CN114724379A

CN114724379A - Data processing method, device, equipment and storage medium

Info

Publication number: CN114724379A
Application number: CN202210642220.9A
Authority: CN
Inventors: 周勋
Original assignee: China Automotive Innovation Co Ltd
Current assignee: China Automotive Innovation Co Ltd
Priority date: 2022-06-08
Filing date: 2022-06-08
Publication date: 2022-07-08

Abstract

The application discloses a data processing method, a device, equipment and a storage medium, wherein the method comprises the following steps: acquiring a plurality of data to be detected corresponding to a target intersection in a high-precision map, wherein the data to be detected represent the associated information of various driving indication marks of the target intersection; carrying out accuracy test processing on a plurality of data to be tested to obtain data test results corresponding to the plurality of data to be tested; under the condition that a target data test result in the plurality of data test results meets a preset test condition, correspondingly processing target data to be tested corresponding to the target data test result; the target data test result meets the preset test condition and represents that error information exists in target data to be tested corresponding to the target data test result; according to the method and the device, the data to be tested corresponding to the target intersection are automatically tested, the data to be tested of the target with error information are automatically processed, and the testing efficiency of the data of the high-precision map intersection is improved.

Description

Data processing method, device, equipment and storage medium

Technical Field

The present application relates to the field of high-precision map testing technologies, and in particular, to a data processing method, apparatus, device, and storage medium.

Background

The high-precision map bears element form information, attribute information and semantic information of the physical world, and rich information content inevitably brings higher manufacturing difficulty and maintenance difficulty. In recent years, with the deep application of high-precision maps in the field of intelligent driving, the manufacturing process and the process requirements of the high-precision maps are more and more precise. How to quickly and massively detect various errors of high-precision map data, judge and guarantee the quality of high-precision map products is a key path and a necessary path for high-precision map industrialization.

The intersection is used as a complex scene in a high-precision map, the number of related map elements is large, the geometric logic relationship is complex, the definition of the incidence relationship is difficult, the quality evaluation and the automatic inspection of the intersection can accelerate the manufacturing efficiency of the high-precision map, and the quality control in the mass production of the high-precision map is mastered. At present, the quality inspection of high-precision map intersection data is long in time consumption and high in manual participation degree; quality inspection of the intersection data of the high-precision map is carried out in different elements and is scattered in rule, and operators have difficulty in understanding and interacting quality inspection results and are difficult to process the intersection data in a large scale; and partial errors in the quality inspection cannot be automatically corrected, so that the automatic processing capability is weak.

Disclosure of Invention

In order to solve the technical problem, the application discloses a data processing method, which is used for automatically testing the data to be tested corresponding to the target intersection and correspondingly automatically processing the target data to be tested with error information represented by a data test result, so that the test efficiency of the high-precision map intersection data is greatly improved.

In order to achieve the above object, the present application provides a data processing method, including:

acquiring a plurality of data to be detected corresponding to a target intersection in a high-precision map, wherein the data to be detected represent associated information of a plurality of driving indication marks of the target intersection;

performing accuracy test processing on the multiple data to be tested to obtain data test results corresponding to the multiple data to be tested;

under the condition that a target data test result in a plurality of data test results meets a preset test condition, correspondingly processing target to-be-tested data corresponding to the target data test result; and representing that the target data to be tested corresponding to the target data test result has error information when the target data test result meets a preset test condition.

In some embodiments, in the case that there is a target data test result in the plurality of data test results that meets a preset test condition, performing corresponding processing on target to-be-tested data corresponding to the target data test result includes:

and under the condition that a target data test result in a plurality of data test results meets a preset test condition, updating the target to-be-tested data corresponding to the target data test result or determining attribute information and error associated information corresponding to the target to-be-tested data based on the target data test result, wherein the error associated information comprises position information corresponding to error information in the target to-be-tested data and the reason why the error information is wrong.

In some embodiments, the performing accuracy test processing on the multiple pieces of data to be tested to obtain data test results corresponding to the multiple pieces of data to be tested includes:

acquiring preset detection configuration information; the preset detection configuration information comprises detection configuration modes corresponding to the multiple running indication marks respectively;

determining a detection configuration mode corresponding to each data to be detected based on the running indication identifier corresponding to each data to be detected;

and according to the detection configuration mode corresponding to each data to be detected, carrying out accuracy test processing on each data to be detected to obtain a data test result corresponding to each data to be detected.

