Method and device for matching V2X technology with encrypted and / or deflected high-precision maps

Abstract

The present invention relates to the field of autonomous driving / assisted driving based on V2X technology. Specifically, the present invention provides a method for matching V2X technology with encrypted and / or deflected high-precision maps, the method comprising at least the following steps: obtaining traffic event information, the traffic event information including location information of the traffic event; analyzing and processing the traffic event information so that the traffic event matches at least one version of the encrypted and / or deflected high-precision map, the at least one version of the high-precision map being encrypted and / or deflected in different ways; sending the analyzed and processed traffic event information to a vehicle equipped with at least one version of the high-precision map so that the traffic event is correctly matched and / or located on the high-precision map carried by the vehicle. The present invention also relates to a device, a corresponding vehicle, a roadside unit, and a back-end data monitoring platform for matching V2X technology with encrypted and / or deflected high-precision maps. The present invention aims to provide a solution for matching V2X data with encrypted and / or deflected high-precision maps.

Description

Technical Field

[0001] The present invention relates to a method for matching V2X with an encrypted and / or deflected high-precision map, a device for matching V2X with an encrypted and / or deflected high-precision map, a corresponding vehicle, a roadside unit, and a backend data monitoring platform. Background Art

[0002] Accurate, real-time, and reliable data and data processing methods are essential elements for ensuring the safety of driving assistance and autonomous driving technologies. From a technical feasibility perspective, high-precision maps are important safety components for L3-level and above autonomous driving vehicles. At the same time, high-precision positioning is also an important dependency for the implementation of V2X technology. Traditional positioning methods relying on GNSS (GNSS + DR) cannot effectively support V2X application scenarios. For example, if the traffic events monitored by the Road Side Unit cannot be accurately positioned, it is difficult to accurately determine the lane-level position of the traffic events in front of the vehicle, and thus it is impossible to perform vehicle lane-level early warning, planning, and control based on V2X.

[0003] In China, for safety reasons and according to relevant regulations, electronic map data needs to be confidential before being made public. The electronic maps provided by map manufacturers to vehicle manufacturers are encrypted and / or deflected through algorithms, and the encryption / deflection algorithms of different map manufacturers are different. This leads to: Even on the same road section, autonomous driving vehicles of different vehicle manufacturers will navigate and test based on the high-precision maps with different confidentiality processing algorithms installed. On the other hand, autonomous driving vehicles equipped with encrypted and / or deflected high-precision maps also face challenges when using the information obtained based on V2X technology. When V2X technology realizes the precise positioning of vehicles and traffic events relative to high-precision maps, V2X and autonomous driving technologies can be effectively combined.

[0004] In this context, the application and implementation of V2X and autonomous driving technologies also need to consider the impact brought by the encryption and / or deflection of high-precision maps, that is, the integration of V2X technology and autonomous driving systems also needs to consider the secure matching method of V2X technology with the data of high-precision maps with different confidentiality processing (encryption and / or deflection) installed on different brands of vehicles.

[0005] In terms of electronic maps, CN109670011A discloses a multi-source map service engine, which is used to highly summarize map instructions from different sources and parse the order and content between layers to reduce the development difficulty. CN107977366A discloses a data output method for a coordinate system. In this method, the target position is converted through a coordinate conversion function, so that the hardware device can offset the WGS-84 coordinate according to the obtained offset distance and offset direction to obtain an approximate GCJ-02 coordinate.

[0006] However, neither of these two documents involves the matching of information collected based on V2X technology with high-precision maps that have undergone different confidentiality processes (encryption and / or deflection addition) on the vehicle, so it is still impossible to overcome the technical pain points brought by the encryption and / or deflection addition of map data to the matching of V2X technology with encrypted / and or deflected high-precision maps. Summary of the Invention

[0007] An object of at least one embodiment of the present invention is to provide a method for matching V2X technology with encrypted and / or deflected high-precision maps, a device for matching V2X technology with encrypted and / or deflected high-precision maps, a corresponding vehicle, roadside unit, and / or backend data monitoring platform, so as to solve at least some problems in the prior art.

[0008] According to a first aspect of the present invention, there is provided a method for matching V2X technology with encrypted and / or deflected high-precision maps, the method at least including the following steps:

[0009] Obtain traffic event information, where the traffic event information includes the location information of the traffic event;

[0010] Analyze and process the traffic event information so that the analyzed and processed traffic event information matches at least one version of encrypted and / or deflected high-precision maps;

[0011] Send the analyzed and processed traffic event information to a vehicle equipped with the at least one version of high-precision map, so that the traffic event can be correctly matched and / or located on the high-precision map carried by the vehicle.

