CN110530398B - Method and device for detecting precision of electronic map - Google Patents
Method and device for detecting precision of electronic map Download PDFInfo
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- CN110530398B CN110530398B CN201910813796.5A CN201910813796A CN110530398B CN 110530398 B CN110530398 B CN 110530398B CN 201910813796 A CN201910813796 A CN 201910813796A CN 110530398 B CN110530398 B CN 110530398B
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- 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
In the method, a detection device can acquire image information of an object to be detected at the current time acquired by the detection device, determine a relative position between the detection device and the object to be detected at the current time as a first relative position according to the image information, determine a geographic position of the detection device at the current time, determine a relative position between the detection device and the object to be detected at the current time in a preset electronic map as a second relative position according to the geographic position, and detect the accuracy of the object to be detected drawn in the electronic map according to the first relative position and the second relative position. The detection equipment carries out image acquisition on the object to be detected, and the process of positioning the detection equipment does not need human participation, so that the human resources are reduced. And with the continuous progress of the detection equipment, the global detection of the object to be detected is realized.
Description
Technical Field
The present disclosure relates to the field of map calibration technologies, and in particular, to a method and an apparatus for detecting accuracy of an electronic map.
Background
Electronic maps are an important basis for implementing services such as unmanned driving and unmanned distribution, and in order to ensure the accuracy of electronic maps and ensure that these services can be smoothly implemented, electronic maps are generally required to be calibrated.
The calibration of the lane lines of the roads in the electronic map is an important link of the electronic map calibration work. In the prior art, the coordinates of a set position in an actual lane line are usually collected manually, the coordinates of a corresponding position on the lane line matched with the actual lane line in an electronic map are determined, and the lane line in the electronic map is calibrated by comparing the two coordinates.
However, in the prior art, the calibration method not only greatly increases the labor cost of the calibration work, but also cannot realize the global calibration of the whole lane line, so that the accuracy of the lane line in the electronic map cannot be ensured.
Disclosure of Invention
The present specification provides a method and an apparatus for detecting the accuracy of an electronic map, so as to partially solve the above problems in the prior art.
The technical scheme adopted by the specification is as follows:
the present specification provides a method for detecting the accuracy of an electronic map, which comprises the following steps:
acquiring image information of an object to be detected at the current moment, which is acquired by detection equipment;
determining the relative position of the detection equipment between the current moment and the object to be detected as a first relative position according to the image information;
determining the geographic position of the detection device at the current moment;
determining the relative position of the detection equipment and the object to be detected at the current moment in a preset electronic map as a second relative position according to the geographic position;
and detecting the precision of the object to be detected drawn in the electronic map according to the first relative position and the second relative position.
Optionally, determining, according to the image information, a relative position between the detection device at the current time and the object to be detected, specifically including:
and determining the distance from the reference point of the detection equipment to the object to be detected at the current moment according to the image information.
Optionally, determining, according to the geographic position, a relative position between the detection device and the object to be detected at the current time in a preset electronic map, specifically including:
determining the position of the detection equipment in the electronic map at the current moment as a positioning position according to the geographic position;
and determining the distance between the detection equipment and the object to be detected at the current moment in the electronic map according to the positioning position.
Optionally, the object to be detected includes: and the lane line of the road where the detection equipment is located.
Optionally, the acquiring image information of the object to be detected at the current moment, which is acquired by the detection device, specifically includes:
and acquiring the image information of at least two lane lines at the current moment, which is acquired by the detection equipment.
Optionally, detecting the precision of the object to be detected drawn in the electronic map according to the first relative position and the second relative position specifically includes:
for each lane line, determining a position deviation corresponding to the lane line according to a first relative position of the detection device and the lane line and a second relative position of the detection device and the lane line in the electronic map;
and detecting the precision of the at least two lane lines drawn in the electronic map according to the position deviation corresponding to the at least two lane lines.
