CN113129438A - Method and device for improving accuracy of lane line and readable storage medium - Google Patents
Method and device for improving accuracy of lane line and readable storage medium Download PDFInfo
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- CN113129438A CN113129438A CN202010042198.5A CN202010042198A CN113129438A CN 113129438 A CN113129438 A CN 113129438A CN 202010042198 A CN202010042198 A CN 202010042198A CN 113129438 A CN113129438 A CN 113129438A
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Abstract
The embodiment of the invention provides a method and a device for improving the accuracy of a lane line and a readable storage medium, wherein the method comprises the following steps: acquiring a first acquisition track and a second acquisition track corresponding to the same position range and a lane line corresponding to the first acquisition track, wherein the precision of the second acquisition track is higher than that of the first acquisition track; determining a first track point corresponding to the shape point from the first acquisition track according to the coordinate of the shape point of the lane line; determining a second track point corresponding to the first track point from the second acquisition track; and correcting the coordinates of the shape points according to the coordinate offset of the first track points and the second track points. The embodiment of the invention can realize efficient and accurate lane line correction.
Description
Technical Field
The embodiment of the invention relates to the technical field of map data, in particular to a method and a device for improving the accuracy of a lane line and a readable storage medium.
Background
The high-precision map data is manufactured mainly into an field data acquisition stage and an internal data processing stage; in the field data acquisition stage, field personnel can acquire point cloud data through a high-precision acquisition vehicle, and in the field data processing stage, field personnel can identify the point cloud data by using an identification algorithm and realize the production of high-precision map data by assisting in a mode of manually correcting an identification result.
The method for manufacturing the lane line is an important task for manufacturing high-precision map data, and after the precision of point cloud data is improved, the phenomenon that the originally manufactured lane line cannot be matched with the point cloud data after the precision is improved exists, so that how to provide a scheme for improving the precision of the lane line is provided, the accuracy of the lane line is improved by efficiently correcting the lane line, and the problem needs to be solved urgently by technical personnel in the field.
Disclosure of Invention
In view of this, embodiments of the present invention provide a method and an apparatus for improving the accuracy of a lane line, and a readable storage medium, so as to efficiently correct the lane line and improve the accuracy of the lane line.
In order to achieve the above purpose, the embodiments of the present invention provide the following technical solutions:
a method for improving the accuracy of a lane line comprises the following steps:
acquiring a first acquisition track, a second acquisition track and a lane line which are obtained based on the same acquisition track; the lane line corresponds to the first acquisition track, and the precision of the second acquisition track is higher than that of the first acquisition track;
and correcting the coordinates of the shape points of the lane line according to the coordinate offset of the corresponding track points in the first collection track and the second collection track.
Optionally, the correcting the shape point coordinates of the lane line according to the coordinate offset of the corresponding track point in the first collected track and the second collected track includes:
determining a first track point corresponding to the shape point from the first acquisition track according to the coordinate of the shape point of the lane line;
determining a second track point corresponding to the first track point from the second acquisition track;
and correcting the coordinates of the shape points according to the coordinate offset of the first track points and the second track points.
Optionally, determining, according to the coordinates of the shape points of the lane line, a first track point corresponding to the shape point from the first collection track includes:
and determining the nearest track point within a preset distance from the coordinate of the shape point of the lane line from the first acquisition track, and determining the nearest track point as a first track point corresponding to the shape point.
Optionally, the closest track point determined from the first collected track and within a predetermined distance from the coordinates of the shape point of the lane line includes:
judging whether the track point of the first acquisition track exists within a preset distance of the coordinate of the shape point according to the coordinate of the shape point of the lane line and the coordinate of the track point of the first acquisition track; if so, determining the nearest track point closest to the shape point from the track points of the first acquisition track.
Optionally, the method further includes:
and if the track point of the first acquisition track does not exist within the preset distance of the coordinates of the shape point, canceling the correction of the coordinates of the shape point of the lane line.
Optionally, the determining, from the second collected trajectory, a second trajectory point corresponding to the first trajectory point includes:
and determining a second track point corresponding to the acquisition time from the second acquisition track according to the acquisition time of the first track point.
Optionally, the first acquisition track is obtained by resolving the same acquisition track based on a first track resolving algorithm; the lane line is determined based on the point cloud data corresponding to the first acquisition track; the second acquisition track is obtained by resolving the same acquisition track based on a second track resolving algorithm; the accuracy of the second trajectory calculation algorithm is higher than the accuracy of the first calculation algorithm.
Optionally, the correcting the coordinates of the shape points according to the coordinate offset of the first track point and the second track point includes:
respectively determining longitude coordinate offset, latitude coordinate offset and elevation coordinate offset of the first track point and the second track point;
and adding the longitude coordinate offset to the current longitude coordinate of the shape point, adding the latitude coordinate offset to the current latitude coordinate, and adding the elevation coordinate offset to the current elevation coordinate to obtain the corrected coordinate of the shape point.
