CN113793550A - Map data acquisition method, device, equipment and storage medium - Google Patents
Map data acquisition method, device, equipment and storage medium Download PDFInfo
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- CN113793550A CN113793550A CN202111183131.4A CN202111183131A CN113793550A CN 113793550 A CN113793550 A CN 113793550A CN 202111183131 A CN202111183131 A CN 202111183131A CN 113793550 A CN113793550 A CN 113793550A
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- G09B29/00—Maps; Plans; Charts; Diagrams, e.g. route diagram
- G09B29/003—Maps
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Abstract
The invention provides a map data acquisition method, a map data acquisition device, map data acquisition equipment and a storage medium. The method comprises the following steps: the vehicle receives an acquisition instruction sent by the server; the vehicle acquires data of the current position through a plurality of sensors of the vehicle according to the acquisition instruction and sends the acquired mapping data to the server, wherein the server can send the acquisition instruction to the plurality of vehicles and process the received mapping data sent by the plurality of vehicles to map. The vehicle may be an actual operation autonomous vehicle and the sensor may be a low cost sensor. The acquisition conditions may be checked before and during acquisition, for example, signal strength, sensor parameters, data integrity and instructions, and once the acquisition conditions do not meet the requirements, re-acquisition or re-acquisition may be performed as needed. According to the embodiment of the invention, the drawing data is acquired by a plurality of vehicles under the instruction of the server, so that the acquisition cost is low.
Description
Technical Field
The invention relates to the technical field of intelligent transportation, in particular to a method, a device, equipment and a storage medium for acquiring map data.
Background
With the progress of scientific technology, especially the development of automobile manufacturing and information technology, the automatic driving technology becomes a research hotspot in recent years. The collection and drawing of high-precision maps are indispensable important support technologies for automatic driving, and the data collection by means of a multi-sensor integrated mobile collection vehicle is a core channel for obtaining high-precision map data and is one of important links for producing and manufacturing maps.
In the related technology, a special collection vehicle and a professional who need to be equipped with various high-end sensors perform map collection and then make a map, so that the collection cost is high.
Disclosure of Invention
The invention provides a map data acquisition method, a map data acquisition device, map data acquisition equipment and a storage medium, which are used for reducing acquisition cost.
In a first aspect, the present invention provides a method for collecting map data, including:
the vehicle receives an acquisition instruction sent by the server;
and the vehicle acquires data of the current position through a plurality of sensors of the vehicle according to the acquisition instruction and sends the acquired mapping data to the server.
In a second aspect, the present invention provides a method for collecting map data, including:
the server sends an acquisition instruction to a plurality of vehicles; the acquisition instruction is used for instructing a plurality of vehicles to acquire data of the current position;
the server receives drawing data which are sent by the vehicles and collected by the sensors, and drawing is carried out according to the drawing data.
In a third aspect, the present invention provides a map data acquisition apparatus, including:
the receiving module is used for receiving an acquisition instruction sent by the server;
and the processing module is used for carrying out data acquisition on the current position according to the acquisition instruction and sending the acquired drawing data to the server.
In a fourth aspect, the present invention provides a map data acquisition apparatus, including:
the sending module is used for sending acquisition instructions to a plurality of vehicles; the acquisition instruction is used for instructing a plurality of vehicles to acquire data of the current position;
the receiving module is used for receiving the cartographic data which are sent by a plurality of vehicles and acquired after being acquired by a plurality of sensors;
and the processing module is used for drawing according to the drawing data.
In a fifth aspect, the present invention provides a computer-readable storage medium, on which a computer program is stored, and the computer program, when executed by a processor, implements the method of any one of the first aspect or the second aspect.
In a sixth aspect, an embodiment of the present invention provides an electronic device, including:
a processor; and
a memory for storing executable instructions of the processor;
wherein the processor is configured to perform the method of any of the first aspects via execution of the executable instructions.