In some embodiments, the plurality of data to be tested includes road line data to be tested, intersection frame line data to be tested, and traffic light data to be tested; the preset detection configuration information comprises a road line detection configuration mode, an intersection detection configuration mode and a traffic light detection configuration mode; the method for performing accuracy test processing on each data to be tested according to the detection configuration mode corresponding to each data to be tested to obtain the data test result corresponding to each data to be tested includes:

performing accuracy test processing on the road line data to be tested based on the road line detection configuration mode to obtain a first data test result corresponding to the road line data to be tested;

carrying out accuracy test processing on the frame line data of the intersection to be tested based on the intersection detection configuration mode to obtain a second data test result corresponding to the frame line data of the intersection to be tested;

and carrying out accuracy test processing on the traffic light data to be tested based on the traffic light detection configuration mode to obtain a third data test result corresponding to the traffic light data to be tested.

In some embodiments, the first data test result includes a mark point repeat result and a mark point jump result, and the road line detection configuration includes a mark point repeat detection configuration and a mark point jump detection configuration; the method for performing accuracy test processing on the road line data to be tested based on the road line detection configuration mode to obtain a first data test result corresponding to the road line data to be tested comprises the following steps:

acquiring a mark point on each road line in the road line data to be detected;

traversing a plurality of mark points based on the mark point repeated detection configuration mode, and determining a mark point repeated result corresponding to each mark point, wherein the mark point repeated result corresponding to each mark point represents whether repeated mark points exist in each mark point, and the distance between the repeated mark point and each mark point is smaller than a preset distance;

traversing the plurality of mark points based on the mark point jump detection configuration mode, and determining mark point jump results corresponding to the plurality of mark points, wherein the mark point jump results represent whether jump mark points exist in each mark point, and the jump angle of the jump mark points and each mark point in the vertical direction is larger than a first preset angle, or the jump angle of the jump mark points and each mark point in the horizontal direction is larger than a second preset angle.

In some embodiments, the first data test result further includes a reference line intersection coincidence result, the road line detection configuration further includes a reference line intersection detection configuration, the road line data to be detected includes reference line data, and the accuracy test processing is performed on the road line data to be detected based on the road line detection configuration to obtain a first data test result corresponding to the road line data to be detected, further including:

determining a first reference line set positioned in an intersection frame line area corresponding to the intersection frame line data to be detected and a second reference line set positioned outside the intersection frame line area and intersected with the edge line of the intersection frame line area based on the reference line data and the intersection frame line data to be detected; the first set of reference lines comprises a plurality of first reference lines and the second set of reference lines comprises a plurality of second reference lines;

traversing the plurality of second reference lines and the plurality of first reference lines based on the reference line intersection detection configuration mode, and determining the coincidence result of the reference line intersections corresponding to the plurality of second reference lines; and the reference line intersection point coincidence result represents whether the starting point or the end point of the second reference line coincides with the end point or the starting point of one first reference line.

In some embodiments, the road line data under test comprises lane centerline data; the first data test result also comprises a target driving direction indication result; the road route detection configuration mode comprises a driving direction detection configuration mode; the method for performing accuracy test processing on the road line data to be tested based on the road line detection configuration mode to obtain a first data test result corresponding to the road line data to be tested comprises the following steps:

acquiring starting point direction vectors and ending point direction vectors corresponding to a plurality of lane center lines in a target lane corresponding to the lane center line data;

determining a driving direction corresponding to each of the lane center lines based on the driving direction detection configuration mode, the plurality of starting point direction vectors and the plurality of ending point direction vectors;

and determining a target driving direction indication result corresponding to the target lane based on a plurality of driving directions.

In some embodiments, the determining the driving direction corresponding to each of the lane center lines based on the driving direction detection configuration, a plurality of starting point direction vectors, and a plurality of ending point direction vectors includes:

determining driving direction related information and a target included angle corresponding to each of the lane center lines based on the driving direction detection configuration mode, the starting point direction vectors and the ending point direction vectors;

and determining the driving directions corresponding to the center lines of the lanes on the basis of the plurality of driving direction related information and the plurality of target included angles.

In some embodiments, the second data test result comprises a coordinate point-to-ground result; the accuracy test processing is carried out on the intersection frame line data to be tested based on the intersection detection configuration mode, and a second data test result corresponding to the intersection frame line data to be tested is obtained, and the method comprises the following steps:

acquiring an edge line of an intersection frame line area corresponding to the intersection frame line data to be detected and a plurality of coordinate points on the edge line of the intersection frame line area;

determining coordinate point ground-attaching results corresponding to the coordinate points respectively based on the intersection detection configuration mode and the coordinate points; and the coordinate point ground attaching result represents whether the coordinate of the coordinate point in the z-axis direction is a preset threshold value or not.

