CN111626206A - High-precision map construction method and device, electronic equipment and computer storage medium - Google Patents
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Abstract
The application discloses a high-precision map construction method and device, electronic equipment and a computer storage medium, and relates to the technical field of intelligent transportation. The specific implementation scheme is as follows: determining a map area of a map to be constructed at the target intersection according to the interesting area of each image acquisition device of the target intersection; matching each point in the map area with each point corresponding to the lane line in the reference map, and determining the lane line contained in the map area according to the matching result; and constructing a map at the target intersection according to the lane lines contained in the map area and the attribute information of the lane lines. According to the method and the device, the accurate map area of the target intersection can be obtained by utilizing the interesting area of the image acquisition device, and the lane line data of the position corresponding to the map area can be quickly obtained by referring to the map data of the map, so that the map of the target intersection can be quickly constructed by utilizing the data of the existing reference map.
Description
Technical Field
The application relates to the technical field of intelligent transportation, in particular to the technical field of electronic maps.
Background
When detecting a traffic event for a vehicle traveling on a road, it is generally necessary to perform an assist determination using high-precision map data in an area where the vehicle is traveling. However, since the data included in the high-precision map is complicated, it is difficult to quickly acquire necessary data from the high-precision map in a timely and efficient manner, and thus a delay occurs in detecting a traffic event of the vehicle.
Disclosure of Invention
The embodiment of the application provides a high-precision map construction method and device, electronic equipment and a computer storage medium, so as to solve one or more technical problems in the prior art.
In a first aspect, an embodiment of the present application provides a high-precision map construction method, including:
determining a map area of a map to be constructed at the target intersection according to the interesting area of each image acquisition device of the target intersection;
matching each point in the map area with each point corresponding to the lane line in the reference map, and determining the lane line contained in the map area according to the matching result;
and constructing a map at the target intersection according to the lane lines contained in the map area and the attribute information of the lane lines.
In a second aspect, an embodiment of the present application provides a high-precision map building apparatus, including:
the first determination module is used for determining a map area of a map to be constructed at the target intersection according to the interesting area of each image acquisition device of the target intersection;
the matching module is used for matching each point in the map area with each point corresponding to the lane line in the reference map and determining the lane line contained in the map area according to the matching result;
and the construction module is used for constructing the map at the target intersection according to the lane lines contained in the map area and the attribute information of the lane lines.
In a third aspect, an embodiment of the present application provides an electronic device, where functions of the electronic device may be implemented by hardware, or may be implemented by hardware executing corresponding software. The hardware or software includes one or more modules corresponding to the above-described functions.
In one possible design, the electronic device includes a processor and a memory, the memory is used for storing a program for supporting the electronic device to execute the high-precision map building method, and the processor is configured to execute the program stored in the memory. The electronic device may also include a communication interface for communicating with other devices or a communication network.
In a fourth aspect, embodiments of the present application provide a non-transitory computer-readable storage medium storing computer instructions for storing an electronic device and computer software instructions for the electronic device, which include a program for executing the high-precision map construction method.
One embodiment in the above application has the following advantages or benefits: according to the method and the device, the accurate map area of the target intersection can be obtained by utilizing the interesting area of the image acquisition device, and the lane line data of the position corresponding to the map area can be quickly obtained by referring to the map data of the map, so that the map of the target intersection can be quickly constructed by utilizing the data of the existing reference map. The technical means of constructing the map at the target intersection by using the lane lines of the reference map and the attribute information of the lane lines is adopted, so that the technical effect of quickly constructing the local high-precision map at the target intersection by using the existing map data and the technical effect of quickly acquiring the map data at the target intersection from the constructed map are achieved, and the technical problem that the map data at the target intersection cannot be quickly acquired in the prior art is solved.
Other effects of the above-described alternative will be described below with reference to specific embodiments.
