CN111928863A - High-precision map data acquisition method, device and system - Google Patents
High-precision map data acquisition method, device and system Download PDFInfo
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- CN111928863A CN111928863A CN202010846249.XA CN202010846249A CN111928863A CN 111928863 A CN111928863 A CN 111928863A CN 202010846249 A CN202010846249 A CN 202010846249A CN 111928863 A CN111928863 A CN 111928863A
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- 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
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Abstract
The embodiment of the application provides a high-precision map data acquisition method, a device and a system, which relate to the technical field of automatic driving, and the high-precision map data acquisition method comprises the following steps: firstly, acquiring manual driving track information of a target area; and then controlling an automatic driving acquisition device to carry out automatic driving according to the manual driving track information, and acquiring high-precision map acquisition data of a target area. When the map acquisition data is acquired, automatic acquisition is performed through an automatic driving acquisition device (such as an unmanned vehicle, an automatic driving vehicle, an unmanned vehicle and the like), manual participation is not needed, the data acquisition efficiency is high, and manpower and material resources are saved.
Description
Technical Field
The application relates to the technical field of automatic driving, in particular to a high-precision map data acquisition method, device and system.
Background
With the development of navigation technology, the planning of navigation paths depends on high-precision maps more and more. The higher the precision of the high-precision map, the more elaborate the navigation path planning. The existing high-precision map data acquisition method generally needs to repeatedly drive a data acquisition vehicle for multiple times along the same route through a manual drive, and acquire data through the data acquisition vehicle to obtain high-precision map acquisition data. However, in practice, it is found that the data acquisition vehicle needs to be equipped with a manual cab, which is high in cost, and meanwhile, the data acquisition is performed by repeatedly driving the data acquisition vehicle along the same route, which is low in efficiency and consumes manpower and material resources. Therefore, the existing high-precision map data acquisition method needs to manually drive a data acquisition vehicle, and the data acquisition efficiency is low.
Disclosure of Invention
The embodiment of the application aims to provide a high-precision map data acquisition method, device and system, which can automatically drive through an automatic driving acquisition device and acquire data without manual participation and have high data acquisition efficiency.
The embodiment of the application provides a high-precision map data acquisition method in a first aspect, which comprises the following steps:
acquiring manual driving track information of a target area;
and when an automatic driving acquisition device is controlled to automatically drive according to the manual driving track information, acquiring high-precision map acquisition data of the target area.
In the implementation process, firstly, acquiring the manual driving track information of a target area; and then controlling the automatic driving acquisition device to carry out automatic driving according to the manual driving track information, and acquiring map acquisition data of the automatic driving acquisition device in the automatic driving process, namely the high-precision map acquisition data of the target area. When the map data are collected, automatic collection is carried out through the automatic driving collection device, manual participation is not needed, the data collection efficiency is high, and manpower and material resources are saved.
Further, the manual driving track information is a motion track of the automatic driving acquisition device during manual driving.
In the above-mentioned realization process, this automatic driving collection system of manual driving does not need any map data to accomplish, through acquireing manual driving track information, can make automatic driving collection system carry out data acquisition according to manual driving track information, to different information scenes, as long as according to manual driving track information, just can carry out tracking data acquisition, the flexibility is strong, and the suitability is strong.
Further, the acquiring of the artificial driving track information of the target area includes:
acquiring path positioning point data of the automatic driving acquisition device when the automatic driving acquisition device is manually driven;
carrying out locating point screening processing on the path locating point data to obtain target locating point data;
and generating manual driving track information of a target area according to the target positioning point data.
In the implementation process, when the manual driving track information is acquired, the manual driving track information can be acquired in real time when manual driving is performed according to the map data acquisition route, and the method is high in flexibility and applicability.