An embodiment of the present invention further provides a device for improving accuracy of a lane line, including:
the data acquisition module is used for acquiring a first acquisition track, a second acquisition track and a lane line which are acquired based on the same acquisition track; the lane line corresponds to the first acquisition track, and the precision of the second acquisition track is higher than that of the first acquisition track;
and the correction module is used for correcting the coordinates of the shape points of the lane lines according to the coordinate offset of the corresponding track points in the first acquisition track and the second acquisition track.
An embodiment of the present invention further provides a readable storage medium, where the readable storage medium stores a program for executing the method for improving the accuracy of a lane line.
According to the method for improving the accuracy of the lane line, provided by the embodiment of the invention, when the coordinate of the lane line needs to be corrected, a first acquisition track, a second acquisition track and the lane line which are obtained based on the same acquisition track can be obtained; the lane line corresponds to the first acquisition track, and the precision of the second acquisition track is higher than that of the first acquisition track; and correcting the coordinates of the shape points of the lane line according to the coordinate offset of the corresponding track points in the first acquisition track and the second acquisition track. Because the coordinate relationship between the acquired track and the corresponding lane line is not changed when the accuracy of the acquired track changes, the embodiment of the invention can correct the coordinates of the shape point in the lane line corresponding to the first acquired track based on the coordinate offset of the corresponding track point in the first acquired track and the second acquired track, so that the coordinates of the shape point after the correction of the lane line are matched with the point cloud data corresponding to the second acquired track with improved accuracy, the process of re-manufacturing the map data based on the point cloud data with improved accuracy is avoided, and the coordinates of the lane line can be efficiently and accurately corrected.
Drawings
In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly introduced below, it is obvious that the drawings in the following description are only embodiments of the present application, and for those skilled in the art, other drawings can be obtained according to the provided drawings without creative efforts.
Fig. 1 is a flowchart of a method for improving accuracy of a lane line according to an embodiment of the present invention;
FIG. 2 is a flowchart of correcting coordinates of shape points according to an embodiment of the present invention;
fig. 3 is another flowchart of a method for improving accuracy of a lane line according to an embodiment of the present invention;
FIG. 4 is an exemplary diagram of trace points corresponding to shape points;
fig. 5 is a further flowchart of a method for improving the accuracy of a lane line according to an embodiment of the present invention;
FIG. 6 is a diagram illustrating an exemplary application provided by an embodiment of the present invention;
fig. 7 is a block diagram of a lane line accuracy improving apparatus according to an embodiment of the present invention;
FIG. 8 is a block diagram of a computing device provided by the present invention.
Detailed Description
With the continuous improvement of the precision requirement of high-precision map data, the precision requirement of the high-precision map data particularly suitable for unmanned requirements is higher and higher, when a track calculation algorithm with higher precision is used for calculating and obtaining the acquisition track of a high-precision acquisition vehicle, in order to meet the continuously improved precision requirement of the high-precision map data, the higher-precision track calculation algorithm can be used for calculating and obtaining the acquisition track with higher precision, and correspondingly, the precision of point cloud data corresponding to the acquisition track is also improved; for example, the point cloud coordinates of the point cloud data are derived from the coordinates of the acquisition track of the point cloud data acquired by the high-precision acquisition vehicle, and the precision of the acquisition track is improved correspondingly by using a track calculation algorithm with higher precision; the precision of the point cloud data is improved, so that the coordinates of the lane lines in the originally manufactured high-precision map data cannot be matched with the point cloud data after the precision is improved, and the coordinates of the lane lines need to be corrected at the moment so as to improve the precision of the lane lines.
At present, high-precision map data are mainly re-manufactured on the basis of point cloud data with improved precision, so that the coordinates of a lane line in the re-manufactured high-precision map data are matched with the point cloud data with improved precision, namely, the coordinates of the lane line are corrected by re-manufacturing the high-precision map data, so that the precision of the lane line is improved; however, the method is based on the point cloud data with improved precision and the high-precision map data is newly manufactured, and the correction efficiency of the lane line is low.
Based on this, embodiments of the present invention provide a method and an apparatus for improving accuracy of a lane line, and a readable storage medium, so as to efficiently correct the lane line and improve the accuracy of the lane line. The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
As an optional implementation of the disclosure of the embodiment of the present invention, fig. 1 illustrates an optional flow of the method for improving the accuracy of a lane line provided in the embodiment of the present invention, where the method for improving the accuracy of a lane line may be executed by a computing device having a data processing capability; optionally, the computing device may be implemented by a server (e.g., a single server or a server group consisting of multiple servers), or may be implemented by a terminal; in one example, the computing device may be a computing device used in a domestic data processing stage of high precision map data production;
referring to fig. 1, the method for improving the accuracy of a lane line according to the embodiment of the present invention may include:
step S10, acquiring a first acquisition track, a second acquisition track and a lane line which are obtained based on the same acquisition track; the lane line corresponds to the first acquisition track, and the precision of the second acquisition track is higher than that of the first acquisition track.
