CN114419590A - High-precision map verification method, device, equipment and storage medium - Google Patents
High-precision map verification method, device, equipment and storage medium Download PDFInfo
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Abstract
The present disclosure provides a verification method, device, equipment and storage medium for a high-precision map, and relates to the technical field of data, in particular to electronic maps, intelligent transportation and automatic driving technologies in the technical field of artificial intelligence. The high-precision map verification method comprises the following steps: identifying first lane information from the environmental image; determining a target high-precision map corresponding to the environment image, wherein the target high-precision map comprises second lane information; displaying first lane information on a target high-precision map; and verifying the second lane information according to the display result. According to the technical scheme, automatic verification of the high-precision map is achieved, the manual operation cost is reduced, real-time feedback is achieved, and the verification efficiency is improved.
Description
Technical Field
The present disclosure relates to the field of data technologies, and in particular, to electronic maps, intelligent transportation, and automatic driving technologies in the field of artificial intelligence technologies.
Background
With gradual iteration and scene landing of the unmanned technology, a high-precision electronic map plays an increasingly important role in the drawing process, and on one hand, accurate positioning and automatic drawing need to be realized by relying on an acquisition technology when the high-precision map is built, and on the other hand, instant and effective data verification and clue discovery are needed.
In the prior art, high-precision map verification is usually performed in a manual field verification mode, the verification cost is high, and real-time feedback cannot be realized.
Disclosure of Invention
The disclosure provides a verification method, a verification device, high-precision map equipment and a storage medium.
According to an aspect of the present disclosure, there is provided a verification method of a high-precision map, including:
identifying first lane information from the environmental image;
determining a target high-precision map corresponding to the environment image, wherein the target high-precision map comprises second lane information;
displaying first lane information on a target high-precision map;
and verifying the second lane information according to the display result.
According to a second aspect of the present disclosure, there is provided a verification apparatus of a high-precision map, including:
the identification module is used for identifying first lane information from the environment image;
the determining module is used for determining a target high-precision map corresponding to the environment image, and the target high-precision map comprises second lane information;
the display module is used for displaying the first lane information on the target high-precision map;
and the verification module is used for verifying the second lane information according to the display result.
According to a third aspect of the present disclosure, there is provided a high-precision map verification apparatus including the device of any one of the above.
According to a fourth aspect of the present disclosure, there is provided an electronic device comprising:
at least one processor; and
a memory communicatively coupled to the at least one processor; wherein,
the memory stores instructions executable by the at least one processor to enable the at least one processor to perform the method of any of the embodiments of the present disclosure.
According to a fifth aspect of the present disclosure, there is provided a non-transitory computer readable storage medium having stored thereon computer instructions for causing a computer to perform a method according to any one of the embodiments of the present disclosure.
According to a sixth aspect of the present disclosure, there is provided a computer program product comprising a computer program which, when executed by a processor, implements a method according to any of the embodiments of the present disclosure.
According to the technical scheme, automatic verification of the high-precision map is achieved, the manual operation cost is reduced, real-time feedback is achieved, and the verification efficiency is improved.
It should be understood that the statements in this section do not necessarily identify key or critical features of the embodiments of the present disclosure, nor do they limit the scope of the present disclosure. Other features of the present disclosure will become apparent from the following description.
Drawings
The drawings are included to provide a better understanding of the present solution and are not to be construed as limiting the present disclosure. Wherein:
fig. 1 is a schematic diagram of a verification method of a high-precision map according to an embodiment of the disclosure;
fig. 2 is a block diagram illustrating a structure of a verification apparatus for a high-precision map according to an embodiment of the present disclosure;
fig. 3 is a block diagram illustrating a structure of an authentication module in an apparatus for authenticating a high-precision map according to an embodiment of the present disclosure;
fig. 4 is a block diagram illustrating a structure of an authentication module in an apparatus for authenticating a high-precision map according to an embodiment of the present disclosure;
fig. 5 is a block diagram illustrating a structure of an authentication module in an apparatus for authenticating a high-precision map according to an embodiment of the present disclosure;
fig. 6 is a block diagram illustrating a structure of a determination module in the verification apparatus for high-precision maps according to an embodiment of the present disclosure;
fig. 7 is a block diagram illustrating an identification module in an apparatus for verifying a high-precision map according to an embodiment of the present disclosure;
fig. 8 is a block diagram illustrating a structure of a verification device for high-precision maps according to an embodiment of the present disclosure;
FIG. 9 is a schematic flow chart illustrating high-precision map verification according to an embodiment of the present disclosure;
FIG. 10 illustrates a schematic block diagram of an example electronic device 1000 that can be used to implement embodiments of the present disclosure.