Further, the manual driving track information comprises at least one manual driving path corresponding to the target area;
when an automatic driving acquisition device is controlled to automatically drive according to the manual driving track information, acquiring high-precision map acquisition data of the target area, wherein the acquisition data comprises the following steps:
when the automatic driving acquisition device is controlled to automatically drive according to each manual driving path, acquiring map acquisition data corresponding to each manual driving path;
and summarizing the map acquisition data corresponding to all the manual driving paths to obtain the high-precision map acquisition data of the target area.
In the above embodiment, for the data acquisition of the target area, automatic driving and corresponding data acquisition can be performed according to at least one manual driving route, which is beneficial to avoiding the generation of data acquisition errors caused by single acquisition route, and meanwhile, the map acquisition data corresponding to each manual driving route is acquired, so that the data volume of the high-precision map acquisition data of the target area is promoted, and the accuracy of the high-precision map acquisition data is promoted.
Further, when the automatic driving acquisition device is controlled to automatically drive according to each manual driving path, acquiring map acquisition data corresponding to each manual driving path includes:
when the automatic driving acquisition device is controlled to automatically drive according to each manual driving path, determining a current manual driving path for controlling the automatic driving acquisition device to automatically drive from the manual driving track information;
acquiring positioning data of the automatic driving acquisition device through a positioning sensor arranged on the automatic driving acquisition device;
generating control parameters for controlling the automatic driving acquisition device to carry out automatic driving according to the current manual driving path and the positioning data;
and controlling the automatic driving acquisition device to automatically drive according to the current manual driving path according to the control parameters, and acquiring map acquisition data corresponding to the current manual driving path.
In the implementation process, when the automatic driving acquisition device acquires data, tracking automatic driving can be performed according to manual driving track information, map acquisition data in the automatic driving process are acquired in real time, data acquisition is simple and quick, manual participation is not needed, and meanwhile, multiple times of data acquisition is beneficial to improving the precision of generating a high-precision map, and errors are reduced.
A second aspect of the embodiments of the present application provides a high-precision map data acquisition apparatus, including:
the track acquisition module is used for acquiring the manual driving track information of the target area;
and the data acquisition module is used for acquiring the high-precision map acquisition data of the target area when an automatic driving acquisition device is controlled to automatically drive according to the manual driving track information.
In the implementation process, a track acquisition module firstly acquires the information of the artificial driving track of a target area; and then the data acquisition module controls the automatic driving acquisition device to automatically drive according to the manual driving track information, and acquires map acquisition data of the automatic driving acquisition device in the automatic driving process to obtain high-precision map acquisition data of the target area. When the map data are collected, automatic collection is carried out through the automatic driving collection device, manual participation is not needed, the data collection efficiency is high, and manpower and material resources are saved.
The trajectory acquisition module includes:
the acquisition submodule is used for acquiring path positioning point data of the automatic driving acquisition device when the automatic driving acquisition device is manually driven;
the screening submodule is used for carrying out locating point screening processing on the path locating point data to obtain target locating point data;
and the generation submodule is used for generating artificial driving track information according to the target positioning point data.
In the implementation process, the automatic driving acquisition device can acquire data according to the manual driving track information by acquiring the manual driving track information, so that the tracking data acquisition can be performed according to different information scenes as long as the manual driving track information is acquired, and the automatic driving acquisition device is high in flexibility and applicability.
In a third aspect of the embodiments of the present application, there is provided a high-precision map data acquisition system, which includes a general control device and at least one automatic driving acquisition device, wherein,
the master control device is used for acquiring manual driving track information corresponding to different partitions in a target area and respectively sending the manual driving track information to automatic driving acquisition devices corresponding to the different partitions;
the automatic driving acquisition device is used for receiving the manual driving track information, acquiring block map acquisition data of the automatic driving acquisition device in the automatic driving process when the automatic driving acquisition device is controlled to carry out automatic driving according to the manual driving track information, and sending the block map acquisition data to the master control device;
and the master control device is used for receiving the block map acquisition data sent by each automatic driving acquisition device and generating the complete high-precision map acquisition data of the target area according to the block high-precision map data.