In a seventh aspect, an embodiment of the present invention provides a server, including:
a processor; and
a memory for storing executable instructions of the processor;
wherein the processor is configured to perform the method of any of the second aspects via execution of the executable instructions.
According to the map data acquisition method, the map data acquisition device, the map data acquisition equipment and the map data acquisition storage medium, a vehicle receives an acquisition instruction sent by a server; the vehicle acquires data of the current position according to the acquisition instruction and sends the acquired mapping data to the server.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present disclosure and together with the description, serve to explain the principles of the disclosure.
Fig. 1 is an application scenario diagram provided in an embodiment of the present invention;
FIG. 2 is a schematic flow chart illustrating an embodiment of a method for collecting map data according to the present invention;
FIG. 3 is an interaction diagram of an embodiment of a method for collecting map data according to the present invention;
FIG. 4 is a schematic flow chart illustrating a method for collecting map data according to another embodiment of the present invention;
FIG. 5 is a schematic structural diagram of an embodiment of a map data collection device provided by the present invention;
FIG. 6 is a schematic structural diagram of another embodiment of a map data acquisition device provided by the present invention;
FIG. 7 is a schematic structural diagram of an embodiment of an electronic device provided by the present invention;
fig. 8 is a schematic structural diagram of an embodiment of a server provided in the present invention.
With the foregoing drawings in mind, certain embodiments of the disclosure have been shown and described in more detail below. These drawings and written description are not intended to limit the scope of the disclosed concepts in any way, but rather to illustrate the concepts of the disclosure to those skilled in the art by reference to specific embodiments.
Detailed Description
Reference will now be made in detail to the exemplary embodiments, examples of which are illustrated in the accompanying drawings. When the following description refers to the accompanying drawings, like numbers in different drawings represent the same or similar elements unless otherwise indicated. The implementations described in the exemplary embodiments below are not intended to represent all implementations consistent with the present disclosure. Rather, they are merely examples of apparatus and methods consistent with certain aspects of the present disclosure, as detailed in the appended claims.
The terms "comprising" and "having," and any variations thereof, in the description and claims of this invention and the drawings described herein are intended to cover non-exclusive inclusions. For example, a process, method, system, article, or apparatus that comprises a list of steps or elements is not limited to only those steps or elements listed, but may alternatively include other steps or elements not listed, or inherent to such process, method, article, or apparatus.
Firstly, the application scene related to the invention is introduced:
the map data in the present application refers to data collected for making a map.
The map data acquisition method provided by the embodiment of the invention is applied to a data acquisition scene required by map making so as to improve the acquisition efficiency, for example, the data acquisition is carried out in an automatic driving scene. The collection method can use a vehicle for collection.
According to the method provided by the embodiment of the invention, the server interacts with the plurality of vehicles, the acquisition instruction is sent, and the vehicles are instructed to acquire data of the current position, so that the acquisition efficiency is improved, and the acquisition cost is reduced.
The vehicle may be an autonomous vehicle, or a general vehicle. Compared with a special drawing data acquisition vehicle, the drawing data acquisition can be realized by using a low-cost sensor combination, and the acquisition cost is low. The vehicle can be a vehicle actually used by a user, and effective utilization of resources is achieved.
Fig. 1 is an application scenario diagram according to an embodiment of the present invention, and optionally, as shown in fig. 1, the application scenario includes a server 11 and an electronic device 12; the electronic device 12 may be an in-vehicle terminal on a vehicle, or a processor of the vehicle.
The electronic device 12 and the server 11 may be connected via a network, for example, a communication network such as 3G, 4G, or Wireless Fidelity (WIFI).
The method provided by the invention can be realized by the electronic equipment 12 such as a processor executing corresponding software codes, and can also be realized by the electronic equipment 12 executing corresponding software codes and performing data interaction with the server 11 at the same time, for example, the server executes partial operation to control the electronic equipment to execute the map data acquisition method.
