CN108279428B - Map data evaluating device and system, data acquisition system, acquisition vehicle and acquisition base station - Google Patents
Map data evaluating device and system, data acquisition system, acquisition vehicle and acquisition base station Download PDFInfo
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- CN108279428B CN108279428B CN201710007925.2A CN201710007925A CN108279428B CN 108279428 B CN108279428 B CN 108279428B CN 201710007925 A CN201710007925 A CN 201710007925A CN 108279428 B CN108279428 B CN 108279428B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
- G01S19/45—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement
- G01S19/47—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement the supplementary measurement being an inertial measurement, e.g. tightly coupled inertial
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
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- 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
- G01C21/30—Map- or contour-matching
- G01C21/32—Structuring or formatting of map data
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Abstract
The invention discloses a map data evaluating device and system, a data acquisition system, an acquisition vehicle and an acquisition base station, wherein the map data evaluating device comprises: the data acquisition module is used for acquiring field collected data of the automatic driving map in real time through a mobile network; the analysis and judgment module is connected with the data acquisition module and is used for analyzing and judging whether the field collected data of the automatic driving map is missing or not and outputting an analysis result; the quality evaluation module is used for carrying out panoramic image quality inspection and outputting an inspection result; and the registration precision calculation module is used for analyzing the point cloud tracks of the panoramic camera and the laser aiming at the laser scanning original data and the panoramic camera original data, detecting the registration precision of the laser scanning data and the panoramic image data based on mutual information and outputting a registration error. Therefore, the method and the device can evaluate the field collected data quality in time, and improve the collection quality and the production efficiency of the map data.
Description
Technical Field
The invention relates to the field of map data acquisition, in particular to an automatic driving map data evaluation system, a map data evaluation device, an automatic driving map data acquisition system, an acquisition vehicle and an acquisition base station.
Background
The automatic driving map is an indispensable important supporting technology for automatic driving, field data acquisition of a multi-sensor integrated mobile acquisition vehicle is a core channel for acquiring automatic driving map data, and is also one of important links for producing and manufacturing the map. As the development of the automatic driving technology is more and more rapid, the high-precision map is required to be matured rapidly so as to provide more accurate and fresh map data.
The core channel for acquiring the map data of the automatic driving is to collect the field data by a multi-sensor integrated mobile collection vehicle, for example, a laser scanner, a panoramic camera, combined navigation (inertial navigation + GPS), a odometer (DMI) and other various measuring devices are carried on the mobile collection vehicle, so that the complex field data collection system comprises a plurality of modules such as a combined sensor, a mechanical structure, electronic and electrical, data communication and storage and the like, and is easily influenced by the device, collection personnel and the external complex environment, thereby reducing the quality and efficiency of data collection.
However, in the actual acquisition process, the inventors of the present invention found that: the existing automatic driving map field collected data quality inspection is carried out after data collection is finished, and data quality evaluation inspection is finished for hours or even days after a field collected task is finished due to the reasons of various field collected data, large data quantity, complex data preprocessing process and the like. The data quality evaluation and inspection can be finished only after the field collection task is finished for hours or even days, and at the moment, if the quality problem is found, data re-collection or complementary collection can be carried out at a high cost, so that the field data collection efficiency of the automatic driving map is seriously influenced, and high waste of manpower and material resources is brought.
In addition, the inventors of the present invention have also found that: the automatic driving map field data acquisition vehicle has insufficient robustness and poor timeliness of data quality inspection, so that a real-time effective data quality evaluation scheme is urgently needed to realize real-time inspection and problem feedback of acquired data quality.
Disclosure of Invention
In view of this, the invention provides a map data evaluating system, an field data collecting system, a collecting vehicle and a collecting base station, which can evaluate the quality of field collected data in time and improve the collecting quality and production efficiency of map data.
The map data evaluating device disclosed by the invention comprises: the data acquisition module is used for acquiring field collected data of the automatic driving map in real time through a mobile network; the automatic driving map field collected data comprises collected base station data, laser real-time track data, panoramic camera real-time track data, combined navigation data, odometer data, laser scanning original data and panoramic camera original data; the analysis and judgment module is connected with the data acquisition module and is used for analyzing and judging whether the field work acquisition data of the automatic driving map is missing or not and outputting an analysis result; the quality evaluation module is used for carrying out panoramic image quality inspection and outputting an inspection result; and the registration precision calculation module is used for analyzing the point cloud tracks of the panoramic camera and the laser point cloud according to the laser scanning original data and the panoramic camera original data, detecting the registration precision of the laser scanning data and the panoramic image data based on mutual information and outputting a registration error.
In addition, the automatic driving map data acquisition vehicle disclosed by the invention is provided with: the vehicle-mounted measuring and sensing system is used for acquiring real-time vehicle position information and mapping geographic information data; the networking equipment is used for building a vehicle-mounted network and a communication environment and establishing communication connection; the vehicle-mounted computer is provided with a cooperative acquisition operation platform, is connected with the vehicle-mounted measurement sensing system and the networking equipment, and is used for acquiring the state information of the vehicle-mounted measurement sensing system and receiving, analyzing and storing the data acquired by the vehicle-mounted measurement sensing system; the cooperative acquisition operation platform is used for accessing a network through the networking equipment, controlling the cooperative operation of the vehicle-mounted measurement sensing system, acquiring data acquired by the vehicle-mounted measurement sensing system, monitoring the real-time position information of the vehicle, judging whether the vehicle exceeds an effective measurement range, alarming when exceeding the effective measurement range, and recording an out-of-range alarm event.
