CN114413914A - Precision improving method and system for high-precision map and computer readable storage medium - Google Patents
Precision improving method and system for high-precision map and computer readable storage medium Download PDFInfo
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
- G01C21/28—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network with correlation of data from several navigational instruments
- G01C21/30—Map- or contour-matching
- G01C21/32—Structuring or formatting of map data
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/38—Electronic maps specially adapted for navigation; Updating thereof
- G01C21/3804—Creation or updating of map data
- G01C21/3807—Creation or updating of map data characterised by the type of data
- G01C21/3815—Road data
- G01C21/3822—Road feature data, e.g. slope data
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/38—Electronic maps specially adapted for navigation; Updating thereof
- G01C21/3804—Creation or updating of map data
- G01C21/3859—Differential updating map data
Abstract
The invention discloses a precision improving method and a system of a high-precision map and a computer readable storage medium, wherein the precision improving method of the high-precision map comprises the following steps: collecting characteristic information of a local road through a preset field end sensor; performing information processing on the characteristic information of the local road to obtain a block high-precision map; acquiring an initial high-precision map obtained by processing information acquired by a preset data acquisition vehicle; and fusing and correcting the initial high-precision map through the block high-precision map to obtain an end plate high-precision map. By implementing the invention, the data error caused by the vibration of the sensor generated by the data acquisition vehicle due to the road surface and other reasons is avoided; the accuracy of a high-accuracy map used by an L4-level automatic driving technology can be effectively improved; the problem of current high accuracy map acquisition and build the picture in-process consuming time and wasting power is solved.
Description
Technical Field
The invention relates to the technical field of high-precision maps and intelligent driving, in particular to a precision improving method and system of a high-precision map and a computer readable storage medium.
Background
The high-precision map is also called an automatic driving map and a high-resolution map, and is a new map data normal form for an automatic driving automobile. The system is generally composed of three types of vector information including a lane model containing semantic information, road components and road attributes, and a feature map layer for multi-sensor positioning.
In the conventional high-precision map building process, data is generally collected by a data collection vehicle equipped with sensors such as a laser radar, a camera, a Global Navigation Satellite System (GNSS), and an Inertial Measurement Unit (IMU), and then the data information is analyzed to identify information such as a corresponding lane model, a road component, and a road attribute, so as to form a high-precision map.
However, the mapping mode is greatly influenced by the driving state of the data acquisition vehicle, the precision of the high-precision map which is mapped is not high, the dependence degree of the existing L4-level automatic driving technology on the high-precision map is high, the high-precision map with higher precision is more helpful to the L4-level automatic driving technology, and if the existing data acquisition vehicle is used for acquiring the high-precision map, the situation that the L4-level automatic driving technology needs to acquire and determine scene detail information for the automatic driving technology for multiple times is met, so that the time consumption and the manpower are excessive.
Disclosure of Invention
The invention mainly aims to provide a precision improving method and system of a high-precision map and a computer readable storage medium, and aims to solve the technical problem of how to efficiently manufacture a high-precision map with higher precision.
In order to achieve the above object, the present invention provides a precision improving method for a high-precision map, which comprises the following steps:
collecting characteristic information of a local road through a preset field end sensor;
performing information processing on the characteristic information of the local road to obtain a block high-precision map;
acquiring an initial high-precision map obtained by processing information acquired by a preset data acquisition vehicle;
and fusing and correcting the initial high-precision map through the block high-precision map to obtain an end plate high-precision map.
Optionally, the preset field end sensor includes a laser radar, and the step of acquiring characteristic information of the local road through the preset field end sensor includes:
and acquiring characteristic information of the local road through the laser radar to obtain point cloud information of the local road from the laser radar.
Optionally, the preset field end sensor further includes a camera, and the step of acquiring characteristic information of the local road through the preset field end sensor includes:
and acquiring characteristic information of the local road through the camera to obtain image information of the local road from the camera.
Optionally, the preset field end sensor further includes a global navigation satellite positioning device, and the step of acquiring the characteristic information of the local road through the preset field end sensor includes:
and acquiring characteristic information of a local road through the global navigation satellite positioning equipment to obtain longitude and latitude coordinate information of the preset field end sensor from the global navigation satellite positioning equipment.
