CN110530398A - A kind of method and device of electronic map accuracy detection - Google Patents
A kind of method and device of electronic map accuracy detection Download PDFInfo
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- CN110530398A CN110530398A CN201910813796.5A CN201910813796A CN110530398A CN 110530398 A CN110530398 A CN 110530398A CN 201910813796 A CN201910813796 A CN 201910813796A CN 110530398 A CN110530398 A CN 110530398A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C25/00—Manufacturing, calibrating, cleaning, or repairing instruments or devices referred to in the other groups of this subclass
Abstract
Subject description discloses a kind of method and devices of electronic map accuracy detection, the image information of the available current time object to be detected by detection device acquisition of detection device in the method, according to the image information, determine relative position of the detection device between current time and the object to be detected, as the first relative position, detection device can determine geographical location locating for itself current time, and according to the geographical location, in preset electronic map, determine the detection device and the relative position of the object to be detected between current time, as the second relative position, according to first relative position and the second relative position, the precision for the object to be detected drawn in the electronic map is detected.Detection device treats test object and carries out Image Acquisition, and the process positioned to detection device itself is participated in without artificial, reduces human resources.And with the continuous traveling of detection device, realize the global detection for treating test object.
Description
Technical field
This specification is related to Map calibration technical field more particularly to a kind of method and dress of electronic map accuracy detection
It sets.
Background technique
Electronic map is an important foundation for implementing the business such as unmanned, unmanned dispatching, and in order to guarantee electronically
The accuracy of figure, it is ensured that these business, which are able to carry out, smoothly to be implemented, it usually needs is calibrated to electronic map.
The important link that calibration is electronic map calibration is carried out to the lane line of road in electronic map.Existing
Have in technology, is usually all the coordinate of setting position in practical lane line to be acquired by artificial mode, and determine in electronics
The coordinate of corresponding position on the lane line to match in map with the practical lane line, and then by comparing the two coordinates,
Realize the calibration to lane line in electronic map.
However in the prior art, this calibrating mode not only greatly improves the human cost of calibration, also,
Also it cannot achieve the overall situation calibration to entire lane line, to not can guarantee the accuracy of lane line in electronic map.
Summary of the invention
This specification provides a kind of method and device of electronic map accuracy detection, exists with the solution prior art of part
The above problem.
This specification adopts the following technical solutions:
Present description provides a kind of methods of electronic map accuracy detection, comprising:
Obtain the image information of the current time object to be detected acquired by detection device；
According to described image information, determine that the detection device is opposite between current time and the object to be detected
Position, as the first relative position；
Determine geographical location of the detection device locating for current time；
According to the geographical location, in preset electronic map, the detection device and the object to be detected are determined
Relative position between current time, as the second relative position；
It is described to be checked to what is drawn in the electronic map according to first relative position and second relative position
The precision for surveying object is detected.
Optionally, according to described image information, determine the detection device current time and the object to be detected it
Between relative position, specifically include:
According to described image information, determine the datum mark of the detection device described in current time to the object to be detected
Distance.
Optionally, according to the geographical location, in preset electronic map, determine the detection device with it is described to be checked
Relative position of the object between current time is surveyed, is specifically included:
According to the geographical location, the position locating in the electronic map of the detection device described in current time is determined
It sets, as position location；
According to the position location, determine in the electronic map detection device described in current time with it is described to be detected
The distance of object.
Optionally, the object to be detected includes: the lane line of road locating for the detection device.
Optionally, the image information for obtaining the current time object to be detected acquired by detection device, specifically includes:
Obtain the image information of at least two lane lines of current time acquired by the detection device.
Optionally, according to first relative position and second relative position, to what is drawn in the electronic map
The precision of the object to be detected is detected, and is specifically included:
For every lane line, according to the first relative position of the detection device and the lane line, and in the electricity
Second relative position of detection device described in sub- map and the lane line determines the corresponding position deviation of the lane line；
According to the corresponding position deviation of at least two lane lines, to described in being drawn in the electronic map at least two
The precision of lane line is detected.
Optionally, according to the corresponding position deviation of at least two lane lines, to the institute drawn in the electronic map
The precision for stating at least two lane lines is detected, and is specifically included:
Maximum position deviation is determined from the position deviation of at least two lane lines；
According to the maximum position deviation, to the precision of at least two lane lines described in being drawn in the electronic map
It is detected.