In addition, the mobile acquisition base station disclosed by the invention comprises: the measuring base station is erected in the area to be collected and used for providing base station GPS data for the collecting vehicle; the portable acquisition terminal at the base station side is used for operating the cooperative acquisition operation platform at the base station side and acquiring the acquisition data and the state information of the acquisition vehicle and the base station in real time through a network protocol; the base station side cooperative acquisition operation platform is used for realizing account connection and data communication with cooperative acquisition operation platforms on other terminals through a mobile network; and the electronic fence is set according to the position of the base station and the effective coverage range, and early warning, alarming and event recording are carried out on the condition of criticality or border crossing in the electronic fence.
Correspondingly, the field data acquisition system disclosed by the invention comprises: the automatic driving map data acquisition vehicle and the mobile acquisition base station disclosed by any one of the technical schemes are characterized in that the acquisition vehicle is in communication connection with the mobile acquisition base station through a mobile internet, and collaborative acquisition operation platforms respectively running on the acquisition vehicle side and the base station side are connected through an account system, and perform data transmission and information communication to realize collaborative acquisition of the field data of the automatic driving map.
Based on the technical schemes, the map data evaluating system disclosed by the invention comprises: the map data evaluating device and the field data acquisition system disclosed by any technical scheme; the automatic driving map data acquisition vehicle and the mobile acquisition base station are connected with the map data evaluation device through a mobile internet, the acquisition vehicle transmits laser real-time track data, panoramic camera real-time track data, combined navigation data and odometer data to the map data evaluation device in real time in the field data acquisition process, and transmits laser scanning original data and panoramic camera original data to the map data evaluation device according to a certain sampling frequency. Meanwhile, the base station side acquisition terminal transmits the GPS data of the base station to the map data evaluating device in real time. And the map data evaluating device generates an evaluation analysis report and feeds the evaluation analysis report back to the field data acquisition system.
Compared with the prior art, the technical scheme disclosed by the invention has the following advantages:
in the technical scheme, by building a mobile internet environment, the collection vehicle and the measuring base station transmit field collection data to the map data evaluation device in real time, the computer cluster is utilized to evaluate, calculate and quickly analyze the contents such as camera track, laser track, panoramic imaging quality, laser and panoramic data registration accuracy and the like in real time, deep and fine real-time evaluation on the field collection data quality of the automatic driving map is realized, quality problems in field collection can be found and fed back in time, meanwhile, automatic laser point cloud data and panoramic image data registration accuracy inspection based on mutual information is used for carrying out real-time analysis and feedback on the data collection problems based on the network, so that quality detection problems required by the interior industry are completed in the field collection process in advance, a field data collector can find the problems in time, and the interior operation time is reduced, the production efficiency is improved. Meanwhile, the workload of retesting due to data quality problems is greatly reduced, and the loss caused by data quality abnormity is reduced to the minimum.
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The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the invention and not to limit the invention. In the drawings:
fig. 1 is a block diagram of a map data evaluation apparatus according to an embodiment of the present invention;
FIG. 2 is a block diagram of a field acquisition system according to an embodiment of the present invention;
FIG. 3 is a block diagram of the communication interface in an embodiment of the present invention;
FIG. 4 is a block diagram of a map data evaluation system according to an embodiment of the present invention;
FIG. 5 is a schematic diagram of a map data evaluation operation according to an embodiment of the present invention;
fig. 6 is a schematic processing flow diagram for map data evaluation according to an embodiment of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It should be noted that the embodiments and features of the embodiments may be combined with each other without conflict.
As used in the specification and in the claims, certain terms are used to refer to particular components. As one skilled in the art will appreciate, manufacturers may refer to a component by different names. This specification and claims do not intend to distinguish between components that differ in name but not function. In the following description and in the claims, the terms "include" and "comprise" are used in an open-ended fashion, and thus should be interpreted to mean "include, but not limited to. "substantially" means within an acceptable error range, and a person skilled in the art can solve the technical problem within a certain error range to substantially achieve the technical effect. The following description is of the preferred embodiment for carrying out the invention, and is made for the purpose of illustrating the general principles of the invention and not for the purpose of limiting the scope of the invention. The scope of the present invention is defined by the appended claims.
Referring to fig. 1, which is a block diagram of a map data evaluation apparatus according to an embodiment of the present invention, the map data evaluation apparatus includes: a data acquisition module 300, an analysis and judgment module 301, a quality evaluation module 302 and a registration precision calculation module 303, wherein:
the data acquisition module 300 is used for acquiring field collection data of the automatic driving map in real time through a mobile network; the automatic driving map field collected data comprises collected base station data, laser real-time track data, panoramic camera real-time track data, combined navigation data, odometer data, laser scanning original data and panoramic camera original data. The analysis and judgment module 301 is connected to the data acquisition module 300, and is configured to analyze and judge whether the field collected data of the automatic driving map is missing, and output an analysis result. The quality evaluating module 302 is connected to the data acquiring module 300, and is configured to perform panoramic image quality inspection and output an inspection result. The registration accuracy calculation module 303 is connected to the data acquisition module 300, and is configured to perform trajectory analysis of the panoramic camera and the laser point cloud with respect to the laser scanning raw data and the panoramic camera raw data, detect registration accuracy of the laser scanning data and the panoramic image data based on mutual information, and output a registration error.
As an optional implementation manner, the map data evaluation device further includes a feedback modification module 304, and the feedback modification module 304 is connected to the analysis and judgment module 301, the quality evaluation module 302, and the registration accuracy check module 303, and generates and outputs an evaluation analysis report according to an evaluation result of each module.