Optionally, the step of performing information processing on the feature information of the local road to obtain a block high-precision map includes:
and carrying out information fusion on the point cloud information, the image information and the longitude and latitude coordinate information to obtain a block high-precision map based on the longitude and latitude coordinate information.
Optionally, the step of obtaining the initial high-precision map obtained by processing the information collected by the preset data collection vehicle includes:
and confirming longitude and latitude coordinate information of each preset field end sensor in the initial high-precision map, and recording the longitude and latitude coordinate information as a field end sensor coordinate.
Optionally, the step of fusing and correcting the initial high-precision map through the block high-precision map to obtain the endplate high-precision map includes:
matching the longitude and latitude coordinate information of the block high-precision map with the field end sensor coordinate of the initial high-precision map to obtain a position to be corrected;
the step of fusing and correcting the initial high-precision map through the block high-precision map to obtain the endplate high-precision map comprises the following steps:
and fusing and correcting the position to be corrected in the initial high-precision map through the block high-precision map to obtain an end plate high-precision map.
Optionally, the step of acquiring characteristic information of a local road through a preset field end sensor includes:
determining whether a preset field end sensor is installed on a road section needing to acquire a high-precision map;
and if the preset field end sensor is not installed on the road section needing to acquire the high-precision map, additionally installing the preset field end sensor at the proper position of the road section.
In addition, in order to achieve the above object, the present invention further provides a precision improving system for a high-precision map, including: the precision improving method comprises the steps of a memory, a processor and a precision improving program of the high-precision map, wherein the precision improving program of the high-precision map is stored on the memory and can run on the processor, and when the precision improving program of the high-precision map is executed by the processor, the precision improving method of the high-precision map is realized.
Further, to achieve the above object, the present invention also provides a computer-readable storage medium having stored thereon a precision improvement program of a high precision map, which when executed by a processor, realizes the steps of the precision improvement method of the high precision map as described above.
The invention provides a precision improving method, a system and a computer readable storage medium of a high-precision map, wherein in the precision improving method of the high-precision map, characteristic information of local roads is acquired through a preset field end sensor; performing information processing on the characteristic information of the local road to obtain a block high-precision map; acquiring an initial high-precision map obtained by processing information acquired by a preset data acquisition vehicle; the initial high-precision map is fused and corrected through the block high-precision map to obtain an end plate high-precision map, and the higher-precision high-precision map can provide more accurate positioning information for an L4-level automatic driving technology, so that the automatic driving vehicle can realize a more optimized function; by the method, the time for repeatedly acquiring data under most conditions of high-precision map building is saved, and high-precision map acquisition is more efficient; the existing technology of V2X (vehicle to outside information exchange) has become mature, and the field end sensor arranged in V2X is used to perform the scheme, so that the existing field end sensor can be fully utilized. The data error caused by the vibration of the sensor generated by the data acquisition vehicle due to the road surface and other reasons is avoided.
Drawings
Fig. 1 is a schematic terminal structure diagram of a hardware operating environment according to an embodiment of the present invention;
fig. 2 is a flowchart illustrating a precision enhancing method for a high-precision map according to a first embodiment of the present invention.
The implementation, functional features and advantages of the objects of the present invention will be further explained with reference to the accompanying drawings.
Detailed Description
It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
The main solution of the embodiment of the invention is as follows: a precision improving method of a high-precision map comprises the following steps:
collecting characteristic information of a local road through a preset field end sensor;
performing information processing on the characteristic information of the local road to obtain a block high-precision map;
acquiring an initial high-precision map obtained by processing information acquired by a preset data acquisition vehicle;
and fusing and correcting the initial high-precision map through the block high-precision map to obtain an end plate high-precision map.
Because the drawing mode in the prior art is greatly influenced by the driving state of the data acquisition vehicle, the precision of the high-precision map finished by drawing is not high, the dependence degree of the existing L4-level automatic driving technology on the high-precision map is high, the high-precision map with higher precision is more helpful to the L4-level automatic driving technology, and if the high-precision map is acquired by the existing data acquisition vehicle, the situation that the L4-level automatic driving technology needs to acquire and determine scene detail information for the automatic driving technology for use is often met, and the time consumption and the manpower are excessive.