In the implementation process, when the target area is too large, the automatic driving acquisition device acquires block data to obtain corresponding block high-precision map data, and finally the master control device generates a high-precision map with a complete target area according to all the block high-precision map data, so that the efficiency is high and the accuracy is high.
A fourth aspect of the embodiments of the present application provides an electronic device, including a memory and a processor, where the memory is used to store a computer program, and the processor runs the computer program to make the electronic device execute the high-precision map data acquisition method according to any one of the first aspect of the embodiments of the present application.
A fifth aspect of the embodiments of the present application provides a computer-readable storage medium, which stores computer program instructions, and when the computer program instructions are read and executed by a processor, the method for acquiring high-precision map data according to any one of the first aspect of the embodiments of the present application is performed.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are required to be used in the embodiments of the present application will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present application and therefore should not be considered as limiting the scope, and that those skilled in the art can also obtain other related drawings based on the drawings without inventive efforts.
Fig. 1 is a schematic flow chart of a high-precision map data acquisition method according to an embodiment of the present application;
fig. 2 is a schematic flow chart of a high-precision map data acquisition method according to a second embodiment of the present application;
fig. 3 is a schematic structural diagram of a high-precision map data acquisition device according to a third embodiment of the present application;
fig. 4 is a schematic structural diagram of another high-precision map data acquisition device provided in the third embodiment of the present application;
fig. 5 is a schematic view of a system architecture of a high-precision map data acquisition system according to a fourth embodiment of the present application.
Icon: 410-a master control device and 420-an automatic driving acquisition device.
Detailed Description
The technical solutions in the embodiments of the present application will be described below with reference to the drawings in the embodiments of the present application.
It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures. Meanwhile, in the description of the present application, the terms "first", "second", and the like are used only for distinguishing the description, and are not to be construed as indicating or implying relative importance.
Example 1
Referring to fig. 1, fig. 1 is a schematic flow chart of a high-precision map data acquisition method according to an embodiment of the present application. The high-precision map data acquisition method comprises the following steps:
s101, acquiring manual driving track information of a target area.
In the embodiment of the present application, the trajectory information of manual driving is trajectory information of traveling of the manual driving vehicle, which may be pre-stored or may be obtained in real time when the vehicle is manually driven, and this embodiment of the present application is not limited thereto.
In the embodiment of the application, the manual driving track information is the motion track of the automatic driving acquisition device for manual driving.
In the embodiment of the application, when the automatic driving acquisition device is manually driven, no map data is needed. The unmanned vehicle can be driven by remote manual control through the controller, and can also be driven by a driver entering a cockpit of the automatic driving acquisition device for control, and the embodiment of the application is not limited.
In the embodiment of the application, when the automatic driving acquisition device is provided with the cockpit, the automatic driving acquisition device can directly enter the cockpit to manually control the driving of the automatic driving acquisition device.
In the embodiment of the application, the high-precision map data acquisition method can be applied to high-precision map data acquisition scenes of gardens and communities.
In the embodiment of the present application, the main execution subject of the method is an automatic driving acquisition device, and the like, and this embodiment is not limited at all.
S102, when the automatic driving acquisition device is controlled to automatically drive according to the manual driving track information, acquiring high-precision map acquisition data of a target area.
In the embodiment of the present application, the automatic driving acquisition device may be a data acquisition unmanned vehicle, a data acquisition automatic driving vehicle, a data acquisition unmanned vehicle, or the like, which is not limited in this embodiment.
In the embodiment of the application, the automatic driving acquisition device can automatically drive according to the manual driving track information through an automatic tracking technology, and the number of times of the automatic driving according to the manual driving track information is the preset number of times of the automatic driving.
As an alternative embodiment, when the automatic tracking technology is used to control the automatic driving collection device to automatically drive, the automatic driving can be realized only by means of the differential GPS sensor and the IMU sensor at the tail of the automatic driving collection device.
