CN111767354B - High-precision map precision evaluation method - Google Patents
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- CN111767354B CN111767354B CN202010340823.4A CN202010340823A CN111767354B CN 111767354 B CN111767354 B CN 111767354B CN 202010340823 A CN202010340823 A CN 202010340823A CN 111767354 B CN111767354 B CN 111767354B
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Abstract
The invention discloses a high-precision map precision evaluation method, which comprises the steps of acquiring a current position coordinate of a vehicle in the running process of the vehicle, acquiring the relative distance and angle between the vehicle and a first marker around the vehicle through detection equipment, calculating actual coordinate information of the first marker according to the current position coordinate, the relative distance and the angle of the vehicle, comparing the actual coordinate information with known coordinate information of the first marker in a high-precision map, judging the error condition, and evaluating whether the precision of the high-precision map meets the requirement according to a judgment result. The invention can evaluate the coordinate consistency and accuracy of the high-precision map in a large scale. The method meets the measurement method under various working conditions, obtains the accuracy verification result with higher universality and reliability, is used as decision input of intelligent driving, and improves the reliability and safety of the automatic driving high-accuracy map.
Description
Technical Field
The invention belongs to the technical field of automobile driving, and particularly relates to a high-precision map precision evaluation method.
Background
In recent years, with the deep research of automatic driving skills and the fine requirement of automatic driving navigation, a high-precision map is taken as one of key technologies essential for the intelligent of automobiles. The traditional navigation map can only provide navigation position information at the road level, but as the input of an automatic driving decision, the high-precision map needs to realize the navigation position information at the lane level, and the output track needs to be smooth and free of jump.
At present, the data acquisition of the high-precision map mainly comprises the following three modes: the mobile measuring vehicle is based on road acquisition data, unmanned aerial vehicle large scale aerial survey and 1:500 full-element topographic map mapping. The above means more or less need to use the GNSS positioning technology, and the accuracy of the acquired map data is naturally affected by the GNSS positioning accuracy.
Although accuracy is corrected and verified during the process of manufacturing the high-precision map, the verification accuracy is usually achieved by means of proportional sampling, and each position point of the map is not checked. The correction accuracy is usually improved by introducing a control point with a higher level as a true value and then locally smoothing and optimizing the control point, and the accuracy of each point is not guaranteed.
Particularly, under the condition of under an overhead bridge, in a tunnel, in a boulevard, around a high-rise building and the like, the precision is difficult to ensure, and the common error is far greater than the position precision of an open road section. Therefore, the map precision of different road segments in the same region is different, the control decision of the automatic driving vehicle is unfavorable, and the difficulty of error modeling analysis is increased.
However, the current high-precision map verification method is basically independent of the coordinate points of the absolute world coordinate system, and often it is very difficult to obtain a large number of mark points of the absolute world coordinate system with high precision.
Disclosure of Invention
The invention aims to solve the defects of the background technology and provides a high-precision map precision evaluation method.
The technical scheme adopted by the invention is as follows: a method for evaluating the precision of high-precision map includes such steps as obtaining the current position coordinates of vehicle, obtaining the relative distance and angle between vehicle and the first marker around the vehicle by detecting equipment, calculating the actual coordinate information of said first marker, comparing it with the known coordinate information of said first marker, judging the error, and evaluating if the precision of high-precision map meets the requirement.
Further, the method further comprises the step of verifying the judging result, and if the judging result is inaccurate, whether the accuracy of the high-accuracy map meets the requirement is evaluated by adopting a track method.
Further, the verification process is as follows: the vehicle runs to a first position, a first position coordinate is obtained, a second marker coordinate is obtained through the first position coordinate, a second position actual coordinate is obtained after the vehicle runs to the second position, a second position theoretical coordinate is reversely calculated through the second marker coordinate, an error between the second position actual coordinate and the second position theoretical coordinate is calculated, if the error is smaller than a set value, the judging result is accurate, and if the error is larger than or equal to the set value, the judging result is inaccurate.
Further, the track method is evaluated by the following steps: when a vehicle passes through a plurality of places in the running process, measuring typical marker information of the place through a vehicle-mounted detection device at each place, calculating to obtain relative position coordinates of the vehicle at the place, and determining relative running tracks according to the relative position coordinates of the places;
back calculating a plurality of theoretical position coordinates of the vehicle according to the information of the typical markers detected at all places and the known coordinates of the typical markers in the high-precision map, and determining a theoretical running track according to the plurality of theoretical position coordinates;
and comparing and analyzing the relative running track with the theoretical running track to obtain an error distribution map, and evaluating whether the precision of the high-precision map meets the requirement according to the error distribution map.