Optionally, detecting the precision of the at least two lane lines drawn in the electronic map according to the position deviation corresponding to the at least two lane lines specifically includes:
determining a maximum positional deviation from the positional deviations of the at least two lane lines;
and detecting the precision of the at least two lane lines drawn in the electronic map according to the maximum position deviation.
This specification provides an electronic map precision detection's device, includes:
the acquisition module is used for determining the image information of the object to be detected at the current moment, which is acquired by the device;
the first determining module is used for determining the relative position of the device between the current moment and the object to be detected as a first relative position according to the image information;
a location determination module for determining a geographic location of the device at a current time;
the second determining module is used for determining the relative position of the device and the object to be detected at the current moment in a preset electronic map according to the geographic position to serve as a second relative position;
and the detection module is used for detecting the precision of the object to be detected drawn in the electronic map according to the first relative position and the second relative position.
The present specification provides a computer-readable storage medium storing a computer program which, when executed by a processor, implements the above-described method of electronic map accuracy detection.
The present specification provides a detection device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, wherein the processor executes the program to implement the above-mentioned method for detecting the accuracy of an electronic map.
The technical scheme adopted by the specification can achieve the following beneficial effects:
in this specification, the detection device may obtain image information of an object to be detected at a current time, which is acquired by the detection device, determine, according to the image information, a relative position between the detection device and the object to be detected at the current time as a first relative position, the detection device may determine a geographic position where the detection device is located at the current time, determine, according to the geographic position, a relative position between the detection device and the object to be detected at the current time in a preset electronic map as a second relative position, and further detect, according to the first relative position and the second relative position, accuracy of the object to be detected, which is drawn in the electronic map.
According to the method, the detection equipment acquires the image of the object to be detected and does not need human participation in the process of positioning the detection equipment, so that the human resources consumed in the detection of the accuracy of the electronic map are greatly reduced. And with the continuous advancing of the detection equipment, the global detection of the object to be detected can be realized, so that the accuracy of detecting the precision of the electronic map is further ensured.
Drawings
The accompanying drawings, which are included to provide a further understanding of the specification and are incorporated in and constitute a part of this specification, illustrate embodiments of the specification and together with the description serve to explain the specification and not to limit the specification in a non-limiting sense. In the drawings:
fig. 1 is a schematic flow chart of a method for detecting accuracy of an electronic map provided in the present specification;
fig. 2A and 2B are schematic diagrams illustrating the accuracy detection of lane lines on an electronic map according to the present disclosure;
fig. 3 is a schematic diagram of the present specification, illustrating the accuracy detection of lane lines by performing image acquisition on left and right lane lines on a road;
FIG. 4 is a schematic diagram of the detection device provided in the present specification determining the integrated result from the determined location deviation statistical map;
fig. 5 is a schematic diagram of an apparatus for detecting accuracy of an electronic map provided in the present specification;
fig. 6 is a schematic view of the detection apparatus provided in this specification corresponding to fig. 1.
Detailed Description
In order to make the objects, technical solutions and advantages of the present disclosure more clear, the technical solutions of the present disclosure will be clearly and completely described below with reference to the specific embodiments of the present disclosure and the accompanying drawings. It is to be understood that the embodiments described are only a few embodiments of the present disclosure, and not all embodiments. All other embodiments obtained by a person of ordinary skill in the art based on the embodiments in the present specification without any creative effort belong to the protection scope of the present specification.
The technical solutions provided by the embodiments of the present description are described in detail below with reference to the accompanying drawings.
Fig. 1 is a schematic flow chart of a method for detecting accuracy of an electronic map provided in this specification, specifically including the following steps:
s101: and acquiring the image information of the object to be detected at the current moment, which is acquired by the detection equipment.
In this specification, the object to be detected may be detected with accuracy by a detection device. Here, the detection device referred to herein may refer to a device that an automobile, an unmanned vehicle, a robot, or the like can travel. The detection equipment can be provided with at least one image acquisition unit (such as a camera), and then the image information of the object to be detected at the current moment is acquired through the set image acquisition unit.