As another alternative, a Linear Quadratic Regulator (LQR) is a model-based controller, and it is possible to learn manual driving trajectory information through the Linear Quadratic Regulator and minimize lateral errors and orientation errors of the vehicle motion by controlling the vehicle state, thereby improving the accuracy of tracking automatic driving.
In the embodiment of the application, the automatic driving acquisition device can be controlled to automatically drive according to the preset repetition times and the manual driving track information, so that repeated acquisition of map information on the manual driving track information is realized, and the precision of a high-precision map is favorably improved.
In the embodiment of the present application, the preset number of repetitions may be 2, 5, 10, and the like, and is not limited in this embodiment.
In the embodiment of the application, the manual driving track information can be rapidly learned and copied to realize the control of the automatic driving acquisition device to carry out automatic driving.
In the embodiment of the application, the automatic driving acquisition device is provided with the data acquisition sensor, and high-precision map acquisition data can be acquired through the data acquisition sensor. The data acquisition sensor includes Lidar (laser radar), a camera, a GNSS (Global Navigation Satellite System), an IMU (Inertial Navigation unit), a GPS (Global Positioning System), a wheel speed meter, and the like, which is not limited in this embodiment.
In the embodiment of the application, Lidar mainly collects point cloud data, and can accurately collect position information, the width of a road surface, the height of a building and other information. The camera is mainly used for collecting information such as some road signs, lane lines and the like. The GNSS is used for acquiring the position information of the automatic driving acquisition device and recording the coordinates of the current acquisition point. The IMU is used for capturing angle information and acceleration information of the automatic driving acquisition device and correcting the position and the angle of the automatic driving acquisition device. The wheel speed instrument is used for collecting the wheel measuring distance of the automatic driving collecting device, and recording the total revolution of the left wheel and the right wheel and the like.
In the embodiment of the application, after the high-precision map acquisition data of the target area is obtained, the high-precision map of the target area can be generated according to the high-precision map acquisition data through the map generation equipment.
Therefore, by implementing the high-precision map data acquisition method described in fig. 1, data acquisition can be performed through the automatic driving acquisition device, manual participation is not required, the data acquisition efficiency is high, and manpower and material resources are saved.
Example 2
Please refer to fig. 2, fig. 2 is a schematic flow chart of a high-precision map data collection method according to an embodiment of the present application. As shown in fig. 2, the high-precision map data acquisition method includes:
s201, when the automatic driving acquisition device is manually driven, path positioning point data of the automatic driving acquisition device is obtained.
In the embodiment of the application, after the map data acquisition route is generated, the map data acquisition route can be output, and then when the automatic driving acquisition device is detected to carry out manual driving according to the map data acquisition route, the path positioning point data of the automatic driving acquisition device is detected in real time.
In the embodiment of the application, the GPS sensor and the IMU sensor on the automatic driving acquisition device can acquire the self pose, the yaw angle, the longitude and latitude, the acceleration and other motion parameters; and then, the motion parameters are processed to obtain positioning point data of the automatic driving acquisition device at the current position, the automatic driving acquisition device can detect and obtain a plurality of positioning points in the motion process, and the plurality of positioning points are summarized to obtain path positioning point data.
S202, carrying out locating point screening processing on the data of the path locating point to obtain target locating point data.
In the embodiment of the application, after the path positioning point data is obtained, a plurality of positioning points included in the path positioning point data can be screened, so that the calculation redundancy is reduced, and further the manual driving track information can be generated quickly.
As an optional implementation manner, when the location point screening processing is performed on the path location point data, one location point may be selected at intervals of a preset distance according to the movement speed of the automatic driving acquisition device.
After step S202, the following steps are also included:
and S203, generating manual driving track information of the target area according to the target positioning point data.
In the embodiment of the application, the manual driving track information is the motion track of the automatic driving acquisition device for manual driving.