In the embodiment of the present invention, based on the same acquisition track, the first acquisition track may be an acquisition track of point cloud data before precision improvement, and the second acquisition track may be an acquisition track of point cloud data after precision improvement, that is, the first acquisition track and the second acquisition track are acquisition tracks of point cloud data before and after precision improvement, and the precision of the second acquisition track is higher than that of the first acquisition track.
The first acquisition track and the second acquisition track can be understood based on the same acquisition track, and the first acquisition track and the second acquisition track are derived from the same driving track of point cloud data acquired by a high-precision acquisition vehicle and are obtained by resolving through a track resolving algorithm with different precision; the precision of the trajectory calculation algorithm used by the second acquisition trajectory is higher than that used by the first acquisition trajectory. Optionally, the first acquisition track and the second acquisition track may be obtained by resolving the same acquisition track (such as a driving track) of point cloud data acquired by a high-precision acquisition vehicle by using a track resolving algorithm before and after precision is improved; for example, the first acquisition trajectory may be obtained by calculating the same acquisition trajectory of the point cloud data acquired by the high-precision acquisition vehicle by using a first trajectory calculation algorithm before precision is improved, and the first acquisition trajectory may have corresponding point cloud data, for example, the point cloud coordinates of the corresponding point cloud data may be determined based on the coordinates of the first acquisition trajectory; when the precision of the track calculation algorithm is improved and a second track calculation algorithm with higher precision is provided, in order to meet the precision improvement requirement of the high-precision map data, the same acquisition track can be calculated by using the second track calculation algorithm to obtain a second acquisition track with higher precision, and the second acquisition track with improved precision can have corresponding point cloud data with improved precision, for example, the point cloud coordinates of the point cloud data with improved precision can be determined based on the second acquisition track with improved precision; at this time, the coordinates of the lane lines in the high-precision map data created based on the first acquisition trajectory cannot be matched with the accuracy-improved point cloud data, and the coordinates of the lane lines need to be corrected to improve the accuracy of the lane lines.
It can be seen that the first acquisition track and the second acquisition track are derived from the same acquisition track of the high-precision acquisition vehicle, optionally, the first acquisition track can be obtained by resolving the same acquisition track based on a first track resolving algorithm with lower precision, and the second acquisition track can be obtained by resolving the same acquisition track based on a second track resolving algorithm with higher precision. For example, taking the data acquired by the high-precision acquisition vehicle on the road S at 1 month and 2 days as an example, the embodiment of the invention can firstly use a first track resolving algorithm (for example, an ephemeris resolving algorithm) to resolve the acquisition track of the high-precision acquisition vehicle on the road S at 1 month and 2 days to obtain a first acquisition track, and make high-precision map data based on point cloud data corresponding to the first acquisition track; when the track resolving algorithm is improved in technology and a second track resolving algorithm with higher precision exists (for example, when a thousand-searching base station resolving algorithm with higher precision than an ephemeris resolving algorithm exists), the embodiment of the invention can use the second track resolving algorithm to resolve the acquisition track of the high-precision acquisition vehicle on the road S in 1 month and 2 days, so as to obtain a second acquisition track with higher precision; at this time, the coordinate change of the second acquisition track brings the change of the point cloud coordinate of the point cloud data, the coordinate of the lane line of the originally manufactured high-precision map data cannot be matched with the point cloud data corresponding to the second acquisition track, and the coordinate of the lane line needs to be corrected, so that the precision of the lane line is improved.
In order to correct the lane line, the embodiment of the present invention may obtain a first acquisition track, a second acquisition track and a lane line, which are obtained based on the same acquisition track, where the lane line corresponds to the first acquisition track, and the accuracy of the second acquisition track is higher than the accuracy of the first acquisition track. The lane line corresponding to the first acquisition track can be considered to be obtained by processing and manufacturing the lane line based on the first acquisition track and point cloud data corresponding to the first acquisition track, namely the lane line in the high-precision map data before precision is improved; optionally, in the embodiment of the present invention, a lane line corresponding to the first acquisition track may be acquired from a production library, and the production library may store map elements of high-precision map data that are manufactured based on the first acquisition track before precision is improved and corresponding point cloud data.
And S11, correcting the coordinates of the shape points of the lane lines according to the coordinate offset of the corresponding track points in the first acquisition track and the second acquisition track.