Optionally, based on any one of the foregoing embodiments, the analysis and determination module may further include: first analysis element, second analysis element and third analysis element, wherein:
the first analysis unit is used for analyzing the real-time track of the panoramic camera, analyzing track data of the panoramic camera and the frame number of the panoramic image according to the set panoramic acquisition interval to judge whether the panoramic image is missed in shooting or not and outputting a judgment result;
the second analysis unit is used for analyzing the real-time track of the panoramic camera, judging whether the problem of data acquisition range loss exists or not by combining an acquisition route in the mission planning, and outputting a judgment result;
the third analysis unit is used for analyzing the real-time laser track, judging whether data acquisition range loss exists or not by combining an acquisition route in the mission planning, and outputting a judgment result.
Optionally, based on any one of the foregoing embodiments, the quality evaluation module may further include: the image splicing unit is used for splicing panoramic images, the definition checking unit is used for checking the spliced panoramic images and judging whether the spliced images are clear or not, and the quantitative evaluating unit is used for calculating a color histogram of the panoramic images and quantitatively evaluating the exposure condition of the images.
Optionally, based on any one of the foregoing embodiments, the registration accuracy calculation module may further include: the device comprises a first calculating unit, a second calculating unit, a conversion unit and a registration precision detection unit, wherein:
the first resolving unit is used for performing close-coupling resolving on the base station data, the vehicle-mounted integrated navigation data and the odometer data to obtain accurately acquired vehicle track data;
the second resolving unit is used for resolving the laser scanning original data by combining the accurately acquired vehicle track data and the external calibration parameters of the laser scanner to obtain laser point cloud under a WGS84 three-dimensional projection coordinate system;
the conversion unit is used for combining the accurately acquired vehicle track data with the external calibration parameters of the panoramic camera to obtain the pose parameters of the panoramic image in the WGS84 three-dimensional projection coordinate system and calculating a point cloud depth map corresponding to the laser point cloud according to the pose parameters of the panoramic image;
the registration precision detection unit is used for detecting the registration condition between the point cloud depth map corresponding to the laser point cloud and the panoramic image by taking the mutual information as similarity measurement, and when the mutual information value of the registration of the point cloud depth map and the panoramic image is smaller than a preset threshold value, the registration precision of the laser scanning data and the panoramic image data does not meet the requirement.
In this embodiment, the registration condition of the panoramic image and the corresponding depth map is evaluated according to the mutual information value of the point cloud depth map and the panoramic image, that is, the registration accuracy of the laser scanning data and the panoramic image data is checked.
Referring to fig. 2, an embodiment of the present invention provides a field data acquisition system, including: the system comprises at least one automatic driving map data acquisition vehicle and a mobile acquisition base station, wherein the acquisition vehicle is in communication connection with the mobile acquisition base station through a mobile internet, and collaborative acquisition operation platforms respectively running on the acquisition vehicle side and the base station side are connected through an account system and are used for data transmission and information communication, so that collaborative acquisition of field data of the automatic driving map is realized.
In addition, the embodiment of the present invention further provides a map data collecting vehicle, which is configured with a vehicle-mounted measuring and sensing system 100, a networking device 105, a collaborative collecting operation platform 121, and a vehicle-mounted computer 120, wherein the vehicle-mounted measuring and sensing system 100 is configured to acquire vehicle real-time position information and survey and draw geographic information data. The networking device 105 is used to build a vehicle network and a communication environment, and to establish a communication connection. The vehicle-mounted computer 120 is configured with a cooperative acquisition operation platform 121, connected to and controlling the vehicle-mounted measurement sensing system and the networking device, and further configured to acquire state information of the vehicle-mounted measurement sensing system and receive, analyze and store data acquired by the vehicle-mounted measurement sensing system. The cooperative acquisition operation platform 121 is connected with the vehicle-mounted measurement sensing system 100, the networking device 105 and the vehicle-mounted computer 120, and is used for accessing a network through the networking device, controlling the vehicle-mounted measurement sensing system to cooperatively operate and acquiring data acquired by the vehicle-mounted measurement sensing system, monitoring real-time position information of a vehicle, judging whether the vehicle exceeds an effective measurement range, alarming when the vehicle exceeds the effective measurement range, and recording an out-of-range alarm event.
As an optional implementation manner, the networking device 105 may further include a WIFI router and a communication interface, where: the WIFI router is used for converting the wired network signal and the mobile network signal into a wireless network signal and sending the received data to a destination address.
As shown in fig. 3, the communication interface may include: the routing switch module 305, the network interface module 310, the wireless module 315, the serial/network interface module 320, the USB interface/network interface module 325, the serial module 330, the USB interface module 335, and the like are respectively configured to receive or transmit data based on a corresponding communication protocol. The sensors of different interfaces are converted and then are uniformly connected to the network, and information interaction is carried out on the sensors, the cooperative acquisition operation platform 121, the vehicle-mounted computer 120 and the like in real time. Most sensors support the network interface or access the network interface after interface conversion, the communication interface of the embodiment networks all interfaces, and the network interface communication based on the TCP/IP protocol has high transmission rate, high data reliability, good expandability and can conveniently access new equipment at any time.
It should be noted that, in the foregoing embodiment, the route switching module sends the received data to the destination address; the network port module receives or sends data by utilizing a TCP/IP communication protocol; the wireless module receives or transmits data by utilizing a wireless communication protocol; the serial port/network port conversion module converts data formed according to a serial port communication protocol into data formed according to a TCP/IP communication protocol or converts data formed according to the TCP/IP communication protocol into data formed according to the serial port communication protocol; the serial port module sends or receives data according to a serial port communication protocol; the USB/internet port conversion module converts data formed according to a USB communication protocol into data formed according to a TCP/IP communication protocol or converts data formed according to the TCP/IP communication protocol into data formed according to the USB communication protocol; the USB interface receives or transmits data according to a USB communication protocol.
In an optional embodiment, the vehicle-mounted measurement sensing system may further include: the vehicle-mounted laser scanner, the panoramic camera, the combined navigation equipment and other measuring sensors are respectively connected with the vehicle-mounted computer and are respectively used for acquiring laser point cloud data, panoramic image data, combined navigation data and vehicle real-time information. The integrated navigation equipment comprises an on-vehicle GPS and an inertial measurement system.