Detailed Description
Exemplary embodiments of the present disclosure are described below with reference to the accompanying drawings, in which various details of the embodiments of the disclosure are included to assist understanding, and which are to be considered as merely exemplary. Accordingly, those of ordinary skill in the art will recognize that various changes and modifications of the embodiments described herein can be made without departing from the scope and spirit of the present disclosure. Also, descriptions of well-known functions and constructions are omitted in the following description for clarity and conciseness.
The high-precision map production usually comprises three links, namely data sub-production, verification and online production. Therefore, before the high-precision map is used online, the high-precision map needs to be verified so as to improve the precision of the high-precision map.
In the related technology, three modes can be adopted for verifying the high-precision map, namely data sampling inspection, manual on-site verification and user feedback. The data sampling inspection mode has a wide application scene, but the mode is only suitable for the condition of clear pictures, and if the pictures have the conditions of blurriness, abnormal high exposure and the like, the mode cannot be adopted for verification. The manual on-site verification method is simple, but the picture needs to be acquired on site, secondary manufacturing and manual comparison rechecking need to be carried out, the cost is high, and real-time feedback and effectiveness cannot be realized. The way of user feedback is very uncertain and cannot be used as a conventional way.
Fig. 1 is a schematic diagram of a verification method of a high-precision map in an embodiment of the present disclosure. As shown in fig. 1, a method for verifying a high-precision map in an embodiment of the present disclosure may include:
s110: identifying first lane information from the environmental image;
s120: determining a target high-precision map corresponding to the environment image, wherein the target high-precision map comprises second lane information;
s130: displaying first lane information on a target high-precision map;
s140: and verifying the second lane information according to the display result.
The lane information may be information related to a feature for limiting a road on which the vehicle travels. For example, the first lane information may include a lane line type and position information thereof, an obstacle and position information thereof, hard isolation and position information thereof, and the like. The first lane information may be recognized from the environment image by using an image recognition technology, or the recognition model may be trained by using sample data, and after the training is completed, the first lane information is recognized from the environment image by using the recognition model.
It should be noted that the high-precision map is already loaded into the verification system before the high-precision map is verified. The environment image is an image collected at a certain position, and a target high-precision map corresponding to the position exists in the high-precision map, so that when the high-precision map is verified, the target high-precision map corresponding to the environment image needs to be determined, and the corresponding target high-precision map is verified by using the environment image. And gradually verifying the target high-precision map of the corresponding position along with the change of the position, thereby realizing the verification of the high-precision map.
After determining the target high-precision map corresponding to the environment image, the target high-precision map can be displayed through the display, the second lane information is displayed on the target high-precision map, and the first lane information is displayed on the target high-precision map in an overlapping mode.
According to the verification method of the high-precision map, the first lane information is recognized from the environment image, the second lane information is displayed on the target high-precision map corresponding to the environment image, the first lane information is displayed on the target high-precision map, therefore, the first lane information and the second lane information are simultaneously displayed on the target high-precision map, and the second lane information is verified according to the display result. By the verification mode, the verification result can be directly observed from the display interface, the verification result is more visual and accurate, automatic verification of the high-precision map is realized, the manual operation cost is reduced, real-time feedback is realized, and the verification efficiency is improved.
In one embodiment, verifying the second lane information according to the display result may include: and comparing the first lane information with the second lane information in the target high-precision map on which the first lane information is displayed, and further verifying the second lane information according to the comparison result to judge the difference between the second lane information and the lane information of the actual road. Because the comparison is carried out in the target high-precision map, the comparison result can be displayed in the target high-precision map, the comparison result can be presented more intuitively, and the accuracy of the high-precision map can be judged more intuitively.
