CN113793550B - Method, device, equipment and storage medium for collecting map data - Google Patents
Method, device, equipment and storage medium for collecting map data Download PDFInfo
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- CN113793550B CN113793550B CN202111183131.4A CN202111183131A CN113793550B CN 113793550 B CN113793550 B CN 113793550B CN 202111183131 A CN202111183131 A CN 202111183131A CN 113793550 B CN113793550 B CN 113793550B
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Abstract
The invention provides a method, a device, equipment and a storage medium for collecting map data. The method comprises the following steps: the vehicle receives an acquisition instruction sent by a server; the vehicle collects data of the current position through a plurality of sensors of the vehicle according to the collection instruction, and sends collected drawing data to the server, wherein the server can send the collection instruction to the plurality of vehicles, process the drawing data sent by the plurality of vehicles and draw the drawing. The vehicle may be an autonomous vehicle that is actually operated and the sensor may be a low cost sensor. The acquisition conditions can be checked before and during acquisition, such as signal strength, parameters of the sensor, integrity of data and instructions, and re-acquisition or re-acquisition can be performed as needed once the acquisition conditions do not meet the requirements. According to the embodiment of the invention, the cartographic data are collected by a plurality of vehicles under the instruction of the server, so that the collection cost is low.
Description
Technical Field
The present invention relates to the field of intelligent traffic technologies, and in particular, to a method, an apparatus, a device, and a storage medium for collecting map data.
Background
With advances in science and technology, particularly in automobile manufacturing and information technology, autopilot technology has become a recent research hotspot. The acquisition and drawing of the high-precision map are important supporting technologies essential for automatic driving, and the data acquisition by means of a mobile acquisition vehicle integrated by multiple sensors is a core channel for acquiring the high-precision map data and is also one of important links for map production and manufacturing.
In the related art, a special acquisition vehicle and professionals with various high-end sensors are required to acquire the map and then map, and the acquisition cost is high.
Disclosure of Invention
The invention provides a method, a device, equipment and a storage medium for collecting map data, which are used for reducing the collecting cost.
In a first aspect, the present invention provides a method for collecting map data, including:
the vehicle receives an acquisition instruction sent by a server;
and the vehicle performs data acquisition on the current position through a plurality of sensors of the vehicle according to the acquisition instruction and sends acquired drawing data to the server.
In a second aspect, the present invention provides a method for collecting map data, including:
the 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;
and the server receives the cartographic data which are sent by the vehicles and are collected by the sensors, and cartographic is carried out according to the cartographic data.
In a third aspect, the present invention provides a map data acquisition apparatus, including:
the receiving module is used for receiving the 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 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 indicating 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 are collected by a plurality of sensors;
and the processing module is used for drawing according to the drawing data.
In a fifth aspect, an embodiment of the present invention provides a computer readable storage medium having stored thereon a computer program which, when executed by a processor, implements the method of any one of the first or second aspects.
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.
The method, the device, the equipment and the storage medium for collecting map data provided by the embodiment of the invention are that the vehicle receives the collection instruction sent by the server; according to the method, the vehicle collects data at the current position according to the collection instruction, and sends collected drawing data to the server.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the disclosure and together with the description, serve to explain the principles of the disclosure.
FIG. 1 is an application scenario diagram according to an embodiment of the present invention;
FIG. 2 is a flowchart illustrating an embodiment of a method for collecting map data according to the present invention;
FIG. 3 is an interactive schematic diagram of an embodiment of a method for collecting map data according to the present invention;
FIG. 4 is a flowchart of another embodiment of a method for collecting map data according to the present invention;
FIG. 5 is a schematic structural diagram of an embodiment of a map data acquisition device according to 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 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 by the present invention.
Specific embodiments of the present disclosure have been shown by way of the above drawings and will be described in more detail below. These drawings and the written description are not intended to limit the scope of the disclosed concepts in any way, but rather to illustrate the disclosed concepts to those skilled in the art by reference to specific embodiments.
Detailed Description
Reference will now be made in detail to exemplary embodiments, examples of which are illustrated in the accompanying drawings. When the following description refers to the accompanying drawings, the same numbers in different drawings refer to the same or similar elements, unless otherwise indicated. The implementations described in the following exemplary examples are not representative of all implementations consistent with the present disclosure. Rather, they are merely examples of apparatus and methods consistent with some aspects of the present disclosure as detailed in the accompanying claims.