The first acquisition track and the second acquisition track are derived from the same acquisition track of point cloud data acquired by a high-precision acquisition vehicle, the lane line corresponds to the first acquisition track, and although the accuracy of the first acquisition track is different from that of the second acquisition track, the corresponding relation between the first acquisition track and the coordinate of the second acquisition track and the lane line is unchanged, namely the coordinate relation between the first acquisition track and the lane line is equal to the coordinate relation between the second acquisition track and the corresponding lane line; meanwhile, the coordinate deviation amount of the corresponding track point in the first acquisition track and the second acquisition track can be represented, and the coordinate difference of the track point of the same acquisition track before and after the precision is improved; based on this, the embodiment of the invention can correct the coordinates of the shape points of the lane line before precision is improved by using the coordinate deviation amount of the corresponding track points in the first acquisition track and the second acquisition track, so that the corrected coordinates of the shape points of the lane line are matched with the second acquisition track after precision is improved.
According to the method for improving the accuracy of the lane line, provided by the embodiment of the invention, when the coordinate of the lane line needs to be corrected, a first acquisition track, a second acquisition track and the lane line which are obtained based on the same acquisition track can be obtained; the lane line corresponds to the first acquisition track, and the precision of the second acquisition track is higher than that of the first acquisition track; and correcting the coordinates of the shape points of the lane line according to the coordinate offset of the corresponding track points in the first acquisition track and the second acquisition track. Because the coordinate relationship between the acquired track and the corresponding lane line is not changed when the accuracy of the acquired track changes, the embodiment of the invention can correct the coordinates of the shape point in the lane line corresponding to the first acquired track based on the coordinate offset of the corresponding track point in the first acquired track and the second acquired track, so that the coordinates of the shape point after the correction of the lane line are matched with the point cloud data corresponding to the second acquired track with improved accuracy, the process of re-manufacturing the map data based on the point cloud data with improved accuracy is avoided, and the coordinates of the lane line can be efficiently and accurately corrected.
In an alternative implementation, the implementation of step S11 shown in fig. 1 may be as shown in fig. 2, including:
and S111, determining a first track point corresponding to the shape point from a first acquisition track according to the coordinate of the shape point of the lane line.
According to the embodiment of the invention, the corresponding track points can be determined from the first acquisition track before precision improvement by using the coordinates of the shape points of the lane line before precision improvement, so as to obtain the first track points; and then subsequently utilizing the coordinate changes of the corresponding track points in the second acquisition track and the first acquisition track to realize the correction of the coordinates of the shape points of the lane line.
In an alternative implementation, the first track point corresponding to the shape point in the first collected trajectory may be a closest track point within a predetermined distance from coordinates of the shape point of the lane line in the first collected trajectory.
And step S112, determining a second track point corresponding to the first track point from the second acquisition track.
Optionally, the first acquisition track and the second acquisition track are derived from the same acquisition track of the high-precision acquisition vehicle, so that the acquisition time of corresponding track points in the first acquisition track and the second acquisition track is the same;
for example, the acquisition time of the first track point in the first acquisition track is 11 minutes 11 seconds from 11 points on 1 month and 1 day in 2018, the track point whose acquisition time is 11 minutes 11 seconds from 11 points on 1 month and 1 day in 2018 can be determined from the second acquisition track to obtain a second track point; according to the embodiment of the invention, the track points with the same acquisition time point in the first acquisition track and the second acquisition track can be called the homonymous track points.
And S113, correcting the coordinates of the shape points according to the coordinate offset of the first track points and the second track points.
Because the coordinate relationship between the acquisition track and the corresponding lane line is not changed, the coordinate offset of the same-name track point in the first acquisition track and the second acquisition track can be regarded as the coordinate offset of the shape point of the lane line corresponding to the first acquisition track and the lane line corresponding to the second acquisition track; according to the embodiment of the invention, the coordinate correction can be carried out on the corresponding shape point in the lane line corresponding to the first acquisition track based on the coordinate offset of the corresponding track point in the first acquisition track and the second acquisition track, so that the coordinate of the shape point after the lane line is corrected is matched with the second acquisition track with improved precision, and the efficient and accurate correction of the coordinate of the lane line is realized.
In an optional implementation, a lane line may have a plurality of shape points, and there may be shape points whose coordinates need to be corrected or shape points whose coordinates need not be corrected in the plurality of shape points, so that in the embodiment of the present invention, according to the coordinates of the shape points of the lane line and the coordinates of the track points in the first acquisition trajectory, the shape points whose coordinates need to be corrected in the lane line are determined, and then the coordinates of the shape points whose coordinates need to be corrected are corrected; optionally, fig. 3 shows another flowchart of the method for improving the accuracy of the lane line according to the embodiment of the present invention, and referring to fig. 3, the flowchart may include:
step S20, acquiring a first acquisition track, a second acquisition track and a lane line which are obtained based on the same acquisition track; the lane line corresponds to the first acquisition track, and the precision of the second acquisition track is higher than that of the first acquisition track.
Optionally, the description of step S20 may refer to the previous step S10, and will not be described here.
And S21, judging whether the track point of the first acquisition track exists within a preset distance of the coordinate of the shape point according to the coordinate of the shape point of the lane line and the coordinate of the track point of the first acquisition track, if not, executing S22, and if so, executing S23.