In the embodiment of the application, when the automatic driving acquisition device is manually driven, no map data is needed. The unmanned vehicle can be driven by remote manual control through the controller, and can also be driven by a driver entering a cockpit of the automatic driving acquisition device for control, and the embodiment of the application is not limited.
In the embodiment of the application, when the automatic driving acquisition device is provided with the cockpit, the automatic driving acquisition device can directly enter the cockpit to manually control the driving of the automatic driving acquisition device.
In the embodiment of the present application, by implementing the steps S201 to S203, when performing manual driving according to the map data collection route, manual driving trajectory information can be acquired.
In the embodiment of the present application, the manual driving trajectory information of the target area can be acquired by performing the above steps S201 to S204.
After step S203, the following steps are also included:
s204, when the automatic driving acquisition device is controlled to automatically drive according to each manual driving path, determining the current manual driving path when the automatic driving acquisition device is controlled to automatically drive from the manual driving track information; the manual driving track information comprises at least one manual driving path corresponding to the target area.
In the embodiment of the application, high-precision map data acquisition is carried out on the target area, when the manual driving track information comprises a manual driving path, data acquisition is completed according to the manual driving path, and when the manual driving track information comprises a plurality of manual driving paths, data acquisition is completed according to the manual driving paths.
In the embodiment of the application, when the manual driving track information comprises a plurality of manual driving paths, different manual driving paths may be different. Let one of the manual driving paths L1 represent the movement locus from point a to point B, and the other manual driving path L2 represent the movement locus from point B to point a. In practical use, for a single lane, L1 and L2 may have the same movement direction, and for a dual lane, L1 is the movement track of the lane corresponding to the point a to the point B based on the point a, and L2 is the movement track of the lane corresponding to the point a based on the point B, and the movement direction is the point B to the point a. Similarly, for three lanes and four lanes, the manual driving track follows corresponding driving regulations, so that the automatic driving acquisition device can follow the driving regulations when automatically acquiring data, and the traffic safety is ensured.
In the embodiment of the application, high-precision map data acquisition is carried out according to at least one manual driving path corresponding to the target area, so that the map data on the manual driving path can be comprehensively acquired, and the accuracy of the high-precision map data can be improved.
In the embodiment of the application, to same manual driving route, the automatic driving collection system can also carry out repeated data acquisition according to preset repetition times, is favorable to avoiding the data error that single data acquisition leads to, and then is favorable to promoting the accuracy of high-precision map data.
And S205, acquiring positioning data of the automatic driving acquisition device through a positioning sensor arranged on the automatic driving acquisition device.
In an embodiment of the present application, the positioning sensor includes a differential GPS sensor and an IMU sensor.
In the embodiment of the application, when the positioning data of the automatic driving acquisition device is that the automatic driving acquisition device carries out automatic driving, the current position information is located.
After step S205, the following steps are also included:
and S206, generating control parameters for controlling the automatic driving acquisition device to carry out automatic driving according to the current manual driving path and the positioning data.
According to the embodiment of the application, the next target position information needing to be reached when the automatic driving acquisition device carries out automatic driving is firstly determined according to the current manual driving path and the positioning data of the automatic driving acquisition device, and then the control parameters of the automatic driving acquisition device for carrying out automatic driving are determined according to the target position information.
In the embodiment of the application, when the automatic driving acquisition device is controlled to automatically drive through an automatic tracking technology, the automatic driving can be realized only by depending on the differential GPS sensor and the IMU sensor at the tail part of the automatic driving acquisition device.
And S207, controlling the automatic driving acquisition device to automatically drive according to the current manual driving path according to the control parameters, and acquiring map acquisition data corresponding to the current manual driving path.
In the embodiment of the application, the automatic driving acquisition device can be controlled to automatically drive according to the current manual driving path according to the control parameters and the preset repetition times, so that repeated acquisition of map information on the current manual driving path is realized, and further, the high-precision map acquisition data can be promoted.
