the image sensor and the memory are all electrically connected with the SOC minimum system;
the image sensor and the SOC minimum system form a map sensing system for collecting and sensing road traffic information;
the SOC minimum system is in remote communication with a cloud server through the remote communication module;
the SOC minimum system acquires the IMU state information of the vehicle and the high-precision position information of the vehicle through the GNSS module and the IMU chip;
and the SOC minimum system carries out near field communication with the mobile terminal through the near field communication module.
4. A high accuracy map gathering system as claimed in claim 1, wherein the remote communication module is a 4G or 5G module; the near field communication module comprises a WiFi module and a Bluetooth module.
5. A high accuracy map collection system according to claim 1, wherein encryption and decryption are performed using a national security algorithm.
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| CN202111057052.9A CN113654550A (en) | 2021-09-09 | 2021-09-09 | High-precision map acquisition system |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN114416895A (en) * | 2021-12-13 | 2022-04-29 | 北京百度网讯科技有限公司 | Map data processing method and device, electronic equipment and storage medium |
| CN115307624A (en) * | 2022-07-29 | 2022-11-08 | 浙江吉利控股集团有限公司 | Path map generation method, vehicle end controller and terminal |
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2021
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