As an optional implementation, the vehicle-mounted computer 120 may further include a control system 122, and the control system 125 is connected to the vehicle-mounted measurement sensing system and configured to generate a time-space synchronization control signal, where the synchronization control signal is used to record real-time-space information and drive the vehicle-mounted measurement sensing system to perform time-space synchronization data acquisition, and perform time-space fusion processing on data acquired by the vehicle-mounted measurement sensing system. The sensing and collecting system 100 is further used for collecting mapping geographic information data and vehicle real-time information according to the triggering of the control system synchronous control signal in the collecting operation.
As an optional implementation manner, the collaborative capturing work platform may further include: the system comprises an account login system, a data module, a cooperation module and a monitoring module. Wherein: the account login system is used for logging in the collaborative acquisition operation platform, the data module is used for storing map base map data which are updated regularly, and the collaboration module is used for collaboratively operating with the collaborative operation platforms of other terminals to carry out data transmission and information sharing. The monitoring module is used for monitoring the real-time position information of the vehicle according to the information acquired by the cooperation module, judging whether the vehicle exceeds an effective measurement range and judging the abnormal operation condition, and carrying out early warning, alarming and event recording.
As an alternative embodiment, the vehicle mount computer 120 can further include a networking module 124 and a display module 123, wherein: the networking module 124 is used for accessing the internet through a networking device, and performing communication connection with other terminals logging in the cooperative acquisition operation platform through the account login system of the cooperative acquisition operation platform. The display module 123 is configured to display an interface of the account login system to log in the collaborative acquisition operation platform, and is configured to display, on the map base map, location information, task execution conditions, data acquisition states of other terminals logging in the collaborative acquisition system, and a coverage of effective measurement.
Correspondingly, the embodiment of the invention also provides a mobile acquisition base station, which comprises: the system comprises a GPS measuring base station 200 and a base station side portable acquisition terminal 205, wherein the GPS measuring base station 200 is erected in an area to be acquired and used for providing base station GPS data for an acquisition vehicle. And obtaining high-precision differential GPS data according to the GPS data of the measuring base station and the vehicle-mounted GPS data.
The portable collection terminal 205 at the base station side is provided with a collaborative collection operation platform 210, and the collaborative collection operation platform 210 is used for realizing account connection and data communication with collaborative collection operation platforms on other terminals through a mobile network, setting an electronic fence according to the position of the base station and an effective coverage range, and performing early warning, alarming and event recording on the critical or out-of-range condition of the electronic fence. The base station side acquisition terminal 205 is configured to operate the base station side cooperative acquisition operation platform 210, and acquire acquisition data and state information of the acquisition vehicle and the base station in real time through a network protocol.
It should be noted that any of the above-mentioned collection vehicles and any of the measurement base stations may form an field data collection system, wherein the cooperative collection operation platform may be used to invoke a map base map and display the location information, task execution condition, data collection status and effective coverage area of the base station of each platform login terminal on the map base map in real time, and perform early warning, alarm and event recording on the out-of-range event beyond the effective measurement area.
Optionally, the platform login terminals perform text or voice communication through the cooperative acquisition operation platform, so that real-time information sharing between the acquisition vehicle and the base station and cooperative propulsion of the acquisition operation flow are realized.
Here, the mobile internet may use a 4G communication network as an example, and further describes the field data acquisition system:
in this embodiment, the automatic driving map data field acquisition system establishes a 4G network through the vehicle-mounted WIFI router to realize information sharing and collaborative operation between the base station and the acquisition workshop. The vehicle-mounted computer is connected with the vehicle-mounted measuring sensor through a kilomega network port or a USB3.0 interface and acquires real-time acquisition data and state information of the sensor; the base station adopts an intelligent mobile phone as a portable acquisition terminal, and acquires the acquisition data and the state information of the GPS of the base station in real time through a network protocol. The vehicle-mounted computer and the base station acquisition terminal realize information sharing between the vehicle-mounted computer and the base station acquisition terminal through a 4G network, display the position information, the task execution condition, the data acquisition state and the base station coverage range of the other side in real time in respective cooperative acquisition platforms, and give timely early warning, alarming and event recording to critical or abnormal conditions.
The following example of the field data collection process is as follows:
1) carry on in the collection car multiple measuring transducer such as laser scanner, panoramic camera in order to realize the collection of survey and drawing geographic information data, and GPS measures the base station and erects in waiting to gather the region, provides basic station GPS data for the collection car. The GPS base station has a certain effective coverage area, and the acquisition vehicle can only work in the effective coverage area of the base station to ensure the accuracy of data acquisition. The vehicle-mounted portable computer is connected with the vehicle-mounted measuring sensor through a kilomega network port or a USB3.0 interface and acquires real-time acquisition data and state information of the sensor; the GPS base station mobile phone acquisition terminal acquires the acquisition data and the state information of the base station GPS in real time through a network protocol. The vehicle-mounted portable computer and the base station mobile phone acquisition terminal respectively operate a collaborative acquisition platform, and the vehicle-mounted portable computer and the base station mobile phone acquisition terminal realize account connection and data communication through a 4G network;
2) the acquisition vehicle-end collaborative acquisition platform uses the off-line map data as a base map, and the following contents are visualized on the map:
A. a base station status;
B. collecting the real-time position of the vehicle;
C. the base station position is used for drawing a circle with the coverage range as the radius;
D. forming an electronic fence by using the position and the coverage range of the base station, and carrying out early warning, alarming and event recording on critical or out-of-range conditions;
E. the design location of the next base station and its coverage.
3) The base station mobile phone terminal collaborative acquisition platform uses a network map as a base map, and the following contents are visualized on the map:
A. collecting the state of the vehicle;
A. the position of the base station, and draw the circle taking the coverage as the radius with the position;
B. forming an electronic fence by using the position and the coverage range of the base station, and carrying out early warning, alarming and event recording on critical or out-of-range conditions;
D. collecting the real-time position of the vehicle;
E. the design location of the next base station and its coverage.
4) The collection vehicle operator and the base station operator can perform text or voice communication through the two ends of the collection vehicle and the base station operator in cooperation with the collection platform.