The invention provides a precision improving method of a high-precision map, which comprises the steps of collecting characteristic information of local roads through a preset field end sensor; performing information processing on the characteristic information of the local road to obtain a block high-precision map; acquiring an initial high-precision map obtained by processing information acquired by a preset data acquisition vehicle; the initial high-precision map is fused and corrected through the block high-precision map to obtain an end plate high-precision map, and the higher-precision high-precision map can provide more accurate positioning information for an L4-level automatic driving technology, so that the automatic driving vehicle can realize a more optimized function; by the method, the time for repeatedly acquiring data under most conditions of high-precision map building is saved, and high-precision map acquisition is more efficient; the existing technology of V2X (vehicle to outside information exchange) has become mature, and the field end sensor arranged in V2X is used for this scheme, so that the existing field end sensor can be fully utilized; the data error caused by the vibration of the sensor generated by the data acquisition vehicle due to the road surface and other reasons is avoided; the accuracy of a high-accuracy map used by an L4-level automatic driving technology can be effectively improved; the problem of current high accuracy map acquisition and build the picture in-process consuming time and wasting power is solved.
As shown in fig. 1, fig. 1 is a schematic terminal structure diagram of a hardware operating environment according to an embodiment of the present invention.
The terminal of the embodiment of the invention can be a PC, and can also be a mobile terminal device such as a smart phone, a tablet computer, a portable computer and the like.
As shown in fig. 1, the terminal may include: a processor 1001, such as a CPU, a network interface 1004, a user interface 1003, a memory 1005, a communication bus 1002. Wherein a communication bus 1002 is used to enable connective communication between these components. The user interface 1003 may include a Display screen (Display), an input unit such as a Keyboard (Keyboard), and the optional user interface 1003 may also include a standard wired interface, a wireless interface. The network interface 1004 may optionally include a standard wired interface, a wireless interface (e.g., WI-FI interface). The memory 1005 may be a high-speed RAM memory or a non-volatile memory (e.g., a magnetic disk memory). The memory 1005 may alternatively be a storage device separate from the processor 1001.
Optionally, the terminal may further include a camera, a Radio Frequency (RF) circuit, a sensor, an audio circuit, a WiFi module, and the like. Such as light sensors, motion sensors, and other sensors. Specifically, the light sensor may include an ambient light sensor that may adjust the brightness of the display screen according to the brightness of ambient light, and a proximity sensor that may turn off the display screen and/or the backlight when the mobile terminal is moved to the ear. As one of the motion sensors, the gravity acceleration sensor can detect the magnitude of acceleration in each direction (generally, three axes), detect the magnitude and direction of gravity when the mobile terminal is stationary, and can be used for applications (such as horizontal and vertical screen switching, related games, magnetometer attitude calibration), vibration recognition related functions (such as pedometer and tapping) and the like for recognizing the attitude of the mobile terminal; of course, the mobile terminal may also be configured with other sensors such as a gyroscope, a barometer, a hygrometer, a thermometer, and an infrared sensor, which are not described herein again.
Those skilled in the art will appreciate that the terminal structure shown in fig. 1 is not intended to be limiting and may include more or fewer components than those shown, or some components may be combined, or a different arrangement of components.
As shown in fig. 1, a memory 1005, which is a kind of computer storage medium, may include therein an operating system, a network communication module, a user interface module, and a precision improving program of a high precision map.
In the terminal shown in fig. 1, the network interface 1004 is mainly used for connecting to a backend server and performing data communication with the backend server; the user interface 1003 is mainly used for connecting a client (user side) and performing data communication with the client; and the processor 1001 may be configured to call a precision boosting program of the high-precision map stored in the memory 1005, and perform the following operations:
collecting characteristic information of a local road through a preset field end sensor;
performing information processing on the characteristic information of the local road to obtain a block high-precision map;
acquiring an initial high-precision map obtained by processing information acquired by a preset data acquisition vehicle;
and fusing and correcting the initial high-precision map through the block high-precision map to obtain an end plate high-precision map.