According to the invention, the high-precision map is subjected to large-scale universal precision verification by using the running vehicle to obtain the precision distribution condition under the corresponding environment, and whether the precision requirement of the high-precision map of the acquired road section is suitable for decision input for automatic driving is systematically evaluated from two aspects of consistency of the map and correctness of the spatial position. The invention can evaluate the coordinate consistency and accuracy of the high-precision map in a large scale. The method meets the measurement method under various working conditions, obtains the accuracy verification result with higher universality and reliability, is used as decision input of intelligent driving, and improves the reliability and safety of the automatic driving high-accuracy map.
Drawings
FIG. 1 is an evaluation flow chart of the present invention.
Fig. 2 is a label diagram for verifying the judgment result according to the present invention.
FIG. 3 is a flow chart of the trajectory method evaluation of the present invention.
Fig. 4 is a roadmap for the travel of the vehicle of the invention.
Fig. 5 is another roadmap for the travel of the vehicle of the invention.
Fig. 6 shows two vehicle travel tracks obtained by fitting the present invention.
Detailed Description
The following describes the embodiments of the present invention further with reference to the drawings. The description of these embodiments is provided to assist understanding of the present invention, but is not intended to limit the present invention. In addition, technical features of the embodiments of the present invention described below may be combined with each other as long as they do not collide with each other.
In order to realize the evaluation method of the high-precision map precision, the high-precision positioning system of the evaluation system designed by the invention is composed of a whole set of detection equipment, namely a GNSS+IMU system, a laser radar, an image and other sensors, and can acquire the absolute position coordinates of the detection equipment, measure the information of the distance, the angle and the like between the detection equipment and surrounding markers and realize the evaluation and statistical analysis of the high-precision map position precision.
Before the system carries out actual evaluation, firstly, carrying out self-checking of the system, and judging whether the system meets the test requirement. (1) In an open calibration field area, a driving test vehicle runs, high-precision positioning data (self system coordinates or position coordinates of the vehicle) are obtained through a high-precision positioning system, and the high-precision positioning data are realized by the system rather than a high-precision map. (2) And measuring and calibrating field markers or control points through a laser radar and a visual image, calculating a plurality of marker coordinate information (X, Y, H) acquired in real time, comparing the coordinates with the coordinates in a map database, judging an error condition delta, and marking if the error condition delta exceeds the error condition. (3) In the running process, the position coordinates of the future moment are predicted through a navigation algorithm, the error in the step (2) is added, a certain determined marker is measured at the moment, the position of the vehicle is reversely calculated through the coordinates of the marker or the control point, and the calculated coordinates of the navigation and the coordinates reversely calculated through the marker are analyzed and corrected. (4) Repeating the above three steps, calculating and correcting the error to make it converge to a stable state.
Based on the system, the invention provides a high-precision map precision evaluation method, as shown in fig. 1, a vehicle is tested to run in a high-precision map area needing precision verification, for example, in a positioning precision accurate position, real-time high-precision position coordinates of the vehicle can be continuously obtained and deduced, relative distance and angle between the vehicle and a first marker around the vehicle are measured through measuring and sensing sensors, actual coordinate information of the first marker is calculated according to the current position coordinates, the relative distance and the angle of the vehicle, the actual coordinate information is continuously recorded, the actual coordinate information is compared with data in a high-precision map database for analysis, error conditions are judged, the position point proportion of a statistical difference value smaller than a preset value is judged, consistency and correctness of the high-precision map are judged based on the proportion, whether jump abnormal conditions exist or not, and whether the precision of the high-precision map meets requirements is evaluated according to judgment results.
In the above scheme, if the determination result is accurate, and if the determination result is inaccurate, another method, i.e. a trajectory method, is needed to evaluate whether the accuracy of the high-accuracy map meets the requirement. The verification process comprises the following steps: the vehicle runs to a first position, a first position coordinate is obtained, a second marker coordinate is obtained through the first position coordinate, a second position actual coordinate is obtained after the vehicle runs to the second position, a second position theoretical coordinate is reversely calculated through the second marker coordinate, an error between the second position actual coordinate and the second position theoretical coordinate is calculated, if the error is smaller than a set value, the judging result is accurate, and if the error is larger than or equal to the set value, the judging result is inaccurate.