Optionally, for each shape point in the lane line corresponding to the first acquisition track, the embodiment of the present invention may determine whether a track point of the first acquisition track exists within a predetermined distance of the coordinate of the shape point, so as to determine whether the coordinate of the shape point needs to be corrected; if the track point of the first acquisition track does not exist within the preset distance of the coordinate of a certain shape point in the lane line, the embodiment of the invention considers that the coordinate of the shape point does not need to be corrected, and the process can be ended; if the track point of the first acquisition track exists within the predetermined distance of the coordinate of a certain shape point in the lane line, the embodiment of the present invention may determine that the coordinate of the shape point needs to be corrected.
Optionally, in the embodiment of the present invention, whether the track point of the first acquisition track exists within the predetermined distance of the coordinates of the shape point of the lane line may be determined in a coordinate distance matching manner according to the coordinates of the shape point of the lane line and the coordinates of the track point of the first acquisition track.
Step S22, the flow ends.
In a predetermined distance of the coordinates of the shape point, when there is no track point of the first acquisition track, the embodiment of the present invention may cancel the correction of the coordinates of the shape point, and end the process.
And step S23, determining the nearest track point in the first acquisition track, which is closest to the shape point, as the first track point in the first acquisition track, which corresponds to the shape point.
When the track point of the first acquisition track exists within the preset distance of the coordinate of the shape point of the lane line, the embodiment of the invention can consider that the coordinate of the shape point needs to be corrected, and the embodiment of the invention can determine the track point closest to the shape point in the first acquisition track as the first track point corresponding to the shape point in the first acquisition track; that is, the first track point corresponding to the shape point in the first collected trajectory may be a closest track point within a predetermined distance from the coordinates of the shape point of the lane line in the first collected trajectory.
For example, as shown in fig. 4, taking a lane line as an example, for a shape point a1 on the lane line, the embodiment of the present invention may determine a closest track point B1 in a first collected track within 30 meters of the shape point a1 as a first track point corresponding to the shape point a1 in the first collected track; it should be noted that the specific value of the predetermined distance may be set according to actual situations, and is only an example.
And S24, determining a second track point corresponding to the acquisition time from the second acquisition track according to the acquisition time of the first track point.
After a first track point corresponding to a shape point to be corrected is determined from a first acquisition track, the acquisition time and the coordinates of the first track point can be acquired; based on the principle that the coordinate relation between the collected track and the corresponding lane line is not changed, the homonymous track point of the first track point can be determined from the second collected track with improved precision according to the collection time of the first track point, namely, the second track point corresponding to the first track point in the collection time is determined from the second collected track, so that the coordinate correction can be carried out on the shape point based on the coordinate deviation of the second track point and the first track point which belong to the homonymous track point.
And S25, correcting the coordinates of the shape points according to the coordinate offset of the first track points and the second track points.
Based on the product requirement of high-precision map data, the lane line needs to be matched with the point cloud data, and because the point cloud coordinates of the point cloud data are derived from the coordinates of the acquisition track, the coordinate offset of the acquisition track before and after precision improvement can be considered as the point cloud coordinate offset of the point cloud data before and after precision improvement, that is, when the precision of the acquisition track changes, the coordinate relationship between the acquisition track and the corresponding lane line is not changed, so that the embodiment of the invention can correct the coordinate of the corresponding shape point in the lane line before precision improvement according to the coordinate offset of the corresponding track point in the first acquisition track and the second acquisition track before and after precision improvement, thereby efficiently and accurately correcting the coordinate of the lane line and improving the precision of the lane line.
Optionally, in the embodiment of the present invention, the coordinate offset may be added to the current coordinate of the shape point to obtain the coordinate of the shape point after correction.
As an optional implementation of the disclosure of the embodiment of the present invention, the embodiment of the present invention may use an XYZ coordinate system to represent coordinates, where X represents longitude, Y represents latitude, and Z represents elevation, that is, the embodiment of the present invention may use longitude, latitude, and elevation to represent coordinates of a shape point and coordinates of a track point in combination; optionally, fig. 5 shows another flowchart of the method for improving the accuracy of the lane line according to the embodiment of the present invention, and referring to fig. 5, the flowchart may include:
step S30, acquiring a first acquisition track, a second acquisition track and a lane line which are obtained based on the same acquisition track; the lane line corresponds to the first acquisition track, and the precision of the second acquisition track is higher than that of the first acquisition track.
Optionally, the description of step S30 may refer to the previous step S10, and will not be described here.
And S31, judging whether track points of the first acquisition track exist within a preset distance of the coordinates of the shape points according to the coordinates of the shape points of the lane lines and the coordinates of the track points of the first acquisition track in a coordinate system established based on longitude, latitude and elevation, if not, executing S32, and if so, executing S33.