Drawings
The drawings are included to provide a better understanding of the present solution and are not intended to limit the present application. Wherein:
FIG. 1 is a schematic diagram of a high precision map construction method according to an embodiment of the present application;
FIG. 2 is a schematic diagram of a high precision map construction method according to another embodiment of the present application;
FIG. 3 is a schematic view of a region of interest of an image capture device according to an embodiment of the present application;
FIG. 4 is a schematic view of a region of interest of an image capture device according to an embodiment of the present application;
FIG. 5 is a schematic view of a region of interest of an image capture device according to an embodiment of the present application;
FIG. 6 is a schematic view of a region of interest of an image capture device according to an embodiment of the present application;
FIG. 7 is a schematic diagram of a high precision map construction method according to another embodiment of the present application;
FIG. 8 is a schematic diagram of a high precision map construction method according to another embodiment of the present application;
FIG. 9 is a schematic diagram of a high precision map construction method according to another embodiment of the present application;
FIG. 10 is a schematic diagram of a high precision mapping apparatus according to an embodiment of the present application;
FIG. 11 is a schematic diagram of a first determination module according to an embodiment of the present application;
FIG. 12 is a schematic diagram of a first determination module according to another embodiment of the present application;
FIG. 13 is a schematic diagram of a high precision mapping apparatus according to another embodiment of the present application;
FIG. 14 is a schematic diagram of a high precision mapping apparatus according to another embodiment of the present application;
fig. 15 is a block diagram of an electronic device for implementing a method of high-precision mapping according to an embodiment of the present application.
Detailed Description
The following description of the exemplary embodiments of the present application, taken in conjunction with the accompanying drawings, includes various details of the embodiments of the application for the understanding of the same, which are to be considered exemplary only. Accordingly, those of ordinary skill in the art will recognize that various changes and modifications of the embodiments described herein can be made without departing from the scope and spirit of the present application. Also, descriptions of well-known functions and constructions are omitted in the following description for clarity and conciseness.
According to a first embodiment of the present application, as shown in fig. 1, the present application provides a high-precision map construction method, including the steps of:
s10: and determining a map area of the map to be constructed at the target intersection according to the region of interest (ROI) of each image acquisition device at the target intersection.
The target intersection can be understood as an intersection which needs to be subjected to local area mapping.
The image acquisition device can comprise any equipment capable of acquiring images or videos, such as a drive test device, a vision sensor, a camera and the like arranged at the intersection.
The region of interest may include an image region in which analysis identification is required or where important attention is required in an image acquired by the image acquisition device. Regions of interest in the acquired image may be selected and adjusted as desired.
The map area can be understood as the maximum boundary range of the map to be constructed at the target intersection.
In one example, the region of interest of the image capture device may be adjusted according to different needs of the user to construct the map. For example, if the constructed map requires information of sidewalks, shops, bicycle lanes and the like representing the periphery of the lane, the range where the sidewalks, shops, bicycle lanes and the like are located at the periphery of the lane is also taken as a part of the region of interest. If it is not necessary to show information of sidewalks, shops, bike lanes, etc. at the periphery of the lane, only the motor lane is taken as the region of interest.
In one example, the region of interest of the image capture device can also be adjusted for different intersection types. The intersection types may include crossroads, three-way intersections, roundabout intersections, left-turn road intersections, and the like. According to different intersections, the number of lanes and the types of lanes included in the intersections are different, so that corresponding interested areas need to be adjusted for different intersections. It should be noted that, in order to enable the finally constructed map at the target intersection to detect traffic events, the region of interest is at least a region including a motor vehicle lane and a lane line.
S20: and matching each point in the map area with each point corresponding to the lane line in the reference map, and determining the lane line contained in the map area according to the matching result.
In order to accurately realize matching, the coordinates of each point in the map area and the coordinates of each point corresponding to the lane line in the reference map may be coordinates in the same coordinate system. For example, the coordinates in the coordinate system of the reference map are the same.
Each point in the map area and each point corresponding to the lane line in the reference map may refer to the coordinate of each pixel point in the acquired image, or may refer to the coordinate of a point determined according to the custom mesh. The coordinates of each point in the map area and the coordinates of each point corresponding to the lane line in the reference map may be two-dimensional coordinates or three-dimensional coordinates.
The reference map may be any map including road network information at the target intersection. The road network information may include any information such as information about a lane line, information about a traffic light, and environmental information around a lane.
For example, the reference map may be a navigation map on which the vehicle is traveling, a high-precision map on which a drive test perception system or a vehicle-road cooperation technique is dependent, a manually labeled map, or the like.