The following embodiments are all described with electronic devices as the executing bodies. In the following embodiments, an autonomous vehicle is described as an example.
The technical solution of the present invention will be described in detail below with specific examples. The following several specific embodiments may be combined with each other, and details of the same or similar concepts or processes may not be repeated in some embodiments.
Fig. 2 is a schematic flow chart of an embodiment of a map data collection method provided by the present invention. As shown in fig. 2, the method provided by this embodiment includes:
Specifically, the server can send a collection instruction to a plurality of vehicles, the plurality of vehicles respectively carry out data collection on the current position through a plurality of sensors of the vehicle after receiving the collection instruction sent by the server, collected drawing data are sent to the server, the server receives the drawing data sent by the plurality of vehicles, carries out comprehensive processing on the drawing data respectively collected by the plurality of sensors by the plurality of vehicles, and draws according to the drawing data.
In the method of the embodiment, a vehicle receives a collecting instruction sent by a server; the vehicle acquires data of the current position according to the acquisition instruction and sends the acquired mapping data to the server.
Fig. 3 is an interaction diagram of an embodiment of a map data collection method provided by the present invention. As shown in fig. 3, the method provided by this embodiment includes:
301, a server sends acquisition instructions to a plurality of vehicles; the acquisition instruction is used for indicating a plurality of vehicles to acquire data of the current position;
step 302, the vehicle receives an acquisition instruction sent by a server;
303, acquiring data of the current position by the vehicle through a plurality of sensors of the vehicle according to an acquisition instruction;
step 304, the vehicle sends the collected drawing data to a server;
and 305, receiving the drawing data which are sent by the vehicles and collected by the sensors by the server, and drawing according to the drawing data.
According to the method, the server interacts with the plurality of vehicles, the acquisition instruction is sent, the vehicles are indicated to acquire data of the current position, the acquisition efficiency is improved, and the acquisition cost is reduced.
On the basis of the foregoing embodiment, as shown in fig. 4, in order to improve the acquisition efficiency and the acquisition quality of the charting data, the method of this embodiment further includes:
And 403, if the signal intensity of the current position does not meet the signal intensity preset condition, pushing a first prompt message by the vehicle, wherein the first prompt message is used for indicating a driver to return to the current position again after driving the vehicle to the target position, and acquiring data again at the current position, and the signal intensity of the target position meets the signal intensity preset condition.
Specifically, during the process of acquiring the data required for mapping the map, the signal strength of the current location, for example, the signal strength of the satellite signal and/or the base station signal, may be detected in real time (periodically, or at preset intervals), and if the signal strength of the satellite signal and/or the base station signal satisfies the signal strength preset condition, the mapping data of the current location is continuously acquired.
If the signal intensity of the satellite signal and/or the base station signal does not meet the signal intensity preset condition, first prompt information is sent to prompt that the signal intensity of the satellite signal and/or the base station signal at the current position of a driver (or a security officer) is not enough, the driver is instructed to drive the vehicle to go to a good-signal place, then the vehicle is timely returned to the current position, and data are collected at the current position again.
Further, the signal may also include a wireless network WIFI signal or other signals, which is not limited in the embodiment of the present invention.
Furthermore, the first prompt information can also indicate that the driver drives the vehicle to the target position and then sends the collected cartographic data to the server, and the driver returns to the current position after sending the cartographic data, so that the server can analyze the cartographic data in time.
Furthermore, after data acquisition is carried out on the current position, drawing can be carried out according to the acquired drawing data.
In order to reduce the acquisition time and improve the acquisition efficiency, the distance between the target position and the current position is smaller than a preset threshold value. The driver can return to the current position for reacquisition in a short time.
Further, before the first prompt message is pushed, the destination position where the vehicle should go can be determined by detecting the signal intensity of the position within the preset range of the current position.