The coordinates of the shape points and the coordinates of the track points can be represented by longitude coordinates, latitude coordinates and elevation coordinates, namely the coordinates of any shape point are represented by (X, Y and Z), X represents longitude, Y represents latitude, and Z represents elevation;
after an XYZ coordinate system is established, for any shape point of a lane line, the embodiment of the present invention may determine whether a trace point of a first acquisition track exists within a predetermined distance of the coordinate of the shape point according to the coordinate of the shape point of the lane line and the coordinate of the trace point of the first acquisition track; if not, the embodiment of the invention considers that the coordinate of the shape point does not need to be corrected, and the process can be ended; if so, the embodiment of the present invention may determine that the coordinates of the shape point need to be corrected.
Step S32, the flow ends.
And step S33, determining the nearest track point in the first acquisition track, which is closest to the shape point, as the first track point in the first acquisition track, which corresponds to the shape point.
And S34, determining a second track point corresponding to the acquisition time from the second acquisition track according to the acquisition time of the first track point.
In the implementation of the invention, the track points in the first acquisition track and the second acquisition track have information such as acquisition time, coordinates and the like. For example, after determining the acquisition time T1 and the coordinates (X1, Y1, Z1) of the first track point, the embodiment of the present invention may determine the second track point corresponding to the acquisition time T1 from the second acquisition track according to the acquisition time T1 of the first track point, and obtain the coordinates (X1 ', Y1 ', Z1 ') of the second track point.
And step S35, respectively determining longitude coordinate offset, latitude coordinate offset and elevation coordinate offset of the first track point and the second track point.
For example, taking the coordinates of the first track point as (X1, Y1, Z1) and the coordinates of the second track point as (X1 ', Y1', Z1 '), coordinate offsets (X1-X1', Y1-Y1 ', Z1-Z1') can be calculated.
Step S36, adding the longitude coordinate offset to the current longitude coordinate of the shape point, adding the latitude coordinate offset to the current latitude coordinate, and adding the elevation coordinate offset to the current elevation coordinate to obtain the corrected coordinate of the shape point.
For example, taking the coordinates of the shape point as (X, Y, Z) as an example, the coordinates after the shape point is corrected according to the embodiment of the present invention may be: (X + (X1-X1 '), Y + (Y1-Y1 '), Z + (Z1-Z1 ')).
As an application example, as shown in fig. 6, an acquisition track 1 is an acquisition track obtained by a first track calculation algorithm calculating an acquisition track of a high-precision acquisition vehicle on a road S, track points on the acquisition track 1 have information such as acquisition time and coordinates, high-precision map data can be created based on point cloud data corresponding to the acquisition track 1, and a lane line a shown in fig. 6 is a lane line on the road S in the created high-precision map data;
with the improvement of the precision of the track calculation algorithm, when a second track calculation algorithm with higher precision exists, the embodiment of the invention can calculate the acquisition track of the high-precision acquisition vehicle on the road S based on the second track calculation algorithm with higher precision to obtain an acquisition track 2; the track point on the acquisition track 2 has information such as acquisition time, coordinates and the like, the coordinates of the track point on the acquisition track 2 have higher precision than those of the track point on the acquisition track 1, but the acquisition time of the track point on the acquisition track 2 and the acquisition time of the track point on the acquisition track 1 correspond to the acquisition time of the acquisition track of the high-precision acquisition vehicle on the road S;
it can be understood that the point cloud data corresponding to the acquisition track 2 with improved accuracy is not matched with the coordinates of the manufactured lane line a, and the coordinates of the lane line a need to be corrected in order to improve the accuracy of the high-accuracy map data; the traditional correction mode is to rework high-precision map data based on point cloud data corresponding to the acquisition track 2 after precision is improved so as to correct the coordinates of the lane line A in the process of reworking the high-precision map data, but the mode is undoubtedly low in efficiency;
in order to efficiently correct the coordinates of the lane line, after the acquisition track 2 is solved based on the second track algorithm, for any shape point a1 on the lane line a, the embodiment of the present invention may determine the closest track point 11 within a predetermined distance from the coordinates of the shape point a1 in the acquisition track 1, that is, the track point 11 is the track point corresponding to the shape point a1 in the acquisition track 1;
therefore, according to the acquisition time T of the track point 11, the track point 12 with the acquisition time T is determined from the acquisition track 2, and the identification of the track points 11 and 12 with the same name in the acquisition track 1 and the acquisition track 2 is realized; the track point 12 in the collected track 2 can be considered as a track point corresponding to the shape point A1 with improved precision;
further, coordinate offset of the track point 11 and the track point 12 is calculated, and the coordinate offset is added to the coordinate of the shape point A1, so that the coordinate correction of the shape point A1 is realized;
by the above mode, the coordinates of each shape point in the lane line A are corrected, and the coordinates of the lane line can be corrected efficiently and accurately.
According to the lane line precision improving method provided by the embodiment of the invention, after the precision of the point cloud data is improved, the precision of the lane line is improved by efficiently correcting the coordinates of the lane line in the manufactured high-precision map data.