Present description provides a kind of devices of electronic map accuracy detection, comprising:
Module is obtained, for determining the image information of the current time object to be detected acquired by described device；
First determining module, for according to described image information, determine described device current time with it is described to be detected
Relative position between object, as the first relative position；
Position determination module, for determining geographical location of the described device locating for current time；
Second determining module, in preset electronic map, determining described device and institute according to the geographical location
Relative position of the object to be detected between current time is stated, as the second relative position；
Detection module is used for according to first relative position and second relative position, in the electronic map
The precision for the object to be detected drawn is detected.
Present description provides a kind of computer readable storage medium, the storage medium is stored with computer program, institute
State the method that above-mentioned electronic map accuracy detection is realized when computer program is executed by processor.
Present description provides a kind of detection device, including memory, processor and storage on a memory and can located
The computer program run on reason device, the processor realize the side of above-mentioned electronic map accuracy detection when executing described program
Method.
This specification use at least one above-mentioned technical solution can reach it is following the utility model has the advantages that
In the present specification, the image of the available current time object to be detected by detection device acquisition of detection device
Information determines relative position of the detection device between current time and the object to be detected according to the image information, as
First relative position, detection device can determine geographical location locating for itself current time, and according to the geographical location, pre-
If electronic map in, the detection device and the relative position of the object to be detected between current time are determined, as second
Relative position, and then according to first relative position and the second relative position, to the object to be detected drawn in the electronic map
Precision detected.
As can be seen that detection device, which treats test object, carries out Image Acquisition in from the above, and to detection device
The process itself positioned is participated in without artificial, is consumed when detecting to the precision of electronic map to greatly reduce
Human resources.Also, with the continuous traveling of detection device, the global detection for treating test object may be implemented, thus into
One step ensure that the accuracy detected to the precision of electronic map.
Detailed description of the invention
Attached drawing described herein is used to provide to further understand this specification, forms part of this specification,
The illustrative embodiments and their description of this specification do not constitute the improper restriction to this specification for explaining this specification.
In the accompanying drawings:
Fig. 1 is a kind of flow diagram of the method for electronic map accuracy detection that this specification provides；
Fig. 2A, 2B are the schematic diagram that accuracy detection is carried out to lane line on electronic map that this specification provides；
Fig. 3 is realized by carrying out Image Acquisition to left and right lane line on road to lane line precision for what this specification provided
The schematic diagram of detection；
Fig. 4 is that the detection device that this specification provides determines the synthesis result by the position deviation statistical chart determined
Schematic diagram；
Fig. 5 is a kind of schematic device for electronic map accuracy detection that this specification provides；
Fig. 6 is the detection device schematic diagram corresponding to Fig. 1 that this specification provides.
Specific embodiment
To keep the purposes, technical schemes and advantages of this specification clearer, it is embodied below in conjunction with this specification
This specification technical solution is clearly and completely described in example and corresponding attached drawing.Obviously, described embodiment is only this
Specification a part of the embodiment, instead of all the embodiments.The embodiment of base in this manual, ordinary skill people
Member's every other embodiment obtained without making creative work, belongs to the range of this specification protection.
Below in conjunction with attached drawing, the technical solution that each embodiment of this specification provides is described in detail.
Fig. 1 is a kind of flow diagram for the method for electronic map accuracy detection that this specification provides, specifically include with
Lower step:
S101: the image information of the current time object to be detected acquired by detection device is obtained.
In the present specification, test object can be treated by detection device carries out accuracy detection.Wherein, mentioned herein
Detection device can refer to the equipment that automobile, unmanned vehicle, robot etc. can advance.At least one can be set on the detection device
A image acquisition units (such as camera), and then by the image acquisition units of setting, acquire current time object to be detected
Image information.
Certainly, detection device mentioned herein is also possible to the equipment such as computer, server.The equipment such as computer, server can
With get the equipment such as automobile, unmanned vehicle, robot during traveling collected object to be detected image information, into
And according to the geographical location of the equipment such as these image informations and the automobile got, unmanned vehicle, robot, to electronic map
Precision is detected.For the convenience of description, below only by detection device be automobile, for the equipment such as unmanned vehicle, robot, to this
The method for the electronic map accuracy detection that specification provides is illustrated.