The terms "comprising" and "having" and any variations thereof in the description and claims of the invention and in the drawings are intended to cover a non-exclusive inclusion. For example, a process, method, system, article, or apparatus that comprises a list of steps or elements is not limited to only those listed steps or elements but may include other steps or elements not listed or inherent to such process, method, article, or apparatus.
First, an application scenario related to the present invention is described:
map data in this application refers to data collected for making a map.
The map data acquisition method provided by the embodiment of the invention is applied to the data acquisition scene required by map making so as to improve the acquisition efficiency, for example, the data acquisition is performed in an automatic driving scene. The collection method can be carried out by using a vehicle.
According to the method provided by the embodiment of the invention, the server and the plurality of vehicles interact, and the acquisition instruction is sent to instruct the vehicles to acquire the 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 vehicle can acquire drawing data by using a sensor with low cost, and has low acquisition cost. The vehicle can be a vehicle actually used by a user, so that effective utilization of resources is realized.
Fig. 1 is an application scenario diagram provided in 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 the vehicle, or a processor of the vehicle.
The electronic device 12 and the server 11 may be connected through a network, such as a 3G, 4G or wireless fidelity (Wireless Fidelity, WIFI) communication network.
The method provided by the invention can be realized by the electronic equipment 12 such as a processor executing corresponding software codes, or can be realized by the electronic equipment 12 executing corresponding software codes and simultaneously carrying out data interaction with the server 11, for example, the server executes partial operation to control the electronic equipment to execute the acquisition method of map data.
The following embodiments are each described with an electronic device as an execution subject. The following embodiments will be described with an example of an autonomous vehicle.
The technical scheme of the invention is described in detail below by specific examples. The following embodiments may be combined with each other, and some embodiments may not be repeated for the same or similar concepts or processes.
Fig. 2 is a flowchart of an embodiment of a method for collecting map data according to the present invention. As shown in fig. 2, the method provided in this embodiment includes:
Specifically, the server may send an acquisition instruction to a plurality of vehicles, after receiving the acquisition instruction sent by the server, the plurality of vehicles respectively perform data acquisition on the current position through a plurality of sensors of the vehicles, send acquired drawing data to the server, receive the drawing data sent by the plurality of vehicles, and perform comprehensive processing on the drawing data acquired by the plurality of vehicles through the plurality of sensors, and perform drawing according to the drawing data.
In the method of the embodiment, a vehicle receives an acquisition instruction sent by a server; according to the method, the vehicle collects data at the current position according to the collection instruction, and sends collected drawing data to the server.
Fig. 3 is an interactive schematic diagram of an embodiment of a method for collecting map data according to the present invention. As shown in fig. 3, the method provided in this embodiment includes:
step 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, a vehicle receives an acquisition instruction sent by a server;
step 303, the vehicle collects data of the current position through a plurality of sensors of the vehicle according to the collection instruction;
step 304, the vehicle sends the collected drawing data to a server;
and 305, the server receives drawing data which are sent by a plurality of vehicles and are collected by a plurality of sensors, and drawing is carried out according to the drawing data.
According to the method, the server and the vehicles interact, the acquisition instruction is sent, the vehicles are instructed to acquire data of the current position, the acquisition efficiency is improved, and the acquisition cost is reduced.
On the basis of the above embodiment, as shown in fig. 4, in order to improve the collection efficiency and the collection quality of the drawing data, the method of this embodiment further includes:
Specifically, in the process of collecting the data required by the drawing map, the signal intensity of the current position (periodically or at intervals of a preset period) can be detected in real time, for example, the signal intensity of the satellite signal and/or the signal intensity of the base station signal are included, and if the signal intensity of the satellite signal and/or the signal intensity of the base station signal meets the preset condition of the signal intensity, the drawing data of the current position is continuously collected.
If the signal intensity of the satellite signal and/or the base station signal does not meet the signal intensity preset condition, a first prompt message is sent to prompt the driver (or the safety officer) that the signal intensity of the satellite signal and/or the base station signal at the current position is insufficient, the driver is instructed to drive the vehicle to go to the place with good signal, then the driver returns to the current position in time, and data are collected at the current position again.
Further, the signals may also include a WIFI signal or other signals of the wireless network, which is not limited by the embodiment of the present invention.
Furthermore, the first prompt information can also indicate that the driver sends the collected drawing data to the server after driving the vehicle to the target position, and returns to the current position after sending the drawing data, so that the server can analyze the drawing data in time.
Further, after the current position is acquired, drawing can be performed 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 re-acquisition with a short time.