In some embodiments, the traffic light detection configuration mode includes a traffic light attribute detection configuration mode and a traffic light association relation detection configuration mode, and the data to be detected includes stop line data to be detected and lane center line data; the third data test result comprises a heading indication result, a first correlation result and a second correlation result of the traffic light; the traffic light detection configuration mode is used for carrying out accuracy test processing on the traffic light data to be detected to obtain a third data test result corresponding to the traffic light data to be detected; the method comprises the following steps:

determining a plurality of traffic light signs positioned at the target intersection and at least one traffic light corresponding to each of the plurality of traffic light signs based on the traffic light data to be detected;

determining an indicating course corresponding to each of the plurality of traffic light indicators, ordering information of at least one traffic light positioned on the same traffic light indicator and an association relation between indicating directions corresponding to each of the plurality of traffic lights based on the traffic light attribute detection configuration mode, the plurality of traffic light indicators and at least one traffic light corresponding to each of the plurality of traffic light indicators;

determining course indication results corresponding to the plurality of traffic lights based on the indication courses corresponding to the plurality of traffic light indication boards, the incidence relation between the sequencing information of the at least one traffic light positioned on the same traffic light indication board and the indication directions corresponding to the plurality of traffic lights;

determining the first association result between a plurality of stop lines in the stop line data to be detected and opposite traffic light indication boards corresponding to the stop lines based on the traffic light association relation detection configuration mode, the lane center line data, the stop line data to be detected, the traffic light indication boards and a plurality of course indication results;

and determining second association results between a plurality of lane centerlines in the lane centerline data and target traffic lights corresponding to the plurality of lane centerlines based on the traffic light association relation detection configuration mode, the lane centerline data, the plurality of traffic lights and a plurality of course indication results.

In some embodiments, the determining, based on the traffic light association detection configuration, the lane center line data, the stop line data to be detected, the plurality of traffic light signs, and the plurality of heading indication results, the first association result between the stop lines in the stop line data to be detected and the opposite traffic light signs corresponding to the stop lines includes:

determining a plurality of stop lines and a plurality of traffic light indication boards corresponding to the stop lines based on the data of the stop lines to be detected and the plurality of traffic light indication boards;

determining adjacent lane center lines corresponding to the stop lines respectively based on the lane center line data and the stop lines, wherein the adjacent lane center lines are lane center lines of which the end point coordinates are adjacent to the stop lines in the lane center lines;

for each stop line, determining a first association relation between each target stop line and at least one traffic light on the target opposite traffic light indicator board and the target opposite traffic light based on the traffic light association relation detection configuration mode, the target stop line, the center line of the target adjacent lane, the plurality of traffic light indicator boards and the plurality of course indication results;

a first association of the target stop line with at least one traffic light on the target oncoming traffic light sign is determined based on a plurality of first associations.

In some embodiments, the determining the second association result between a plurality of lane centerlines in the lane centerline data and a target traffic light corresponding to each of the plurality of lane centerlines based on the traffic light association detection configuration, the lane centerline data, the plurality of traffic lights, and a plurality of heading indication results includes:

determining starting point direction vectors corresponding to a plurality of lane central lines in the lane central line data and connecting line direction vectors corresponding to the starting points and the plurality of traffic lights on the basis of the lane central line data and the plurality of traffic lights;

determining at least one opposite traffic light corresponding to each of the lane center lines based on the starting point direction vector and a plurality of connecting line direction vectors;

acquiring driving indication directions corresponding to the center lines of the lanes respectively;

for each target lane central line, determining a target opposite traffic light corresponding to the target lane central line and a second association relation between the target lane central line and the target opposite traffic light based on the traffic light association relation detection configuration mode, the target driving direction corresponding to the target lane central line, at least one opposite traffic light and at least one course indication result;

determining the second association result of the target lane center line with the target oncoming traffic light based on a plurality of second association relations.