In the embodiment of the present application, the preset repetition times may be specifically 2 times, 5 times, 10 times, and the like, and the embodiment is not limited in any way.
In the embodiment of the present application, by implementing the steps S204 to S207, when the automatic driving acquisition device is controlled to perform automatic driving according to each manual driving route, the map acquisition data corresponding to each manual driving route can be acquired.
And S208, summarizing the map acquisition data corresponding to all the manual driving paths to obtain the high-precision map acquisition data of the target area.
In the embodiment of the present application, by implementing the steps S204 to S208, it is possible to acquire high-precision map acquisition data of a target area when an automatic driving acquisition device is controlled to perform automatic driving according to manual driving trajectory information.
In the embodiment of the present application, for explanation of the high-precision map data acquisition method, reference may be made to the description in embodiment 1, and details are not repeated in this embodiment.
Therefore, by implementing the high-precision map data acquisition method described in fig. 2, data acquisition can be performed through the automatic driving acquisition device, manual participation is not required, the data acquisition efficiency is high, and manpower and material resources are saved.
Example 3
Please refer to fig. 3, fig. 3 is a schematic structural diagram of a high-precision map data acquisition device according to an embodiment of the present application. As shown in fig. 3, the high-precision map data acquisition apparatus includes:
and a track obtaining module 300, configured to obtain information of a manual driving track of the target area.
And the data acquisition module 400 is used for acquiring high-precision map acquisition data of the target area when the automatic driving acquisition device is controlled to automatically drive according to the manual driving track information.
Referring to fig. 4, fig. 4 is a schematic structural diagram of another high-precision map data acquisition device according to an embodiment of the present application. The high-precision map data acquisition device shown in fig. 4 is obtained by optimizing the high-precision map data acquisition device shown in fig. 3. As shown in fig. 4, the trajectory acquisition module 300 includes:
the obtaining sub-module 310 is configured to obtain path positioning point data of the automatic driving collecting device when the automatic driving collecting device is manually driven.
And the screening submodule 320 is configured to perform locating point screening processing on the path locating point data to obtain target locating point data.
And the generation submodule 330 is used for generating artificial driving track information according to the target positioning point data.
In the embodiment of the application, the manual driving track information is the motion track of the automatic driving acquisition device for manual driving.
In the embodiment of the application, the manual driving track information comprises at least one manual driving path corresponding to the target area.
As an alternative embodiment, the data acquisition module 400 includes:
and the acquisition submodule 410 is configured to acquire map acquisition data corresponding to each manual driving path when the automatic driving acquisition device is controlled to perform automatic driving according to each manual driving path.
And the summarizing submodule 420 is configured to summarize the map acquisition data corresponding to all the manual driving paths to obtain high-precision map acquisition data of the target area.
As an alternative embodiment, the acquisition sub-module 410 includes:
the determining unit 411 is configured to determine, from the manual driving trajectory information, a current manual driving path for controlling the automatic driving collecting device to perform automatic driving when the automatic driving collecting device is controlled to perform automatic driving according to each manual driving path.
The positioning unit 412 is used for acquiring positioning data of the automatic driving acquisition device through a positioning sensor arranged on the automatic driving acquisition device;
the generating unit 413 is used for generating control parameters for controlling the automatic driving acquisition device to carry out automatic driving according to the current manual driving path and the positioning data;
and the acquisition unit 414 is configured to control the automatic driving acquisition device to perform automatic driving according to the current manual driving path according to the control parameter, and acquire map acquisition data corresponding to the current manual driving path.
In the embodiment of the present application, for explanation of the high-precision map data acquisition device, reference may be made to the description in embodiment 1 or embodiment 2, and details are not repeated in this embodiment.
It can be seen that, the high-precision map data acquisition device described in the embodiment can acquire data through the automatic driving acquisition device, does not need manual participation, and has high data acquisition efficiency and manpower and material resources conservation.