Further, the processor 1001 may call the precision boosting program of the high precision map stored in the memory 1005, and also perform the following operations:
the preset field end sensor comprises a laser radar, and the step of collecting characteristic information of the local road through the preset field end sensor comprises the following steps of:
and acquiring characteristic information of the local road through the laser radar to obtain point cloud information of the local road from the laser radar.
Further, the processor 1001 may call the precision boosting program of the high precision map stored in the memory 1005, and also perform the following operations:
the preset field end sensor further comprises a camera, and the step of acquiring characteristic information of the local road through the preset field end sensor comprises the following steps of:
and acquiring characteristic information of the local road through the camera to obtain image information of the local road from the camera.
Further, the processor 1001 may call the precision boosting program of the high precision map stored in the memory 1005, and also perform the following operations:
the preset field end sensor further comprises global navigation satellite positioning equipment, and the step of acquiring the characteristic information of the local road through the preset field end sensor comprises the following steps:
and acquiring characteristic information of a local road through the global navigation satellite positioning equipment to obtain longitude and latitude coordinate information of the preset field end sensor from the global navigation satellite positioning equipment.
Further, the processor 1001 may call the precision boosting program of the high precision map stored in the memory 1005, and also perform the following operations:
the step of processing the characteristic information of the local road to obtain a block high-precision map comprises the following steps:
and carrying out information fusion on the point cloud information, the image information and the longitude and latitude coordinate information to obtain a block high-precision map based on the longitude and latitude coordinate information.
Further, the processor 1001 may call the precision boosting program of the high precision map stored in the memory 1005, and also perform the following operations:
the step of obtaining the initial high-precision map obtained after the information collected by the preset data collecting vehicle is processed comprises the following steps:
and confirming longitude and latitude coordinate information of each preset field end sensor in the initial high-precision map, and recording the longitude and latitude coordinate information as a field end sensor coordinate.
Further, the processor 1001 may call the precision boosting program of the high precision map stored in the memory 1005, and also perform the following operations:
the step of fusing and correcting the initial high-precision map through the block high-precision map to obtain the endplate high-precision map comprises the following steps:
matching the longitude and latitude coordinate information of the block high-precision map with the field end sensor coordinate of the initial high-precision map to obtain a position to be corrected;
the step of fusing and correcting the initial high-precision map through the block high-precision map to obtain the endplate high-precision map comprises the following steps:
and fusing and correcting the position to be corrected in the initial high-precision map through the block high-precision map to obtain an end plate high-precision map.
Further, the processor 1001 may call the precision boosting program of the high precision map stored in the memory 1005, and also perform the following operations:
the step of acquiring the characteristic information of the local road through the preset field end sensor comprises the following steps:
determining whether a preset field end sensor is installed on a road section needing to acquire a high-precision map;
and if the preset field end sensor is not installed on the road section needing to acquire the high-precision map, additionally installing the preset field end sensor at the proper position of the road section.
Referring to fig. 2, a first embodiment of the present invention provides a precision improving method for a high-precision map, where the precision improving method for the high-precision map includes:
step S10, collecting characteristic information of local roads through a preset field end sensor;
it should be noted that, in this embodiment, the execution subject is a precision improving system of the high-precision map, and the system may operate in a PC, a mobile terminal device such as a smart phone, a tablet computer, and a portable computer, and may also operate in a cloud server or a cloud platform, where the precision improving system of the high-precision map receives data acquired by a preset field sensor in real time. The preset field end sensor can be a laser radar, a camera and global navigation satellite positioning equipment, and the local road is a road section needing to acquire a high-precision map.
In this embodiment, step S10 includes:
determining whether a preset field end sensor is installed on a road section needing to acquire a high-precision map;
if the road section needing to acquire the high-precision map is provided with the preset field end sensor, executing the step S10;
and if the preset field end sensor is not installed on the road section needing to acquire the high-precision map, additionally installing the preset field end sensor at the proper position of the road section.
It should be noted that the preset field end sensor needs to be arranged on a local road where the map precision needs to be improved in advance, otherwise, information acquisition cannot be achieved, and specifically, the preset field end sensor may be arranged on a street lamp of the road segment or a three-dimensional traffic facility (for example, a traffic light).