While various embodiments of the present invention have been described above, various alternatives described in the various embodiments can be combined and cross-referenced without conflict to extend the variety of possible embodiments that can be considered disclosed and disclosed in connection with the embodiments of the present invention.
The accuracy improving device for the lane line provided in the embodiment of the present invention is described below, and the accuracy improving device for the lane line described below may be considered as a functional module that is required to implement the accuracy improving method for the lane line provided in the embodiment of the present invention. The contents of the lane line accuracy improving apparatus described below may be referred to in correspondence with the contents of the lane line accuracy improving method described above.
Fig. 7 is a block diagram of a lane line accuracy improving apparatus according to an embodiment of the present invention, and referring to fig. 7, the lane line accuracy improving apparatus according to the embodiment of the present invention may include:
a data acquisition module 100, configured to acquire a first acquisition trajectory, a second acquisition trajectory, and a lane line that are acquired based on the same acquisition trajectory; the lane line corresponds to the first acquisition track, and the precision of the second acquisition track is higher than that of the first acquisition track;
and the correcting module 200 is used for correcting the coordinates of the shape points of the lane lines according to the coordinate offset of the corresponding track points in the first collecting track and the second collecting track.
Optionally, the correcting module 200 is configured to correct the coordinates of the shape points of the lane line according to the coordinate offset of the corresponding track point in the first collection track and the second collection track, and includes:
determining a first track point corresponding to the shape point from the first acquisition track according to the coordinate of the shape point of the lane line;
determining a second track point corresponding to the first track point from the second acquisition track;
and correcting the coordinates of the shape points according to the coordinate offset of the first track points and the second track points.
The correction module 200 is configured to determine, from the first acquisition trajectory, a first trajectory point corresponding to the shape point according to the coordinate of the shape point of the lane line, and may specifically include:
and determining the nearest track point within a preset distance from the coordinate of the shape point of the lane line from the first acquisition track, and determining the nearest track point as a first track point corresponding to the shape point.
Optionally, the modification module 200 is configured to determine, from the first acquired trajectory, a closest trajectory point within a predetermined distance from the coordinates of the shape point of the lane line, and includes:
judging whether the track point of the first acquisition track exists within a preset distance of the coordinate of the shape point according to the coordinate of the shape point of the lane line and the coordinate of the track point of the first acquisition track; if so, determining the nearest track point closest to the shape point from the track points of the first acquisition track.
Optionally, the accuracy improving device for the lane line provided by the embodiment of the present invention is further configured to:
and if the track point of the first acquisition track does not exist within the preset distance of the coordinates of the shape point, canceling the correction of the coordinates of the shape point of the lane line.
Optionally, the modifying module 200, configured to determine, from the second acquired trajectory, a second trajectory point corresponding to the first trajectory point includes:
and determining a second track point corresponding to the acquisition time from the second acquisition track according to the acquisition time of the first track point.
Optionally, the first acquisition track is obtained by resolving the same acquisition track based on a first track resolving algorithm; the lane line is determined based on the point cloud data corresponding to the first acquisition track; the second acquisition track is obtained by resolving the same acquisition track based on a second track resolving algorithm; the accuracy of the second trajectory calculation algorithm is higher than the accuracy of the first calculation algorithm.
Optionally, the correcting module 200 is configured to correct the coordinates of the shape point according to the coordinate offset of the first track point and the second track point, where the correcting module is configured to:
respectively determining longitude coordinate offset, latitude coordinate offset and elevation coordinate offset of the first track point and the second track point;
and adding the longitude coordinate offset to the current longitude coordinate of the shape point, adding the latitude coordinate offset to the current latitude coordinate, and adding the elevation coordinate offset to the current elevation coordinate to obtain the corrected coordinate of the shape point.
The precision improving device for the lane line provided by the embodiment of the invention can correct the coordinates of the corresponding shape points in the lane line corresponding to the first acquisition track based on the coordinate offset of the corresponding track points in the first acquisition track and the second acquisition track, so that the coordinates of the corrected shape points of the lane line are matched with the point cloud data corresponding to the second acquisition track with improved precision, the process of re-manufacturing map data based on the point cloud data with improved precision is avoided, and the coordinates of the lane line are efficiently and accurately corrected.
The embodiment of the invention also provides a computing device, wherein the lane line precision improving device can be loaded on the computing device in a program form; in an alternative implementation, fig. 8 shows an alternative block diagram of a computing device provided by the present invention, which, with reference to fig. 8, may comprise: at least one processor 10, at least one communication interface 20, at least one memory 30 and at least one communication bus 40;
in the embodiment of the present invention, the number of the processor 10, the communication interface 20, the memory 30 and the communication bus 40 is at least one, and the processor 10, the communication interface 20 and the memory 30 complete the communication with each other through the communication bus 40;
alternatively, the communication interface 20 may be an interface of a communication module, such as an interface of a GSM module;
the processor 10 may be a central processing unit CPU or a Specific Integrated circuit asic (application Specific Integrated circuit) or one or more Integrated circuits configured to implement an embodiment of the invention.