Of course, the detection device mentioned here may also be a computer, a server, or the like. The device such as a computer and a server can acquire image information of the object to be detected acquired by the device such as an automobile, an unmanned vehicle and a robot in the process of advancing, and then the accuracy of the electronic map is detected according to the image information and the acquired geographic position of the device such as the automobile, the unmanned vehicle and the robot. For convenience of description, the method for detecting the accuracy of the electronic map provided in this specification will be described below by taking only the detection device as an example, such as an automobile, an unmanned vehicle, or a robot.
The above-mentioned object to be detected may refer to a lane line, a zebra crossing, a designated building, and the like, which need to be subjected to precision detection. By carrying out precision detection on the objects to be detected, the fineness of the electronic map drawing can be determined. For convenience of description, the method for detecting the accuracy of the electronic map provided in this specification will be described below with only a lane line as an object to be detected. In the case where the object to be detected is another object, the accuracy of the object to be detected is basically the same as the accuracy of the lane line, and therefore, the detailed description thereof will not be given.
When the lane line is subjected to precision detection, the image information of the lane line at the current moment can be acquired through the detection equipment. Taking the detection device as an example, in the driving process of the automobile, the image information of the actual lane line corresponding to the position where the automobile is located at the current moment can be collected, and then in the subsequent process, the relative position of the automobile between the current moment and the lane line is determined through the image information.
S102: and determining the relative position of the detection equipment between the current moment and the object to be detected as a first relative position according to the image information.
After the detection device acquires the image information, the relative position between the detection device and the lane line can be determined through image analysis and is used as a first relative position. The specific manner of determining the relative position between the two devices through image analysis may be many, for example, image analysis may be performed on the acquired image information through a pre-trained model to determine the relative position relationship between the detection device and the lane line; for another example, the collected image information may be analyzed by means of multi-vision (e.g., binocular vision) to determine the relative position between the detection device and the lane line. In this specification, the manner in which the relative positions of the two are determined by image analysis is conventional and will not be illustrated in detail.
In this specification, the detection device may acquire image information of a lane line in real time during a movement process, so that for each time, the detection device may determine a relative position between the detection device and the lane line at the time through the image information of the lane line acquired at the time. For convenience of description, only the determination of the relative position between the detection apparatus and the lane line at the present time will be described below.
Specifically, the detection device acquires the image information through the image acquisition unit, so that the relative position of the lane line and the image acquisition unit is actually determined through the image information. Therefore, after the relative position of the lane line and the image capturing unit is determined, the relative position of the lane line and the reference point on the detection device may be determined as the first relative position based on the relative position of the image capturing unit and the reference point determined in advance. The reference point mentioned here may be a point artificially set for the detection device (e.g., a central point of the detection device), and the point is not necessarily an actual point and may be a virtual point. In other words, the reference point may be understood as a point that abstracts the detection device to be capable of representing the detection device, so that the relative position between the lane line and the reference point may be used to represent the relative position between the lane line and the detection device. The process of determining the relative position between the lane line and the reference point may be as shown in fig. 2A, 2B.
Fig. 2A and 2B are schematic diagrams of the accuracy detection of lane lines on an electronic map provided in this specification.
In FIG. 2A, the car (i.e., the inspection device) can be checked by the set image acquisition sheetAnd acquiring the image information of the lane line on the road where the automobile is located at the current moment. By performing image analysis on the image information, the distance l from the lane line to the image acquisition unit can be determined1(the distance between the lane line and the image capturing unit is referred to herein to indicate the relative position between the two). Then, the distance d between the image acquisition unit and the reference point can be measured in advance1Determining the distance L between the lane line and the reference point (i.e. the automobile)1＝l1+d1. Here, the distance L can be passed1The relative position between the lane line and the vehicle at the present time is indicated as a first relative position.
It can be seen from the above example that, by means of image analysis, the relative position between the detection device and the lane line on the road where the detection device is located at the current time can be determined, and then the lane line drawn in the electronic map can be accurately detected based on the relative position.