In this embodiment, the preset field end sensor includes a laser radar, a camera, and a global navigation satellite positioning device, and step S10 includes:
collecting characteristic information of a local road through the laser radar to obtain point cloud information of the local road from the laser radar;
acquiring characteristic information of a local road through the camera to obtain image information of the local road from the camera;
and acquiring characteristic information of a local road through the global navigation satellite positioning equipment to obtain longitude and latitude coordinate information of the preset field end sensor from the global navigation satellite positioning equipment.
It can be understood that, in this embodiment, the field end sensor is a laser radar, a camera and a global navigation satellite device, information such as lane edges, vehicles on a road, and static objects of features beside the road can be identified through the image identification capability of the camera and the point cloud information of the laser radar, and the latitude and longitude coordinate information of the field end sensor can be accurately provided through the global navigation satellite positioning device.
Step S20, processing the characteristic information of the local road to obtain a block high-precision map;
in this embodiment, step S20 includes:
and carrying out information fusion on the point cloud information, the image information and the longitude and latitude coordinate information to obtain a block high-precision map based on the longitude and latitude coordinate information.
In this embodiment, the field end sensor further includes a unified information fusion processor, which is capable of processing image information from the camera and point cloud information from the laser radar, and fusing latitude and longitude information of the field end sensor provided by the global navigation satellite system as a coordinate anchor point to process the coordinate anchor point into a block high-precision map based on the latitude and longitude coordinates (i.e., the block high-precision map).
Step S30, obtaining an initial high-precision map obtained by processing information collected by a preset data collection vehicle;
in this embodiment, step S30 includes the following steps:
and confirming longitude and latitude coordinate information of each preset field end sensor in the initial high-precision map, and recording the longitude and latitude coordinate information as a field end sensor coordinate.
It can be understood that, the precision improving system of the high-precision map in this embodiment also includes a preset data collecting vehicle, processes information collected by the data collecting vehicle to form an initial high-precision positioning map, confirms longitude and latitude coordinate information of key positions such as a field end sensor installed on the roadside, and records the longitude and latitude coordinate information as a field end sensor coordinate, so as to confirm a part of the initial high-precision positioning map, which needs to be improved in precision.
And step S40, fusing and correcting the initial high-precision map through the block high-precision map to obtain an endplate high-precision map.
In this embodiment, step S40 includes:
matching the longitude and latitude coordinate information of the block high-precision map with the field end sensor coordinate of the initial high-precision map to obtain a position to be corrected;
step S40 includes:
and fusing and correcting the position to be corrected in the initial high-precision map through the block high-precision map to obtain an end plate high-precision map.
It can be understood that, in this embodiment, the field end sensor installed on the roadside has the advantage of stability relative to the data acquisition vehicle that needs to be moved for acquisition, and the accuracy of the acquired high-accuracy map of the block is better than that of the high-accuracy map acquired by the data acquisition vehicle; and a block high-precision map formed by the collection of a field end sensor installed on the roadside is fused with an initial high-precision map formed by a data collection vehicle through longitude and latitude coordinates, so that the precision of the high-precision map is improved.
The method for improving the precision of the high-precision map comprises the following steps of firstly confirming whether field end sensor equipment exists on a road section needing to acquire the high-precision map or not, or additionally installing a field end sensor at a proper position such as a specified road section intersection and the like; respectively analyzing and mapping data information acquired by the field end sensor and data information acquired by the data acquisition vehicle to obtain a block high-precision map formed by the field end sensor information and an initial high-precision map formed by the data acquisition vehicle information; and finally, matching the longitude and latitude coordinates of the two high-precision maps, and fusing and correcting the initial high-precision map by using the block high-precision map without interference information caused by vehicle driving to obtain the final high-precision map with improved precision. The high-precision map with higher precision can provide more accurate positioning information for the L4-grade automatic driving technology, so that the automatic driving vehicle can realize more optimized functions; by the method, the time for repeatedly acquiring data under most conditions of high-precision map building is saved, and high-precision map acquisition is more efficient; the existing technology of V2X (vehicle to outside information exchange) has become mature, and the field end sensor arranged in V2X is used for this scheme, so that the existing field end sensor can be fully utilized; the data error caused by the vibration of the sensor generated by the data acquisition vehicle due to the road surface and other reasons is avoided; the accuracy of a high-accuracy map used by an L4-level automatic driving technology can be effectively improved; the problem of current high accuracy map acquisition and build the picture in-process consuming time and wasting power is solved.