In one example, the reference map may be a high-precision map, and the coordinate system of the high-precision map is a world coordinate system. The coordinates of each point in the map area and the coordinates of each point corresponding to the lane line in the reference map are coordinates in the world coordinate system.
In one example, if only a portion of a certain lane line is covered in a map area, the portion of the lane line beyond the map area may be included in the map area.
S30: and constructing a map at the target intersection according to the lane lines contained in the map area and the attribute information of the lane lines.
The attribute information of the lane line may include any information that can represent the lane line, such as the speed limit of the lane line, the position of the lane line in the world coordinate system, the orientation angle of the lane line, and the type of the lane line. According to the attribute information of the lane line, whether the vehicles at or on the lane line have traffic events such as speeding, reversing, low-speed driving, illegal lane changing or sudden braking can be further judged.
The attribute information of the lane lines may further include some road network data information that is strongly or weakly correlated with the lane lines. For example, lane information, traffic light information, shops around the target intersection, sidewalks, non-motorized lanes, roads connected to the target intersection, and the like.
The attribute information of the specific lane line required for constructing the map at the target intersection can be selected and adjusted as required. The reference map may be used as attribute information necessary for constructing a map of the target intersection, as long as the reference map includes information on the lane line.
In one example, the constructed map of the target intersection should cover at least the area of the target intersection in all directions. For example, in the case where the target intersection is an intersection, the constructed map of the target intersection should include at least four intersections of the target intersection and lanes corresponding to the four intersections. The lanes corresponding to the four intersections can be understood as lanes respectively connected to the four intersections, and can also be understood as lanes opposite to the four intersections.
In this embodiment, since the map area of the map to be constructed is determined according to the region of interest of each image capturing device, the region range required for constructing the map can be more accurately and comprehensively divided by using the region of interest. Therefore, the comprehensive coverage of the target intersection area can be realized, the redundant invalid data can be avoided, and the data storage overhead and the data calculation amount of subsequent work are saved. Meanwhile, the map construction at the target intersection is constructed based on the existing reference map, so that the attribute information of the lane line required for constructing the map at the target intersection can be quickly acquired from the reference map, the construction speed of the map at the target intersection is accelerated, and the accuracy of the map data contained in the constructed map can be ensured.
In one embodiment, as shown in fig. 2, the high-precision map building method further includes:
s40: and determining the interested region of each image acquisition device from the images acquired by each image acquisition device according to the type of the target intersection.
In this embodiment, since the region of interest of the image acquisition device is determined according to the intersection type of the target intersection, the identified region of interest of the image acquisition device can better meet the map construction requirement of the intersection, the identification of the lane edge is more accurate and reliable, and the irrelevant region at the intersection is avoided being used as the region of interest, so that the data of the irrelevant region cannot be processed in the subsequent map construction process, and the time for constructing the map is shortened.
In one example, if the target intersection is an intersection, at least a road image of the intersection in the image acquired by the image acquisition device should be taken as the region of interest.
In one example, taking the target intersection as an example, the determination process of the region of interest in the image acquisition device is described. As shown in fig. 3 to 6, images of the target intersection captured by four image capturing devices are shown. In which fig. 3 and 4 are images of two opposite intersections of an intersection, and fig. 5 and 6 are images of the other two opposite intersections of the intersection. The irregular polygons shown in fig. 3 to 6 are regions of interest of the respective image capturing devices.
As shown in fig. 3, the process of determining the region of interest of the image capturing device for capturing the intersection image includes:
an intersection area below the image acquisition device is identified, and a motor vehicle lane area opposite the image acquisition device is identified.
The visually disappearing position of the opposite vehicle lane area is identified, and the cut-off line of the visually disappearing position is used as the boundary line a of the interested area.
And identifying each boundary of the opposite motor vehicle lane area and the non-motor vehicle lane area, and taking each boundary as a boundary line b of the interested area.
And recognizing the outer edge contour of the intersection area, and taking each contour line which is not connected with the opposite motor vehicle lane area in the outer edge contour of the intersection area as a boundary line c of the interested area.
And connecting the boundary line a, the boundary line b and the boundary line c to form a convex hull, and determining the region of interest of the image acquired by the image acquisition device at the intersection according to the calculation of the convex hull.