S103: determining the geographic location of the detection device at the current time.
The detection device may determine a geographical location at the current time in a preset positioning manner, where the geographical location is an actual location of the detection device, and the geographical location may be represented in a form such as longitude and latitude, spatial coordinates, and the like. And in the subsequent process, determining the position of the detection device in the electronic map based on the geographic position. The preset Positioning method mentioned herein is a conventional Positioning method, such as a Global Positioning System (GPS), and is not limited herein.
S104: and determining the relative position of the detection equipment and the object to be detected between the current time and the current time in a preset electronic map as a second relative position according to the geographic position.
After the geographical position of the detection device at the current moment is determined, the position of the detection device in the electronic map at the current moment can be determined according to the geographical position to serve as a positioning position, and then the relative position of the detection device and the lane line at the current moment in the electronic map is determined according to the positioning position to serve as a second relative position.
In this specification, the determined geographic position of the detection device at the current time may be used as the geographic position of the reference point at the current time, and then, the position of the detection device at the current time in the electronic map may be determined as the positioning position according to the geographic position of the reference point.
The lane lines of the roads are drawn in the electronic map, so after the positioning position is determined, the relative position between the detection device and the lane line on the road of the electronic map can be further determined when the detection device is at the positioning position in the electronic map, as shown in fig. 2B.
In fig. 2B, the detection device determines that the detection device is located at the position a (i.e., the positioning position) in the electronic map by positioning the current position of the detection device. Based on this, it can be further determined that the distance L "" between the detection device and the lane line of the road where the detection device is located when it is located at the a position1Here, the distance L ″1I.e. may represent the relative position of the detection device in the electronic map between the current time and the lane line.
As can be seen from fig. 2A and 2B, the first relative position determined by the detection device is used to indicate the relative position between the detection device and the actual lane line of the road on which the detection device is located at the current time, and the second relative position is used to indicate the relative position between the detection device and the electronically mapped lane line of the road on which the detection device is located at the current time. Therefore, by comparing the first relative position with the second relative position, it is possible to detect the accuracy of the lane line drawn in the electronic map.
S105: and detecting the precision of the object to be detected drawn in the electronic map according to the first relative position and the second relative position.
After the first relative position and the second relative position are determined, a position deviation between the first relative position and the second relative position can be determined, and the accuracy of the lane line drawn in the electronic map is detected according to the position deviation.
Continuing with the above example, distance L is determined1And distance L1Then, the difference between the two can be determined: Δ L ═ L1-L＇1If the absolute value of Δ L is larger, it indicates that the lane line at the position of the detection device at the current time is greater, and therefore the accuracy of the lane line drawn in the electronic map is lower, and if the absolute value of Δ L is smaller, it indicates that the position of the lane line drawn in the electronic map is less, and therefore the accuracy of the lane line drawn in the electronic map is higher.
In addition, in this specification, the detection device may also compare this Δ L with a preset deviation threshold value to determine whether the lane line drawn in the electronic map is largely deviated from the actual lane line. If the absolute value of Δ L is smaller than the deviation threshold, it may be determined that the deviation between the lane line drawn in the electronic map and the actual lane line is small, that is, the accuracy of the lane line drawn in the electronic map is low, and if the absolute value of Δ L is greater than the deviation threshold, it may be determined that the deviation between the lane line drawn in the electronic map and the actual lane line is large, that is, the accuracy of the lane line drawn in the electronic map is high.
The detection equipment can acquire the image information of the lane line on the road in real time and position the position of the detection equipment in real time in the advancing process, so that the detection equipment can detect the accuracy of each lane line on the road, the global detection of the lane lines is realized, and the improvement of the lane lines drawn in the electronic map is facilitated. Moreover, the above mode can effectively save human resources, thereby bringing great convenience to workers who perform precision detection on the electronic map.