In the method of the embodiment, when data acquisition is performed on the current position, the signal intensity of the current position is detected; if the signal intensity of the current position does not meet the signal intensity preset condition, first prompt information is pushed, the first prompt information is used for indicating a driver to return to the current position again after driving a vehicle to the target position, data acquisition is carried out on the current position again, the signal intensity of the target position meets the signal intensity preset condition, once the acquisition condition does not meet the requirement in the acquisition process, if the signal intensity does not meet the requirement, the acquisition can be carried out again or supplemented as required, the problem that the data is insufficient or the data quality does not reach the standard after the data is completely acquired and returned can be avoided, the acquisition efficiency is improved, and the acquisition cost is reduced.
On the basis of the foregoing embodiment, optionally, in order to further improve the acquisition efficiency and avoid the problem of the acquired data, as shown in fig. 4, before the data acquisition is performed on the current position, the method further includes:
and 405, if the current parameter of the at least one sensor does not meet the preset parameter condition, the vehicle pushes second prompt information, and the second prompt information is used for prompting the driver to adjust the current parameter of the at least one sensor.
Specifically, before drawing data acquisition, current parameters of each sensor of the vehicle are checked, the sensors include, for example, a Global Positioning System (GPS) sensor, an Inertial Measurement Unit (IMU), a wheel-type odometer, a direction sensor, a laser radar, a vehicle-mounted camera, a millimeter-wave radar, a gyroscope, a rain sensor, an infrared sensor, and the like, the current parameters include, for example, installation parameters and calibration parameters, the installation parameters include, for example, installation angles, and the calibration parameters include, for example, conversion relationships of coordinates between different sensors, that is, conversion relationships of installation angles between different sensors; if the installation parameters and/or the calibration parameters meet the preset parameter conditions, starting to acquire data; and if the installation parameters and/or the calibration parameters do not meet the preset parameter conditions, sending second prompt information to prompt a driver to adjust the installation parameters and/or the calibration parameters of the current vehicle sensor.
Further, if the current parameter includes the installation angle, the vehicle determines whether the current parameter of each sensor satisfies a preset parameter condition, which can be specifically realized by the following method:
the vehicle judges whether the deviation of the installation angle of each sensor belongs to a preset first deviation range or not;
and if the deviation of the installation angle of the at least one sensor does not belong to the first deviation range, pushing second prompt information, wherein the second prompt information is used for prompting a driver to readjust the installation angle of the at least one sensor.
Specifically, a first deviation range related to the installation angle of the sensor may be preset, the first deviation ranges corresponding to different sensors may have different values, and if it is detected that the deviation of the installation angle of the at least one sensor does not belong to the first deviation range, the driver is prompted to readjust the installation angle of the at least one sensor.
Further, if the current parameters include calibration parameters, the vehicle determines whether the current parameters of each sensor satisfy preset parameter conditions, which may be specifically implemented as follows:
the vehicle judges whether the deviation of the calibration parameters of each sensor belongs to a preset second deviation range or not;
and if the deviation of the calibration parameters of the at least one sensor does not belong to the second deviation range, pushing second prompt information, wherein the second prompt information is used for prompting the driver to recalibrate the at least one sensor.
Specifically, a second deviation range of the calibration parameter of the sensor may be preset, values of the second deviation ranges corresponding to different sensors may be different, and if it is detected that the deviation of the calibration parameter of at least one sensor does not belong to the second deviation range, the driver is prompted to calibrate the at least one sensor again.
In the embodiment, before data acquisition is carried out on the current position, the current parameters of each sensor of the vehicle are checked, whether the current parameters of each sensor meet the preset parameter condition or not is judged, the acquisition efficiency is further improved, and the problem of the acquired data is avoided.
On the basis of the foregoing embodiment, optionally, in order to improve the acquisition efficiency and ensure the quality of the acquired charting data, as shown in fig. 4, the method of this embodiment may further include:
and 407, if the completeness of the drawing data does not meet the completeness preset condition, pushing a third prompt message by the vehicle, wherein the third prompt message is used for prompting the driver to acquire data again at the current position.