[0012] Here, V2X (vehicle to everything, also known as vehicle networking) can be understood as a technology that realizes the interaction of entity information between vehicles and all entities that may affect vehicles based on communication technologies such as dedicated short-range communication technology (DSRC) and / or cellular communication (LTE and 5G). It usually includes four types of scenarios: vehicle-to-vehicle (V2V), vehicle-to-network (V2N), vehicle-to-infrastructure (V2I), and vehicle-to-pedestrian (V2P).

[0013] Herein, "encryption and / or adding deflection" can be understood as a means of keeping the map data / geographical location information confidential. Adding deflection is also known as adding bias, adding offset, etc.

[0014] Through the method of the present invention, the information transmitted based on V2X technology (especially the information containing or related to geographical location) can be reliably matched with the electronically encrypted map (such as encryption and / or adding deflection). Herein, such information can be, for example, the information collected and / or analyzed by vehicles or roadside units. On the one hand, this ensures that the information transmitted through V2X technology can be accurately matched and / or located on the highly accurate encrypted map carried by the vehicle and used as the input information for the control planning of the autonomous driving system. On the other hand, without directly involving the compilation of the encryption algorithm itself, it complies with the relevant regulations of the country for navigation electronic maps and safeguards national information security.

[0015] According to a preferred embodiment, the traffic events include: static events, which represent information of objects at fixed positions; or dynamic events, which represent information of non-fixed and temporary objects. Static events are, for example, the status information of roadside units, the status of traffic lights, the content of dynamic signal signs, etc.; dynamic events can be, for example, traffic accidents, approaching rescue vehicles, temporary construction, traffic control, etc. The vehicle manufacturer can reserve an interface for the dynamic information layer of the highly accurate map based on the consideration of invoking dynamic information, for receiving information with a customizable data structure irregularly, while not disclosing the data structure of the basic highly accurate map used by the vehicle.

[0016] Herein, the interface of the dynamic information layer can be understood as the definition of data structure and expression reached between vehicle manufacturers and map manufacturers, between vehicle manufacturers and vehicle manufacturers, or even between industries through certain protocols and / or standards, so that the data of this structure and expression type can be generally applicable to the differentiated highly accurate maps applicable among vehicle manufacturers.

[0017] According to a preferred embodiment, the step of analysis and processing includes: determining whether at least one version of the highly accurate map is available, and based on the determination result, deciding whether to perform the matching of the traffic event information and the highly accurate map in the vehicle, in the roadside unit, in the backend data monitoring platform, or by the map provider.

[0018] Herein, "there is at least one version of the high-precision map available" especially means that it is possible to obtain and / or store data and map version information of the high-precision map - such as map version numbers and / or identifiers (including, for example, map review numbers), layer information, reference object coordinate data specific to the map version, etc. Depending on whether the map information can be directly called locally on the vehicle and / or roadside unit that collects traffic events, it affects whether the collected traffic events can be directly compared and matched with the high-precision map on the vehicle client and / or roadside unit side. Alternatively, in the case where there is no at least one version of the high-precision map available, it may be necessary to package and forward the collected data to the back-end data monitoring platform or map provider for further analysis and processing.

[0019] According to a preferred embodiment, the step of the analysis and processing further includes: determining whether the location information of the traffic event is directly or indirectly marked on the at least one version of the high-precision map, wherein, based on the determination result, it is decided whether to directly determine the coordinate position of the traffic event on the high-precision map or whether it is necessary to iteratively calculate the coordinate position of the traffic event on the high-precision map according to the relative real-time positioning (feature matching) algorithm.

[0020] Herein, the location information of the traffic event being directly marked on the high-precision map can be understood, for example, as: the object represented by the traffic event has been drawn or marked as a map element in the high-precision map, so its coordinate position on this version of the high-precision map can be directly obtained.

[0021] Herein, the location information of the traffic event being indirectly marked on the high-precision map can be understood, for example, as: the roadside unit that collects the traffic event has been marked on the high-precision map and has a corresponding unique identification number (ID), or the vehicle that detects the traffic event has been located on the high-precision map and has a coordinate position with respect to the high-precision map. Then, the position of the detected traffic event on the encrypted and / or deflected map can be calculated based on the unique identification number of the roadside unit and / or the position of the vehicle itself in the map coordinate system and the relative position of the traffic event with respect to the roadside unit / or the vehicle itself.

[0022] If it is not marked, the position of the traffic event on the high-precision map can be iteratively calculated through the relative real-time positioning algorithm. For example, one or more reference objects marked by the high-precision map in the surrounding environment of the vehicle and / or roadside unit can be selected, and then the coordinate of the traffic event on the map can be determined by obtaining the relative azimuth and distance with respect to these known reference objects. Preferably, for example, the relative position of the traffic event can also be obtained through the positioning technology of laser point cloud matching the point cloud map.