Furthermore, an embodiment of the present invention further provides a computer-readable storage medium, where a precision improving program of a high-precision map is stored on the computer-readable storage medium, and when executed by a processor, the precision improving program of the high-precision map realizes the following operations:
collecting characteristic information of a local road through a preset field end sensor;
performing information processing on the characteristic information of the local road to obtain a block high-precision map;
acquiring an initial high-precision map obtained by processing information acquired by a preset data acquisition vehicle;
and fusing and correcting the initial high-precision map through the block high-precision map to obtain an end plate high-precision map.
Further, when executed by the processor, the precision improving program for the high-precision map further realizes the following operations:
the preset field end sensor comprises a laser radar, and the step of collecting characteristic information of the local road through the preset field end sensor comprises the following steps of:
and acquiring characteristic information of the local road through the laser radar to obtain point cloud information of the local road from the laser radar.
Further, when executed by the processor, the precision improving program for the high-precision map further realizes the following operations:
the preset field end sensor further comprises a camera, and the step of acquiring characteristic information of the local road through the preset field end sensor comprises the following steps of:
and acquiring characteristic information of the local road through the camera to obtain image information of the local road from the camera.
Further, when executed by the processor, the precision improving program for the high-precision map further realizes the following operations:
the preset field end sensor further comprises global navigation satellite positioning equipment, and the step of acquiring the characteristic information of the local road through the preset field end sensor comprises the following steps:
and acquiring characteristic information of a local road through the global navigation satellite positioning equipment to obtain longitude and latitude coordinate information of the preset field end sensor from the global navigation satellite positioning equipment.
Further, when executed by the processor, the precision improving program for the high-precision map further realizes the following operations:
the step of processing the characteristic information of the local road to obtain a block high-precision map comprises the following steps:
and carrying out information fusion on the point cloud information, the image information and the longitude and latitude coordinate information to obtain a block high-precision map based on the longitude and latitude coordinate information.
Further, when executed by the processor, the precision improving program for the high-precision map further realizes the following operations:
the step of obtaining the initial high-precision map obtained after the information collected by the preset data collecting vehicle is processed comprises the following steps:
and confirming longitude and latitude coordinate information of each preset field end sensor in the initial high-precision map, and recording the longitude and latitude coordinate information as a field end sensor coordinate.
Further, when executed by the processor, the precision improving program for the high-precision map further realizes the following operations:
the step of fusing and correcting the initial high-precision map through the block high-precision map to obtain the endplate high-precision map comprises the following steps:
matching the longitude and latitude coordinate information of the block high-precision map with the field end sensor coordinate of the initial high-precision map to obtain a position to be corrected;
the step of fusing and correcting the initial high-precision map through the block high-precision map to obtain the endplate high-precision map comprises the following steps:
and fusing and correcting the position to be corrected in the initial high-precision map through the block high-precision map to obtain an end plate high-precision map.
Further, when executed by the processor, the precision improving program for the high-precision map further realizes the following operations:
the step of acquiring the characteristic information of the local road through the preset field end sensor comprises the following steps:
determining whether a preset field end sensor is installed on a road section needing to acquire a high-precision map;
and if the preset field end sensor is not installed on the road section needing to acquire the high-precision map, additionally installing the preset field end sensor at the proper position of the road section.
It should be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or system that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or system. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other like elements in a process, method, article, or system that comprises the element.
The above-mentioned serial numbers of the embodiments of the present invention are merely for description and do not represent the merits of the embodiments.
Through the above description of the embodiments, those skilled in the art will clearly understand that the method of the above embodiments can be implemented by software plus a necessary general hardware platform, and certainly can also be implemented by hardware, but in many cases, the former is a better implementation manner. Based on such understanding, the technical solution of the present invention may be embodied in the form of a software product, which is stored in a storage medium (e.g., ROM/RAM, magnetic disk, optical disk) as described above and includes instructions for enabling a terminal device (e.g., a mobile phone, a computer, a server, an air conditioner, or a network device) to execute the method according to the embodiments of the present invention.