In some embodiments, the acquiring multiple pieces of data to be measured corresponding to the target intersection in the high-precision map includes:

acquiring intersection data corresponding to an intersection scene in the high-precision map;

determining a target intersection and frame line data of the intersection to be detected corresponding to the target intersection from the intersection data;

determining a region to be detected corresponding to the target intersection based on the frame line data of the intersection to be detected;

and determining the road route data to be detected and the traffic light data to be detected corresponding to the target intersection from the intersection data in the high-precision map based on the area to be detected.

In some embodiments, the predetermined test conditions include a first result error condition corresponding to the first data test result, a second result error condition corresponding to the second data test result, and a third result error condition corresponding to the third data test result; and correspondingly processing the target to-be-tested data corresponding to the target data test result under the condition that the target data test result in the plurality of data test results meets the preset test condition, wherein the processing comprises the following steps:

under the condition that the first data test result meets a first result error condition, correspondingly processing the to-be-tested road route data corresponding to the first data test result;

under the condition that the second data test result meets a second result error condition, correspondingly processing the frame line data of the intersection to be tested corresponding to the second data test result;

and correspondingly processing the traffic light data to be tested corresponding to the third data test result under the condition that the third data test result meets a third result error condition.

The present application further provides a data processing apparatus, the apparatus comprising:

the system comprises an acquisition module, a display module and a display module, wherein the acquisition module is used for acquiring a plurality of data to be detected corresponding to a target intersection in a high-precision map, and the data to be detected represent the associated information of a plurality of driving indication marks of the target intersection;

the first processing module is used for carrying out accuracy test processing on the multiple data to be tested to obtain data test results corresponding to the multiple data to be tested;

the second processing module is used for correspondingly processing the target to-be-tested data corresponding to the target data test result under the condition that the target data test result in the plurality of data test results meets the preset test condition; and the target data test result meets a preset test condition to represent that the target data to be tested corresponding to the target data test result has error information.

The present application also provides a data processing device comprising a processor and a memory, wherein at least one instruction or at least one program is stored in the memory, and the at least one instruction or the at least one program is loaded and executed by the processor to realize the data processing method as described above.

The present application also provides a computer-readable storage medium, in which at least one instruction or at least one program is stored, and the at least one instruction or the at least one program is loaded by a processor and executes the data processing method as described above.

The embodiment of the application has the following beneficial effects:

according to the data processing method, the data to be tested corresponding to the target intersection are automatically tested, and the data to be tested with error information represented by the data test result are automatically processed correspondingly, so that the test efficiency of the data of the high-precision map intersection is greatly improved.

Drawings

In order to more clearly illustrate the data processing method, apparatus, device and storage medium described in the present application, the drawings required for the embodiments will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.

Fig. 1 is a schematic diagram of an implementation environment of data processing according to an embodiment of the present disclosure;

fig. 2 is a schematic flowchart of a data processing method according to an embodiment of the present application;

fig. 3 is a schematic flowchart of a method for acquiring data to be measured according to an embodiment of the present disclosure;

fig. 4 is an exemplary schematic diagram of data to be tested according to an embodiment of the present application;

fig. 5 is a schematic flowchart of a method for determining a repeated result and a jumping result of a mark point according to an embodiment of the present disclosure;

FIG. 6 provides an exemplary illustration of a first included angle for embodiments of the present application;

FIG. 7 provides an exemplary illustration of a second included angle for embodiments of the present application;

fig. 8 is a schematic flowchart of a method for determining a coincidence result of intersection points of reference lines according to an embodiment of the present disclosure;

fig. 9 is a schematic flowchart of a method for determining a target driving direction indication result according to an embodiment of the present disclosure;

fig. 10 is an exemplary schematic diagram of a starting point direction vector and an ending point direction vector of a lane center line according to an embodiment of the present application;

fig. 11 is a schematic flowchart of a method for determining a coordinate point ground result according to an embodiment of the present disclosure;

fig. 12 is a flowchart illustrating a method for determining a third data test result according to an embodiment of the present disclosure;

fig. 13 is an exemplary diagram of a preset direction vector and a connecting direction vector according to an embodiment of the present application;

FIG. 14 is a schematic diagram of an exemplary direction vector indicator;

fig. 15 is a flowchart illustrating a method for determining a first correlation result according to an embodiment of the present application;

FIG. 16 is an exemplary diagram of a target stop-line and a link provided by an embodiment of the present application;

fig. 17 is a flowchart illustrating a method for determining a second correlation result according to an embodiment of the present application;

fig. 18 is a schematic structural diagram of a data processing apparatus according to an embodiment of the present application;

fig. 19 is a schematic structural diagram of an electronic device according to an embodiment of the present application.