Further, before pushing the first prompt information, the destination position to which 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, pushing first prompt information, wherein the first prompt information is used for indicating a driver to return to the current position after driving the vehicle to the target position, and carrying out data acquisition again on the current position, and if the signal intensity of the target position meets the signal intensity preset condition, the acquisition condition does not meet the requirement once in the acquisition process, if the signal intensity does not meet the requirement, the acquisition can be carried out again or the acquisition can be carried out again 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 above embodiment, optionally, in order to further improve the collection efficiency, to avoid the problem of the collected data, as shown in fig. 4, before the data collection is performed on the current location, in this embodiment, the method further includes:
Specifically, before drawing data acquisition, current parameters of each sensor of the vehicle are firstly checked, wherein the sensors comprise a global positioning system (Global Positioning System, abbreviated as GPS) sensor, an inertial measurement unit (Inertial Measurement Unit, abbreviated as 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 comprise installation parameters and calibration parameters, the installation parameters comprise installation angles, the calibration parameters comprise coordinate conversion relations among different sensors, namely conversion relations of the installation angles among different sensors; if the installation parameters and/or the calibration parameters meet the parameter preset conditions, starting data acquisition; and if the installation parameters and/or the calibration parameters do not meet the parameter preset conditions, sending out second prompt information to prompt a driver to adjust the installation parameters and/or the calibration parameters of the sensor of the current vehicle.
Further, if the current parameters include the installation angle, the vehicle judges whether the current parameters of each sensor meet the parameter preset conditions, which can be realized specifically by the following modes:
the vehicle judges whether the deviation of the installation angles of the sensors belongs to a preset first deviation range;
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 about the installation angle of the sensor may be preset, and values of the first deviation ranges corresponding to different sensors may be different, and if it is detected that the deviation of the installation angle of at least one sensor does not belong to the first deviation range, the driver is prompted to readjust the installation angle of at least one sensor.
Further, if the current parameters include calibration parameters, the vehicle judges whether the current parameters of each sensor meet the parameter preset conditions, which can be realized specifically by the following modes:
the vehicle judges whether the deviation of the calibration parameters of each sensor belongs to a preset second deviation range;
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 a driver to recalibrate the at least one sensor.
Specifically, a second deviation range of the calibration parameters of the sensors may be preset, and values of the second deviation ranges corresponding to different sensors may be different, and if it is detected that the deviation of the calibration parameters of at least one sensor does not belong to the second deviation range, the driver is prompted to recalibrate the at least one sensor.
In this embodiment, before data acquisition is performed on the current position, current parameters of each sensor of the vehicle are checked to determine whether the current parameters of each sensor meet the parameter preset conditions, so that the acquisition efficiency is further improved, and the problem of acquired data is avoided.
On the basis of the above embodiment, optionally, in order to improve the collection efficiency and ensure the quality of the collected drawing data, as shown in fig. 4, the method of this embodiment may further include:
Specifically, in the process of drawing data acquisition, the integrity of drawing data acquired at the current position and/or the quality of the drawing data can be verified in real time, and if the quality and the integrity of the drawing data are found to not meet the preset requirements, if the integrity of the drawing data does not meet the preset integrity conditions, 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, the steps 406 and 402 may not be sequential.
Further, the integrity of the drawing data is detected, which can be achieved specifically by the following ways:
detecting whether the drawing data comprise data acquired by sensors required by drawing or not by a vehicle;
if the drawing data comprises data acquired by sensors required by drawing, the vehicle determines that the integrity of the drawing data meets the integrity preset condition;
if the drawing data does not include the data acquired by the sensors required for drawing, the vehicle determines that the integrity of the drawing data does not meet the integrity preset condition.
Specifically, if the drawing data includes data acquired by sensors required for drawing, the drawing data is complete, otherwise, the drawing data is incomplete and needs to be acquired 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 a driver to acquire the data again at the current position through the sensor which does not meet the corresponding preset quality requirement.
Specifically, in the process of drawing data acquisition, the quality of drawing data acquired at the current position can be verified in real time, and if the drawing data quality is found to not meet the corresponding preset quality requirement, for example, the drawing data acquired by at least one sensor does not meet the corresponding preset quality requirement, the drawing data of the current position is acquired again through the sensor; if the data collected by each sensor meets the corresponding preset quality requirement, drawing data of the next position are continuously collected. For example, it may also be determined whether the vehicle has traveled a preset number of turns in the current acquisition path when drawing data is acquired.