Specifically, in the process of acquiring the cartographic data, the integrity of the cartographic data acquired at the current position and/or the quality of the cartographic data can be verified in real time, if the quality and the integrity of the cartographic data do not meet the preset requirements, if the integrity of the cartographic data does not meet the preset integrity condition, third prompt information is pushed, and the third prompt information is used for prompting a driver to acquire the data again at the current position.
It should be noted that step 406 and step 402 may not be in a sequential order.
Further, detecting the integrity of the drawing data may specifically be implemented by:
the vehicle detects whether the drawing data comprises data collected by a sensor required by drawing;
if the drawing data comprises data acquired by a sensor required by drawing, the vehicle determines that the integrity of the drawing data meets the integrity preset condition;
and if the drawing data does not comprise data collected by the sensor required by drawing, the vehicle determines that the integrity of the drawing data does not meet the preset integrity condition.
Specifically, if the drawing data includes data collected by a sensor required for drawing, the drawing data is complete, otherwise, the drawing data is incomplete and needs to be collected again.
Further, as shown in fig. 4, the method of this embodiment may further include:
and 409, if the drawing data acquired by at least one sensor does not meet the corresponding preset quality requirement, pushing fourth prompt information by the vehicle, wherein the fourth prompt information is used for prompting the driver to acquire data again at the current position through the sensor which does not meet the corresponding preset quality requirement.
Specifically, in the process of acquiring the cartographic data, the quality of the cartographic data acquired at the current position can be verified in real time, and if the quality of the cartographic data is found not to meet the corresponding preset quality requirement, for example, if the cartographic data acquired by at least one sensor does not meet the corresponding preset quality requirement, the cartographic data at the current position is acquired again through the sensor; and if the data collected by each sensor meets the corresponding preset quality requirement, continuously collecting the drawing data of the next position. For example, it can also be determined whether the vehicle has traveled a preset number of turns on the current collection route when the cartographic data is collected.
In practical application, whether the drawing data acquired by each sensor meets the corresponding preset quality requirement is judged, and the method can be specifically realized in the following way:
and judging whether the average acquisition frame rate or the instantaneous acquisition frame rate of each sensor is greater than a preset acquisition frame rate.
Specifically, it may also be determined whether the acquisition frequency of the sensor meets a requirement, for example, whether the average acquisition frame rate or the instantaneous acquisition frame rate is greater than a preset acquisition frame rate. The quality indexes of different sensors are different, and the quality indexes of some sensors are average acquisition frame rates, and the quality indexes of some sensors are instantaneous acquisition frame rates.
Further, whether the drawing data collected by each sensor meets the corresponding preset quality requirement or not can be judged, and the method can be realized in the following mode:
and the vehicle judges whether the drawing data collected by each sensor meets the preset turn number condition.
Specifically, the drawing data collected by each sensor can be judged to reach the preset number of turns, namely whether the collected vehicle runs the preset number of turns on the collection path.
In addition, according to the acquisition requirements of different drawing data, the quality inspection of the drawing data can have different dimensionality requirements, and the embodiment of the invention is not limited to the requirements.
In this embodiment, once the data quality or integrity does not meet the requirement during the acquisition process, the data can be immediately re-acquired or re-acquired as required, so as to avoid the problem that the data is not enough or the quality does not reach the standard after the data is completely acquired and returned.
Fig. 5 is a structural diagram of an embodiment of a map data acquisition device provided in the present invention, and as shown in fig. 5, the map data acquisition device of the present embodiment includes:
a receiving module 501, configured to receive an acquisition instruction sent by a server;
and the processing module 502 is configured to perform data acquisition on the current position through a plurality of sensors of the vehicle according to the acquisition instruction, and send the acquired mapping data to the server.