The verification process is further described below in conjunction with fig. 2:
the vehicle t0 runs at a certain position point A, the real-time coordinate of the point A is obtained through a high-precision positioning system, and the real-time coordinate of the marker C is obtained according to the point A coordinate; and deducing a track to reach a point B at a time t1, acquiring real-time coordinates of the point B after the vehicle reaches the point B, reversely calculating predicted position coordinates of the vehicle at the point B through the real-time coordinates of the marker C to obtain a coordinate point B ', and comparing the coordinate point B' with the real-time coordinate point B to obtain an error delta B.
If Δb meets the accuracy error requirement, repeating the above steps to obtain a sufficient number of high-accuracy positioning points A, B, C … … and coordinate values a ', B ', C ' … … obtained by map back calculation.
If the error delta is a known allowable error value and fluctuates in a very small range, a large number of high-precision map coordinate point verification values can be obtained by counting the error distribution, whether coordinate error points or jump points exist or not can be judged, and the consistency of map coordinates is checked.
In the above scheme, the process of the trajectory estimation is shown in fig. 3: when a vehicle passes through a plurality of places in the running process, the information of typical markers (such as scanning lane lines, road edges and the like) of the places is measured at each place through vehicle-mounted detection equipment (laser radar combined with visual images), the information comprises relative distances and angles, relative position coordinates of the vehicle at the place are obtained through back calculation according to the relative distances and angles, the relative track of the vehicle running is recorded according to the relative positions of the places, and a relative running track is fitted.
Meanwhile, according to typical marker information detected by all places and known coordinates of typical markers in a high-precision map, continuously back-calculating a plurality of theoretical position coordinates of corresponding positions of the vehicle in the high-precision map, obtaining a distributed running track point according to the plurality of theoretical position coordinates, carrying out regression analysis and calculation, and fitting a theoretical running track calculated by the coordinates of the high-precision map;
and comparing and analyzing various elements such as track curvature, length and the like obtained by the two methods, and analyzing the deviation position of the high-precision map coordinates and whether a track is not smooth or not. And calculating the deviation root mean square value of a large number of points on the track, and quantitatively evaluating whether the precision of the high-precision map meets the requirement.
The trajectory evaluation method is further described below in conjunction with fig. 4-6: the method has good effect on the failure of a positioning system or the failure of a high-precision environment area, such as a long-distance tunnel or under an overhead bridge, and can not obtain high-precision positioning even if a high-performance pose system is used. The method comprises the following specific steps:
a) The vehicle runs in a non-open area, a typical marker is measured by using a vehicle-mounted sensor (such as a laser radar), the position of the vehicle is calculated reversely, a plurality of coordinate points of the vehicle (based on a vehicle local coordinate system) are obtained, and finally a fitted track curve is analyzed and calculated.
b) The vehicle reaches the point a, and the self coordinate a1 is obtained by measuring road lines on two sides.
c) Repeating the step (2) to obtain the position b1, c1
d) And (3) carrying out smoothing treatment on the coordinate points a1, b1 and c1 and … … to obtain a track route for the vehicle to travel. The track is back calculated based on the position measurement of the road route, so the relative position is very accurate.
e) When the vehicle reaches the position a', the typical marker (coordinate value is known) of the high-definition map is measured, so that the coordinate a2 of the vehicle can be obtained by back calculation
f) And so on, when the point b ', c' is reached, the marker of the high-definition map is measured, and the coordinates b2 and c2 of the marker are obtained by back calculation
g) a and a' are not exactly the same location point because the sensor will have a short time difference in multiple measurements, but the displacement of the vehicle is small in a very short time and does not affect the estimated fit of the trajectory. And b ', c and c' are analyzed in the same way.
h) The coordinate point sets a2, b2 and c2 … … can be used for smoothly fitting a track based on the high-precision map coordinates.
i) And analyzing the curvature, gradient and length of the two tracks in a three-dimensional space, and analyzing to obtain an error distribution diagram. The method calculates the characteristic based on the error, wherein the general error satisfies randomness, the rough error satisfies contingency, and the system error satisfies stationarity, so as to judge.
j) If the absolute coordinates of the high-precision map are accurate and continuous and no jump exists, the two tracks are basically coincident, and the error distribution fluctuates in the error range of the high-precision map. If obvious difference points appear and the error value is larger, the high-precision map precision of the road section is presumed to be inconsistent.
