Map watermark generation method and apparatus

Abstract

The application relates to the technical field of electronic maps, and provides a map watermark generation method and device, which comprises the following steps: selecting target data elements in at least one predetermined area in map data; adjusting attribute values of the target data elements according to preset adjustment limits within an error range allowed by map precision; and updating the map data according to the adjusted attribute values of the target data elements to generate a map watermark. The map watermark generation method and device do not need to add extra non-existing ground objects, can generate a map watermark, and are suitable for automatic driving map data, have few data elements, have high map precision, and can be slightly adjusted at multiple positions, so that the generated watermark is not easy to be found and tampered with, and the copyright verification reliability is high.

Description

Technical Field

[0001] This invention relates to the field of electronic map technology, and in particular to a method and apparatus for generating map watermarks. Background Technology

[0002] Map data, being a publicly available product, is easily stolen, processed, and resold. Therefore, navigation maps can use fake points of interest (POIs), i.e., adding non-existent features as watermarks. This provides evidence in case of illegal data use without affecting normal user access. Autonomous driving map data also needs protection by embedding watermarks into its data elements. However, autonomous driving maps are primarily used by autonomous driving software and are generally not directly accessible to drivers and passengers. Furthermore, autonomous driving map data is characterized by high accuracy but limited content, consisting only of point and line data elements, making it difficult to add watermarks using methods similar to those used in navigation maps. Summary of the Invention

[0003] This invention provides a map watermark generation method and apparatus to solve the problem that existing watermark generation methods are unable to generate watermarks in autonomous driving map data elements.

[0004] This invention provides a method for generating map watermarks, comprising:

[0005] Select at least one target data element within a predetermined area from the map data;

[0006] Within the allowable error range of map accuracy, adjust the attribute values ​​of the target data features according to the preset adjustment limits;

[0007] The map data is updated based on the adjusted attribute values ​​of the target data features to generate a map watermark.

[0008] According to a map watermark generation method provided by the present invention, at least one target data element within a predetermined area is selected from map data, including:

[0009] The map is divided into multiple predetermined areas;

[0010] Target data elements are randomly selected within each predetermined area.

[0011] According to a map watermark generation method provided by the present invention, dividing a map into multiple predetermined areas includes: dividing the map into multiple predetermined areas evenly distributed on the map.

[0012] According to a map watermark generation method provided by the present invention, the target data element includes: a road segment, the attributes of which include: the distance between two adjacent lane segments within the road segment; and, within the allowable error range of map accuracy, adjusting the attribute values ​​of the target data element according to a preset adjustment limit, including:

[0013] Adjust the distance between two adjacent lane segments in each road segment according to the preset distance adjustment limit, so that the distance between two adjacent lane segments after adjustment is within the error range allowed by map accuracy.

[0014] According to a map watermark generation method provided by the present invention, the preset distance adjustment limit is 3-5cm.

[0015] According to the map watermark generation method provided by the present invention, after adjusting the distance between two adjacent lane segments in each road segment according to a preset distance adjustment limit, it is ensured that the distance deviation between two lane segments on the same lane line of adjacent road segments does not exceed a preset threshold.

[0016] According to a map watermark generation method provided by the present invention, the preset threshold is 3-5 cm.

[0017] According to a map watermark generation method provided by the present invention, after adjusting the attribute values ​​of the target data elements according to a preset adjustment limit within the allowable error range of map accuracy, the method further includes:

[0018] A watermark record document is generated, which records the attribute values ​​of the target data elements before and after adjustment.

[0019] According to a map watermark generation method provided by the present invention, after updating map data based on the adjusted attribute values ​​of target data elements to generate a map watermark, the method further includes:

[0020] Obtain the data elements to be detected within the predetermined area from the map to be detected;

[0021] The attribute values ​​of the data element to be detected are compared with the adjusted attribute values ​​of the corresponding target data element in the watermark record document;

[0022] If the comparison results are consistent, it is determined that the map to be detected infringes on map data.