In one embodiment, verifying the second lane information according to the display result may further include: determining a target road section corresponding to the first lane information under the condition that the difference between the first lane information and the second lane information is larger than a threshold value; and marking the target road section on the target high-precision map.
For example, in different road sections, the threshold of the difference between the first lane information and the second lane information may be the same or different, and the threshold may be set according to actual needs. And in the case that the difference between the first lane information and the second lane information is less than or equal to the threshold value, indicating that the corresponding section of the target high-precision map is verified to be passed. If the difference between the first lane information and the second lane information is greater than the threshold, it indicates that the corresponding road section verification of the target high-precision map fails, and then it is necessary to determine a road section for which the verification fails, that is, a target road section corresponding to the first lane information is determined, and label the target road section on the target high-precision map.
Because the target road sections are marked on the target high-precision map, the target road sections which do not pass the verification can be judged more visually, the target road sections can be conveniently subjected to subsequent processing, and the verification efficiency is further improved. For example, the target link may be labeled in color, or in position, or in comparison, as long as the target link is helpful for identifying the target link from the high-precision map.
For example, the difference between the first lane information and the second lane information may be a type difference and/or a position difference, for example, the first lane information is a first lane line and its position, the second lane information is a second lane line and its position, and if the first lane line and the second lane line are the same type but different positions, the deviation between the position of the first lane line and the position of the second lane line is the difference between the first lane line and the second lane line. For example, the lane types are the same, the type difference may be set to 0, the lane types are different, the type difference may be set to 1, the type threshold may be set to 0, when the type difference is 0, it indicates that the type difference is smaller than or equal to the threshold, and when the type difference is 1, it indicates that the type difference is greater than the threshold.
It should be noted that the first lane information may include lane information that is not included in the second lane information, for example, the first lane information includes hard isolation information, but there is no hard isolation of a corresponding location in the second lane information, and accordingly, the type difference is 1. Similarly, the second lane information may include lane information that is not included in the first lane information.
The comparison rule between the first lane information and the second lane information is exemplarily described above, and in practical implementation, the comparison rule may be set as needed as long as the high-precision map can be verified according to the difference between the first lane information and the second lane information.
In one embodiment, verifying the second lane information according to the display result may further include: determining a target road section corresponding to the first lane information under the condition that the difference between the first lane information and the second lane information is larger than a threshold value; and storing the screenshot of the target road section.
The screenshot storage is carried out on the target road section, the data of the target road section is recorded, the road section passing the verification does not need to be stored, the data storage amount can be reduced, and the storage efficiency is improved. In addition, high-precision map correction can be performed on the stored target road section, basic data of the whole high-precision map does not need to be corrected, correction efficiency can be improved, and verification efficiency is further improved. In addition, screenshot storage is carried out on the target road section, so that an abnormal report can be output immediately, and the high-precision map can be verified in a refined mode.
In one embodiment, verifying the second lane information according to the display result may further include: and sending out prompt information under the condition that the difference between the first lane information and the second lane information is larger than a threshold value. The prompt message can remind the worker that the high-precision map of the road section is abnormal, so that the worker can carefully check the road section. Illustratively, the prompt message can be displayed through a display interface, and can also be sent out in a voice mode.
In one embodiment, the environment image can be acquired by an image acquisition device on a vehicle, and a high-precision target map corresponding to the environment image is determined, wherein the method comprises the following steps: acquiring position information of a vehicle, wherein the position information corresponds to an environment image; and determining the high-precision map corresponding to the position information as the target high-precision map.
The image acquisition device can be arranged on the vehicle, the environment image is acquired by the image acquisition device on the vehicle along with the running of the vehicle, the cost of the mode of acquiring the environment image is far lower than that of acquiring the image by adopting a radar, the imaging speed is high, the on-site real-time imaging can be realized, the background processing is not required to be carried out, and the verification efficiency is further improved.