Optionally, the processing module 502 is further configured to:
detecting the signal intensity of the current position when data acquisition is carried out on the current position;
and if the signal intensity of the current position is detected not to meet the signal intensity preset condition, pushing first prompt information, wherein the first prompt information is used for indicating a driver to return to the current position again after driving the vehicle to the target position, and acquiring data of the current position again, and the signal intensity of the target position meets the signal intensity preset condition.
Optionally, the processing module 502 is specifically configured to:
and detecting the signal strength of the base station signal and/or the satellite signal of the current position.
Optionally, the processing module 502 is further configured to:
before data acquisition is carried out on the current position, whether current parameters of all sensors of the vehicle meet preset parameter conditions or not is judged;
and if the current parameter of the at least one sensor is detected not to meet the preset parameter condition, pushing second prompt information, wherein the second prompt information is used for prompting a driver to adjust the current parameter of the at least one sensor.
Optionally, if the current parameter includes an installation angle, the processing module 502 is specifically configured to:
judging whether the deviation of the installation angle of each sensor belongs to a preset first deviation range or not;
and if the deviation of the installation angle of the at least one sensor does not belong to the first deviation range, pushing second prompt information, wherein the second prompt information is used for prompting a driver to readjust the installation angle of the at least one sensor.
Optionally, if the current parameter includes a calibration parameter, the processing module 502 is specifically configured to:
judging whether the deviation of the calibration parameters of each sensor belongs to a preset second deviation range or not;
and if the deviation of the calibration parameter of the at least one sensor does not belong to the second deviation range, pushing second prompt information, wherein the second prompt information is used for prompting a driver to recalibrate the at least one sensor.
Optionally, the processing module 502 is further configured to:
detecting the integrity of the collected mapping data when the data is collected at the current position;
and if the completeness of the drawing data is detected not to meet the completeness preset condition, pushing third prompt information, wherein the third prompt information is used for prompting a driver to re-collect data at the current position.
Optionally, the processing module 502 is specifically configured to:
detecting whether the drawing data comprises data collected by a sensor required for drawing;
if the drawing data comprises data acquired by a sensor required for drawing, determining that the integrity of the drawing data meets the preset integrity condition;
and if the drawing data does not comprise data acquired by a sensor required for drawing, determining that the integrity of the drawing data does not meet the preset integrity condition.
Optionally, the processing module 502 is further configured to:
if the completeness of the drawing data meets the completeness preset condition, judging whether the drawing data collected by each sensor meets the corresponding preset quality requirement;
and if the drawing data acquired by at least one sensor does not meet the corresponding preset quality requirement, pushing fourth prompt information, wherein the fourth prompt information is used for prompting a driver to acquire data again at the current position through the sensor which does not meet the corresponding preset quality requirement.
Optionally, the processing module 502 is specifically configured to:
and judging whether the average acquisition frame rate or the instantaneous acquisition frame rate of each sensor is greater than a preset acquisition frame rate.
Optionally, the processing module 502 is specifically configured to:
and judging whether the drawing data collected by each sensor meets a preset turn number condition.
The apparatus of this embodiment may be configured to implement the technical solutions of the above method embodiments, and the implementation principles and technical effects are similar, which are not described herein again.
Fig. 6 is a structural diagram of another embodiment of the map data acquisition device provided by the present invention, and as shown in fig. 6, the map data acquisition device of the present embodiment includes:
the sending module 601 is configured to send an acquisition instruction to a plurality of vehicles; the acquisition instruction is used for instructing a plurality of vehicles to acquire data of the current position;
the receiving module 602 is configured to receive mapping data sent by a plurality of vehicles and acquired by a plurality of sensors;
and the processing module 603 is configured to perform drawing according to the drawing data.
The apparatus of this embodiment may be configured to implement the technical solutions of the above method embodiments, and the implementation principles and technical effects are similar, which are not described herein again.