Example 4
Referring to fig. 5, fig. 5 is a schematic diagram of a system architecture of a high-precision map data acquisition system according to an embodiment of the present application. As shown in fig. 5, the high-precision map data acquisition system includes a general control device 410 and at least one automatic driving acquisition device 420, where the general control device 410 is configured to acquire manual driving track information corresponding to different partitions in a target area, and send the manual driving track information to the automatic driving acquisition devices 420 corresponding to different partitions respectively.
In this embodiment, the general control device 410 may be a computer, a server, a smart phone, a tablet computer, and other computing devices, which is not limited in this embodiment.
In this embodiment, the automatic driving collecting device 420 may be a data collecting unmanned vehicle, a data collecting automatic driving vehicle, a data collecting unmanned vehicle, or the like, which is not limited in this embodiment.
And the automatic driving acquisition device 420 is used for receiving the manual driving track information, acquiring the block map acquisition data of the automatic driving acquisition device 420 in the automatic driving process when the automatic driving acquisition device 420 is controlled to carry out automatic driving according to the manual driving track information, and transmitting the block map acquisition data to the master control device 410.
And the general control device 410 is configured to receive the block map acquisition data sent by each automatic driving acquisition device 420, and generate high-precision map acquisition data with a complete target area according to the block high-precision map data.
In the embodiment of the application, when the target area is too large, the at least one automatic driving acquisition device 420 acquires block data and generates a corresponding block high-precision map, and finally the master control device 410 generates complete high-precision map acquisition data of the target area according to all the block map acquisition data, so that the efficiency and the accuracy are high.
In this embodiment, the master control device 410 may also obtain the motion trajectory of each of the automatic driving collecting devices 420 in real time, and monitor the data collecting condition of each of the automatic driving collecting devices 420 in real time.
In this embodiment of the present application, the master control device 410 is in communication connection with each of the automatic driving acquisition devices 420, and specifically, the master control device may be in communication connection in a wireless local area network (WIFI) or a mobile communication network, which is not limited in this embodiment of the present application.
In the embodiment of the present application, for explanation of the high-precision map data acquisition system, reference may be made to the description in embodiment 1 or embodiment 2, and details are not repeated in this embodiment.
It can be seen that, the high-precision map data acquisition system described in the embodiment can acquire data through the automatic driving acquisition device, does not need manual participation, and has high data acquisition efficiency and manpower and material resources conservation.
The embodiment of the application provides electronic equipment, which comprises a memory and a processor, wherein the memory is used for storing a computer program, and the processor runs the computer program to enable the electronic equipment to execute the high-precision map data acquisition method in the embodiment 1 or the embodiment 2 of the application.
The embodiment of the present application provides a computer-readable storage medium, which stores computer program instructions, and when the computer program instructions are read and executed by a processor, the computer program instructions execute the high-precision map data acquisition method in any one of embodiment 1 or embodiment 2 of the present application.
In the embodiments provided in the present application, it should be understood that the disclosed apparatus and method can be implemented in other ways. The apparatus embodiments described above are merely illustrative, and for example, the flowchart and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of apparatus, methods and computer program products according to various embodiments of the present application. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.
In addition, functional modules in the embodiments of the present application may be integrated together to form an independent part, or each module may exist separately, or two or more modules may be integrated to form an independent part.
The functions, if implemented in the form of software functional modules and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present application or portions thereof that substantially contribute to the prior art may be embodied in the form of a software product stored in a storage medium and including instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present application. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.
The above description is only an example of the present application and is not intended to limit the scope of the present application, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, improvement and the like made within the spirit and principle of the present application shall be included in the protection scope of the present application. It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures.
The above description is only for the specific embodiments of the present application, but the scope of the present application is not limited thereto, and any person skilled in the art can easily conceive of the changes or substitutions within the technical scope of the present application, and shall be covered by the scope of the present application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.
It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.