[0023] The present invention also provides a map watermark generation device, comprising:

[0024] The feature selection module is used to select at least one target data feature within a predetermined area in the map data;

[0025] The feature attribute adjustment module is used to adjust the attribute values ​​of target data features within the error range allowed by map accuracy, according to preset adjustment limits.

[0026] The watermark generation module is used to update map data based on the adjusted attribute values ​​of target data elements in order to generate map watermarks.

[0027] The present invention also provides an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the program to implement the map watermark generation method as described above.

[0028] The present invention also provides a non-transitory computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the map watermark generation method as described above.

[0029] The map watermark generation method and apparatus provided by this invention selects at least one target data element within a predetermined area in map data; adjusts the attribute values ​​of the target data element according to a preset adjustment limit within the allowable error range of map accuracy; and updates the map data according to the adjusted attribute values ​​of the target data element to generate a map watermark. This method generates a map watermark without adding any non-existent features. Moreover, for autonomous driving map data, which has fewer data elements and higher map accuracy, the numerous minor adjustments make the generated watermark difficult to detect and tamper with, resulting in high reliability for copyright verification. Attached Figure Description

[0030] To more clearly illustrate the technical solutions in this invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0031] Figure 1 This is a flowchart illustrating the map watermark generation method provided by the present invention;

[0032] Figure 2 This is a schematic diagram of the watermark generation method for lane lines in the map watermark generation method provided by the present invention;

[0033] Figure 3 This is a schematic diagram of the structure of the map watermark generation method and apparatus provided by the present invention;

[0034] Figure 4 This is a schematic diagram of the structure of the electronic device provided by the present invention. Detailed Implementation

[0035] To make the objectives, technical solutions, and advantages of this invention clearer, the technical solutions of this invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this invention. All other embodiments obtained by those skilled in the art based on the embodiments of this invention without creative effort are within the scope of protection of this invention.

[0036] The map watermark generation method of this invention, as shown in the embodiments, is as follows: Figure 1 As shown, it includes:

[0037] Step S110: Select at least one target data feature within a predetermined area in the map data. For autonomous driving map data, there are few data features, and they are usually represented by points or lines. Specifically, for lane segment data features, there are usually multiple lane lines. An n-lane map typically has n+1 lane lines. Lane lines corresponding to the same lane line in two adjacent lane segments are separated by a dividing point.

[0038] Step S120: Within the allowable error range of map accuracy, adjust the attribute values ​​of the target data elements according to the preset adjustment limits. That is, appropriately change the attribute values ​​of the target data elements without exceeding the error accuracy. For example, change the lane width in a road segment. As long as the width change is small and does not affect the normal use of the map, the changed attribute value is the watermark information. By changing the attribute values ​​of the data elements, the desired watermark information can be embedded into the autonomous driving map data.

[0039] Step S130: Update the map data according to the adjusted attribute values ​​of the target data features to generate a map watermark. Specifically, in the background data corresponding to the map, the previously stored attribute values ​​are updated using the adjusted attribute values ​​of the target data features, thereby updating the map data and generating a map watermark. Furthermore, in the map interface generated based on the updated map data, the target data features are displayed according to the updated attribute values. For autonomous driving map data, due to its high precision and small changes in attribute values, it is difficult to detect map watermarks formed by attribute value changes in the background data or map interface.

[0040] The map watermark generation method of this embodiment can generate map watermarks without adding any non-existent features through the above steps. Moreover, for autonomous driving map data, there are few data elements and the map accuracy is high. Multiple minor adjustments make the generated watermark difficult to be detected and tampered with, and the copyright verification is highly reliable.

[0041] In this embodiment, step S110 includes:

[0042] The map is divided into multiple predetermined areas, which can be randomly distributed on the map. The predetermined areas can be divided according to administrative regions or according to grids of a custom size, with grid side lengths ranging from 1 to 10 km.

[0043] Randomly select target data elements within each predetermined area. Specifically, select one or more target data elements within each predetermined area, for example, select 3 to 5 road segments within the predetermined area that are close to the center of the area.