[0023] According to a preferred embodiment, the steps of the analysis and processing further include: determining whether the traffic event involves a static event or a dynamic event, wherein a static event represents information of an object with a fixed position, and a dynamic event represents information of an unfixed and temporary object. If the traffic event has been marked directly or indirectly by the at least one version of the high-precision map and the traffic event involves a static event, the coordinate position of the traffic event on the high-precision map is directly determined. If the roadside unit is marked and involves a dynamic event, the instantaneous position and / or movement trajectory of the dynamic event are first deduced, and then the coordinate position of the traffic event on the high-precision map is determined.

[0024] According to a preferred embodiment, the steps of the analysis and processing further include: determining whether there is a dynamic information layer interface available for the at least one version of the high-precision map, wherein the dynamic information layer interface is used to transmit information that can be directly called by a vehicle equipped with the at least one version of the high-precision map.

[0025] Here, whether the vehicle, the roadside unit, and / or the backend data monitoring platform have the dynamic information layer interface of the high-precision map carried by different brands of vehicles affects whether information that can be directly called by the vehicle can be transmitted through the interface.

[0026] According to an embodiment, the matching of the traffic event to the at least one version of the high-precision map is achieved in the following manner: sending the detected traffic event and / or its own position coordinate information based on the at least one version of the high-precision map to the backend data monitoring platform, obtaining the identifier of the at least one version of the high-precision map in the backend data monitoring platform, determining the corresponding map information according to the identifier, and performing the matching of the traffic information to the at least one version of the high-precision map within the backend data monitoring platform; or transmitting the detected traffic event to the map provider, and the map provider converts / packs the traffic event information into a data format that can be called by the dynamic information layer interface, and distributes the traffic information detected by the vehicle and / or the roadside unit through the interface of the dynamic information layer.

[0027] Here, the backend data monitoring platform, as a trusted management unit, stores information of multiple versions of the high-precision map, for example. The backend data monitoring platform, as a trusted management unit, may also be equipped with multiple versions of plugins for encrypting and / or deflecting the map data (for example), thereby obtaining traffic event information adapted to multiple versions of the high-precision map information.

[0028] According to one embodiment, matching the traffic event to at least one version of the high-precision map is achieved by the following method: the vehicle system or the roadside unit immediately converts / packs the detected traffic event information into a data format that can be called by the dynamic information layer interface and sends it to the vehicles and / or roadside units within the affected range.

[0029] Herein, the identifier can be, for example, the version number or the map review number of each high-precision map, and depends, for example, on the vehicle manufacturer, vehicle model, vehicle batch, road section, the version of the high-precision map installed, etc.

[0030] Through this embodiment, it is advantageously possible to provide multiple possibilities for matching traffic events with encrypted and / or deflected high-precision maps. In addition to directly implementing the matching at the vehicle end and / or the roadside unit end, for example, it is also possible to directly perform the matching of traffic events against each confidentiality-processed (such as encrypted and / or deflected) high-precision map within the backend data monitoring platform under supervision. Alternatively or additionally, it can be required that the map provider directly add or mark the position and unique identification number of the roadside unit on the high-precision map and leave an interface for application layer calls, so that traffic information can also be reasonably matched to the corresponding precise location.

[0031] According to a preferred embodiment, before sending the analyzed and processed traffic event information to the vehicle, the analyzed and processed traffic event can be encrypted, and a dynamic password is assigned to at least one version of the high-precision map and / or the vehicle equipped with the high-precision map.

[0032] Herein, preferably, relevant encryption methods can be formulated, relevant confidentiality algorithms can be written, or relevant encryption modules can be generated based on the unique version number and / or identifier of the map (for example).

[0033] Herein, preferably, dynamic password is assigned to each high-precision map at a determined time interval based on the encryption algorithm used, the unique version number and / or identifier of the high-precision map (such as the map review number), and / or, dynamic password is assigned to the vehicles equipped with different versions of the high-precision map based on the vehicle production serial number, the autonomous driving certification review number, the current time information, etc., wherein the vehicle verified by the dynamic password can parse and use the received information that conforms to the map version installed on the vehicle.

[0034] This advantageously ensures different encryption methods for different map versions or vehicles equipped with different maps, and the vehicle can only parse the information transmitted through the V2X technology that matches the map being used by the vehicle, thus effectively improving the security and reliability of vehicle networking information exchange, map data, and geographical location information.