It should be noted that in practical application, a plurality of lane lines are often arranged on a road, so in this specification, in an actual traveling process of the detection device, image information of at least two lane lines on the road where the detection device is located at the current time may also be acquired by the arranged image acquisition unit. Then, for each lane line, a relative position between the detection device and the lane line may be determined as a first relative position according to the image information of the lane line acquired at the current time. Meanwhile, according to the determined current geographic position of the detection device, the relative position of the detection device in the electronic map and the lane line drawn by the electronic map at the current moment can be determined as a second relative position. The position deviation corresponding to the lane line can be determined through the first relative position and the second relative position, and then the accuracy of the lane line drawn by the electronic map is detected according to the position deviation corresponding to each lane line determined at the current moment. The detection device can determine the maximum position deviation from the position deviations corresponding to the lane lines, and then detect the accuracy of the lane lines drawn by the electronic map according to the maximum position deviation. As shown in fig. 3.
Fig. 3 is a schematic diagram of the present specification, which is used for implementing precision detection of lane lines by performing image acquisition on left and right lane lines on a road.
It is assumed that the road where the automobile is located is provided with a left lane line and a right lane line in the driving process of the automobile. The automobile can acquire the image information of the two lane lines at the current moment through the arranged image acquisition unit, and then the distance L between the automobile and the left lane line of the road at the current moment is determined through image analysis1(i.e., the distance between the reference point on the vehicle and the left lane line of the road on which the vehicle is located at the current time), and determining the distance L between the vehicle and the right lane line of the road on which the vehicle is located at the current time2(i.e., the distance between the reference point on the vehicle and the right lane line of the road on which the vehicle is located at the current time).
Meanwhile, the automobile can determine the positioning position of the automobile in the electronic map according to the geographic position of the automobile at the current moment, and then the automobile and the automobile in the electronic map are determined according to the positioning positionDistance L' between left lane lines of electronic map rendering on road on which current time is located1And determining the distance L' between the vehicle and the right lane line drawn on the electronic map on the road on which the vehicle is currently located2。
The detection device may then determine the distance L1And distance L1Difference Δ L therebetween1(i.e., the positional deviation), and determining the distance L2And distance L2Difference Δ L therebetween2. Further, the detection device may determine the largest difference value (i.e., the largest positional deviation) from the two difference values, and detect the accuracy of the lane line of the position where the vehicle is located at the present time, which is drawn in the electronic map, based on the largest difference value.
In this specification, the detection device may determine an average positional deviation of the positional deviations after determining the positional deviation corresponding to each lane line, and detect the accuracy of each lane line of the position at the current time of the detection device drawn on the electronic map by the average positional deviation. The accuracy of each lane line drawn on the electronic map may be detected based on the positional deviation corresponding to each lane line.
It should be further noted that, since the detection device can detect the accuracy of a plurality of objects to be detected, such as lane lines, stop lines, zebra crossings, designated buildings, etc., drawn in the electronic map based on the above method, a comprehensive result capable of reflecting the accuracy of the electronic map can be obtained according to the result obtained by detecting the accuracy of the objects to be detected. There are many ways to determine the integrated result, for example, the detection device may determine the integrated result by using the determined location deviation statistical chart, as shown in fig. 4.
Fig. 4 is a schematic diagram of the detection device provided in the present specification determining the integrated result through the determined position deviation statistical chart.
Since the detection device usually travels along a certain route, the detection device can arrange the lane lines, the stop lines, and the position deviations of the objects waiting for detection in the specified building according to the sequence of the objects to be detected appearing in the route, so as to obtain the position deviation statistical chart shown in fig. 4. The position deviation statistical chart can display the position deviation condition of each object to be detected. Further, the detection device can determine the difference value between the position deviation of each object to be detected and the deviation threshold value according to the position deviation statistical graph, and further determine the comprehensive result of the high and low precision degree of the electronic map according to the sum value of the difference values. If the sum is larger, the accuracy of the electronic map is lower, otherwise, the accuracy of the electronic map is higher.