Detailed Description

The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.

It should be noted that the terms "first," "second," and the like in the description and claims of this application and in the accompanying drawings are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used is interchangeable under appropriate circumstances such that the embodiments of the application described herein are capable of operation in sequences other than those illustrated or described herein. Moreover, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or server that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.

Referring to fig. 1, a schematic diagram of an implementation environment provided by an embodiment of the present application is shown, where the implementation environment may include:

at least one terminal 01 and at least one server 02. The at least one terminal 01 and the at least one server 02 may perform data communication through a network.

In an alternative embodiment, terminal 01 may be the executor of the data processing method. Terminal 01 may include, but is not limited to, vehicle terminals, smart phones, desktop computers, tablet computers, laptop computers, smart speakers, digital assistants, Augmented Reality (AR)/Virtual Reality (VR) devices, smart wearable devices, and other types of electronic devices. The operating system running on terminal 01 may include, but is not limited to, an android system, an IOS system, linux, windows, Unix, and the like.

The server 02 may provide the terminal 01 with a plurality of data to be tested corresponding to the target intersection and preset test conditions. Optionally, the server 02 may be an independent physical server, a server cluster or a distributed system formed by a plurality of physical servers, or a cloud server providing basic cloud computing services such as a cloud service, a cloud database, cloud computing, a cloud function, cloud storage, a Network service, cloud communication, a middleware service, a domain name service, a security service, a CDN (Content Delivery Network), a big data and artificial intelligence platform, and the like.

Referring to fig. 2, which is a schematic flow chart of a data processing method provided in an embodiment of the present application, the present specification provides the method operation steps as described in the embodiment or the flow chart, but based on the conventional method; or the inventive process may include additional or fewer steps. The sequence of steps recited in the embodiments is only one of the execution sequence of the steps, and does not represent the only execution sequence, and the data processing method can be executed according to the method sequence shown in the embodiment or the drawings. Specifically, as shown in fig. 2, the method includes:

s201, acquiring a plurality of data to be detected corresponding to the target intersection in the high-precision map, wherein the plurality of data to be detected represent the associated information of a plurality of driving indication marks of the target intersection.

In the embodiment of the application, the target intersection can be any intersection in a high-precision map. The information related to the plurality of types of running indicators may be different, and the information related to the running indicator may be at least one of information such as a shape, a position, and a direction vector of the running indicator. The data to be measured can comprise road line data to be measured, intersection frame line data to be measured, traffic light data to be measured and the like.

Optionally, intersection data corresponding to an intersection scene can be acquired from all data corresponding to the high-precision map; and determining a plurality of data to be measured corresponding to the target intersection from the intersection data. The intersection scene may refer to a scene corresponding to all intersections in the high-precision map. The intersection data can indicate various data which need to be tested and correspond to the intersection scene. Intersection data may include road route data, traffic light data, stop line data, intersection frame line data, and the like.

In one example, a target intersection and a region to be measured corresponding to the target intersection can be determined from intersection data; and determining a plurality of data to be detected when the data are positioned in the area to be detected from the intersection data based on the area to be detected. The area to be tested can be an area where data to be tested which needs to be tested is located in the intersection scene.

S202, carrying out accuracy test processing on the multiple data to be tested to obtain data test results corresponding to the multiple data to be tested.

In the embodiment of the application, the accuracy test can represent the test mode of the accuracy of the data to be tested.

Optionally, the preset detection configuration information may be adopted to preset the multiple pieces of data to be tested respectively for accuracy test processing, so as to obtain data test results corresponding to the multiple pieces of data to be tested. The preset detection configuration information may be a detection configuration mode for performing accuracy detection on intersection data, which is preset based on the existing traffic rules. The preset detection configuration information may refer to detection configuration modes corresponding to the multiple driving indication identifiers.

Further, preset detection configuration information can be acquired; determining a detection configuration mode corresponding to each data to be detected based on the running indication identifier corresponding to each data to be detected; and carrying out accuracy test processing on the data to be tested according to the detection configuration mode corresponding to the data to be tested to obtain a data test result corresponding to the data to be tested. The detection mode can be used for rapidly carrying out automatic test on each data to be tested.

In an exemplary embodiment, in the case that the data to be tested includes the road line data to be tested, the intersection frame line data to be tested, and the traffic light data to be tested, the data test results may include a first data test result corresponding to the road line data to be tested, a second data test result corresponding to the intersection frame line data to be tested, and a third data test result corresponding to the traffic light data to be tested. The corresponding preset detection configuration information may include a road line detection configuration mode, an intersection detection configuration mode, a traffic light detection configuration mode, and the like.