Fig. 7 is a structural diagram of an embodiment of an electronic device provided in the present invention, and as shown in fig. 7, the electronic device includes:
a processor 701, and a memory 702 for storing executable instructions for the processor 701.
Optionally, the method may further include: a communication interface 703 for communicating with other devices.
The above components may communicate over one or more buses.
The processor 701 is configured to execute the corresponding method in the foregoing method embodiment by executing the executable instruction, and the specific implementation process of the method may refer to the foregoing method embodiment, which is not described herein again.
The electronic device may be provided on a collection vehicle of map data, which may be an autonomous vehicle, or other vehicle.
Fig. 8 is a structural diagram of an embodiment of a server provided in the present invention, and as shown in fig. 8, the server includes:
a processor 801, and a memory 802 for storing executable instructions for the processor 801.
Optionally, the method may further include: a communication interface 803 for communicating with other devices.
The above components may communicate over one or more buses.
The processor 801 is configured to execute the corresponding method in the foregoing method embodiment by executing the executable instruction, and the specific implementation process of the method may refer to the foregoing method embodiment, which is not described herein again.
The embodiment of the present invention further provides a computer-readable storage medium, where a computer program is stored, and when the computer program is executed by a processor, the method in the foregoing method embodiment is implemented.
An embodiment of the present application further provides a computer program product, where the computer program product includes computer program code, and when the computer program code runs on a computer, the computer is caused to execute the method for acquiring map data executed by the electronic device in the foregoing embodiment.
Other embodiments of the disclosure will be apparent to those skilled in the art from consideration of the specification and practice of the disclosure disclosed herein. This application is intended to cover any variations, uses, or adaptations of the disclosure following, in general, the principles of the disclosure and including such departures from the present disclosure as come within known or customary practice within the art to which the disclosure pertains. It is intended that the specification and examples be considered as exemplary only, with a true scope and spirit of the disclosure being indicated by the following claims.
It will be understood that the present disclosure is not limited to the precise arrangements described above and shown in the drawings and that various modifications and changes may be made without departing from the scope thereof. The scope of the present disclosure is limited only by the appended claims.
Claims (15)
1. A method of collecting map data, comprising:
the vehicle receives an acquisition instruction sent by the server;
the vehicle acquires data of the current position through a plurality of sensors of the vehicle according to the acquisition instruction and sends the acquired mapping data to the server;
further comprising:
when data acquisition is carried out on a current position, the vehicle detects the signal intensity of the current position;
and if the signal intensity of the current position does not meet the signal intensity preset condition, the vehicle pushes first prompt information, the first prompt information is used for indicating a driver to return to the current position again after driving the vehicle to a target position, data collection is carried out on the current position again, and the signal intensity of the target position meets the signal intensity preset condition.
2. The method of claim 1, wherein the vehicle detects a signal strength of the current location, comprising:
the vehicle detects the signal strength of the base station signal and/or the satellite signal of the current position.
3. The method of claim 1 or 2, further comprising, prior to the data acquisition for the current location:
the vehicle judges whether the current parameters of each sensor meet preset parameter conditions or not;
and if the current parameters of the at least one sensor do not meet the preset parameter conditions, the vehicle pushes second prompt information, and the second prompt information is used for prompting a driver to adjust the current parameters of the at least one sensor.
4. The method of claim 3, wherein if the current parameter includes an installation angle, the vehicle determining whether the current parameter of each sensor satisfies a preset parameter condition comprises:
the vehicle judges whether the deviation of the installation angle of each sensor belongs to a preset first deviation range;
and if the deviation of the installation angle of at least one sensor does not belong to the first deviation range, the vehicle pushes second prompt information, and the second prompt information is used for prompting a driver to readjust the installation angle of at least one sensor.