Object to be detected mentioned above can refer to that lane line, zebra stripes, specified building etc. need to carry out accuracy detection
Object.By carrying out accuracy detection to these objects to be detected, the fine degree of drawing electronic map can be determined.And it is
Convenient for description, below will only with lane line for object to be detected, electronic map accuracy detection that this specification is provided
Method is illustrated.When object to be detected is other situations, the mode that accuracy detection is carried out to it carries out precision with to lane line
The mode of detection is essentially identical, so not just being described in detail.
When carrying out accuracy detection to lane line, the image that the current time lane line can be acquired by detection device is believed
Breath.By taking detection device is automobile as an example, automobile in the process of moving, can be to practical vehicle corresponding on current time present position
The image information of diatom is acquired, and then in the follow-up process, by the image information, determines the automobile at current time
Relative position between lane line.
S102: according to described image information, determine the detection device between current time and the object to be detected
Relative position, as the first relative position.
After detection device collects the image information, the detection device and lane line can be determined by image analysis
Between relative position, as the first relative position.Wherein, determine that relative position is used between the two by image analysis
Concrete mode can have very much, for example, image point can be carried out to acquired image information by model trained in advance
Analysis, to determine the relative positional relationship between the detection device and lane line；For another example can be (such as double by multi-vision visual
Visually feel) mode, acquired image information is analyzed, it is opposite between the detection device and lane line to determine
Position.In the present specification, determine that mode used by the two relative position is existing routine side by image analysis
Formula does not just have been illustrated in detail herein.
In the present specification, detection device can acquire the image information of lane line in real time during the motion, so right
For each moment, detection device can by the moment collected lane line image information, to determine this
Relative position of the detection device at the moment between lane line.It for ease of description, below will be only to determining current time
Relative position between the detection device and lane line is illustrated.
Specifically, detection device be the image information is collected by image acquisition units, so, believed by the image
Breath, actually it is determined that the relative position of the lane line and the image acquisition units that go out.Therefore, lane line and the image are being determined
Behind the relative position of acquisition unit, can according to predefine image acquisition units and detection device on datum mark it is opposite
The relative position of lane line Yu the datum mark is determined in position, as the first relative position.Wherein, datum mark mentioned herein
It can be and be artificially directed to the point (central point of such as detection device) that the detection device is arranged, the point not necessarily one
It is actual, it can be a virtual point.In other words, which can be understood as being that the detection device is abstracted into energy
Enough indicate a point of the detection device, so, the relative position between lane line and the datum mark can be used to indicate that lane
Relative position between line and the detection device.Determine relative position between lane line and datum mark process can as Fig. 2A,
Shown in 2B.
Fig. 2A, 2B are the schematic diagram that accuracy detection is carried out to lane line on electronic map that this specification provides.
In fig. 2, automobile (i.e. detection device) can acquire the current time vapour by the image acquisition units of setting
The image information of lane line on road locating for vehicle.By carrying out image analysis to the image information, the lane line can be determined
To the distance l of the image acquisition units1(the two is indicated referred to herein as the distance between lane line and image acquisition units
Between relative position).Then, the image acquisition units measured in advance to the distance between datum mark d can be passed through1, really
Making the distance between lane line and the datum mark (i.e. the automobile) is L1=l1+d1.Here it can pass through distance L1Expression is worked as
Relative position between preceding moment lane line and the automobile, as the first relative position.
Above-mentioned example as can be seen that by way of by image analysis, the current time detection device can be determined
With the relative position between the lane line on road locating for the detection device, and then can be based on the relative position, to electronically
The lane line drawn in figure carries out accuracy detection.
S103: geographical location of the detection device locating for current time is determined.
Detection device can determine geographical location locating for current time by preset positioning method, referred to herein as
Geographical location be the actually located position of detection device, which can pass through longitude and latitude, space coordinate etc.
Form is indicated.And in the follow-up process, it is based on the geographical location, determines that the detection device is locating in electronic map
Position.Wherein, preset positioning method mentioned herein is conventional positioning method, such as global positioning system (Global
Positioning System, GPS), do not do specific restriction herein.
S104: according to the geographical location, in preset electronic map, determine the detection device with it is described to be detected
Relative position of the object between current time, as the second relative position.
, can be according to the geographical location after determining geographical location locating for detection device current time, determination is being worked as
The detection device of preceding moment, as position location, and then according to the position location, is determined the location of in electronic map
The relative position of the current time detection device and the lane line in the electronic map, as the second relative position.
It in the present specification, can be by geographical location locating for the detection device current time determined, as above-mentioned
Geographical location of the datum mark locating for current time can then be determined according to the geographical location of the datum mark electronically
The position of the current time detection device is as position location in figure.