Further, the accuracy test processing may be performed on the road line data to be tested based on the road line detection configuration mode, so as to obtain a first data test result corresponding to the road line data to be tested. The road route data to be detected can comprise reference line data, lane sideline data and lane center line data; the reference line data may refer to a reference standard line made based on a right lane line of a left-turn lane on a certain road. Correspondingly, the first data test result may include a mark point repetition result, a mark point jumping result, a reference line intersection point coincidence result, and a target driving direction indication result.

Further, accuracy testing processing is carried out on the frame line data of the intersection to be tested based on the intersection detection configuration mode, and a second data testing result corresponding to the frame line data of the intersection to be tested is obtained. The intersection frame line data to be detected can comprise an intersection frame line area; correspondingly, the second data test result may include a coordinate point-to-ground result.

Further, accuracy test processing is carried out on the traffic light data to be tested based on the traffic light detection configuration mode, and a third data test result corresponding to the traffic light data to be tested is obtained. The traffic light data to be detected can comprise the attribute of the traffic light and the incidence relation between the traffic light and other data in the intersection data; other data in the intersection data can comprise stop line data to be detected and road route data to be detected; specifically, the association relationship between the traffic light and other data in the intersection data may include an association relationship between the traffic light and stop line data to be detected and an association relationship between the traffic light and lane center line data in road line data to be detected. Correspondingly, the third data test result may include a heading indication result of the traffic light, the first correlation result, and the second correlation result. The heading indication result of the traffic light represents the correlation result between the position of the traffic light and the indication direction.

And S203, correspondingly processing the target to-be-tested data corresponding to the target data test result under the condition that the target data test result in the plurality of data test results meets the preset test condition.

In this embodiment, the preset test condition may be a judgment condition that the data test result has error information. And representing that the target data to be tested corresponding to the target data test result has error information when the target data test result meets the preset test condition. The target data to be tested has error information, which may mean that part of the target data to be tested has errors or all the target data to be tested has errors. The corresponding processing may include an update processing of the error data or an output processing of the associated information of the error information.

Optionally, when a target data test result in the plurality of data test results meets a preset test condition, updating target to-be-tested data corresponding to the target data test result or determining attribute information and error associated information corresponding to the target to-be-tested data based on the target data test result, where the error associated information includes position information corresponding to error information in the target to-be-tested data and a reason why the error information is wrong; the attribute information may refer to information such as a data type and a number corresponding to the target data to be measured. The error-related information may further include a detection time at which the error information is detected, and the like; the method for processing the intersection data can realize automatic testing of various data to be tested, improves testing efficiency, can automatically correct partial error data, and reduces manual checking and correcting processes of operators; the output attribute information and the error associated information can facilitate operators to quickly position and check the error map data content.

In one example, the attribute information and the error association information corresponding to the target data to be tested may be output in the form of a log, where the log may include a number, a drawing number, an inspection time, an inspection element type, an inspection element number, an error description, an error geometric location, and the like; as shown in table 1, it shows information of number, drawing number, inspection time, inspection element type, inspection element number, error description, error geometric location, wherein the inspection element type and inspection element number can quickly locate an error object, the error geometric location can be used to determine a data error location, and the error description can help an operator understand the error reason and guide the data modification direction.

TABLE 1

Further, the updating of the target data to be tested corresponding to the target data test result may include automatically correcting error information in the target data to be tested, and then updating the target data to be tested.

Optionally, the preset test conditions may include a first result error condition corresponding to the first data test result, a second result error condition corresponding to the second data test result, and a third result error condition corresponding to the third data test result.

Correspondingly, under the condition that the first data test result meets a first result error condition, correspondingly processing the to-be-tested road route data corresponding to the first data test result;

In an exemplary embodiment, taking a mark point repetition result, a mark point jump result, a reference line intersection point coincidence result, and a target driving direction indication result included in the first data test result as an example, when the mark point repetition result is that a repeated mark point exists in the mark point, when the mark point jump result is that a jump mark point exists in the mark point, when the reference line intersection point coincidence result is that a start point or an end point of the second reference line does not coincide with an end point or a start point of any first reference line, and when the target driving direction indication result is that an indication direction of the target lane is different from an indication direction preset in the map, it is determined that the first data test result satisfies a first result error condition. The mark point hopping results may include elevation hopping and horizontal hopping, where the elevation hopping may be that a hopping angle between a hopping mark point and each mark point in a vertical direction is greater than a first preset angle. The horizontal jumping may refer to that a jumping angle of the jumping mark point and each mark point in a horizontal direction is greater than a second preset angle.