Among them, the Convex Hull (Convex Hull) is a concept in computing geometry (graphics). It is defined as the convex hull, collectively referred to as D, of the convex combination of any finite number of points in D for a set D. Or equivalently, that for a set D, the intersection of all convex sets containing D is called the convex hull of D. For example, the convex hull of the set of points Q refers to a smallest convex polygon, satisfying that the points in Q are either on the polygon sides or within them.
It should be noted that, the method for determining the region of interest of each image capturing device in fig. 4 to fig. 6 may refer to the method for determining the region of interest of the image capturing device in fig. 3, and is not described herein again.
In one embodiment, as shown in fig. 7, determining a map area of a map to be constructed at a target intersection according to an area of interest of each image capturing device at the target intersection includes:
s110: and converting the coordinates of the points in the region of interest of each image acquisition device into coordinates in a reference map coordinate system according to the calibration parameters of each image acquisition device.
The calibration parameters may include internal and external parameters of the image capture device. The determined coordinate points in the coordinate system of the image acquisition device can be converted into coordinate points in other coordinate systems according to the internal parameters and the external parameters of the image acquisition device.
In one example, first, the coordinates of the pixel points in the region of interest of the captured image are converted into coordinates in the coordinate system of the image capturing device using the internal reference of the image capturing device. And then, by using the external parameters of the image acquisition device, converting the coordinates of the image acquisition device in the coordinate system into the coordinates of the reference map in the world coordinate system.
S120: and combining the interested areas of the image acquisition devices according to the coordinates of the points in the interested areas of the image acquisition devices under the reference map coordinate system to determine the map area.
In one example, the regions of interest of the respective image acquisition devices are stitched according to coordinates of points in the regions of interest of the respective image acquisition devices under a reference map coordinate system. And determining a map area according to the outer edge of the convex hull formed after splicing.
In the present embodiment, by converting the coordinates of the points in the region of interest of the image acquisition device into coordinates in the coordinate system of the reference map, the finally generated map region can be made to be directly adapted to the reference map for use.
In an example, the coordinates of the point in the region of interest of the image capturing device may be coordinates of each pixel point in the image captured by the image capturing device, or coordinates of the point determined according to a preset mesh division rule.
In one embodiment, as shown in fig. 8, determining a map area of a map to be constructed at a target intersection according to an area of interest of each image capturing device at the target intersection includes:
s130: and combining and splicing the interested areas of the image acquisition devices according to the positions of the interested areas of the image acquisition devices in the intersection images acquired by the image acquisition devices.
S140: and determining the map area according to the outer edge profile of the area formed after combination and the map data of the corresponding target intersection in the reference map.
In this embodiment, the positions of the regions of interest of the image acquisition devices in the acquired intersection image are determined, so that the regions of interest of the image acquisition devices can be accurately combined and spliced. The outer edge outline of the area formed after combination and splicing can be matched with the map data in the reference map more accurately.
In one embodiment, matching points in a map area with points corresponding to lane lines in a reference map and determining lane lines included in the map area based on the matching result includes:
and acquiring the lane lines contained in the area of the target intersection from the reference map.
And determining the coordinates of the corresponding points of each lane line in the coordinate system of the reference map.
And matching the coordinates of each point in the map area with the coordinates of the points corresponding to each lane line, and if the matching is successful, indicating that the map area contains the corresponding lane line.
In one example, a rectangular area capable of fully covering the map area is constructed based on contour points of the map area. Grid points are generated at preset intervals in the rectangular region, and it is determined whether each grid point is located in the map region. And if the grid point is positioned in the map area, determining whether the grid point is positioned on a certain lane line at the target intersection in the reference map according to the coordinates of the grid point. And if so, confirming that the lane line is the lane line contained in the map area, and acquiring the attribute information of the lane line. When confirming the lane line corresponding to each grid point in the map area, if the lane line is confirmed to be the lane line contained in the map area, skipping the inquiry of the grid point.
In one embodiment, as shown in fig. 9, the high precision map construction method further includes:
s50: and acquiring each image acquisition device which can acquire the image at the target intersection in all directions after combined use according to the intersection type of the target intersection.
In this embodiment, each acquired image acquisition device can capture a panoramic image of the target intersection after combined use, so that a map which can completely cover the target intersection can be constructed by using each region of interest in the panoramic image.