The lane line for having each road is drawn in electronic map, so, it, can be further after determining the position location
When ground determines the detection device in electronic map in the position location, with the lane line on the road of place electronic map
Between relative position, as shown in Figure 2 B.
In fig. 2b, detection device determines the detection device by positioning to itself current time present position
Location A (i.e. the position location) in electronic map.Based on this, it can further determine that the detection device is located at location A
When, the distance between lane line of locating road L '1, distance L ' here1It can indicate that the detection is set in electronic map
The standby relative position between current time and lane line.
It can be seen that the first relative position that detection device is determined from above-mentioned Fig. 2A and Fig. 2 B to be used to show when current
The relative position between the detection device and the practical lane line of locating road is carved, and the second relative position is for indicating current
When inscribe, the relative position on the detection device and locating road between the lane line of drawing electronic map.So by should
First relative position and the second relative position are compared, and may be implemented to carry out the precision for the lane line drawn in electronic map
Detection.
S105: according to first relative position and second relative position, to the institute drawn in the electronic map
The precision for stating object to be detected is detected.
After determining above-mentioned first relative position and the second relative position, it can determine that the position between the two is inclined
Difference, and then according to the position deviation, the precision for the lane line drawn in the electronic map is detected.
Continue to use the example above, is determining distance L1With distance L '1Afterwards, the difference of the two: Δ L=L can be determined1-
L '1If, wherein the absolute value of Δ L is bigger, then shows to carry out the lane line of the detection device current time present position
It says, the physical location discrepancy of position and the lane line of the lane line that drawing electronic map goes out in electronic map is also bigger,
Therefore, the precision for the lane line drawn in electronic map is also lower, and if the absolute value of Δ L is smaller, show electronically
The discrepancy of the physical location of position of the lane line that figure is drawn out in electronic map and the lane line is also smaller, therefore, electronics
The precision for the lane line drawn in map is also higher.
In addition, in the present specification, Δ L can also be compared by detection device with preset deviation threshold, with true
Determine the lane line drawn in electronic map whether and actual lane line deviation it is larger.Wherein, it is somebody's turn to do if the absolute value of Δ L is less than
Deviation threshold can then determine that deviation is smaller between the lane line drawn in electronic map and actual lane line, that is, electronically
The precision for the lane line drawn in figure is lower, and if the absolute value of Δ L can determine electronically greater than the deviation threshold
Deviation is larger between the lane line and actual lane line drawn in figure, that is, the precision for the lane line drawn in electronic map
It is higher.
Since detection device is during traveling, the image information of lane line on locating road can be acquired in real time, and same
When the location of itself is positioned in real time, so, detection device can carry out the everywhere lane line on road smart
Degree detection realizes the global detection to lane line in this way, to be conducive to carry out the lane line drawn in electronic map
It is perfect.Also, aforesaid way can effectively save human resources, thus to the work people for carrying out accuracy detection to electronic map
Member brings great convenience.
It should be noted that in practical applications, a plurality of lane line is often equipped on road, so in the present specification,
Detection device in practical traveling process, can also by the image acquisition units of setting acquire current time locating for road up to
The image information of few two lane lines.Then, it can be directed to every lane line, according to the current time collected lane line
Image information determines the relative position between the detection device and the lane line as the first relative position.Meanwhile according to true
The geographical location that the detection device made is presently in, can determine the current time detection device in electronic map with
Relative position between the lane line of drawing electronic map is as the second relative position.Pass through first relative position and second
Relative position can determine the corresponding position deviation of the lane line, and then each lane line pair determined according to current time
The position deviation answered detects the precision of the lane line of the drawing electronic map.Wherein, detection device can be from each lane
Maximum position deviation is determined in the corresponding position deviation of line, and then according to the maximum position deviation, to the electronic map
The precision of the lane line of drafting is detected.As shown in Figure 3.
Fig. 3 is realized by carrying out Image Acquisition to left and right lane line on road to lane line precision for what this specification provided
The schematic diagram of detection.
Assuming that automobile is in the process of moving, locating road is equipped with left-lane line and right-lane line.Automobile can be by setting
The image acquisition units set collect the image information of the two lane lines of current time, and then by image analysis, determine
The distance between the left-lane line of road locating for the automobile and current time L1(that is, datum mark and current time on the automobile
The distance between the left-lane line of road locating for the automobile), and determine the right vehicle of road locating for the automobile and current time
The distance between diatom L2(that is, between the right-lane line of road locating for the datum mark and current time automobile on the automobile
Distance).