[0044] By dividing the map into predetermined areas and selecting target data elements within those areas, the location of data elements can be easily determined, whether in the initial selection process or later when retrieving data elements from the map to be inspected for infringement. For example, when using a grid, the location of a data element can be determined using the coordinates of the grid center.

[0045] Furthermore, dividing the map into multiple predetermined areas includes: dividing the map into multiple predetermined areas evenly distributed on the map. Since the predetermined areas are evenly distributed, the selected target data elements are also evenly distributed on the map, that is, the generated map watermark is also evenly distributed on the map, thereby more comprehensively protecting the map data and avoiding the situation where a large area does not have a map watermark due to uneven distribution of the map watermark, and the area is partially misused.

[0046] For autonomous driving map data, road segments are represented by segmented lane lines, and lane line data is an indispensable part of autonomous driving map data. Therefore, in this embodiment, watermark information is embedded into the autonomous driving map data by randomly adjusting the distance between lines (i.e., lane width) in the lane line data of a predetermined area.

[0047] Specifically, the target data elements include: road segments, and the attributes of the road segments include: the distance between two adjacent lane segments within the road segment. Within the allowable error range of map accuracy, the attribute values ​​of the target data elements are adjusted according to a preset adjustment limit, including:

[0048] Adjust the distance between two adjacent lane segments in each road segment according to a preset distance adjustment limit, ensuring that the adjusted distance between two adjacent lane segments is within the allowable error range of map accuracy. For example, the lane width of a highway is typically 375cm, meaning the distance between two adjacent lane lines is 375cm. Figure 2As shown, the lane lines of four road segments are selected for adjustment. The distance between two adjacent lane lines can be adjusted to 373cm, 374cm or 376cm, etc. It is only necessary to ensure that the difference in the adjusted distance does not exceed 1% to 2% of the lane width. This will not affect the normal use of map data, while ensuring that the map data is within the accurate range, that is, within 1% to 2%.

[0049] For example, the preset distance adjustment limit is 3 to 5 cm, and the maximum distance adjustment between two adjacent lane segments cannot exceed 3 to 5 cm, so as to ensure that the distance difference is not more than 1% to 2% of the lane width.

[0050] Furthermore, after adjusting the distance between two adjacent lane segments in each road segment according to a preset distance adjustment limit, it ensures that the distance deviation between two lane segments on the same lane line of adjacent road segments does not exceed a preset threshold, which can be 3-5 cm. This avoids the distance deviation between two lane segments on the same lane line of adjacent road segments exceeding 1%-2% of the lane width.

[0051] In this embodiment, after step S120, the method further includes: generating a watermark record document, wherein the watermark record document records the attribute values ​​of the target data element before and after adjustment. That is, a separate watermark record document is generated for each target data element to record the attribute values ​​before and after adjustment. This watermark record document serves as proof of copyright for the map data, so that in later rights protection, the adjusted attribute values ​​recorded in the watermark record document can be quickly compared with the attribute values ​​of the data element to be detected obtained from the map to be detected.

[0052] Step S130 is followed by a step of infringement detection via map watermarking, specifically including:

[0053] Obtain the data elements to be detected within the predetermined area from the map to be detected; compare the attribute values ​​of the data elements to be detected with the adjusted attribute values ​​of the corresponding target data elements in the watermark record document; if the comparison results are consistent, it is determined that the map to be detected infringes on map data.

[0054] The above steps for infringement detection only require comparing the adjusted attribute values ​​of the data element to be detected with the corresponding target data element in the watermark record document. The detection method is simple and easy to implement, and can quickly detect whether map data infringes on rights. Since map watermarks are not easy to detect and tamper with, the detection results are highly reliable.

[0055] It should be noted that the map watermark generation method in this embodiment is particularly applicable to, but not limited to, autonomous driving map data, and can also be used for ordinary navigation map data.

[0056] The map watermark generation device provided by the present invention is described below. The map watermark generation device described below can be referred to in correspondence with the map watermark generation method described above.

[0057] like Figure 3 As shown, the map watermark generation apparatus provided by the present invention includes:

[0058] The feature selection module 310 is used to select at least one target data feature within a predetermined area in the map data.