The vehicle can be provided with a navigation system, the position information of the vehicle can be acquired through the navigation system, the environment image corresponds to the position information, the target high-precision map is a high-precision map corresponding to the position information, the corresponding target high-precision map and the environment image are determined through the position information, the environment image can be prevented from being mismatched with the target high-precision map, and the verification error is prevented.
Illustratively, the navigation System may include a Global Positioning System (GPS) and an Inertial Navigation System (INS). Thus, the position information of the vehicle can be obtained at a position where there is no satellite signal. The positioning points of the GPS and the INS can be controlled to be at the same time point, and the accuracy of the position information is further improved.
In one embodiment, obtaining the location information of the vehicle may include: and fusing the coordinate parameters and the attitude parameters in the navigation system of the vehicle to obtain the position information of the vehicle. The coordinate parameters and the attitude parameters are fused to obtain the position information of the vehicle, so that the accuracy of the position information can be improved.
In one embodiment, a driving route of the vehicle can be determined according to the high-precision map to be verified, and the vehicle is controlled to drive along the driving route. And controlling an image acquisition device on the vehicle to acquire an environment image in the running process of the vehicle along the running route.
In one embodiment, the number of the image capturing devices may be at least two, and at least two image capturing devices are used for capturing images of both sides of the vehicle. It should be noted that the lane information is usually located on both sides of the driving route of the vehicle, and therefore, the image acquisition device is set to acquire images on both sides of the vehicle, so that unnecessary features acquired by the image acquisition device can be avoided, and the recognition efficiency can be improved.
In addition, at least two image acquisition devices are arranged to acquire images on two sides of the vehicle, so that at least one image acquisition device can be arranged on one side of the vehicle, and at least one image acquisition device is arranged on the other side of the vehicle, and the image acquisition devices can acquire images more pertinently.
Illustratively, binocular cameras may be employed, which are respectively disposed at both sides of the vehicle and respectively collect lane information at both sides of the vehicle. It should be noted that the image capturing device is not limited to a binocular camera, and may be other types of cameras, such as a CMOS camera, a CCD camera, and the like.
In one embodiment, identifying the first lane information from the environmental image may include: according to coordinate parameters and posture parameters in a navigation system of the vehicle, carrying out distortion correction on the environment images acquired by the image acquisition devices to obtain corrected environment images; identifying corresponding lane information from each corrected environment image; and fusing the corresponding lane information to obtain first lane information.
The distortion correction is carried out on the environment image, so that the distortion effect can be reduced, and the image accuracy is improved; after the corresponding lane information is recognized from each corrected environment image, the corresponding lane information is fused, so that the obtained first lane information is more complete, the lane information in the actual environment can be better presented, the complete first lane information can be displayed on the target high-precision map, and the first lane information is prevented from being lost.
In one embodiment, identifying the first lane information from the environmental image may include: according to coordinate parameters and posture parameters in a navigation system of the vehicle, carrying out distortion correction on the environment images acquired by the image acquisition devices to obtain corrected environment images; fusing the corrected environment images to obtain fused environment images; and identifying first lane information from the fused environment image.
In one embodiment, the method for verifying the high-precision map may further include: and correcting the second lane information on the high-precision map according to the verification result. Illustratively, the lane information of the target road segment can be corrected on the high-precision map according to the screenshot of the target road segment, the label of the target road segment, the environment image, the coordinate parameter and the posture parameter of the navigation system, so that a corrected high-precision map can be obtained and can be used online. By the method, after the high-precision map is verified, the high-precision map can be corrected in real time, and the online speed of the high-precision map is improved.
According to the technical scheme of the embodiment of the disclosure, the vehicle is loaded with the high-precision map to be verified, the vehicle driving route is determined according to the high-precision map to be verified, the environment image is collected through the image collecting device on the vehicle in the driving process of the vehicle along the driving route, manual on-site image collection is not needed, on-site real-time imaging is achieved, and the imaging speed is high. In the running process of a vehicle, an environment image can be collected at any time, a target high-precision map corresponding to the environment image is determined according to position information corresponding to the environment image, the target high-precision map is displayed according to the position information, and first lane information identified from the environment image is displayed on the target high-precision map in a superposed mode. Comparing the first lane information with the second lane information on a target high-definition map which simultaneously displays the first lane information and the second lane information, and passing verification on a corresponding road section under the condition that the difference between the first lane information and the second lane information is less than or equal to a threshold value; under the condition that the difference between the first lane information and the second lane information is larger than the threshold value, the corresponding target road section is determined, and the target road section is marked and stored with the screenshot, so that the verification cost of the high-precision map is reduced, the real-time feedback of the verification result is realized, the online speed of the high-precision map is facilitated, and the manufacturing efficiency of the high-precision map is improved.