Meanwhile automobile can be determined locating for the automobile in electronic map by the geographical location locating for current time
Position location, and then according to the position location, determine the automobile and electronics on road locating for current time in electronic map
The distance between left-lane line of mapping L '1, and determine the automobile and road locating for current time in electronic map
The distance between right-lane line of road drawing electronic map L '2。
Then, detection device can determine distance L1With distance L '1Between difference DELTA L1(i.e. position deviation), and
Determine distance L2With distance L '2Between difference DELTA L2.Further, detection device can be determined from the two differences
Maximum difference (i.e. maximum position deviation), and then it is based on the maximum difference, it is current to the automobile drawn in electronic map
The precision of the lane line of moment present position is detected.
It should be noted that in the present specification, detection device, can after determining the corresponding position deviation of each lane line
To determine the mean place deviation of these position deviations, and then by the mean place deviation, to what is drawn in electronic map
The precision of each lane line of detection device current time present position is detected.It can also be based on the corresponding position of each lane line
Deviation respectively detects the precision for each lane line drawn in electronic map.
It should be noted that since detection device can be based on the above method, to such as lane drawn in electronic map
The precision of multiple objects to be detected such as line, stop line, zebra stripes, specified building is detected, so, it can be waited for according to these
It is that the precision of test object obtains after being detected as a result, obtaining the synthesis result for being able to reflect out electronic map precision.Wherein,
Determine that the mode of the synthesis result can have very much, for example, detection device can by the position deviation statistical chart determined come
Determine the synthesis result, as shown in Figure 4.
Fig. 4 is that the detection device that this specification provides determines the synthesis result by the position deviation statistical chart determined
Schematic diagram.
It is often advanced according to a fixed line due to detection device, so, detection device can be by lane line, stopping
The sequencing that line, specified building wait the position deviation of test object to occur in the route according to these objects to be detected into
Row arrangement, obtains position deviation statistical chart as shown in Figure 4.The position deviation statistical chart can show object to be detected everywhere
The case where position deviation.Further, detection device can determine object to be detected everywhere according to the position deviation statistical chart
Position deviation and deviation threshold difference, and then can according to these differences and value, to determine electronic map accuracy
The synthesis result of degree.Wherein, if should and value it is bigger, then illustrate that the electronic map precision is lower, it is on the contrary then illustrate the electronics
The accuracy of map is higher.
Detection device can also determine each object to be detected after the position deviation for determining each object to be detected respectively
Mean place deviation, and then according to the mean place deviation of each object to be detected and the corresponding deviation of each object to be detected
Weight determines the synthesis result of electronic map precision.Other modes just do not have been illustrated in detail herein.
The above are the computer-implemented electronic map accuracy detections of one or more embodiments of this specification offer
Method is based on same thinking, and this specification additionally provides the device of corresponding electronic map accuracy detection, as shown in Figure 5.
Fig. 5 is a kind of schematic device for electronic map accuracy detection that this specification provides, and is specifically included:
Module 501 is obtained, for determining the image information of the current time object to be detected acquired by described device；
First determining module 502, for according to described image information, determine described device current time with it is described to be checked
The relative position between object is surveyed, as the first relative position；
Position determination module 503, for determining geographical location of the described device locating for current time；
Second determining module 504, for determining described device in preset electronic map according to the geographical location
With relative position of the object to be detected between current time, as the second relative position；
Detection module 505 is used for according to first relative position and second relative position, to the electronic map
The precision of the object to be detected of middle drafting is detected.
Optionally, first determining module 502 is specifically used for, and according to described image information, determines in current time institute
The datum mark of device is stated to the distance of the object to be detected.
Optionally, second determining module 504 is specifically used for, and according to the geographical location, determines in current time institute
Device is stated the location of in the electronic map, as position location；According to the position location, determine in the electronics
Current time described device is at a distance from the object to be detected in map.
Optionally, the object to be detected includes: the lane line of road locating for described device.
Optionally, the acquisition module 501 is specifically used for, and obtains current time at least two vehicles acquired by described device
The image information of diatom.