[0059] The feature attribute adjustment module 320 is used to adjust the attribute values ​​of target data features within the error range allowed by map accuracy, according to a preset adjustment limit.

[0060] The watermark generation module 330 is used to update map data based on the adjusted attribute values ​​of the target data features in order to generate a map watermark.

[0061] The map watermark generation device provided by this invention selects at least one target data element within a predetermined area in the map data; adjusts the attribute values ​​of the target data element according to a preset adjustment limit within the allowable error range of map accuracy; and updates the map data according to the adjusted attribute values ​​of the target data element to generate a map watermark. It can generate a map watermark without adding any additional non-existent features. Moreover, for autonomous driving map data, which has fewer data elements and higher map accuracy, the numerous minor adjustments make the generated watermark difficult to detect and tamper with, resulting in high reliability for copyright verification.

[0062] Optionally, the feature selection module 310 includes:

[0063] The map division module is used to divide the map into multiple predetermined areas.

[0064] The random selection module is used to randomly select target data elements within each predetermined area.

[0065] Optionally, the map division module is specifically used to divide the map into multiple predetermined areas evenly distributed on the map.

[0066] Optionally, the target data element includes: a road segment, and the attributes of the road segment include: the distance between two adjacent lane segments in the road segment. The element attribute adjustment module 320 is specifically used to adjust the distance between two adjacent lane segments in each road segment according to a preset distance adjustment limit, so that the distance between two adjacent lane segments after adjustment is within the error range allowed by map accuracy.

[0067] Optionally, the preset distance adjustment limit is 3 to 5 cm.

[0068] Optionally, the feature attribute adjustment module 320 is also used to ensure that the distance deviation between two lane segments on the same lane line of adjacent road segments does not exceed a preset threshold.

[0069] Optionally, the preset threshold is 3 to 5 cm.

[0070] Optionally, the map watermark generation apparatus of the present invention further includes:

[0071] The watermark record generation module is used to generate watermark record documents, which record the attribute values ​​of the target data elements before and after adjustment.

[0072] Optionally, the map watermark generation apparatus of the present invention further includes:

[0073] The module for acquiring elements to be detected is used to acquire data elements to be detected within the predetermined area from the map to be detected.

[0074] The attribute value comparison module is used to compare the attribute values ​​of the data element to be detected with the adjusted attribute values ​​of the corresponding target data element in the watermark record document.

[0075] The infringement determination module is used to determine that the map to be detected infringes on map data if the comparison results are consistent.

[0076] Figure 4 An example is a schematic diagram of the physical structure of an electronic device, such as... Figure 4 As shown, the electronic device may include: a processor 410, a communication interface 420, a memory 430, and a communication bus 440, wherein the processor 410, the communication interface 420, and the memory 430 communicate with each other via the communication bus 440. The processor 410 can call logical instructions in the memory 430 to execute a map watermark generation method, which includes:

[0077] Select at least one target data element within a predetermined area from the map data.

[0078] Within the allowable error range of map accuracy, adjust the attribute values ​​of the target data elements according to the preset adjustment limits.

[0079] The map data is updated based on the adjusted attribute values ​​of the target data features to generate a map watermark.

[0080] Furthermore, the logical instructions in the aforementioned memory 430 can be implemented as software functional units and, when sold or used as independent products, can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, essentially, or the part that contributes to the prior art, or a part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of the present invention. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0081] On the other hand, the present invention also provides a computer program product, the computer program product comprising a computer program that can be stored on a non-transitory computer-readable storage medium, wherein when the computer program is executed by a processor, the computer is able to execute the map watermark generation method provided by the above methods, the method comprising:

[0082] Select at least one target data element within a predetermined area from the map data.

[0083] Within the allowable error range of map accuracy, adjust the attribute values ​​of the target data elements according to the preset adjustment limits.

[0084] The map data is updated based on the adjusted attribute values ​​of the target data features to generate a map watermark.