In one example, the attribute information of each lane line is processed using a kd-Tree (k-dimensional tree) technique according to the attribute information of each lane line in a map constructed at a target intersection. Therefore, when the constructed map is used, the data in the map can be searched and retrieved more quickly.
According to a second embodiment of the present application, there is provided a vehicle detection method including: the map constructed by the map construction method of each embodiment described above is used to detect a vehicle traveling to a target intersection.
Specifically, the vehicle detection method comprises the following steps:
determining the position coordinates of the target vehicle in the constructed map;
judging whether the target vehicle is positioned on a lane line of the target intersection or not according to the position coordinates of the target vehicle in the constructed map;
if the target vehicle is judged to be positioned on the lane line of the target intersection, acquiring attribute information of the lane line;
and judging whether the target vehicle has the illegal driving behavior or not according to the attribute information of the lane line.
In one example, if the highest vehicle speed of the lane in which the lane line is located is determined to be not more than 60 kilometers per hour according to the attribute information of the lane line, and the traveling speed of the target vehicle is detected to be 80 kilometers per hour, it is determined that the target vehicle is overdriven.
According to a third embodiment of the present application, as shown in fig. 10, there is provided a high-precision map building apparatus 100 including:
the first determining module 10 is configured to determine a map area of a map to be constructed at a target intersection according to an area of interest of each image acquisition device at the target intersection.
And a matching module 20, configured to match each point in the map area with each point corresponding to a lane line in the reference map, and determine the lane line included in the map area according to a matching result.
The building module 30 is configured to build a map at the target intersection according to the lane lines included in the map area and attribute information of the lane lines.
In one embodiment, as shown in fig. 11, the first determining module 10 includes:
and the conversion sub-module 11 is configured to convert coordinates of a point in the region of interest of each image capturing device into coordinates in a reference map coordinate system according to the calibration parameters of each image capturing device.
And the first determining submodule 12 is configured to combine the regions of interest of the image acquisition devices according to coordinates of points in the regions of interest of the image acquisition devices in the reference map coordinate system, so as to determine a map region.
In one embodiment, as shown in fig. 12, the first determining module 10 includes:
and the combining submodule 13 is used for combining the interested areas of the image acquisition devices according to the positions of the interested areas of the image acquisition devices in the intersection images acquired by the image acquisition devices.
And the second determining submodule 14 is used for determining the map area according to the outer edge outline of the area formed after combination and the map data of the corresponding target intersection in the reference map.
In one embodiment, as shown in fig. 13, the high-precision map building apparatus 100 further includes:
and the second determining module 40 is configured to determine an area of interest of each image acquisition device from the images acquired by each image acquisition device according to the intersection type of the target intersection.
In one embodiment, as shown in fig. 14, the high-precision map building apparatus 100 further includes:
and a third determining module 50, configured to determine, according to the intersection type of the target intersection, each image acquisition device capable of acquiring the image at the target intersection in all directions after combined use.
The functions of each module in each apparatus in the embodiment of the present application may refer to corresponding descriptions in the above method, and are not described herein again.
According to an embodiment of the present application, an electronic device and a readable storage medium are also provided.
As shown in fig. 15, it is a block diagram of an electronic device according to the method of map building of the embodiment of the present application. Electronic devices are intended to represent various forms of digital computers, such as laptops, desktops, workstations, personal digital assistants, servers, blade servers, mainframes, and other appropriate computers. The electronic device may also represent various forms of mobile devices, such as personal digital processing, cellular phones, smart phones, wearable devices, and other similar computing devices. The components shown herein, their connections and relationships, and their functions, are meant to be examples only, and are not meant to limit implementations of the present application that are described and/or claimed herein.
As shown in fig. 15, the electronic apparatus includes: one or more processors 1501, memory 1502, and interfaces for connecting the various components, including high-speed interfaces and low-speed interfaces. The various components are interconnected using different buses and may be mounted on a common motherboard or in other manners as desired. The processor may process instructions for execution within the electronic device, including instructions stored in or on the memory to display graphical information of a GUI on an external input/output apparatus (such as a display device coupled to the interface). In other embodiments, multiple processors and/or multiple buses may be used, along with multiple memories and multiple memories, as desired. Also, multiple electronic devices may be connected, with each device providing portions of the necessary operations (e.g., as a server array, a group of blade servers, or a multi-processor system). Fig. 15 illustrates an example of a processor 1501.