Fig. 2 is a block diagram of a verification apparatus for high-precision maps according to an embodiment of the present disclosure. As shown in fig. 2, the verification apparatus of the high-precision map may include:
an identifying module 210, configured to identify first lane information from the environment image;
a determining module 220, configured to determine a target high-precision map corresponding to the environment image, where the target high-precision map includes the second lane information;
the display module 230 is used for displaying the first lane information on the target high-precision map;
and a verification module 240 for verifying the second lane information according to the display result.
Fig. 3 is a block diagram illustrating a structure of an authentication module in an apparatus for authenticating a high-precision map according to an embodiment of the present disclosure. As shown in FIG. 3, in one embodiment, the verification module includes:
and a comparison sub-module 310 for comparing the first lane information with the second lane information in the target high-precision map on which the first lane information is displayed.
Fig. 4 is a block diagram illustrating a structure of an authentication module in an apparatus for authenticating a high-precision map according to an embodiment of the present disclosure. As shown in fig. 4, the verification module further includes: the determining submodule 420 is configured to determine a target road segment corresponding to the first lane information when a difference between the first lane information and the second lane information is greater than a threshold; and the labeling sub-module 430 is configured to label the target road segment on the target high-precision map.
In one embodiment, the comparison sub-module 410 of FIG. 4 may be the same as or similar to the comparison sub-module 310 of FIG. 3.
Fig. 5 is a block diagram illustrating a structure of an authentication module in an apparatus for authenticating a high-precision map according to an embodiment of the present disclosure. As shown in fig. 5, the verification module further includes: the determining submodule 520 is configured to determine a target road segment corresponding to the first lane information when a difference between the first lane information and the second lane information is greater than a threshold; and the screenshot submodule 530 is used for storing the screenshot of the target road section.
In one embodiment, the comparison sub-module 510 of FIG. 5 may be the same as or similar to the comparison sub-module 310 of FIG. 3.
Fig. 6 is a block diagram illustrating a structure of a determination module in the verification apparatus for high-precision maps according to an embodiment of the present disclosure. As shown in fig. 6, the environment image is acquired by an image acquisition device on the vehicle, and the determining module includes: a position information obtaining sub-module 610 for obtaining position information of the vehicle, the position information corresponding to the environment image; and a target map determination sub-module 620 for determining the high-precision map corresponding to the position information as the target high-precision map.
In one embodiment, the number of the image capturing devices is at least two, and at least two image capturing devices are used for capturing images of two sides of the vehicle.
Fig. 7 is a block diagram illustrating a structure of an identification module in an apparatus for verifying a high-precision map according to an embodiment of the present disclosure. The identification module comprises: the image correction submodule 710 is configured to perform distortion correction on the environment image acquired by each image acquisition device according to a coordinate parameter and an attitude parameter in a navigation system of the vehicle, so as to obtain a corrected environment image; the identification submodule 720 is used for identifying corresponding lane information from each corrected environment image; and the fusion sub-module 730 is used for fusing the corresponding lane information to obtain the first lane information.
In one embodiment, the position information obtaining sub-module 610 is configured to fuse coordinate parameters and attitude parameters in a navigation system of the vehicle to obtain position information of the vehicle.
Fig. 8 is a block diagram illustrating a structure of a verification device for high-precision maps according to an embodiment of the present disclosure. The verification device of the high-precision map can be used for realizing the verification method of the high-precision map in the above embodiment, and as shown in fig. 8, the verification device of the high-precision map can comprise a camera and a carrier 810 thereof, a positioning and attitude determination system 820, a centralized control system 830, a software processing system 840, a display 850 and a power supply system 860.