It can be seen from the above embodiments that the automatic driving map data acquisition collaborative operation system, the acquisition vehicle, and the base station disclosed by the present invention realize information sharing between the two through respective acquisition terminals via a mobile network, display the position information, task execution condition, data acquisition state, and base station coverage of the other party in respective collaborative acquisition platforms, and give timely early warning, alarm, and event record to critical or abnormal conditions. Therefore, a cooperative operation system between the automatic driving map data acquisition vehicle and the GPS base station is constructed, effective communication and efficient operation of the acquisition system are realized, and real-time and intuitive information sharing, efficient communication and cooperative promotion of a working process between the automatic driving map data acquisition vehicle and the GPS base station are realized through a cooperative acquisition operation platform. Therefore, the automatic driving map data acquisition collaborative operation system disclosed by each embodiment effectively reduces the labor burden, optimizes the operation flow and improves the efficiency and quality of field data acquisition.
Based on the inventive concepts of the above embodiments, an embodiment of the present invention further provides a cooperative map data collection method, where the method employs the cooperative automatic driving map data collection system of any of the above embodiments, and the cooperative map data collection method includes:
after the mobile acquisition measurement base station is laid, the cooperative acquisition operation platform is operated on the acquisition vehicle side and the base station side respectively, and communication connection is carried out through an account login system.
And at the acquisition vehicle end, calling a map base map through the cooperative acquisition operation platform, and displaying the state of the base station, the real-time position of the acquisition vehicle, the position of the base station, an electronic fence formed by the position and the coverage range of the base station, and the design position and the coverage range of the next base station on the map base map. And after the acquisition vehicle end receives the signal that the base station starts to work normally, the acquisition vehicle end starts to carry out data acquisition formally. And carrying out early warning, alarming and event recording on critical or out-of-range conditions.
And on the base station side, a base station acquisition terminal runs a collaborative acquisition operation platform, calls a map base map, displays an acquisition state of an acquisition vehicle, a real-time position of the acquisition vehicle, a position of the base station, an electronic fence formed by the position and a coverage range of the base station, a design position and a coverage range of a next base station, and performs early warning, alarming and event recording on critical or out-of-range conditions. And when receiving the information of finishing the collection task at the collection vehicle side, transferring the base station.
It can be seen from the above embodiments that the automatic driving map data acquisition collaborative operation method disclosed by the present invention realizes information sharing between the two through the mobile network by the respective acquisition terminals, displays the position information, task execution condition, data acquisition state and base station coverage of the other party in the respective collaborative acquisition platforms, and gives timely early warning, alarm and event record to critical or abnormal conditions. Therefore, a cooperative operation system between the automatic driving map data acquisition vehicle and the GPS base station is constructed, effective communication and efficient operation of the acquisition system are realized, and real-time and intuitive information sharing, efficient communication and cooperative promotion of a working process between the automatic driving map data acquisition vehicle and the GPS base station are realized through a cooperative acquisition operation platform. Therefore, the automatic driving map data acquisition collaborative operation system disclosed by each embodiment effectively reduces the labor burden, optimizes the operation flow and improves the efficiency and quality of field data acquisition.
Referring to fig. 4, which is a block diagram of a map data evaluation system according to an embodiment of the present invention, the map data evaluation system includes: the map data evaluating device provided by any one of the preceding embodiments and the field data collecting system provided by any one of the preceding embodiments.
The data evaluation device is provided with a computer cluster, the automatic driving map data acquisition vehicle and the mobile acquisition and measurement base station are connected with the computer cluster of the map data evaluation device through a mobile internet, the acquisition vehicle transmits laser real-time track data, panoramic camera real-time track data, combined navigation data and odometer data to the map data evaluation device in real time in the field data acquisition process, and transmits laser scanning original data and panoramic camera original data to the map data evaluation device according to a certain sampling frequency. Meanwhile, the base station side acquisition terminal transmits the GPS data of the base station to the map data evaluating device in real time.
And the map data evaluating device generates an evaluation analysis report and feeds the evaluation analysis report back to the field data acquisition system.
As an optional implementation manner, the map data evaluation system may further include:
and the automatic driving map data acquisition vehicle and/or the mobile acquisition and measurement base station are further used for searching problems and judging whether the problem data needs to be rapidly retested or not according to the evaluation analysis report.
In the embodiments, based on the vehicle-mounted mobile internet communication and map data evaluation device, real-time and deep evaluation and problem feedback are performed on richer data to be evaluated including base station GPS data through the constructed quality real-time evaluation system of the automatically driven map field collected data, so that deep and comprehensive quality evaluation can be performed in the data collection process, quality detection problems required by interior work are completed in the field collection process in advance, interior work time is reduced, production efficiency is improved, workload of retesting due to data quality problems is greatly reduced, and loss caused by abnormal data quality is reduced to the minimum.