The foregoing is merely illustrative of the present invention, and the present invention is not limited thereto, and any changes or substitutions easily contemplated by those skilled in the art within the scope of the present invention should be included in the scope of the present invention. What is not described in detail in this specification is prior art known to those skilled in the art.
Claims (2)
1. A high-precision map precision evaluation method is characterized in that: in the running process of the vehicle, acquiring the current position coordinates of the vehicle, acquiring the relative distance and angle between the vehicle and a first marker around the vehicle through detection equipment, calculating the actual coordinate information of the first marker according to the current position coordinates of the vehicle, the relative distance and angle, comparing the actual coordinate information with the known coordinate information of the first marker in the high-precision map, judging the error condition, counting the position point proportion of which the difference value is smaller than a preset value, judging the consistency and the correctness of the high-precision map based on the proportion, judging whether jump abnormality exists or not, and evaluating whether the precision of the high-precision map meets the requirement according to the judging result;
and (3) verifying the judgment result in real time: in the running process of the vehicle, acquiring actual coordinates of a plurality of position points in real time, respectively calculating theoretical coordinates of the plurality of position points in a back way according to the actual coordinates of the plurality of position points, respectively comparing the plurality of actual coordinates with the plurality of theoretical coordinates to obtain a plurality of errors, and determining whether a judgment result is accurate according to the distribution condition of the plurality of errors;
the method further comprises the step of verifying the judging result, and if the judging result obtained by verification is inaccurate, a track method is adopted to evaluate whether the precision of the high-precision map meets the requirement;
the track method evaluation process comprises the following steps: when a vehicle passes through a plurality of places in the running process, measuring typical marker information of the place through a vehicle-mounted detection device at each place, calculating to obtain relative position coordinates of the vehicle at the place, and determining relative running tracks according to the relative position coordinates of the places;
back calculating a plurality of theoretical position coordinates of the vehicle according to the information of the typical markers detected at all places and the known coordinates of the typical markers in the high-precision map, obtaining a distributed running track point according to the plurality of theoretical position coordinates, carrying out regression analysis calculation, and fitting a theoretical running track calculated by the coordinates of the high-precision map;
and comparing and analyzing the relative running track with the theoretical running track to obtain an error distribution map, and evaluating whether the precision of the high-precision map meets the requirement according to the error distribution map.
2. The high-precision map precision evaluation method according to claim 1, wherein the verification process is: the vehicle runs to a first position, a first position coordinate is obtained, a second marker coordinate is obtained through the first position coordinate, a second position actual coordinate is obtained after the vehicle runs to the second position, a second position theoretical coordinate is reversely calculated through the second marker coordinate, an error between the second position actual coordinate and the second position theoretical coordinate is calculated, if the error is smaller than a set value, the judging result is accurate, and if the error is larger than or equal to the set value, the judging result is inaccurate.
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| CN112731458B (en) * | 2020-12-24 | 2023-03-14 | 彩虹无人机科技有限公司 | Method for measuring missile launching direction |
| FR3120690B1 (en) | 2021-03-15 | 2023-02-10 | Psa Automobiles Sa | Method and device for determining the reliability of a base definition cartography. |
| FR3120692B1 (en) | 2021-03-15 | 2023-02-10 | Psa Automobiles Sa | Method and device for determining the reliability of a base definition map. |
| CN115880890A (en) * | 2021-09-26 | 2023-03-31 | 华为技术有限公司 | Map validity detection method and related product |
| CN114485681B (en) * | 2021-12-30 | 2023-10-10 | 武汉光庭信息技术股份有限公司 | Method for evaluating consistency rate of precision map data by utilizing DR track |
| CN114993348A (en) * | 2022-05-30 | 2022-09-02 | 中国第一汽车股份有限公司 | Map precision testing method and device, electronic equipment and storage medium |
| CN117405126A (en) * | 2022-07-15 | 2024-01-16 | 腾讯科技（深圳）有限公司 | Positioning precision estimation method, device, electronic equipment and storage medium |
| CN116718180A (en) * | 2023-06-09 | 2023-09-08 | 华能伊敏煤电有限责任公司 | Unmanned mine car positioning method based on high-precision map platform |
| CN117113045B (en) * | 2023-10-24 | 2024-01-26 | 交通运输部公路科学研究所 | Method for evaluating effectiveness of automatic driving positioning system |
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