Optionally, the detection module 505 is specifically used for, for every lane line, according to described device and the lane line
The first relative position, and the second relative position of the device described in the electronic map and the lane line determines the vehicle
The corresponding position deviation of diatom；According to the corresponding position deviation of at least two lane lines, to being drawn in the electronic map
The precision of at least two lane lines detected.
Optionally, the detection module 505 is specifically used for, and determines most from the position deviation of at least two lane lines
Big position deviation；According to the maximum position deviation, at least two lane lines described in being drawn in the electronic map
Precision detected.
This specification additionally provides a kind of computer readable storage medium, which is stored with computer program, meter
Calculation machine program can be used for executing the method for the electronic map accuracy detection that above-mentioned Fig. 1 is provided.
This specification additionally provides the schematic configuration diagram of detection device shown in fig. 6.It as described in Figure 6, should in hardware view
Detection device includes processor, internal bus, network interface, memory and nonvolatile memory, is also possible that it certainly
Hardware required for his business.Processor from read in nonvolatile memory corresponding computer program into memory then transport
Row, the method to realize electronic map accuracy detection described in above-mentioned Fig. 1.Certainly, other than software realization mode, this explanation
Other implementations, such as logical device or the mode of software and hardware combining etc. is not precluded in book, that is to say, that following processing
The executing subject of process is not limited to each logic unit, is also possible to hardware or logical device.
In the 1990s, the improvement of a technology can be distinguished clearly be on hardware improvement (for example,
Improvement to circuit structures such as diode, transistor, switches) or software on improvement (improvement for method flow).So
And with the development of technology, the improvement of current many method flows can be considered as directly improving for hardware circuit.
Designer nearly all obtains corresponding hardware circuit by the way that improved method flow to be programmed into hardware circuit.Cause
This, it cannot be said that the improvement of a method flow cannot be realized with hardware entities module.For example, programmable logic device
(Programmable Logic Device, PLD) (such as field programmable gate array (Field Programmable Gate
Array, FPGA)) it is exactly such a integrated circuit, logic function determines device programming by user.By designer
Voluntarily programming comes a digital display circuit " integrated " on a piece of PLD, designs and makes without asking chip maker
Dedicated IC chip.Moreover, nowadays, substitution manually makes IC chip, this programming is also used instead mostly " is patrolled
Volume compiler (logic compiler) " software realizes that software compiler used is similar when it writes with program development,
And the source code before compiling also write by handy specific programming language, this is referred to as hardware description language
(Hardware Description Language, HDL), and HDL is also not only a kind of, but there are many kind, such as ABEL
(Advanced Boolean Expression Language)、AHDL(Altera Hardware Description
Language)、Confluence、CUPL(Cornell University Programming Language)、HDCal、JHDL
(Java Hardware Description Language)、Lava、Lola、MyHDL、PALASM、RHDL(Ruby
Hardware Description Language) etc., VHDL (Very-High-Speed is most generally used at present
Integrated Circuit Hardware Description Language) and Verilog.Those skilled in the art also answer
This understands, it is only necessary to method flow slightly programming in logic and is programmed into integrated circuit with above-mentioned several hardware description languages,
The hardware circuit for realizing the logical method process can be readily available.
Controller can be implemented in any suitable manner, for example, controller can take such as microprocessor or processing
The computer for the computer readable program code (such as software or firmware) that device and storage can be executed by (micro-) processor can
Read medium, logic gate, switch, specific integrated circuit (Application Specific Integrated Circuit,
ASIC), the form of programmable logic controller (PLC) and insertion microcontroller, the example of controller includes but is not limited to following microcontroller
Device: ARC 625D, Atmel AT91SAM, Microchip PIC18F26K20 and Silicone Labs C8051F320 are deposited
Memory controller is also implemented as a part of the control logic of memory.It is also known in the art that in addition to
Pure computer readable program code mode is realized other than controller, can be made completely by the way that method and step is carried out programming in logic
Controller is obtained to come in fact in the form of logic gate, switch, specific integrated circuit, programmable logic controller (PLC) and insertion microcontroller etc.
Existing identical function.Therefore this controller is considered a kind of hardware component, and to including for realizing various in it
The device of function can also be considered as the structure in hardware component.Or even, it can will be regarded for realizing the device of various functions
For either the software module of implementation method can be the structure in hardware component again.