The following describes, with reference to the examples shown in fig. 5 and fig. 6, an evaluation process of the map data evaluation system:
fig. 5 is a schematic diagram of a map data evaluation operation provided in this embodiment, and fig. 6 is a schematic diagram of a processing flow of the map data evaluation provided in this embodiment. In the embodiment, a computer cluster is built in an indoor data evaluation center in advance to form a map data evaluation device for automatically receiving, resolving and evaluating the field collected data of the driving map and evaluating the quality. In this embodiment, the automatic driving map field data acquisition vehicle carries a laser scanner, a panoramic camera, integrated navigation (vehicle-mounted GPS and inertial navigation), a odometer and other measurement sensors, the laser scanner, the panoramic camera and other devices are connected with the vehicle-mounted computer through a reinforced USB3.0 or gigabit network interface, and the acquired data is transmitted by the sensors and stored in the vehicle-mounted computer in real time. The automatic driving map field data acquisition vehicle is characterized in that a vehicle-mounted WIFI router is installed in the acquisition vehicle, a 4G SIM card of a telecom operator (mobile, telecom or Unicom) is inserted into the router, a vehicle-mounted computer is connected to the Internet through a 4G network of the vehicle-mounted WIFI, the vehicle-mounted computer is in stable and effective data communication connection with a data evaluation center through the 4G network, and during data acquisition of the automatic driving map field data acquisition vehicle, laser real-time track data, panoramic real-time camera track data, combined navigation data (GPS + IMU) and odometer data are transmitted to the data evaluation center in real time. The GPS base station mobile phone acquisition terminal can acquire base station GPS data in real time through a GPS equipment internal communication protocol, and transmits the base station original satellite observation data to the data evaluation center in real time through a 4G telecommunication network.
In the data acquisition process of the automatic driving map field data acquisition vehicle, laser scanning original data and panoramic camera original data are transmitted to a data evaluation center at a certain sampling frequency, the sampling frequency is determined according to the sensor data acquisition rate, the network data transmission rate and the data evaluation center calculation efficiency, and the completeness of data transmission and the smoothness of data calculation are guaranteed in principle. For example and without limitation: uploading 1 frame of panoramic image original data every 1km, and simultaneously uploading laser scanning original data which are 20m away from the shooting position of the panoramic image.
In the embodiment, the data evaluation center evaluates the real-time field acquisition data acquired by the mobile network, and calculates and evaluates the received field acquisition data of the automatic driving map, wherein the evaluation comprises the registration precision check of laser scanning data and panoramic image data based on mutual information, and the real-time analysis and feedback of the data evaluation center and the field acquisition personnel based on the network are carried out on the data acquisition problems. The calculation and evaluation process comprises the following steps:
s1: and analyzing the real-time track of the panoramic camera, and judging whether the panoramic image is missed according to a set panoramic acquisition interval of 15 meters, for example.
The missed shooting is to acquire shooting trigger information of the panoramic camera and record track points at the moment after the vehicle runs for 15 meters every time, however, the panoramic camera does not obtain a panoramic image due to shutter non-response or storage failure and the like, and therefore missed shooting of the panoramic image is formed. In the step, whether the panoramic image is missed or not can be judged by analyzing the track data of the panoramic camera and the frame number of the panoramic image.
S2: and analyzing the real-time track of the panoramic camera, and judging whether the problem of data acquisition range loss exists or not by combining the acquisition route in the task planning.
S3: and analyzing the real-time laser track, and judging whether the problem of data acquisition range loss exists or not by combining the acquisition route in the task planning.
The path to be acquired is formulated in the task planning, the real-time laser track represents the actual acquisition path, the tracks represented by the two broken lines are compared, and whether the data acquisition range is lost or not can be judged.
S4: panoramic camera imaging quality inspection, the process comprising the steps of:
s41: splicing the panoramic images;
s42: the data evaluation center checks the spliced panoramic image, checks whether the image is clear or not, and checks whether a camera lens is polluted by sundries or not;
in the step, the image definition can be checked through an image recognition tool to check the imaging quality, and a method for quantitatively evaluating the imaging quality of the image can also be adopted, such as: the evaluation indexes such as mean square error, peak signal-to-noise ratio, fuzzy coefficient, quality factors and the like can also be combined with the image definition and quantitative evaluation mode to evaluate the image quality so as to ensure the accuracy and reliability of the evaluation result.
S43: and calculating a color histogram of the panoramic image, and quantitatively evaluating the exposure condition of the image.
S5: the mutual information-based laser scanning data and panoramic image data registration precision inspection method comprises the following steps:
s51: carrying out close coupling calculation on base station GPS data, vehicle-mounted integrated navigation data (GPS + IMU) and odometer Data (DMI) to obtain accurate acquired vehicle track data;
s52: combining the accurate track and the external calibration parameters of the laser scanner, resolving the laser scanning original data to obtain laser point cloud under a WGS84 three-dimensional projection coordinate system;
s53: combining the accurate track and the external calibration parameters of the panoramic camera to obtain the pose parameters of the panoramic image in the WGS84 three-dimensional projection coordinate system, wherein the pose parameters comprise a rotation matrix RpAnd a translation vector tp；
S54: pose parameter R combined with panoramic imagepAnd tpCalculating a depth map corresponding to the laser point cloud, thereby converting a 3D-2D registration problem of registering the laser point cloud and the panoramic image into a 2D-2D registration problem of registering the point cloud depth map and the panoramic image, and using mutual information as similarity measurement for registration between the point cloud depth map and the panoramic image;
s55: if p is a point on the panoramic image, and q is a corresponding point of p in the depth map, the mutual information of the two points is:
I(p：q)＝H(p)+H(q)-H(p，q)
wherein, H (p) is the entropy of the panoramic image, H (q) is the entropy of the depth map, and H (p, q) is the joint entropy of the two. The registration condition of the panoramic image and the corresponding depth map is evaluated according to the mutual information value of the panoramic image and the panoramic image, namely, the registration accuracy of the laser scanning data and the panoramic image data is checked.