5. The method of claim 3, wherein if the current parameters include calibration parameters, the vehicle determining whether the current parameters of each sensor satisfy preset parameter conditions comprises:
the vehicle judges whether the deviation of the calibration parameters of each sensor belongs to a preset second deviation range or not;
and if the deviation of the calibration parameter of the at least one sensor does not belong to the second deviation range, the vehicle pushes second prompt information, and the second prompt information is used for prompting a driver to recalibrate the at least one sensor.
6. The method of claim 1 or 2, further comprising:
when data collection is carried out on the current position, the vehicle detects the integrity of the collected cartographic data;
and if the completeness of the drawing data does not meet the completeness preset condition, the vehicle pushes third prompt information, and the third prompt information is used for prompting a driver to acquire data again at the current position.
7. The method of claim 6, wherein the vehicle testing the integrity of the mapping data comprises:
the vehicle detects whether the drawing data comprises data collected by a sensor required for drawing;
if the drawing data comprises data acquired by a sensor required for drawing, the vehicle determines that the integrity of the drawing data meets the preset integrity condition;
and if the drawing data does not comprise data collected by a sensor required for drawing, the vehicle determines that the integrity of the drawing data does not meet the preset integrity condition.
8. The method of claim 6, further comprising:
if the completeness of the drawing data meets the completeness preset condition, the vehicle judges whether the drawing data collected by each sensor meets the corresponding preset quality requirement;
and if the drawing data acquired by at least one sensor does not meet the corresponding preset quality requirement, the vehicle pushes fourth prompt information, and the fourth prompt information is used for prompting a driver to acquire data again at the current position through the sensor which does not meet the corresponding preset quality requirement.
9. The method of claim 8, wherein the vehicle determining whether the cartographic data collected by each sensor meets a corresponding predetermined quality requirement comprises:
and the vehicle judges whether the average acquisition frame rate or the instantaneous acquisition frame rate of each sensor is greater than a preset acquisition frame rate.
10. The method of claim 8, wherein the vehicle determining whether the cartographic data collected by each sensor meets a corresponding predetermined quality requirement comprises:
and the vehicle judges whether the drawing data collected by each sensor meets a preset turn number condition.
11. The method of claim 1,
the vehicle is a non-dedicated mapping data acquisition vehicle; the cost of the sensor is below a preset cost threshold.
12. The method of claim 11, wherein the vehicle is an actual use autonomous vehicle.
13. An acquisition device of map data, characterized by comprising:
the receiving module is used for receiving an acquisition instruction sent by the server;
the processing module is used for carrying out data acquisition on the current position through a plurality of sensors of the vehicle according to the acquisition instruction and sending the acquired cartographic data to the server;
the processing module is further used for detecting the signal intensity of the current position when data acquisition is carried out on the current position; and if the signal intensity of the current position does not meet the signal intensity preset condition, pushing first prompt information, wherein the first prompt information is used for indicating a driver to return to the current position again after driving the vehicle to a target position, and acquiring data of the current position again, and the signal intensity of the target position meets the signal intensity preset condition.
14. A computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, carries out the method of any one of claims 1-12.
15. An electronic device, comprising:
a processor; and
a memory for storing executable instructions of the processor;
wherein the processor is configured to perform the method of any of claims 1-12 via execution of the executable instructions.
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| CN110489407A (en) * | 2019-07-29 | 2019-11-22 | 南方电网数字电网研究院有限公司 | Data filling mining method, apparatus, computer equipment and storage medium |
| CN111259021B (en) * | 2020-01-13 | 2020-10-09 | 速度时空信息科技股份有限公司 | Quick collection and updating method and system for geographical map point information |
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| CN113838360A (en) | 2021-12-24 |
| CN109859611B (en) | 2021-10-29 |
| CN109859611A (en) | 2019-06-07 |
| CN113793550B (en) | 2023-06-20 |
| CN113838359A (en) | 2021-12-24 |
| CN113838359B (en) | 2023-06-13 |
| CN113838360B (en) | 2023-06-13 |
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