[0035] According to a second aspect of the present invention, there is provided a device for matching V2X technology with an encrypted and / or deflected high-precision map, which is particularly used to execute the method according to the present invention. The device includes: an acquisition device for detecting traffic event information, where the traffic event information includes location information of the traffic event; an analysis and processing device for analyzing and processing the traffic event information so that the traffic event information is matched with at least one version of the encrypted and / or deflected high-precision map;

[0036] A communication device for sending the analyzed and processed traffic event information to a vehicle equipped with the at least one version of the high-precision map, so that the traffic event is correctly located and / or matched on the high-precision map carried by the vehicle.

[0037] According to a third aspect of the present invention, there is provided a vehicle, which includes the device according to the present invention for matching V2X technology with an encrypted and / or deflected high-precision map.

[0038] According to a fourth aspect of the present invention, there is provided a roadside unit, which includes the device according to the present invention for matching V2X technology with an encrypted and / or deflected high-precision map.

[0039] According to a fifth aspect of the present invention, there is provided a backend data monitoring platform, which includes the device according to the present invention for matching V2X technology with an encrypted and / or deflected high-precision map. Description of the Drawings

[0040] Next, the present invention can be better understood by referring to the drawings in more detail. The drawings include:

[0041] Figure 1 Showing the display of the information collected by the roadside unit on the high-precision map carried by the vehicle in the cases of non-matching and matching respectively;

[0042] Figure 2 Showing a block diagram of a device for matching V2X technology with an encrypted and / or deflected high-precision map according to an exemplary embodiment of the present invention;

[0043] Figure 3 Showing a block diagram of an intelligent road facility system architecture according to an exemplary embodiment of the present invention;

[0044] Figure 4 Showing a block diagram of a backend monitoring platform according to an exemplary embodiment of the present invention;

[0045] Figure 5A method for matching V2X technology with an encrypted and / or deflected high-precision map according to an exemplary embodiment of the present invention is illustrated in a flowchart;

[0046] Figure 6 An exemplary embodiment of a step of the method in Figure 5 is illustrated in a flowchart;

[0047] Figure 7 An exemplary embodiment of a step of the method in Figure 5 is illustrated in a flowchart. Detailed implementation manners

[0048] In order to make the technical problems to be solved, technical solutions and beneficial technical effects of the present invention clearer, the present invention will be further described in detail below with reference to the drawings and multiple exemplary embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention, rather than to limit the protection scope of the present invention.

[0049] Figure 1 The information collected by the roadside unit is shown on the high-precision map carried by the vehicle in the cases of non-matching and matching, respectively. As Figure 1 shown in the upper part, the vehicle 102 equipped with an autonomous driving system is located on the first lane L1 of a three-lane (L1, L2, L3) road. Among them, the roadside unit 106 monitors its surrounding environment 108 and detects a traffic event 104. Here, the traffic event 104 is exemplarily a traffic accident and occurs, for example, on the first lane L1. The position of the traffic event in the general coordinate system (Cr: Coordinate System of Road Side Unit) based on the roadside unit is (Cr_x1, Cr_y1, Cr_z1).

[0050] The autonomous vehicle 102 receives traffic event information from the roadside unit 106 during driving. The information is exemplarily 106-104-(Cr_x1-Cr_y1-Cr_z1), and is displayed on the high-precision map carried by it.

[0051] In Figure 1The lower left shows the following situation: The vehicle 102 receives unencrypted and / or deflected traffic event information and directly displays it on a highly accurate map that has been confidentiality processed (e.g., encrypted and / or deflected). It can be seen that since the location data of the traffic event 104 has not been matched or, in other words, has not been confidentiality processed (e.g., encrypted and / or deflected), the traffic event 104 is still located on the highly accurate map at the coordinate position (Cr_x1, Cr_y1, Cr_z1). However, since the coordinate system used by the highly accurate map carried by the vehicle 102 has been encrypted and / or deflected, there is a deviation between the position where the traffic event 104 is located on this map and the actual accident location. Here, for example, the traffic event 104 is incorrectly located in the second lane L2, which may cause the vehicle 102 to fail to change lanes in time and get stuck in congestion.

[0052] On Figure 1 The lower right shows the following situation: The traffic event 104 has been analyzed and processed and is matched in terms of location data to the encrypted and / or deflected highly accurate map carried by the vehicle 102. Therefore, in the vehicle 102, the traffic event 104 is displayed on the highly accurate map at the coordinate position (Cv_x1, Cv_y1, Cv_z1), where (Cv_x1, Cv_y1, Cv_z1) is the position of the traffic event 104 in the coordinate system (Cv: Coordinate System of HAD Map in Vehicle) on which the highly accurate map carried by the vehicle 102 is based. It can be seen that now the traffic event 102 is located in the first lane L1 in accordance with the actual situation. Therefore, the vehicle 102 can change lanes in advance based on this information, thus avoiding the accident location.