Further, under the condition that the repeated result of the mark point meets the first result error condition, the mark point can be updated, and then the road line after the mark point is updated is obtained;

specifically, any one of the mark point or the repeated mark point corresponding to the mark point may be deleted to update the mark point.

Further, under the condition that the jumping result of the mark point meets the first result error condition, the mark point can be updated, and then the road line after the mark point is updated is obtained; the jump mark points can comprise elevation jump mark points and horizontal jump mark points.

Specifically, when the elevation jump marking point is updated, a first target point cloud position closest to the elevation jump marking point can be searched based on an x-axis coordinate and a y-axis coordinate of the elevation jump marking point in a horizontal plane, and if the first target power supply position does not have elevation jump relative to the marking point corresponding to the elevation jump marking point, the elevation jump marking point is moved to the first target point cloud position; if the first target power supply position has elevation jump relative to the mark point corresponding to the elevation jump mark point, correcting the elevation jump mark point according to the elevation value of the mark point corresponding to the elevation jump mark point; and updating the elevation jump mark point. And further updating the road line. The elevation value may be a coordinate value of the marking point in the z-axis direction.

Specifically, when the horizontal jump marking point is updated, the horizontal jump marking point can be directly deleted, so as to update the road line.

Further, under the condition that the intersection point coincidence result of the reference lines meets the first result error condition, a second reference line corresponding to the intersection point coincidence result of the reference lines can be determined, the intersection points of the second reference line and the edge lines of the intersection frame line area corresponding to the frame line data of the intersection to be detected are output, and then the output result corresponding to the error information of the second reference line is determined. The output result may include the number, type, and position information of the second reference line, and the time when the error information is detected, where the position information may refer to the position of the intersection point of the second reference line and the edge line of the intersection frame line region corresponding to the intersection frame line data to be detected.

Further, in a case where the target traveling direction instruction result satisfies the first result error condition, the instruction direction of the lane corresponding to the target traveling direction instruction result may be directly updated.

Specifically, when the target driving direction indication result is a straight line, a left turn, a right turn, or a turn around, the indication result may be directly used as the indication result of the corresponding lane to update the indication direction of the lane.

Specifically, if the lane is a lane to be turned, the driving direction is updated to be straight.

In another exemplary embodiment, taking the coordinate point ground-attaching result included in the second data test result as an example, in the case that the coordinate point ground-attaching result is that the coordinate of the coordinate point in the y-axis direction is not equal to the preset threshold, it may be determined that the coordinate point ground-attaching result satisfies the second result error condition.

Furthermore, under the condition that the ground-attaching result of the coordinate point meets the second error condition, the position of the coordinate point can be updated to obtain the updated frame line data of the intersection to be detected.

Specifically, a second target point cloud position near the coordinate can be searched for according to the x-axis coordinate and the y-axis coordinate of the coordinate point, and the coordinate point is updated according to the second target point cloud position, so that the intersection frame line data to be detected can be updated.

In another exemplary embodiment, taking the third data test result as an example of the heading indication result of the traffic light, the first correlation result and the second correlation result, under the condition that the indication course of the traffic light indicator is different from the preset standard indication course as a course indication result of the traffic light, the indication course of the traffic light indicator is the same as the preset indication course, under the condition that the sequencing information of at least one traffic light on the traffic light indicator board does not correspond to the indication direction corresponding to each sub-traffic light and under the condition that the first correlation result is that the target stop line is not correlated with at least one traffic light on the target object traffic light indicator board, and determining that the third data test result meets a third result error condition under the condition that the second correlation result is that the center line of the target lane is not correlated with the target opposite traffic light.

Furthermore, under the condition that the course indication result of the traffic light meets the third result error condition, for example, under the condition that the indication course of the traffic light indicator is different from the preset indication course, the traffic light indicator can be calibrated reversely so as to update the indication direction of the traffic light indicator and obtain the correct indication direction of the traffic light indicator.