The above description is only a preferred embodiment of the present invention, and not intended to limit the scope of the present invention, and all modifications of equivalent structures and equivalent processes, which are made by using the contents of the present specification and the accompanying drawings, or directly or indirectly applied to other related technical fields, are included in the scope of the present invention.
Claims (10)
1. The precision improving method of the high-precision map is characterized by comprising the following steps of:
collecting characteristic information of a local road through a preset field end sensor;
performing information processing on the characteristic information of the local road to obtain a block high-precision map;
acquiring an initial high-precision map obtained by processing information acquired by a preset data acquisition vehicle;
and fusing and correcting the initial high-precision map through the block high-precision map to obtain an end plate high-precision map.
2. The method for improving the accuracy of the high-accuracy map according to claim 1, wherein the preset field-end sensor comprises a laser radar, and the step of acquiring the characteristic information of the local road through the preset field-end sensor comprises:
and acquiring characteristic information of the local road through the laser radar to obtain point cloud information of the local road from the laser radar.
3. The method for improving the accuracy of the high-accuracy map according to claim 2, wherein the preset field end sensor further comprises a camera, and the step of acquiring the characteristic information of the local road through the preset field end sensor comprises:
and acquiring characteristic information of the local road through the camera to obtain image information of the local road from the camera.
4. The method for improving the accuracy of the high-accuracy map according to claim 3, wherein the preset site-end sensor further comprises a global navigation satellite positioning device, and the step of acquiring the characteristic information of the local road through the preset site-end sensor comprises:
and acquiring characteristic information of a local road through the global navigation satellite positioning equipment to obtain longitude and latitude coordinate information of the preset field end sensor from the global navigation satellite positioning equipment.
5. The method for improving the accuracy of the high-accuracy map according to claim 4, wherein the step of performing information processing on the feature information of the local road to obtain the block high-accuracy map comprises:
and carrying out information fusion on the point cloud information, the image information and the longitude and latitude coordinate information to obtain a block high-precision map based on the longitude and latitude coordinate information.
6. The method for improving the accuracy of the high-accuracy map according to claim 5, wherein the step of obtaining the initial high-accuracy map obtained by processing the information collected by the preset data collecting vehicle comprises the following steps:
and confirming longitude and latitude coordinate information of each preset field end sensor in the initial high-precision map, and recording the longitude and latitude coordinate information as a field end sensor coordinate.
7. The method for improving the accuracy of a high-accuracy map according to claim 6, wherein the step of fusing and correcting the original high-accuracy map by the block high-accuracy map to obtain the endplate high-accuracy map comprises:
matching the longitude and latitude coordinate information of the block high-precision map with the field end sensor coordinate of the initial high-precision map to obtain a position to be corrected;
the step of fusing and correcting the initial high-precision map through the block high-precision map to obtain the endplate high-precision map comprises the following steps:
and fusing and correcting the position to be corrected in the initial high-precision map through the block high-precision map to obtain an end plate high-precision map.
8. The accuracy improving method of the high-accuracy map according to any one of claims 1 to 7, wherein the step of acquiring the characteristic information of the local road through the preset field end sensor is preceded by:
determining whether a preset field end sensor is installed on a road section needing to acquire a high-precision map;
and if the preset field end sensor is not installed on the road section needing to acquire the high-precision map, additionally installing the preset field end sensor at the proper position of the road section.
9. An accuracy improvement system for a high-accuracy map, comprising: a memory, a processor and a precision improvement program of a high precision map stored on the memory and executable on the processor, the precision improvement program of the high precision map realizing the steps of the precision improvement method of the high precision map according to any one of claims 1 to 8 when executed by the processor.
10. A computer-readable storage medium, characterized in that the computer-readable storage medium has stored thereon a precision-improving program of a high-precision map, which when executed by a processor, implements the steps of the precision-improving method of a high-precision map according to any one of claims 1 to 8.
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