[0053] Figure 2 A block diagram of a device 200 for matching V2X technology with an encrypted and / or deflected highly accurate map according to an exemplary embodiment of the present invention is shown.

[0054] Device 200 is used to match V2X technology with encrypted and / or deflected high-precision maps. For example, device 200 can be a Road Side Unit or a part of a Road Side Unit, or an on-board device on a vehicle, an On board Unit, or a part of a back-end data monitoring platform. Device 200 can include an acquisition device 221, which is used to acquire traffic event information, including the location information of traffic events. The acquisition device can collect data (such as pictures, videos, radar or lidar point cloud data, GNSS data, etc.) through a data collection device (such as a sensor on a Road Side Unit or a vehicle) to obtain traffic event information. The acquisition device can also receive traffic event information sent or forwarded by other devices (such as other vehicles or Road Side Units). Device 200 can further include an analysis and processing device 222, which can analyze and process the traffic event information. For example, it can analyze and process the traffic event information acquired by the acquisition device 221 so that the analyzed and processed traffic event information matches at least one version of the encrypted and / or deflected high-precision map. Among them, traffic events can include but are not limited to the state information of vehicles and / or vehicles, and can also be data such as GNSS location information of shared bicycles, picture processing results (such as a takeaway electric vehicle going in the wrong direction), radar point cloud processing results (such as an overloaded truck), etc.; for another example, the matching of traffic information with an encrypted and / or deflected high-precision map, identifying that a vehicle is driving illegally in a certain lane, congestion in a certain lane, an accident, etc. In addition, device 200 can further include a communication device 224 for sending the traffic event information (including the analyzed and processed traffic event information) to the vehicle and / or the back-end data monitoring platform, and optionally further includes an electronic map storage device 223, in which at least one version of the high-precision map is stored, for example.

[0055] Figure 3 The block diagram of an intelligent road facility system 300 according to an exemplary embodiment of the present invention is shown. The intelligent road facility system 300 includes a vehicle 310, a Road Side Unit 320, and a back-end data monitoring platform 330, which are interconnected in a way that enables data transmission.

[0056] The vehicle 310 can include, for example, an on-board terminal device integrated with multiple sensors and having a communication function. A determined version of the high-precision map can be installed and stored in the vehicle 310, and the high-precision map can be an encrypted and / or deflected high-precision map.

[0057] The Road Side Unit 320 can be, for example, an infrastructure device (such as a traffic signal, a dynamic information sign, etc.), which can further include Figure 2 The device 200 shown for matching V2X technology with an encrypted and / or deflected high-precision map.

[0058] According to one embodiment, after the roadside unit 320 collects / identifies / obtains a traffic event, it can directly send the event information (e.g., based on DSRC and / or LTE / 5G) to all vehicles (e.g., autonomous vehicles) equipped with V2X functions within the affected area; or send the event information to the backend data monitoring platform 330 based on LTE / 5G, and then the platform transmits the information to all vehicles (e.g., autonomous vehicles) equipped with V2X functions within the affected area.

[0059] The backend data monitoring platform 330 can be, for example, a cloud server. The vehicle 310 and / or the roadside unit 320 can report the detected information (e.g., traffic event information) and / or their own status to the vehicle backend data monitoring platform 330. The vehicle backend data monitoring platform 330 can also transmit the stored information or the results of analysis and processing to relevant vehicles (e.g., other vehicles) to provide information to relevant vehicles and / or control the driving of relevant vehicles. The backend data monitoring platform 330 can also store, for example, at least one version of a high-precision map (not shown), and / or be equipped with plugins or modules corresponding to encryption and / or deflection algorithms for each (e.g., each version of) high-precision map. According to this embodiment, the backend data monitoring platform can also be configured to analyze and process the received traffic information, so that the traffic event matches at least one version of the high-precision map. Before sending the traffic event information that has been analyzed and processed and matches at least one version of the high-precision map to relevant vehicles, a corresponding dynamic password can be assigned to each version of the high-precision map, and the traffic event information and password information can also be encrypted and / or packaged. After the vehicle receives the encrypted and / or packaged traffic event information and password information that has been analyzed and processed and matches at least one version of the high-precision map, it needs to first perform dynamic data matching (encryption verification) on this information. After the matching verification passes, it can parse the traffic event information that has been analyzed and processed and matches the high-precision map, and the vehicle can only parse the corresponding sub-data (i.e., the traffic event location information that matches the version of the high-precision map carried by the vehicle) with the correct password match in this information.

[0060] Figure 4 The backend data monitoring platform according to an exemplary embodiment of the present invention is shown.