Illustratively, the camera and its carrier 810 may include a camera 811 and an in-vehicle structure platform 812, capturing images simultaneously with two cameras 811, such as CMOS cameras, and securing and protecting the cameras 811 via the in-vehicle structure platform 812. The camera 811 may implement the functions of the image pickup apparatus in the above-described embodiments.
Illustratively, the positioning and attitude determination system 820 may be a navigation system of a vehicle, the positioning and attitude determination system 820 may include a GPS and an INS, and the INS may be used for vehicle positioning in places without satellite signals, such as tunnels.
Illustratively, the centralized control system 830 may include a computer acquisition system 831, a temperature control system 832, and a synchronization control system 833. The computer acquisition system 831 is connected to the camera 811 for image acquisition and storage by the camera of the camera. Temperature control system 832 is used to control the operating temperature of the device and to provide a warning when the temperature is not appropriate. The synchronous control system 833 is used to control the two cameras 811 to capture images at the same time, and to control the GPS and the INS to perform position location at the same time, so as to ensure image capture and position information capture at the same time.
Illustratively, the display 850 may be a display with touch screen functionality, which is loaded with a high-precision map, which may be used to display a high-precision map of an object and to display first lane information in superposition. Illustratively, the display may also implement the functions of the annotation, screenshot and prompt in the above embodiments.
Illustratively, the power supply system 860 may include a power supply 861 and a power distribution device 862 for supplying power to the various systems to provide operational assurance.
Illustratively, the software processing system 840 may include an integrated device verification unit 841, a positioning and attitude determination integrated processing unit 842, a data processing imaging unit 843, and a reminder and annotation unit 844. The integrated device verification unit 841 may implement the function of the comparison sub-module in the above embodiments; the positioning and attitude determination integrated processing unit 842 can realize the functions of the position information obtaining sub-module in the above embodiments; the data processing imaging unit 843 may realize the functions of the identification module and the determination module in the above-described embodiments; the reminding and labeling unit 844 can realize the functions of the determining submodule and the labeling submodule in the above embodiments, and can realize the function of reminding.
Fig. 9 is a schematic flow chart of high-precision map verification according to an embodiment of the present disclosure. As shown in fig. 9, two cameras collect environment images, identify corresponding lane information from each environment image, and fuse each corresponding lane information to obtain first lane information; acquiring coordinate parameters and attitude parameters from a navigation system such as a GPS and an INS, resolving to obtain position information of a vehicle, determining a target high-precision map according to the position information, and displaying first lane information on the target high-precision map in an overlapping manner; comparing the first lane information with the second lane information; and if the difference between the first lane information and the second lane information is within the threshold value, continuing the verification of the second lane information corresponding to the next position information, if the difference between the first lane information and the second lane information exceeds the threshold value, prompting abnormality, screenshot and storing, finishing the verification process immediately after the environmental image acquisition is finished, and closing all the systems.
In the technical scheme of the disclosure, the acquisition, storage, application and the like of the personal information of the related user all accord with the regulations of related laws and regulations, and do not violate the good customs of the public order.
The present disclosure also provides an electronic device, a readable storage medium, and a computer program product according to embodiments of the present disclosure.
FIG. 10 illustrates a schematic block diagram of an example electronic device 1000 that can be used to implement embodiments of the present disclosure. Electronic devices are intended to represent various forms of digital computers, such as laptops, desktops, workstations, personal digital assistants, servers, blade servers, mainframes, and other appropriate computers. The electronic device may also represent various forms of mobile devices, such as personal digital processing, cellular phones, smart phones, wearable devices, and other similar computing devices. The components shown herein, their connections and relationships, and their functions, are meant to be examples only, and are not meant to limit implementations of the disclosure described and/or claimed herein.
As shown in fig. 10, the apparatus 1000 includes a computing unit 1001 that can perform various appropriate actions and processes according to a computer program stored in a Read Only Memory (ROM)1002 or a computer program loaded from a storage unit 1008 into a Random Access Memory (RAM) 1003. In the RAM 1003, various programs and data necessary for the operation of the device 1000 can also be stored. The calculation unit 1001, the ROM 1002, and the RAM 1003 are connected to each other by a bus 1004. An input/output (I/O) interface 1005 is also connected to bus 1004.