Claims (10)
1. A high-precision map data acquisition method is characterized by comprising the following steps:
acquiring manual driving track information of a target area;
and when an automatic driving acquisition device is controlled to automatically drive according to the manual driving track information, acquiring high-precision map acquisition data of the target area.
2. The high-precision map data acquisition method according to claim 1, wherein the manual driving trajectory information is a motion trajectory of manually driving the automatic driving acquisition device.
3. The high-precision map data acquisition method according to claim 2, wherein the acquiring of the manual driving track information of the target area comprises:
acquiring path positioning point data of the automatic driving acquisition device when the automatic driving acquisition device is manually driven;
carrying out locating point screening processing on the path locating point data to obtain target locating point data;
and generating manual driving track information of a target area according to the target positioning point data.
4. The high-precision map data acquisition method according to any one of claims 1 to 3, wherein the manual driving track information comprises at least one manual driving path corresponding to the target area;
when an automatic driving acquisition device is controlled to automatically drive according to the manual driving track information, acquiring high-precision map acquisition data of the target area, wherein the acquisition data comprises the following steps:
when the automatic driving acquisition device is controlled to automatically drive according to each manual driving path, acquiring map acquisition data corresponding to each manual driving path;
and summarizing the map acquisition data corresponding to all the manual driving paths to obtain the high-precision map acquisition data of the target area.
5. The method for acquiring the map data according to claim 4, wherein when the automatic driving acquisition device is controlled to automatically drive according to each manual driving path, acquiring the map acquisition data corresponding to each manual driving path comprises:
when the automatic driving acquisition device is controlled to automatically drive according to each manual driving path, determining a current manual driving path for controlling the automatic driving acquisition device to automatically drive from the manual driving track information;
acquiring positioning data of the automatic driving acquisition device through a positioning sensor arranged on the automatic driving acquisition device;
generating control parameters for controlling the automatic driving acquisition device to carry out automatic driving according to the current manual driving path and the positioning data;
and controlling the automatic driving acquisition device to automatically drive according to the current manual driving path according to the control parameters, and acquiring map acquisition data corresponding to the current manual driving path.
6. A high-precision map data acquisition device, characterized by comprising:
the track acquisition module is used for acquiring the manual driving track information of the target area;
and the data acquisition module is used for acquiring the high-precision map acquisition data of the target area when an automatic driving acquisition device is controlled to automatically drive according to the manual driving track information.
7. The high-precision map data acquisition device according to claim 6, wherein the trajectory acquisition module comprises:
the acquisition submodule is used for acquiring path positioning point data of the automatic driving acquisition device when the automatic driving acquisition device is manually driven;
the screening submodule is used for carrying out locating point screening processing on the path locating point data to obtain target locating point data;
and the generation submodule is used for generating artificial driving track information according to the target positioning point data.
8. A high-precision map data acquisition system is characterized by comprising a master control device and at least one automatic driving acquisition device, wherein,
the master control device is used for acquiring manual driving track information corresponding to different partitions in a target area and respectively sending the manual driving track information to automatic driving acquisition devices corresponding to the different partitions;
the automatic driving acquisition device is used for receiving the manual driving track information, acquiring block map acquisition data of the automatic driving acquisition device in the automatic driving process when the automatic driving acquisition device is controlled to carry out automatic driving according to the manual driving track information, and sending the block map acquisition data to the master control device;
and the master control device is used for receiving the block map acquisition data sent by each automatic driving acquisition device and generating the complete high-precision map acquisition data of the target area according to the block high-precision map data.
9. An electronic device, characterized in that the electronic device comprises a memory for storing a computer program and a processor for executing the computer program to cause the electronic device to perform the high precision map data collection method of any one of claims 1 to 5.
10. A readable storage medium, wherein computer program instructions are stored in the readable storage medium, and when the computer program instructions are read and executed by a processor, the high-precision map data collection method according to any one of claims 1 to 5 is executed.
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