[0061] The backend data monitoring platform 40 may include a static database 401 and a dynamic database 402. In the static database 401, there may be stored, for example, an autonomous driving authentication review number, identifiers corresponding to high-precision maps of each version (such as map version numbers, map review numbers, etc.), encryption and / or deflection-adding plugins or modules corresponding to high-precision maps of each version, etc. In the dynamic database 402, there may be stored received traffic event information. The backend data monitoring platform also includes a communication interface 405, which is used to receive traffic events reported by the vehicle side and / or the roadside unit side respectively and store them in the dynamic database 402, and this communication interface is also used to send the analyzed and processed information (such as traffic event information) to the vehicle and / or the roadside unit. In addition, the backend data monitoring platform 40 further includes a data processing device 404, which is used to perform matching processing and packaging processing on the traffic event information. Optionally, in the backend data platform 40, there is additionally provided a dynamic password generation unit 403, which is used to generate a dynamic password for at least one version of the high-precision map and / or the vehicle equipped with the high-precision map. Although in this exemplary embodiment the dynamic password generation unit 403 is shown as a separate module, it is also possible that the dynamic password generation unit 403 is part of the data processing device 404.

[0062] Here, a specific data processing method in the backend data monitoring platform is described in combination with an exemplary embodiment. In this exemplary embodiment, raw data reported from the roadside unit side is received on the backend data monitoring platform side, and such raw data is, for example, in the following form:

[0063] 106-104-(Cr_x1-Cr_y1-Cr_z1)

[0064] Here, 104 represents, for example, the reported traffic event code, 106 represents, for example, the roadside unit code that reports this traffic event, and (Cr_x1-Cr_y1-Cr_z1) represents, for example, the original location information (unencrypted and non-deflected) of this traffic event.

[0065] In the backend data monitoring platform, there are, for example, 10 different encryption and / or deflection-adding plugins stored, which respectively correspond to 10 different versions of high-precision maps.

[0066] After data processing, the backend data monitoring platform 40 outputs the processed data to each vehicle. Here, the data output from the backend data monitoring platform 40 is, for example, in the following form:

[0067] 106-104-(Cv_x1,Cv_y1,Cv_z1)+password1;

[0068] 106 - 104 - (Cv_x2, Cv_y2, Cv_z2) + password2;

[0069] 106 - 104 - (Cv_x3, Cv_y3, Cv_z3) + password3;

[0070] …

[0071] 106 - 104 - Cv_x10, Cv_y10, Cv_z10 + password10.

[0072] Here, 104 represents the reported traffic event code, 106 represents the roadside unit code for reporting this traffic event, (Cv_x1, Cv_y1, Cv_z1) to (Cv_x10 - Cv_y10 - Cv_z10) respectively represent the location information of the traffic event on 10 different versions of high-precision maps (after corresponding encryption and / or deflection), and password1 to password10 respectively represent the dynamic password assigned to each version of the high-precision map.

[0073] After processing, the backend data monitoring platform 40 packs the above data through the communication interface and sends it to multiple vehicles. It should be noted here that although each vehicle can receive the complete data packet matching 10 versions of high-precision maps, the vehicle can only verify through the dynamic password of one of the data, so it can only parse the information corresponding to the map version installed on it.

[0074] Figure 5 A flowchart illustrates a method for matching V2X technology with encrypted and / or deflected high-precision maps according to an exemplary embodiment of the present invention.

[0075] This process starts from step S1. In step S1, traffic event information is obtained, and the traffic event information includes the location information of the traffic event. In step S2, the traffic event information is analyzed and processed so that the analyzed and processed traffic event information (especially the location information of the traffic event) matches at least one version of encrypted and / or deflected high-precision map, where the at least one version of high-precision map can be high-precision maps encrypted and / or deflected by different methods / algorithms respectively. In step S3, the analyzed and processed traffic event information is sent to vehicles equipped with the at least one version of high-precision map so that the traffic event can be correctly matched and / or located on the high-precision map installed on the vehicle.

[0076] Now in combination with Figure 6 illustrate Figure 5 an exemplary embodiment of step S2 of the method in

[0077] In this embodiment, with the aid of Figure 3 the intelligent road facility system shown to illustrate the steps of the method according to the present invention.

[0078] In step S1, for example, the roadside unit 320 detects the surrounding environment, detects a traffic event and obtains traffic event information. It may also be that the back-end data monitoring platform 330 obtains the traffic event information sent by the vehicle 310 and / or the roadside unit 320; or the vehicle 310 obtains the traffic event information sent or forwarded by other vehicles or the roadside unit 320; or the roadside unit 320 obtains the traffic event information sent or forwarded by the vehicle 310.