A number of components in device 1000 are connected to I/O interface 1005, including: an input unit 1006 such as a keyboard, a mouse, and the like; an output unit 1007 such as various types of displays, speakers, and the like; a storage unit 1008 such as a magnetic disk, an optical disk, or the like; and a communication unit 1009 such as a network card, a modem, a wireless communication transceiver, or the like. The communication unit 1009 allows the device 1000 to exchange information/data with other devices through a computer network such as the internet and/or various telecommunication networks.
Various implementations of the systems and techniques described here above may be implemented in digital electronic circuitry, integrated circuitry, Field Programmable Gate Arrays (FPGAs), Application Specific Integrated Circuits (ASICs), Application Specific Standard Products (ASSPs), system on a chip (SOCs), Complex Programmable Logic Devices (CPLDs), computer hardware, firmware, software, and/or combinations thereof. These various embodiments may include: implemented in one or more computer programs that are executable and/or interpretable on a programmable system including at least one programmable processor, which may be special or general purpose, receiving data and instructions from, and transmitting data and instructions to, a storage system, at least one input device, and at least one output device.
Program code for implementing the methods of the present disclosure may be written in any combination of one or more programming languages. These program codes may be provided to a processor or controller of a general purpose computer, special purpose computer, or other programmable data processing apparatus, such that the program codes, when executed by the processor or controller, cause the functions/operations specified in the flowchart and/or block diagram to be performed. The program code may execute entirely on the machine, partly on the machine, as a stand-alone software package partly on the machine and partly on a remote machine or entirely on the remote machine or server.
In the context of this disclosure, a machine-readable medium may be a tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device. The machine-readable medium may be a machine-readable signal medium or a machine-readable storage medium. A machine-readable medium may include, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any suitable combination of the foregoing. More specific examples of a machine-readable storage medium would include an electrical connection based on one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.
To provide for interaction with a user, the systems and techniques described here can be implemented on a computer having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to a user; and a keyboard and a pointing device (e.g., a mouse or a trackball) by which a user can provide input to the computer. Other kinds of devices may also be used to provide for interaction with a user; for example, feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user may be received in any form, including acoustic, speech, or tactile input.
The systems and techniques described here can be implemented in a computing system that includes a back-end component (e.g., as a data server), or that includes a middleware component (e.g., an application server), or that includes a front-end component (e.g., a user computer having a graphical user interface or a web browser through which a user can interact with an implementation of the systems and techniques described here), or any combination of such back-end, middleware, or front-end components. The components of the system can be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: local Area Networks (LANs), Wide Area Networks (WANs), and the Internet.
The computer system may include clients and servers. A client and server are generally remote from each other and typically interact through a communication network. The relationship of client and server arises by virtue of computer programs running on the respective computers and having a client-server relationship to each other. The server may be a cloud server, a server of a distributed system, or a server with a combined blockchain.
It should be understood that various forms of the flows shown above may be used, with steps reordered, added, or deleted. For example, the steps described in the present disclosure may be executed in parallel, sequentially, or in different orders, as long as the desired results of the technical solutions disclosed in the present disclosure can be achieved, and the present disclosure is not limited herein.
The above detailed description should not be construed as limiting the scope of the disclosure. It should be understood by those skilled in the art that various modifications, combinations, sub-combinations and substitutions may be made in accordance with design requirements and other factors. Any modification, equivalent replacement, and improvement made within the spirit and principle of the present disclosure should be included in the scope of protection of the present disclosure.
Claims (20)
1. A verification method of a high-precision map comprises the following steps:
identifying first lane information from the environmental image;
determining a target high-precision map corresponding to the environment image, wherein the target high-precision map comprises second lane information;
displaying the first lane information on the target high-precision map;
and verifying the second lane information according to a display result.
2. The method of claim 1, wherein verifying the second lane information according to the display result comprises:
and comparing the first lane information with the second lane information in the target high-precision map on which the first lane information is displayed.