The memory 1502 is a non-transitory computer readable storage medium provided herein. Wherein the memory stores instructions executable by at least one processor to cause the at least one processor to perform the method of mapping provided herein. The non-transitory computer readable storage medium of the present application stores computer instructions for causing a computer to perform the method of map construction provided herein.
The memory 1502 may include a program storage area that may store an operating system, an application program required for at least one function, and a data storage area; the storage data area may store data created from use of the map-built electronic device, and the like. Further, the memory 1502 may include high speed random access memory, and may also include non-transitory memory, such as at least one magnetic disk storage device, flash memory device, or other non-transitory solid state storage device. In some embodiments, the memory 1502 optionally includes memory located remotely from the processor 1501, which may be connected to the mapping electronics over a network. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.
The electronic device of the method of mapping may further include: an input device 1503 and an output device 1504. The processor 1501, the memory 1502, the input device 1503, and the output device 1504 may be connected by a bus or other means, such as the bus connection shown in fig. 15.
The input device 1503 may receive input numeric or character information and generate key signal inputs related to user settings and function controls of the mapped electronic device, such as an input device like a touch screen, a keypad, a mouse, a track pad, a touch pad, a pointing stick, one or more mouse buttons, a track ball, a joystick, etc. The output devices 1504 may include a display device, auxiliary lighting devices (e.g., LEDs), and haptic feedback devices (e.g., vibrating motors), among others. The display device may include, but is not limited to, a Liquid Crystal Display (LCD), a Light Emitting Diode (LED) display, and a plasma display. In some implementations, the display device can be a touch screen.
Various implementations of the systems and techniques described here can be realized in digital electronic circuitry, integrated circuitry, application specific ASICs (application specific integrated circuits), computer hardware, firmware, software, and/or combinations thereof. These various embodiments may include: implemented in one or more computer programs that are executable and/or interpretable on a programmable system including at least one programmable processor, which may be special or general purpose, receiving data and instructions from, and transmitting data and instructions to, a storage system, at least one input device, and at least one output device.
These computer programs (also known as programs, software applications, or code) include machine instructions for a programmable processor, and may be implemented using high-level procedural and/or object-oriented programming languages, and/or assembly/machine languages. As used herein, the terms "machine-readable medium" and "computer-readable medium" refer to any computer program product, apparatus, and/or device (e.g., magnetic discs, optical disks, memory, Programmable Logic Devices (PLDs)) used to provide machine instructions and/or data to a programmable processor, including a machine-readable medium that receives machine instructions as a machine-readable signal. The term "machine-readable signal" refers to any signal used to provide machine instructions and/or data to a programmable processor.
To provide for interaction with a user, the systems and techniques described here can be implemented on a computer having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to a user; and a keyboard and a pointing device (e.g., a mouse or a trackball) by which a user can provide input to the computer. Other kinds of devices may also be used to provide for interaction with a user; for example, feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user may be received in any form, including acoustic, speech, or tactile input.
The systems and techniques described here can be implemented in a computing system that includes a back-end component (e.g., as a data server), or that includes a middleware component (e.g., an application server), or that includes a front-end component (e.g., a user computer having a graphical user interface or a web browser through which a user can interact with an implementation of the systems and techniques described here), or any combination of such back-end, middleware, or front-end components. The components of the system can be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: local Area Networks (LANs), Wide Area Networks (WANs), and the Internet.
The computer system may include clients and servers. A client and server are generally remote from each other and typically interact through a communication network. The relationship of client and server arises by virtue of computer programs running on the respective computers and having a client-server relationship to each other.
In this embodiment, since the map area of the map to be constructed is determined according to the region of interest of each image capturing device, the region range required for constructing the map can be more accurately and comprehensively divided by using the region of interest. Therefore, the comprehensive coverage of the target intersection area can be realized, the redundant invalid data can be avoided, and the data storage overhead and the data calculation amount of subsequent work are saved. Meanwhile, the map construction at the target intersection is constructed based on the existing reference map, so that the attribute information of the lane line required for constructing the map at the target intersection can be quickly acquired from the reference map, the construction speed of the map at the target intersection is accelerated, and the accuracy of the map data contained in the constructed map can be ensured.