It should be noted that, regarding the mutual information-based registration accuracy check between the laser scanning data and the panoramic image data, the following three methods can be roughly adopted: 1) the method comprises the steps of checking the registration accuracy of laser and panoramic data based on control points, wherein the method depends on the existing control points; 2) carrying out automatic registration inspection based on the same-name local features of the laser and the panoramic image, wherein the method depends on the local point, line and surface features of the laser and the panoramic image; 3) based on registration of global information, the method converts laser point cloud into an intensity map or a depth map, takes mutual information or normalized mutual information as similarity measurement, and carries out global optimization registration on the laser point cloud and the panoramic image. In this embodiment, a global registration method based on mutual information is used to perform registration accuracy check on laser scanning data and panoramic image data.
S56: a mutual information threshold value for registering the panoramic image and the depth map can be set and is not limited to 1.0; if the mutual information value of the laser scanning data and the panoramic image data is lower than the threshold value, the registration accuracy of the laser scanning data and the panoramic image data does not meet the requirement;
s57: the steps are executed on the laser scanning data and the panoramic image data acquired by each sampling;
s6: and if any one of the inspection projects in the previous step does not meet the quality requirement, the data evaluation center forms an evaluation analysis report and feeds the problem and the analysis report back to field collection personnel in time.
S7: and searching for the problem to be solved by field collection personnel according to the feedback of the data evaluation center, and judging whether the problem data needs to be retested quickly according to specific conditions.
According to the embodiments, the map data evaluation device based on vehicle-mounted mobile internet communication and capable of being remotely arranged indoors evaluates richer data to be evaluated, including base station GPS data, and the map data evaluation device can provide stronger computing capability and realize deep and efficient quality evaluation of field collected data.
Further, the embodiment of the invention provides that a vehicle-mounted WIFI router is carried on an acquisition vehicle to build a mobile internet environment, an acquisition terminal of a measuring base station can acquire the measuring data of the base station in real time through a loaded cooperative acquisition platform, and is uploaded to a map data evaluating device such as an indoor data evaluating center through a mobile internet, and a computer cluster is utilized to evaluate and calculate the contents such as camera track, laser track, panoramic imaging quality, laser and panoramic data registration accuracy and the like in real time, the data is rapidly analyzed, thereby realizing the fine and real-time evaluation of the quality of the field collected data of the automatic driving map, finding and feeding back the quality problem in the field data collection in time, meanwhile, the registration precision of the automatic laser point cloud data and the panoramic image data based on mutual information is checked, and the data evaluation center and field collection personnel can analyze and feed back the data collection problem based on the network in real time.
To sum up, the map data evaluation system constructed by the embodiment of the invention is an automatic driving map field collected data quality real-time evaluation system, deep evaluation and problem feedback are carried out on field collected data quality in real time by utilizing a mobile internet and a computer cluster, deep and comprehensive quality evaluation can be carried out in the data collection process, quality detection problems required by interior work are completed in the field collection process in advance, a field data collector can find the problems in time, interior work time is reduced, and production efficiency is improved. Meanwhile, the problem is also prevented from being enlarged, the personnel and vehicle scheduling caused by data retest every other day is avoided, the base station is prevented from being re-arranged, the workload of retest caused by data quality problems is greatly reduced, and therefore the loss caused by data quality abnormity is reduced to the minimum.
As will be appreciated by one skilled in the art, embodiments of the present invention may be provided as a method, apparatus, or computer program product. Accordingly, the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present invention may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
While the foregoing specification illustrates and describes several particular embodiments of the invention, it is to be understood, as noted above, that the invention is not limited to the forms disclosed herein, but is not intended to be exhaustive of other embodiments and may be used in various other combinations, modifications, and environments and is capable of changes within the scope of the inventive concept as described herein, commensurate with the above teachings, or the skill or knowledge of the relevant art. And that modifications and variations may be effected by those skilled in the art without departing from the spirit and scope of the invention as defined by the appended claims.
Claims (9)
1. A map data evaluating apparatus, characterized by comprising:
the data acquisition module is used for acquiring field collection data of the automatic driving map in real time from the field data collection system through a mobile network in the field data collection process;
the analysis and judgment module is connected with the data acquisition module and is used for analyzing and judging whether the field work acquisition data of the automatic driving map is missing or not and outputting an analysis result;
the quality evaluation module is used for carrying out panoramic image quality inspection on the image data in the field collected data of the automatic driving map and outputting an inspection result;
the registration precision calculation module is used for analyzing a track of a panoramic camera and a laser point cloud according to laser scanning data and panoramic image data in the field collected data of the automatic driving map, detecting the registration precision of the laser scanning data and the panoramic image data based on mutual information and outputting a registration error;
and the feedback correction module is connected with the analysis judgment module, the quality evaluation module and the registration precision calculation module, generates and outputs an evaluation analysis report according to the evaluation result of each module, and feeds the evaluation analysis report back to the field data acquisition system, so that the field data acquisition system further searches for problems according to the evaluation analysis report and judges whether the problem data needs to be rapidly retested.
2. The map data evaluating apparatus according to claim 1, wherein the analysis and judgment module further comprises:
the first analysis unit is used for analyzing the real-time track of the panoramic camera, analyzing track data of the panoramic camera and the frame number of the panoramic image according to the set panoramic acquisition interval to judge whether the panoramic image is missed in shooting or not and outputting a judgment result;
the second analysis unit is used for analyzing the real-time track of the panoramic camera, judging whether the problem of data acquisition range loss exists or not by combining an acquisition route in the mission planning, and outputting a judgment result;
the third analysis unit is used for analyzing the real-time laser track, judging whether the data acquisition range is lost or not by combining the acquisition route in the mission planning, and outputting a judgment result;
and/or, the quality evaluating module further comprises:
the image splicing unit is used for splicing the panoramic image;
the definition checking unit is used for checking the spliced panoramic image and judging whether the spliced panoramic image is clear in imaging or not;
and the quantitative evaluation unit is used for calculating the color histogram of the panoramic image and quantitatively evaluating the exposure condition of the image.