[0085] In another aspect, the present invention also provides a non-transitory computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the map watermark generation method provided by the above methods, the method comprising:

[0086] Select at least one target data element within a predetermined area from the map data.

[0087] Within the allowable error range of map accuracy, adjust the attribute values ​​of the target data elements according to the preset adjustment limits.

[0088] The map data is updated based on the adjusted attribute values ​​of the target data features to generate a map watermark.

[0089] The device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the modules can be selected to achieve the purpose of this embodiment according to actual needs. Those skilled in the art can understand and implement this without any creative effort.

[0090] Through the above description of the embodiments, those skilled in the art can clearly understand that each embodiment can be implemented by means of software plus necessary general-purpose hardware platforms, and of course, it can also be implemented by hardware. Based on this understanding, the above technical solutions, in essence or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, magnetic disk, optical disk, etc., and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute the methods described in the various embodiments or some parts of the embodiments.

[0091] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A method for generating map watermarks, characterized in that, include: Select at least one target data element within a predetermined area from the map data; Within the allowable error range of map accuracy, adjust the attribute values ​​of the target data features according to the preset adjustment limits; Update the map data based on the adjusted attribute values ​​of the target data features to generate a map watermark; The target data elements include: road segments, and the attributes of the road segments include: the distance between two adjacent lane segments in the road segment; Within the allowable error range of map accuracy, adjust the attribute values ​​of the target data features according to the preset adjustment limits, including: Adjust the distance between two adjacent lane segments in each road segment according to the preset distance adjustment limit, so that the distance between two adjacent lane segments after adjustment is within the error range allowed by map accuracy.

2. The map watermark generation method according to claim 1, characterized in that, Select at least one target data feature within a predetermined area in the map data, including: The map is divided into multiple predetermined areas; Target data elements are randomly selected within each predetermined area.

3. The map watermark generation method according to claim 2, characterized in that, Dividing the map into multiple predetermined areas includes: dividing the map into multiple predetermined areas that are evenly distributed on the map.

4. The map watermark generation method according to claim 1, characterized in that, The preset distance adjustment limit is 3-5cm.

5. The map watermark generation method according to claim 1, characterized in that, After adjusting the distance between two adjacent lane segments in each road segment according to the preset distance adjustment limit, ensure that the distance deviation between two lane segments on the same lane line of adjacent road segments does not exceed the preset threshold.

6. The map watermark generation method according to claim 5, characterized in that, The preset threshold is 3 to 5 cm.

7. The map watermark generation method according to any one of claims 1 to 6, characterized in that, Within the allowable error range of map accuracy, after adjusting the attribute values ​​of the target data features according to the preset adjustment limits, the process also includes: A watermark record document is generated, which records the attribute values ​​of the target data elements before and after adjustment.

8. The map watermark generation method according to claim 7, characterized in that, After updating the map data based on the adjusted attribute values ​​of the target data features to generate the map watermark, the process also includes: Obtain the data elements to be detected within the predetermined area from the map to be detected; The attribute values ​​of the data element to be detected are compared with the adjusted attribute values ​​of the corresponding target data element in the watermark record document; If the comparison results are consistent, it is determined that the map to be detected infringes on map data.

9. A map watermark generation device, characterized in that, include: The feature selection module is used to select at least one target data feature within a predetermined area in the map data; The feature attribute adjustment module is used to adjust the attribute values ​​of target data features within the error range allowed by map accuracy, according to preset adjustment limits. The watermark generation module is used to update map data based on the adjusted attribute values ​​of target data elements in order to generate map watermarks. The target data elements include: road segments, and the attributes of the road segments include: the distance between two adjacent lane segments in the road segment; The feature attribute adjustment module is specifically used to adjust the distance between two adjacent lane segments in each road segment according to a preset distance adjustment limit, so that the distance between two adjacent lane segments after adjustment is within the error range allowed by map accuracy.

10. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, When the processor executes the program, it implements the map watermark generation method as described in any one of claims 1 to 8.

11. A non-transitory computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by the processor, it implements the map watermark generation method as described in any one of claims 1 to 8.

Images