[0079] In step S201, it is judged whether at least one version of the high-precision map is stored in the roadside unit 320 or whether at least one version of the high-precision map is available (for example, the high-precision map stored on other devices or remote servers accessible to the roadside unit 320). If it is judged that the high-precision map is stored at the roadside unit end or the high-precision map is available, for example, it means that the subsequent analysis and processing steps can continue to be carried out in the roadside unit.

[0080] Then, for example, in step S202, it is further judged whether the roadside unit 320 is marked by at least one version of the stored high-precision map. If it is judged that the roadside unit 320 has been marked (for example, marked on the static information layer), it means that the roadside unit has a corresponding unique identification number (ID) as a map element, and thus the position of the roadside unit on the encrypted and / or deflected map can be determined based on this unique identification number. Next, for example, in step S203, it can also be judged whether the traffic event involves a static event. If it involves a static event, in step S205, first, the position of the traffic event relative to the roadside unit is obtained, and based on this, the coordinate position of the traffic event on the high-precision map is determined. If it involves a dynamic event, first, in step S204, the instantaneous position and / or movement trajectory of the dynamic event relative to the roadside unit are deduced, and then in step S205, the coordinate position of the traffic event on the high-precision map is determined based on this.

[0081] If it is determined in step S201 that there is no high-precision map stored in the roadside unit 320, no available high-precision map, or it is determined in step S202 that the roadside unit is not marked with a high-precision map, then, for example, in step S206, the collected traffic event information (including the location information of the traffic event), the information of the roadside unit, and / or the location information of the traffic event relative to the roadside unit 320 itself and / or other positioning features can be sent to the back-end data monitoring platform 330. In step S207, it can also be additionally determined whether there is at least one version of the high-precision map stored in the back-end data monitoring platform 330 or whether there is at least one version of the high-precision map available (for example, a high-precision map stored on other devices or remote servers accessible to the back-end data monitoring platform 330). If this is the case, then, for example, in step S208, the corresponding encryption and / or deflection method (or encryption and / or deflection algorithm, plug-in) is determined according to the identifier of at least one version of the high-precision map, and the encryption and / or deflection of the location information of the traffic event is performed inside the back-end data monitoring platform, so as to obtain the coordinate position of the traffic event on the corresponding high-precision map, making the location information of the traffic event match the at least one version of the high-precision map. If there is also no or not enough high-precision map stored in the back-end data monitoring platform or no available high-precision map, then in step S209, the information can be passed to the corresponding map provider again, and the map provider encrypts and / or deflects the location of the traffic event and / or the roadside unit and then matches / adds it to the corresponding high-precision map (for example, a dynamic information layer), so that, for example, a vehicle can obtain the traffic event information detected by the roadside unit and its location information matching the high-precision map through the interface of the high-precision map (for example, a dynamic information layer). The map provider can also send the encrypted and / or deflected traffic event location information matching the high-precision map to the back-end data monitoring platform 330, the roadside unit 320, or the relevant vehicle.

[0082] Now in combination with Figure 7 description Figure 5 an exemplary embodiment of step S3 of the method in

[0083] In step S301, the back-end data monitoring platform 330 or the roadside unit 320 can package the analyzed and processed traffic event information and the traffic event location information matching the high-precision map.

[0084] In step S302, different encryption algorithms can be used to encrypt the packaged information and corresponding dynamic password can be assigned to at least one version of the high-precision map. Herein, according to one embodiment, for example, the dynamic password can be assigned to each high-precision map at a determined time interval (any update frequency) based on the used encryption algorithm and the identifier of the high-precision map (such as version number or map review number). According to another embodiment, for example, the dynamic password can also be assigned to the autonomous driving vehicles equipped with different versions of the high-precision map based on the vehicle production serial number, the autonomous driving authentication review number (a long string of random codes configured after the autonomous driving vehicle passes the review), the current time information, etc. According to another implementation manner, the information can also be encrypted first and then packaged.

[0085] In step S303, the backend data monitoring platform 330 or the roadside unit 320 can send the traffic event information that has been packaged and / or encrypted to the vehicle. At the roadside unit side, for example, the packaged and encrypted information can be sent to the vehicles in the surrounding environment of the roadside unit through the DSRC communication method. At the backend data monitoring platform side, for example, the packaged and encrypted information can be sent to the relevant vehicles through the LTE communication method.

[0086] It can be understood that different encryption algorithms or methods exist for different data and definitions, and only the vehicles that pass the encryption algorithm verification can use the data content corresponding to the verification result. In the above embodiments, for example, only the vehicles that pass the dynamic password verification can parse and use the received traffic event location information corresponding to the map version carried by them. Thereby, information abuse can be effectively prevented and information security can be improved.