In practical application, whether the drawing data collected by each sensor meets the corresponding preset quality requirement is judged, and the drawing data can be realized in the following manner:
and judging whether the average acquisition frame rate or the instantaneous acquisition frame rate of each sensor is larger 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, wherein the quality indexes of some sensors are average acquisition frame rates, and some sensors are instantaneous acquisition frame rates.
Further, judging whether the drawing data collected by each sensor meets the corresponding preset quality requirement or not can also be realized by the following modes:
the vehicle judges whether the drawing data collected by each sensor meets the preset circle number condition.
Specifically, it can be determined whether the drawing data collected by each sensor reaches a preset number of turns, that is, whether the collected vehicle travels a preset number of turns on the collection path.
In addition, according to the acquisition requirements of different drawing data, the requirements of different dimensions can be met for the quality inspection of the drawing data, and the embodiment of the invention is not limited to this.
In this embodiment, once the quality or integrity of the data does not meet the requirement in the acquisition process, the data can be acquired again or supplemented as required immediately, so that the problem that the data is insufficient or the quality does not reach the standard after the data is acquired and returned can be avoided.
Fig. 5 is a block diagram of an embodiment of a map data acquisition device according to the present invention, as shown in fig. 5, where the map data acquisition device according to the present embodiment includes:
the receiving module 501 is 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 acquired drawing data to the server.
Optionally, the processing module 502 is further configured to:
detecting the signal intensity of the current position when the current position is subjected to data acquisition;
if the signal intensity of the current position is detected to 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 the target position, and carrying out data acquisition on 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, judging whether the current parameters of each sensor of the vehicle meet the parameter preset conditions or not;
if the current parameter of at least one sensor is detected not to meet the parameter preset 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 angles of the sensors belongs to a preset first deviation range or not;
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 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 a driver to recalibrate the at least one sensor.
Optionally, the processing module 502 is further configured to:
detecting the integrity of the acquired drawing data when the data acquisition is carried out on the current position;
if the integrity of the drawing data is detected to not meet the integrity preset condition, pushing third prompt information, wherein the third prompt information is used for prompting a driver to acquire data again at the current position.
Optionally, the processing module 502 is specifically configured to:
detecting whether the drawing data comprise data acquired by a sensor required by drawing;
if the drawing data comprise data acquired by sensors required for drawing, determining that the integrity of the drawing data meets the integrity preset condition;
and if the drawing data does not comprise the data acquired by the sensor required by drawing, determining that the integrity of the drawing data does not meet the integrity preset condition.
Optionally, the processing module 502 is further configured to:
if the integrity of the drawing data meets the integrity preset condition, judging whether the drawing data collected by each sensor meets the corresponding preset quality requirement or not;
if it is judged that the drawing data acquired by at least one sensor does not meet the corresponding preset quality requirement, fourth prompting information is pushed, and the fourth prompting information is used for prompting a driver to acquire the 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 larger than a preset acquisition frame rate.
Optionally, the processing module 502 is specifically configured to:
judging whether the drawing data collected by each sensor meet the preset circle number condition.
The device of the present embodiment may be used to execute the technical solution of the foregoing method embodiment, and its implementation principle and technical effects are similar, and are not described herein again.
Fig. 6 is a block diagram of another embodiment of a map data acquisition device according to the present invention, as shown in fig. 6, where the map data acquisition device according to the present embodiment includes:
a sending module 601, configured to send an acquisition instruction to a plurality of vehicles; the acquisition instruction is used for indicating a plurality of vehicles to acquire data of the current position;
the receiving module 602 is configured to receive cartographic data sent by a plurality of vehicles and collected by a plurality of sensors;
and the processing module 603 is used for drawing according to the drawing data.
The device of the present embodiment may be used to execute the technical solution of the foregoing method embodiment, and its implementation principle and technical effects are similar, and are not described herein again.
Fig. 7 is a block diagram of an embodiment of an electronic device according to the present invention, as shown in fig. 7, where the electronic device includes:
a processor 701, and a memory 702 for storing executable instructions of the processor 701.
Optionally, the method may further include: a communication interface 703 for communicating with other devices.
The components may communicate via 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 processor may refer to the foregoing method embodiment and will not be described herein.
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 by the present invention, as shown in fig. 8, the server includes:
a processor 801, and a memory 802 for storing executable instructions of the processor 801.
Optionally, the method may further include: a communication interface 803 for communicating with other devices.
The components may communicate via 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 processor 801 may refer to the foregoing method embodiment and will not be described herein.
The embodiment of the invention also provides a computer readable storage medium, on which a computer program is stored, the computer program when executed by a processor implements a method corresponding to the foregoing method embodiment, and the specific implementation process of the computer program may refer to the foregoing method embodiment, and its implementation principle and technical effect are similar, and will not be repeated herein.