System, device, module or the unit that above-described embodiment illustrates can specifically realize by computer chip or entity,
Or it is realized by the product with certain function.It is a kind of typically to realize that equipment is computer.Specifically, computer for example may be used
Think personal computer, laptop computer, cellular phone, camera phone, smart phone, personal digital assistant, media play
It is any in device, navigation equipment, electronic mail equipment, game console, tablet computer, wearable device or these equipment
The combination of equipment.
For convenience of description, it is divided into various units when description apparatus above with function to describe respectively.Certainly, implementing this
The function of each unit can be realized in the same or multiple software and or hardware when specification.
It should be understood by those skilled in the art that, the embodiment of the present invention can provide as method, system or computer program
Product.Therefore, complete hardware embodiment, complete software embodiment or reality combining software and hardware aspects can be used in the present invention
Apply the form of example.Moreover, it wherein includes the computer of computer usable program code that the present invention, which can be used in one or more,
The computer program implemented in usable storage medium (including but not limited to magnetic disk storage, CD-ROM, optical memory etc.) produces
The form of product.
The present invention be referring to according to the method for the embodiment of the present invention, the process of equipment (system) and computer program product
Figure and/or block diagram describe.It should be understood that every one stream in flowchart and/or the block diagram can be realized by computer program instructions
The combination of process and/or box in journey and/or box and flowchart and/or the block diagram.It can provide these computer programs
Instruct the processor of general purpose computer, special purpose computer, Embedded Processor or other programmable data processing devices to produce
A raw machine, so that being generated by the instruction that computer or the processor of other programmable data processing devices execute for real
The device for the function of being specified in present one or more flows of the flowchart and/or one or more blocks of the block diagram.
These computer program instructions, which may also be stored in, is able to guide computer or other programmable data processing devices with spy
Determine in the computer-readable memory that mode works, so that it includes referring to that instruction stored in the computer readable memory, which generates,
Enable the manufacture of device, the command device realize in one box of one or more flows of the flowchart and/or block diagram or
The function of being specified in multiple boxes.
These computer program instructions also can be loaded onto a computer or other programmable data processing device, so that counting
Series of operation steps are executed on calculation machine or other programmable devices to generate computer implemented processing, thus in computer or
The instruction executed on other programmable devices is provided for realizing in one or more flows of the flowchart and/or block diagram one
The step of function of being specified in a box or multiple boxes.
In a typical configuration, calculating equipment includes one or more processors (CPU), input/output interface, net
Network interface and memory.
Memory may include the non-volatile memory in computer-readable medium, random access memory (RAM) and/or
The forms such as Nonvolatile memory, such as read-only memory (ROM) or flash memory (flash RAM).Memory is computer-readable medium
Example.
Computer-readable medium includes permanent and non-permanent, removable and non-removable media can be by any method
Or technology come realize information store.Information can be computer readable instructions, data structure, the module of program or other data.
The example of the storage medium of computer includes, but are not limited to phase change memory (PRAM), static random access memory (SRAM), moves
State random access memory (DRAM), other kinds of random access memory (RAM), read-only memory (ROM), electric erasable
Programmable read only memory (EEPROM), flash memory or other memory techniques, read-only disc read only memory (CD-ROM) (CD-ROM),
Digital versatile disc (DVD) or other optical storage, magnetic cassettes, tape magnetic disk storage or other magnetic storage devices
Or any other non-transmission medium, can be used for storage can be accessed by a computing device information.As defined in this article, it calculates
Machine readable medium does not include temporary computer readable media (transitory media), such as the data-signal and carrier wave of modulation.
It should also be noted that, the terms "include", "comprise" or its any other variant are intended to nonexcludability
It include so that the process, method, commodity or the equipment that include a series of elements not only include those elements, but also to wrap
Include other elements that are not explicitly listed, or further include for this process, method, commodity or equipment intrinsic want
Element.In the absence of more restrictions, the element limited by sentence "including a ...", it is not excluded that including described want
There is also other identical elements in the process, method of element, commodity or equipment.
It will be understood by those skilled in the art that the embodiment of this specification can provide as the production of method, system or computer program
Product.Therefore, complete hardware embodiment, complete software embodiment or implementation combining software and hardware aspects can be used in this specification
The form of example.Moreover, it wherein includes the computer of computer usable program code that this specification, which can be used in one or more,
The computer program implemented in usable storage medium (including but not limited to magnetic disk storage, CD-ROM, optical memory etc.) produces
The form of product.