3. The map data evaluating apparatus according to claim 1 or 2, wherein the registration accuracy calculating module further includes:
the first resolving unit is used for performing close-coupling resolving on the base station data, the vehicle-mounted integrated navigation data and the odometer data to obtain accurately acquired vehicle track data;
the second resolving unit is used for resolving the laser scanning data by combining the accurately acquired vehicle track data and the external calibration parameters of the laser scanner to obtain laser point cloud under a WGS84 three-dimensional projection coordinate system;
the conversion unit is used for combining the accurately acquired vehicle track data with the external calibration parameters of the panoramic camera to obtain the pose parameters of the panoramic image in a WGS84 three-dimensional projection coordinate system, and calculating a point cloud depth map corresponding to the laser point cloud according to the pose parameters of the panoramic image;
and the registration precision detection unit is used for detecting the registration condition between the point cloud depth map corresponding to the laser point cloud and the panoramic image by taking mutual information as similarity measurement, and when the mutual information value of the point cloud depth map and the panoramic image in registration is smaller than a preset threshold value, the registration precision of the laser scanning data and the panoramic image data does not meet the requirement.
4. An autonomous driving map data acquisition vehicle, characterized in that it is equipped with:
the vehicle-mounted measuring and sensing system is used for acquiring real-time vehicle position information and mapping geographic information data;
the networking equipment is used for building a vehicle-mounted network and a communication environment and establishing communication connection;
the vehicle-mounted computer is provided with a cooperative acquisition operation platform, is connected with the vehicle-mounted measurement sensing system and the networking equipment, and is used for acquiring the state information of the vehicle-mounted measurement sensing system and receiving, analyzing and storing the data acquired by the vehicle-mounted measurement sensing system; the cooperative acquisition operation platform is used for accessing a network through the networking equipment, controlling the cooperative operation of the vehicle-mounted measurement sensing system, acquiring data acquired by the vehicle-mounted measurement sensing system, monitoring the real-time position information of the vehicle, judging whether the vehicle exceeds an effective measurement range, alarming when exceeding the effective measurement range and recording an out-of-range alarm event;
the automatic driving map data acquisition vehicle is connected with the map data evaluation device through a mobile internet, and transmits laser real-time track data, panoramic camera real-time track data, combined navigation data and odometer data to the map data evaluation device in real time in the field data acquisition process of the acquisition vehicle, and transmits laser scanning data and panoramic image data to the map data evaluation device according to a certain sampling frequency.
5. The autonomous-driving map data collection vehicle of claim 4, wherein:
the networking device further comprises:
the vehicle-mounted WIFI router is used for converting the wired network signal and the mobile network signal into a wireless network signal and sending the received data to a destination address;
the communication interface comprises a route exchange module, a network port module, a serial port/network port conversion module, a serial port module, a USB/network port conversion module and/or a USB interface, and is respectively used for receiving or sending data based on a corresponding communication protocol;
and/or the presence of a gas in the gas,
the on-board measurement sensing system further comprises: the vehicle-mounted laser scanner, the panoramic camera and the combined navigation equipment are respectively connected with the vehicle-mounted computer and are respectively used for acquiring laser point cloud data, panoramic image data, combined navigation data and vehicle real-time information.
6. A mobile acquisition base station, comprising:
the measuring base station is erected in the area to be collected and used for providing base station GPS data for the collecting vehicle;
the base station side portable acquisition terminal is configured with a cooperative acquisition operation platform and used for operating the base station side cooperative acquisition operation platform and acquiring acquisition data and state information of an acquisition vehicle and a base station in real time through a network protocol; the base station side cooperative acquisition operation platform is used for realizing account connection and data communication with cooperative acquisition operation platforms on other terminals through a mobile network; the system comprises a base station, a wireless network and a wireless network, wherein the wireless network is used for setting an electronic fence according to the position of the base station and the effective coverage area, and carrying out early warning, alarming and event recording on the condition of criticality or border crossing of the electronic fence;
the mobile acquisition base station is connected with the map data evaluating device through a mobile internet, and the portable acquisition terminal at the base station side transmits GPS data of the base station to the map data evaluating device in real time.
7. A field data collection system, comprising: the automatic driving map data acquisition vehicle according to claim 4 or 5 and the mobile acquisition base station according to claim 6, wherein the acquisition vehicle is in communication connection with the mobile acquisition base station through a mobile internet, and collaborative acquisition operation platforms respectively running at the vehicle end and the base station side are connected through an account system, and perform data transmission and information communication to realize collaborative acquisition of field data of the automatic driving map.
8. A map data evaluation system, comprising:
the map data evaluating apparatus according to any one of claims 1 to 3 and the field data collecting system according to claim 7;
the automatic driving map data acquisition vehicle and the mobile acquisition base station are connected with the map data evaluation device through a mobile internet, the acquisition vehicle transmits laser real-time track data, panoramic camera real-time track data, combined navigation data and odometer data to the map data evaluation device in real time in the field data acquisition process, and transmits laser scanning data and panoramic image data to the map data evaluation device according to a certain sampling frequency; the portable acquisition terminal at the base station side transmits the GPS data of the base station to the map data evaluating device in real time;
and the map data evaluating device generates an evaluation analysis report and feeds the evaluation analysis report back to the field data acquisition system.
9. The map data evaluation system according to claim 8, further comprising:
and the automatic driving map data acquisition vehicle and/or the mobile acquisition base station are further used for searching problems and judging whether the problem data needs to be rapidly retested or not according to the evaluation analysis report.
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