The memory 30 may comprise high-speed RAM memory, and may also include non-volatile memory (non-volatile memory), such as at least one disk memory.
The memory 30 stores a program, and the processor 10 calls the program stored in the memory 30 to execute the method for improving the accuracy of the lane line according to the embodiment of the present invention.
Further, an embodiment of the present invention further provides a readable storage medium, where the readable storage medium may store a program for executing the method for improving the accuracy of a lane line provided in the embodiment of the present invention;
wherein the program is specifically operable to:
acquiring a first acquisition track, a second acquisition track and a lane line which are obtained based on the same acquisition track; the lane line corresponds to the first acquisition track, and the precision of the second acquisition track is higher than that of the first acquisition track;
and correcting the coordinates of the shape points of the lane line according to the coordinate offset of the corresponding track points in the first collection track and the second collection track.
Although the embodiments of the present invention have been disclosed, the present invention is not limited thereto. Various changes and modifications may be effected therein by one skilled in the art without departing from the spirit and scope of the invention as defined in the appended claims.
Claims (10)
1. A method for improving the accuracy of a lane line comprises the following steps:
acquiring a first acquisition track, a second acquisition track and a lane line which are obtained based on the same acquisition track; the lane line corresponds to the first acquisition track, and the precision of the second acquisition track is higher than that of the first acquisition track;
and correcting the coordinates of the shape points of the lane line according to the coordinate offset of the corresponding track points in the first collection track and the second collection track.
2. The method for improving the accuracy of the lane line according to claim 1, wherein the correcting the coordinates of the shape points of the lane line according to the coordinate offset of the corresponding track point in the first collected track and the second collected track includes:
determining a first track point corresponding to the shape point from the first acquisition track according to the coordinate of the shape point of the lane line;
determining a second track point corresponding to the first track point from the second acquisition track;
and correcting the coordinates of the shape points according to the coordinate offset of the first track points and the second track points.
3. The method for improving the accuracy of the lane line according to claim 2, wherein determining a first track point corresponding to the shape point from the first collected track according to the coordinates of the shape point of the lane line includes:
and determining the nearest track point within a preset distance from the coordinate of the shape point of the lane line from the first acquisition track, and determining the nearest track point as a first track point corresponding to the shape point.
4. The method for improving the accuracy of a lane line according to claim 3, wherein the determining, from the first acquired trajectory, a closest trajectory point within a predetermined distance from coordinates of a shape point of the lane line includes:
judging whether the track point of the first acquisition track exists within a preset distance of the coordinate of the shape point according to the coordinate of the shape point of the lane line and the coordinate of the track point of the first acquisition track; if so, determining the nearest track point closest to the shape point from the track points of the first acquisition track.
5. The method of improving the accuracy of a lane line of claim 4, further comprising:
and if the track point of the first acquisition track does not exist within the preset distance of the coordinates of the shape point, canceling the correction of the coordinates of the shape point of the lane line.
6. The method for improving the accuracy of a lane line according to any one of claims 2 to 5, wherein the determining a second track point corresponding to the first track point from the second acquired track comprises:
and determining a second track point corresponding to the acquisition time from the second acquisition track according to the acquisition time of the first track point.
7. The accuracy improving method for the lane line according to claim 1, wherein the first acquisition track is obtained by resolving the same acquisition track based on a first track resolving algorithm; the lane line is determined based on the point cloud data corresponding to the first acquisition track; the second acquisition track is obtained by resolving the same acquisition track based on a second track resolving algorithm; the accuracy of the second trajectory calculation algorithm is higher than the accuracy of the first calculation algorithm.
8. The method for improving the accuracy of the lane line according to claim 2, wherein the correcting the coordinates of the shape point according to the coordinate offset of the first track point and the second track point includes:
respectively determining longitude coordinate offset, latitude coordinate offset and elevation coordinate offset of the first track point and the second track point;
and adding the longitude coordinate offset to the current longitude coordinate of the shape point, adding the latitude coordinate offset to the current latitude coordinate, and adding the elevation coordinate offset to the current elevation coordinate to obtain the corrected coordinate of the shape point.
9. An accuracy improving apparatus for a lane line, comprising:
the data acquisition module is used for acquiring a first acquisition track, a second acquisition track and a lane line which are acquired based on the same acquisition track; the lane line corresponds to the first acquisition track, and the precision of the second acquisition track is higher than that of the first acquisition track;
and the correction module is used for correcting the coordinates of the shape points of the lane lines according to the coordinate offset of the corresponding track points in the first acquisition track and the second acquisition track.
10. A readable storage medium storing a program for executing the lane line accuracy improvement method according to any one of claims 1 to 8.
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