This specification can describe in the general context of computer-executable instructions executed by a computer, such as journey
Sequence module.Generally, program module include routines performing specific tasks or implementing specific abstract data types, programs, objects,
Component, data structure etc..This specification can also be practiced in a distributed computing environment, in these distributed computing environment
In, by executing task by the connected remote processing devices of communication network.In a distributed computing environment, program module
It can be located in the local and remote computer storage media including storage equipment.
All the embodiments in this specification are described in a progressive manner, same and similar portion between each embodiment
Dividing may refer to each other, and each embodiment focuses on the differences from other embodiments.Especially for system reality
For applying example, since it is substantially similar to the method embodiment, so being described relatively simple, related place is referring to embodiment of the method
Part explanation.
The foregoing is merely the embodiments of this specification, are not limited to this specification.For art technology
For personnel, this specification can have various modifications and variations.It is all made any within the spirit and principle of this specification
Modification, equivalent replacement, improvement etc., should be included within the scope of the claims of this specification.
Claims (10)
1. a kind of method of electronic map accuracy detection characterized by comprising
Obtain the image information of the current time object to be detected acquired by detection device；
According to described image information, opposite position of the detection device between current time and the object to be detected is determined
It sets, as the first relative position；
Determine geographical location of the detection device locating for current time；
According to the geographical location, in preset electronic map, determine that the detection device is being worked as with the object to be detected
Relative position between the preceding moment, as the second relative position；
It is described to be detected right to what is drawn in the electronic map according to first relative position and second relative position
The precision of elephant is detected.
2. the method as described in claim 1, which is characterized in that according to described image information, determine that the detection device is being worked as
Relative position between preceding moment and the object to be detected, specifically includes:
According to described image information, determine the datum mark of the detection device described in current time to the object to be detected away from
From.
3. the method as described in claim 1, which is characterized in that according to the geographical location, in preset electronic map, really
The fixed relative position of the detection device and the object to be detected between current time, specifically includes:
According to the geographical location, determine that the detection device described in current time the location of in the electronic map, is made
For position location；
According to the position location, detection device described in current time and the object to be detected in the electronic map are determined
Distance.
4. the method as described in claim 1, which is characterized in that the object to be detected includes: road locating for the detection device
The lane line on road.
5. method as claimed in claim 4, which is characterized in that obtain the current time object to be detected acquired by detection device
Image information, specifically include:
Obtain the image information of at least two lane lines of current time acquired by the detection device.
6. method as claimed in claim 5, which is characterized in that according to first relative position and the second opposite position
It sets, the precision for the object to be detected drawn in the electronic map is detected, is specifically included:
For every lane line, according to the first relative position of the detection device and the lane line, and it is described electronically
Second relative position of detection device described in figure and the lane line determines the corresponding position deviation of the lane line；
According to the corresponding position deviation of at least two lane lines, at least two vehicles described in being drawn in the electronic map
The precision of diatom is detected.
7. method as claimed in claim 6, which is characterized in that according to the corresponding position deviation of at least two lane lines,
The precision of at least two lane lines described in drawing in the electronic map is detected, is specifically included:
Maximum position deviation is determined from the position deviation of at least two lane lines；
According to the maximum position deviation, the precision of at least two lane lines described in drawing in the electronic map is carried out
Detection.
8. a kind of device of electronic map accuracy detection characterized by comprising
Module is obtained, for determining the image information of the current time object to be detected acquired by described device；
First determining module, for determining described device at current time and the object to be detected according to described image information
Between relative position, as the first relative position；
Position determination module, for determining geographical location of the described device locating for current time；
Second determining module, for according to the geographical location, in preset electronic map, determine described device and it is described to
Relative position of the test object between current time, as the second relative position；
Detection module, for according to first relative position and second relative position, to being drawn in the electronic map
The precision of the object to be detected detected.
9. a kind of computer readable storage medium, which is characterized in that the storage medium is stored with computer program, the calculating
The described in any item methods of the claims 1~7 are realized when machine program is executed by processor.
10. a kind of detection device including memory, processor and stores the calculating that can be run on a memory and on a processor
Machine program, which is characterized in that the processor realizes the described in any item sides of the claims 1~7 when executing described program
Method.
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| CN201910813796.5A CN110530398B (en) | 2019-08-30 | 2019-08-30 | Method and device for detecting precision of electronic map |
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| CN201910813796.5A CN110530398B (en) | 2019-08-30 | 2019-08-30 | Method and device for detecting precision of electronic map |
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| CN110530398B (en) | 2021-02-02 |
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