After the detection equipment determines the position deviation of each object to be detected, the detection equipment can also determine the average position deviation of each object to be detected respectively, and then the comprehensive result of the accuracy of the electronic map is determined according to the average position deviation of each object to be detected and the deviation weight corresponding to each object to be detected. Other ways are not illustrated in detail here.
Based on the same idea, the present specification further provides a device for detecting the accuracy of an electronic map, as shown in fig. 5.
Fig. 5 is a schematic view of an apparatus for detecting accuracy of an electronic map provided in this specification, which specifically includes:
an obtaining module 501, configured to determine image information of an object to be detected at a current moment, where the image information is acquired by the apparatus;
a first determining module 502, configured to determine, according to the image information, a relative position between the apparatus and the object to be detected at the current time as a first relative position;
a location determination module 503, configured to determine a geographic location of the apparatus at the current time;
a second determining module 504, configured to determine, according to the geographic position, a relative position between the apparatus and the object to be detected at the current time in a preset electronic map, as a second relative position;
and the detecting module 505 is configured to detect the accuracy of the object to be detected drawn in the electronic map according to the first relative position and the second relative position.
Optionally, the first determining module 502 is specifically configured to determine, according to the image information, a distance from a reference point of the apparatus to the object to be detected at the current moment.
Optionally, the second determining module 504 is specifically configured to determine, according to the geographic location, a location of the apparatus in the electronic map at the current time as a positioning location; and determining the distance between the device and the object to be detected at the current moment in the electronic map according to the positioning position.
Optionally, the object to be detected includes: the lane line of the road on which the device is located.
Optionally, the obtaining module 501 is specifically configured to obtain image information of at least two lane lines at the current time, which is collected by the apparatus.
Optionally, the detecting module 505 is specifically configured to, for each lane line, determine a position deviation corresponding to the lane line according to a first relative position of the device and the lane line and a second relative position of the device and the lane line in the electronic map; and detecting the precision of the at least two lane lines drawn in the electronic map according to the position deviation corresponding to the at least two lane lines.
Optionally, the detecting module 505 is specifically configured to determine a maximum position deviation from the position deviations of the at least two lane lines; and detecting the precision of the at least two lane lines drawn in the electronic map according to the maximum position deviation.
The present specification also provides a computer-readable storage medium storing a computer program, which can be used to execute the method for detecting the accuracy of the electronic map provided in fig. 1.
This specification also provides a schematic block diagram of the detection apparatus shown in figure 6. As shown in fig. 6, at the hardware level, the detection device includes a processor, an internal bus, a network interface, a memory, and a non-volatile memory, but may also include hardware required for other services. The processor reads a corresponding computer program from the nonvolatile memory into the memory and then runs the computer program to implement the method for detecting the accuracy of the electronic map described in fig. 1. Of course, besides the software implementation, the present specification does not exclude other implementations, such as logic devices or a combination of software and hardware, and the like, that is, the execution subject of the following processing flow is not limited to each logic unit, and may be hardware or logic devices.
In the 90 s of the 20 th century, improvements in a technology could clearly distinguish between improvements in hardware (e.g., improvements in circuit structures such as diodes, transistors, switches, etc.) and improvements in software (improvements in process flow). However, as technology advances, many of today's process flow improvements have been seen as direct improvements in hardware circuit architecture. Designers almost always obtain the corresponding hardware circuit structure by programming an improved method flow into the hardware circuit. Thus, it cannot be said that an improvement in the process flow cannot be realized by hardware physical modules. For example, a Programmable Logic Device (PLD), such as a Field Programmable Gate Array (FPGA), is an integrated circuit whose Logic functions are determined by programming the Device by a user. A digital system is "integrated" on a PLD by the designer's own programming without requiring the chip manufacturer to design and fabricate application-specific integrated circuit chips. Furthermore, nowadays, instead of manually making an Integrated Circuit chip, such Programming is often implemented by "logic compiler" software, which is similar to a software compiler used in program development and writing, but the original code before compiling is also written by a specific Programming Language, which is called Hardware Description Language (HDL), and HDL is not only one but many, such as abel (advanced Boolean Expression Language), ahdl (alternate Hardware Description Language), traffic, pl (core universal Programming Language), HDCal (jhdware Description Language), lang, Lola, HDL, laspam, hardward Description Language (vhr Description Language), vhal (Hardware Description Language), and vhigh-Language, which are currently used in most common. It will also be apparent to those skilled in the art that hardware circuitry that implements the logical method flows can be readily obtained by merely slightly programming the method flows into an integrated circuit using the hardware description languages described above.