[0087] Although specific embodiments of the present invention have been described in detail herein, they are given for explanatory purposes only and should not be considered as limiting the scope of the present invention. Various substitutions, changes and modifications can be conceived without departing from the spirit and scope of the present invention.

Claims

1. A method for matching V2X technology with an encrypted and / or deflected high-precision map, the method comprising at least the following steps: Obtain traffic event information, where the traffic event information includes the location information of the traffic event; analyze and process the traffic event information so that the analyzed and processed traffic event information matches multiple different versions of encrypted and / or deflected high-precision maps, and the encryption and / or deflection algorithms used by different versions of high-precision maps are different; send the analyzed and processed traffic event information to multiple vehicles within the area affected by the traffic event, and each vehicle among the multiple vehicles is equipped with at least one version of high-precision maps among multiple different versions, so that the traffic event can be correctly matched and / or located on the high-precision map carried by the vehicle. Among them, before sending the analyzed and processed traffic event information to multiple vehicles, encrypt the analyzed and processed traffic event based on the unique version number and / or identifier of the high-precision map, and send the encrypted traffic event information to the multiple vehicles, and implement different encryption methods for different map versions. Among them, each vehicle among the multiple vehicles can only parse the traffic event information that matches the version of the high-precision map it carries.

2. The method according to claim 1, wherein The steps of the analysis and processing include: determining whether there is at least one version of high-precision map available, and among them, according to the determination result, decide whether to perform the matching of the traffic event information and the high-precision map in the vehicle, in the roadside unit (220), in the back-end data monitoring platform (230), or by the map provider.

3. The method according to claim 1, characterized in that, The steps of the analysis and processing further include: determining whether the location information of the traffic event is directly or indirectly marked on the at least one version of high-precision map, and among them, according to the determination result, decide: directly determine the coordinate position of the traffic event on the high-precision map, or whether it is necessary to iteratively calculate the coordinate position of the traffic event on the high-precision map according to the relative real-time positioning algorithm.

4. The method according to claim 2, wherein The steps of the analysis and processing further include: determining whether the location information of the traffic event is directly or indirectly marked on the at least one version of high-precision map, and among them, according to the determination result, decide: directly determine the coordinate position of the traffic event on the high-precision map, or whether it is necessary to iteratively calculate the coordinate position of the traffic event on the high-precision map according to the relative real-time positioning algorithm.

5. The method according to claim 4, characterized in that The steps of the analysis and processing further include: determining whether the traffic event involves a static event or a dynamic event, where a static event represents information of an object with a fixed position, and a dynamic event represents information of an unfixed and temporary object. Among them, if the traffic event has been directly or indirectly marked on the at least one version of high-precision map and the traffic event involves a static event, directly determine the coordinate position of the traffic event on the high-precision map. Among them, if the roadside unit is marked and the traffic event involves a dynamic event, first calculate the instantaneous position and / or movement trajectory of the dynamic event, and then determine the coordinate position of the traffic event on the high-precision map.

6. The method according to any one of claims 1 to 5, characterized in that The steps of the analysis and processing further include: determining whether there is a dynamic information layer interface available for the high-precision map of the at least one version, where the dynamic information layer interface is used to transmit information that can be directly called by a vehicle equipped with the high-precision map of the at least one version.

7. The method according to any one of claims 1 to 6, characterized in that, Before sending the analyzed and processed traffic event information to the vehicle, encrypt the analyzed and processed traffic event, and assign a dynamic password to the high-precision map of the at least one version and / or to the vehicle equipped with the high-precision map.

8. The method according to claim 7, characterized in that, Assign dynamic passwords to each high-precision map at a determined time interval based on the encryption algorithm used and the identifier of the high-precision map, and / or assign dynamic passwords to vehicles equipped with different versions of the high-precision map based on the vehicle factory serial number, the autonomous driving authentication review number, and the current time information.

9. An apparatus (200) for matching V2X technology with an encrypted and / or deflected high-precision map, the apparatus being configured to perform the method according to any one of claims 1 to 8, the apparatus comprising: An acquisition device (221), which is used to acquire traffic event information, and the traffic event information includes the location information of the traffic event; An analysis and processing device (222), which is used to analyze and process the traffic event information so that the traffic event matches the high-precision map of at least one version that is encrypted and / or deflected. A communication device (224) that sends the analyzed and processed traffic event information to a vehicle equipped with the high-precision map of the at least one version, so that the traffic event is correctly matched and / or located on the high-precision map carried by the vehicle.

10. A vehicle, which includes the device (200) according to claim 9.

11. A roadside unit, which includes the device (200) according to claim 9.

12. A back-end data monitoring platform, which includes the device (200) according to claim 9.

Images