It should be understood that various forms of the flows shown above may be used, with steps reordered, added, or deleted. For example, the steps described in the present application may be executed in parallel, sequentially, or in different orders, and the present invention is not limited thereto as long as the desired results of the technical solutions disclosed in the present application can be achieved.
The above-described embodiments should not be construed as limiting the scope of the present application. It should be understood by those skilled in the art that various modifications, combinations, sub-combinations and substitutions may be made in accordance with design requirements and other factors. Any modification, equivalent replacement, and improvement made within the spirit and principle of the present application shall be included in the protection scope of the present application.
Claims (12)
1. A high-precision map construction method is characterized by comprising the following steps:
determining a map area of a map to be constructed at a target intersection according to the interesting area of each image acquisition device of the target intersection;
matching each point in the map area with each point corresponding to a lane line in a reference map, and determining the lane line contained in the map area according to a matching result;
and constructing the map at the target intersection according to the lane lines contained in the map area and the attribute information of the lane lines.
2. The method according to claim 1, wherein the determining a map area of a map to be constructed at a target intersection according to an area of interest of each image acquisition device of the target intersection comprises:
converting coordinates of points in the region of interest of each image acquisition device into coordinates under a reference map coordinate system according to the calibration parameters of each image acquisition device;
and combining the interested areas of the image acquisition devices according to the coordinates of the points in the interested areas of the image acquisition devices under a reference map coordinate system to determine the map area.
3. The method according to claim 1, wherein the determining a map area of a map to be constructed at a target intersection according to an area of interest of each image acquisition device of the target intersection comprises:
combining the interested areas of the image acquisition devices according to the positions of the interested areas of the image acquisition devices in the intersection images acquired by the image acquisition devices;
and determining the map area according to the outer edge profile of the area formed after combination and the map data corresponding to the target intersection in the reference map.
4. The method of claim 1, further comprising:
and determining the interested region of each image acquisition device from the images acquired by each image acquisition device according to the type of the target intersection.
5. The method of claim 1, further comprising:
and determining each image acquisition device which can acquire the image at the target intersection in all directions after combined use according to the intersection type of the target intersection.
6. A high-precision map building apparatus, comprising:
the first determination module is used for determining a map area of a map to be constructed at a target intersection according to the region of interest of each image acquisition device of the target intersection;
the matching module is used for matching each point in the map area with each point corresponding to a lane line in a reference map and determining the lane line contained in the map area according to a matching result;
and the construction module is used for constructing the map at the target intersection according to the lane lines contained in the map area and the attribute information of the lane lines.
7. The apparatus of claim 6, wherein the first determining module comprises:
the conversion submodule is used for converting the coordinates of points in the region of interest of each image acquisition device into coordinates under a reference map coordinate system according to the calibration parameters of each image acquisition device;
and the first determining submodule is used for combining the interested areas of the image acquisition devices according to the coordinates of the points in the interested areas of the image acquisition devices under a reference map coordinate system to determine the map area.
8. The apparatus of claim 6, wherein the first determining module comprises:
the combination submodule is used for combining the interested areas of the image acquisition devices according to the positions of the interested areas of the image acquisition devices in the intersection images acquired by the image acquisition devices;
and the second determining submodule is used for determining the map area according to the outer edge outline of the area formed after combination and the map data corresponding to the target intersection in the reference map.
9. The apparatus of claim 6, further comprising:
and the second determining module is used for determining the region of interest of each image acquisition device from the images acquired by each image acquisition device according to the type of the target intersection.
10. The apparatus of claim 6, further comprising:
and the third determining module is used for determining each image acquisition device which can acquire the image at the target intersection in an all-around manner after combined use according to the intersection type of the target intersection.
11. An electronic device, comprising:
at least one processor; and
a memory communicatively coupled to the at least one processor; wherein the content of the first and second substances,
the memory stores instructions executable by the at least one processor to enable the at least one processor to perform the method of any one of claims 1-5.
12. A non-transitory computer readable storage medium having stored thereon computer instructions for causing the computer to perform the method of any one of claims 1-5.
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