The controller may be implemented in any suitable manner, for example, the controller may take the form of, for example, a microprocessor or processor and a computer-readable medium storing computer-readable program code (e.g., software or firmware) executable by the (micro) processor, logic gates, switches, an Application Specific Integrated Circuit (ASIC), a programmable logic controller, and an embedded microcontroller, examples of which include, but are not limited to, the following microcontrollers: ARC 625D, Atmel AT91SAM, Microchip PIC18F26K20, and Silicone Labs C8051F320, the memory controller may also be implemented as part of the control logic for the memory. Those skilled in the art will also appreciate that, in addition to implementing the controller as pure computer readable program code, the same functionality can be implemented by logically programming method steps such that the controller is in the form of logic gates, switches, application specific integrated circuits, programmable logic controllers, embedded microcontrollers and the like. Such a controller may thus be considered a hardware component, and the means included therein for performing the various functions may also be considered as a structure within the hardware component. Or even means for performing the functions may be regarded as being both a software module for performing the method and a structure within a hardware component.
The systems, devices, modules or units illustrated in the above embodiments may be implemented by a computer chip or an entity, or by a product with certain functions. One typical implementation device is a computer. In particular, the computer may be, for example, a personal computer, a laptop computer, a cellular telephone, a camera phone, a smartphone, a personal digital assistant, a media player, a navigation device, an email device, a game console, a tablet computer, a wearable device, or a combination of any of these devices.
For convenience of description, the above devices are described as being divided into various units by function, and are described separately. Of course, the functions of the various elements may be implemented in the same one or more software and/or hardware implementations of the present description.
As will be appreciated by one skilled in the art, embodiments of the present invention may be provided as a method, system, 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.
The present invention is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the invention. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
In a typical configuration, a computing device includes one or more processors (CPUs), input/output interfaces, network interfaces, and memory.
The memory may include forms of volatile memory in a computer readable medium, Random Access Memory (RAM) and/or non-volatile memory, such as Read Only Memory (ROM) or flash memory (flash RAM). Memory is an example of a computer-readable medium.
Computer-readable media, including both non-transitory and non-transitory, removable and non-removable media, may implement information storage by any method or technology. The information may be computer readable instructions, data structures, modules of a program, or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), Static Random Access Memory (SRAM), Dynamic Random Access Memory (DRAM), other types of Random Access Memory (RAM), Read Only Memory (ROM), Electrically Erasable Programmable Read Only Memory (EEPROM), flash memory or other memory technology, compact disc read only memory (CD-ROM), Digital Versatile Discs (DVD) or other optical storage, magnetic cassettes, magnetic tape magnetic disk storage or other magnetic storage devices, or any other non-transmission medium that can be used to store information that can be accessed by a computing device. As defined herein, a computer readable medium does not include a transitory computer readable medium such as a modulated data signal and a carrier wave.
It should also be noted that the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element.
As will be appreciated by one skilled in the art, embodiments of the present description may be provided as a method, system, or computer program product. Accordingly, the description may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the description 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.
This description may be described in the general context of computer-executable instructions, such as program modules, being executed by a computer. Generally, program modules include routines, programs, objects, components, data structures, etc. that perform particular tasks or implement particular abstract data types. The specification may also be practiced in distributed computing environments where tasks are performed by remote processing devices that are linked through a communications network. In a distributed computing environment, program modules may be located in both local and remote computer storage media including memory storage devices.