3. The method of claim 2, wherein the verifying the second lane information according to the display result further comprises:
determining a target road section corresponding to the first lane information under the condition that the difference between the first lane information and the second lane information is larger than a threshold value;
and marking the target road section on the target high-precision map.
4. The method of claim 2, wherein the verifying the second lane information according to the display result further comprises:
determining a target road section corresponding to the first lane information under the condition that the difference between the first lane information and the second lane information is larger than a threshold value;
and storing the screenshot of the target road section.
5. The method of any of claims 1 to 4, wherein the environmental image is captured by an image capture device on a vehicle, and determining a high-precision map of objects corresponding to the environmental image comprises:
acquiring position information of the vehicle, wherein the position information corresponds to the environment image;
and determining a high-precision map corresponding to the position information as the target high-precision map.
6. The method of claim 5, wherein the number of image capturing devices is at least two, at least two of the image capturing devices being used to capture images of both sides of the vehicle.
7. The method of claim 6, wherein the identifying the first lane information from the environmental image comprises:
according to the coordinate parameters and the posture parameters in the navigation system of the vehicle, carrying out distortion correction on the environment images acquired by the image acquisition devices to obtain corrected environment images;
identifying corresponding lane information from each corrected environment image;
and fusing the corresponding lane information to obtain the first lane information.
8. The method of claim 5, wherein obtaining the location information of the vehicle comprises:
and fusing the coordinate parameters and the attitude parameters in the navigation system of the vehicle to obtain the position information of the vehicle.
9. An apparatus for validating a high-precision map, comprising:
the identification module is used for identifying first lane information from the environment image;
the determining module is used for determining a target high-precision map corresponding to the environment image, and second lane information is included on the target high-precision map;
the display module is used for displaying the first lane information on the target high-precision map;
and the verification module is used for verifying the second lane information according to a display result.
10. The apparatus of claim 9, wherein the verification module comprises:
and the comparison submodule is used for comparing the first lane information with the second lane information in a target high-precision map on which the first lane information is displayed.
11. The apparatus of claim 10, wherein the verification module further comprises:
the determining submodule is used for determining a target road section corresponding to the first lane information under the condition that the difference between the first lane information and the second lane information is larger than a threshold value;
and the marking submodule is used for marking the target road section on the target high-precision map.
12. The apparatus of claim 10, wherein the verification module further comprises:
the determining submodule is used for determining a target road section corresponding to the first lane information under the condition that the difference between the first lane information and the second lane information is larger than a threshold value;
and the screenshot module is used for screenshot storage of the target road section.
13. The apparatus of any of claims 9 to 12, wherein the environmental image is captured by an image capture device on a vehicle, the determining means comprising:
the position information acquisition submodule is used for acquiring the position information of the vehicle, and the position information corresponds to the environment image;
and the target map determining submodule is used for determining a high-precision map corresponding to the position information as the target high-precision map.
14. The device of claim 13, wherein the number of the image capturing devices is at least two, at least two of the image capturing devices being configured to capture images of both sides of the vehicle.
15. The apparatus of claim 14, wherein the identification module comprises:
the image correction submodule is used for carrying out distortion correction on the environment images acquired by the image acquisition devices according to the coordinate parameters and the posture parameters in the navigation system of the vehicle to obtain corrected environment images;
the identification submodule is used for identifying corresponding lane information from each corrected environment image;
and the fusion submodule is used for fusing the corresponding lane information to obtain the first lane information.
16. The apparatus of claim 13, wherein,
and the position information acquisition submodule is used for fusing a coordinate parameter and an attitude parameter in a navigation system of the vehicle to acquire the position information of the vehicle.
17. A high-precision map verification device comprising the apparatus of any one of claims 9-16.
18. An electronic device, comprising:
at least one processor; and
a memory communicatively coupled to the at least one processor; wherein,
the memory stores instructions executable by the at least one processor to enable the at least one processor to perform the method of any one of claims 1-8.
19. A non-transitory computer readable storage medium having stored thereon computer instructions for causing the computer to perform the method of any one of claims 1-8.
20. A computer program product comprising a computer program which, when executed by a processor, implements the method according to any one of claims 1-8.
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