Embodiments of the present application also provide a computer program product comprising computer program code which, when run on a computer, causes the computer to perform the method of collecting map data as performed by the electronic device in the embodiments described above.
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 adaptations, 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 is to be understood that the present disclosure is not limited to the precise arrangements and instrumentalities shown in the drawings, and that various modifications and changes may be effected 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 a server;
the vehicle collects data of the current position through a plurality of sensors of the vehicle according to the collection instruction, and sends collected drawing data to the server;
further comprises:
when data acquisition is carried out on the current position, the vehicle detects the signal intensity of the current position;
if the signal intensity of the current position does not meet the signal intensity preset condition, the vehicle pushes 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 carrying out data acquisition on the current position again, and the signal intensity of the target position meets the signal intensity preset condition; the first prompt information is also used for indicating that the driver sends the collected drawing data to the server after driving the vehicle to the target position, and returns to the current position after sending the collected drawing data.
2. The method of claim 1, wherein the vehicle detecting the signal strength of the current location comprises:
the vehicle detects the signal strength of the base station signal and/or the satellite signal of the current location.
3. The method according to claim 1 or 2, further comprising, prior to the data acquisition of the current location:
the vehicle judges whether the current parameters of each sensor meet the parameter preset conditions;
if the current parameters of the at least one sensor do not meet the parameter preset 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. A method according to claim 3, wherein if the current parameters include an installation angle, the vehicle determining whether the current parameters of the respective sensors satisfy a parameter preset condition comprises:
the vehicle judges whether the deviation of the installation angles of the sensors belongs to a preset first deviation range or not;
if the deviation of the installation angle of the 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 the at least one sensor.
5. A method according to claim 3, wherein if the current parameters include calibration parameters, the vehicle determining whether the current parameters of the respective sensors satisfy parameter preset conditions comprises:
the vehicle judges whether the deviation of the calibration parameters of each sensor belongs to a preset second deviation range;
if the deviation of the calibration parameters 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 according to claim 1 or 2, further comprising:
when the data acquisition is carried out on the current position, the vehicle detects the integrity of the acquired drawing data;
if the integrity of the drawing data does not meet the integrity 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. A method as defined in claim 6, wherein the vehicle detecting the integrity of the cartographic data comprises:
the vehicle detects whether the drawing data comprise data acquired by sensors required for drawing;
if the drawing data comprise data acquired by sensors required for drawing, the vehicle determines that the integrity of the drawing data meets the integrity preset condition;
and if the drawing data does not comprise the data acquired by the sensor required by drawing, the vehicle determines that the integrity of the drawing data does not meet the integrity preset condition.
8. The method as recited in claim 6, further comprising:
if the integrity of the drawing data meets the integrity preset condition, the vehicle judges whether the drawing data collected by each sensor meets the corresponding preset quality requirement or not;
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 the 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 mapping data collected by each sensor meets a corresponding preset quality requirement comprises:
the vehicle judges whether the average acquisition frame rate or the instantaneous acquisition frame rate of each sensor is larger than a preset acquisition frame rate.
10. The method of claim 8, wherein the vehicle determining whether mapping data collected by each sensor meets a corresponding preset quality requirement comprises:
and the vehicle judges whether the drawing data collected by each sensor meets the preset circle number condition.
11. The method of claim 1, wherein the step of determining the position of the substrate comprises,
the vehicle is a non-dedicated drawing 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 autonomous vehicle in actual use.
13. A map data acquisition apparatus, comprising:
the receiving module is used for receiving the 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 acquired drawing data to the server;
the processing module is also used for detecting the signal intensity of the current position when the current position is subjected to data acquisition; 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 carrying out data acquisition on the current position again, and the signal intensity of the target position meets the signal intensity preset condition; the first prompt information is also used for indicating that the driver sends the collected drawing data to the server after driving the vehicle to the target position, and returns to the current position after sending the collected drawing data.
14. A computer readable storage medium, on which a computer program is stored, characterized in that the computer program, when being executed by a processor, implements the method of any 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 |
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| CN113838360A (en) | 2021-12-24 |
| CN109859611B (en) | 2021-10-29 |
| CN109859611A (en) | 2019-06-07 |
| CN113793550A (en) | 2021-12-14 |
| CN113838359A (en) | 2021-12-24 |
| CN113838359B (en) | 2023-06-13 |
| CN113838360B (en) | 2023-06-13 |
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