The embodiments in the present specification are described in a progressive manner, and the same and similar parts among the embodiments are referred to each other, and each embodiment focuses on the differences from the other embodiments. In particular, for the system embodiment, since it is substantially similar to the method embodiment, the description is simple, and for the relevant points, reference may be made to the partial description of the method embodiment.
The above description is only an example of the present specification, and is not intended to limit the present specification. Various modifications and alterations to this description will become apparent to those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present specification should be included in the scope of the claims of the present specification.
Claims (10)
1. A method for detecting the accuracy of an electronic map is characterized by comprising the following steps:
acquiring image information of an object to be detected at the current moment, which is acquired by detection equipment;
determining the relative position of the detection equipment between the current moment and the object to be detected as a first relative position according to the image information;
determining the geographic position of the detection device at the current moment;
determining the relative position of the detection equipment and the object to be detected at the current moment in a preset electronic map as a second relative position according to the geographic position;
and detecting the precision of the object to be detected drawn in the electronic map according to the first relative position and the second relative position.
2. The method according to claim 1, wherein determining, based on the image information, a relative position of the detection device between the current time and the object to be detected specifically comprises:
and determining the distance from the reference point of the detection equipment to the object to be detected at the current moment according to the image information.
3. The method according to claim 1, wherein determining, in a preset electronic map, a relative position between the detection device and the object to be detected at the current time according to the geographic position specifically includes:
determining the position of the detection equipment in the electronic map at the current moment as a positioning position according to the geographic position;
and determining the distance between the detection equipment and the object to be detected at the current moment in the electronic map according to the positioning position.
4. The method of claim 1, wherein the object to be detected comprises: and the lane line of the road where the detection equipment is located.
5. The method according to claim 4, wherein acquiring the image information of the object to be detected at the current moment acquired by the detection device specifically comprises:
and acquiring the image information of at least two lane lines at the current moment, which is acquired by the detection equipment.
6. The method according to claim 5, wherein detecting the accuracy of the object to be detected drawn in the electronic map according to the first relative position and the second relative position specifically includes:
for each lane line, determining a position deviation corresponding to the lane line according to a first relative position of the detection device and the lane line and a second relative position of the detection device and the lane line in the electronic map;
and detecting the precision of the at least two lane lines drawn in the electronic map according to the position deviation corresponding to the at least two lane lines.
7. The method according to claim 6, wherein detecting the accuracy of the at least two lane lines drawn in the electronic map according to the position deviation corresponding to the at least two lane lines specifically comprises:
determining a maximum positional deviation from the positional deviations of the at least two lane lines;
and detecting the precision of the at least two lane lines drawn in the electronic map according to the maximum position deviation.
8. An apparatus for detecting accuracy of an electronic map, comprising:
the acquisition module is used for determining the image information of the object to be detected at the current moment, which is acquired by the device;
the first determining module is used for determining the relative position of the device between the current moment and the object to be detected as a first relative position according to the image information;
a location determination module for determining a geographic location of the device at a current time;
the second determining module is used for determining the relative position of the device and the object to be detected at the current moment in a preset electronic map according to the geographic position to serve as a second relative position;
and the detection module is used for detecting the precision of the object to be detected drawn in the electronic map according to the first relative position and the second relative position.
9. A computer-readable storage medium, characterized in that the storage medium stores a computer program which, when executed by a processor, implements the method of any of the preceding claims 1 to 7.
10. A detection apparatus comprising a memory, a processor and a computer program stored on the memory and executable on the processor, wherein the processor when executing the program implements the method of any one of claims 1 to 7.
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| CN110906954A (en) * | 2019-12-02 | 2020-03-24 | 武汉中海庭数据技术有限公司 | High-precision map test evaluation method and device based on automatic driving platform |
| CN111141311B (en) * | 2019-12-31 | 2022-04-08 | 武汉中海庭数据技术有限公司 | Evaluation method and system of high-precision map positioning module |
| CN115880890A (en) * | 2021-09-26 | 2023-03-31 | 华为技术有限公司 | Map validity detection method and related product |
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