Further, under the condition that the course indication result of the traffic lights meets the third result error condition, for example, under the condition that the indication course of the traffic light indication board is the same as the preset indication course, and the sequencing information of at least one traffic light on the traffic light indication board is not corresponding to the indication direction corresponding to each sub-unit of at least one traffic light, the leftmost traffic light can be updated to control left turn, the rightmost traffic light can be updated to control right turn, and the rest traffic lights can be updated to control straight going according to the equal sequencing of each traffic; if there are no other traffic lights, the right-most traffic light may be updated to control right turns and straight ahead.

Further, under the condition that the first correlation result meets a third result error condition, directly outputting related error information of the target stop line without correlation and at least one traffic light on the target object traffic light indicator.

Further, under the condition that the second correlation result meets a third result error condition, the related error information of the target lane center line and the target opposite traffic light without correlation relation is directly output.

In the embodiment, the to-be-tested data corresponding to the screened target intersection is automatically tested, and when the data represented by the data test result is wrong, the corresponding automatic processing is performed on the target to-be-tested data with wrong information, so that the test efficiency of the high-precision map intersection data is greatly improved, and the automatic test on the quality of the high-precision map intersection is further improved.

In some exemplary embodiments, as shown in fig. 3, a schematic flow chart of a method for acquiring data to be tested provided in the embodiments of the present application is shown; the method comprises the following specific steps:

s301, acquiring intersection data corresponding to an intersection scene in a high-precision map;

s302, determining a target intersection and frame line data of the intersection to be detected corresponding to the target intersection from the intersection data;

in the embodiment of the application, the data of the frame line of the intersection to be detected can be a polygonal area drawn in advance when the high-precision map is drawn. Fig. 4 is a schematic diagram illustrating exemplary data to be measured according to an embodiment of the present application, in which a dashed outline area represents a polygonal area corresponding to the outline data of the intersection to be measured.

S303, determining a to-be-detected area corresponding to the target intersection based on the frame line data of the to-be-detected intersection;

in this embodiment of the application, the area to be tested may be an area where data to be tested that needs to be tested is located in an intersection scene.

Optionally, the area where the polygon corresponding to the frame line data of the intersection to be measured is located may be used as a reference, and a preset length is extended outwards along each side of the polygon, so that the area to be measured corresponding to the target intersection is obtained. The shape of the polygonal buffer area corresponding to the area to be detected can be the same as the shape of the area where the polygon corresponding to the frame line data of the intersection to be detected is located. The preset length may be 10-15 m.

S304, based on the area to be measured, determining the road route data to be measured and the traffic light data to be measured corresponding to the target intersection from the intersection data in the high-precision map.

In the embodiment of the application, the road route data to be detected and the traffic light data to be detected are intersection data located in the area to be detected.

Optionally, the intersection data may be traversed based on the shape of the polygonal buffer area corresponding to the area to be detected, and route data of the road to be detected and traffic light data of the traffic light to be detected, which are intersected with the edge line of the polygonal buffer area and correspond to the target intersection located in the polygonal buffer area, are found. As indicated in fig. 4.

In this embodiment, the area to be measured is defined by the frame line data of the intersection to be measured corresponding to the target intersection, so that not only can more comprehensive data to be measured be obtained, but also more accurate data to be measured can be obtained.

In an exemplary embodiment, as shown in fig. 5, a schematic flow chart of a method for determining a repeated result and a jump result of a marked point according to an embodiment of the present application is shown; the details are as follows.

S501, acquiring a mark point on each road line in the road line data to be detected;

in the embodiment of the present application, the marking point may be a point covered by a road line. Each of the road lines may include a plurality of marking points thereon.

Alternatively, all the marking points on each road line may be acquired.

S502, traversing a plurality of mark points based on a mark point repeated detection configuration mode, and determining a mark point repeated result corresponding to each mark point, wherein the mark point repeated result corresponding to each mark point represents whether repeated mark points exist in each mark point, and the distance between the repeated mark point and each mark point is less than a preset distance;

in an embodiment of the present application, the marked point repetition result may include a result of the presence of repeated marked points and a result of the absence of repeated marked points. The preset distance may be 0.05-0.2 m; preferably, it may be 0.1 m.

Optionally, each marker point may be sequentially detected based on a marker point repeated detection configuration mode, and a distance between two adjacent marker points is obtained; and determining a marking point repetition result corresponding to each marking point based on the distance between two adjacent marking points.

In an example, the current mark point may be used as a reference, and if it is detected that a distance between at least one mark point and the current mark point in other mark points adjacent to the current mark point is smaller than a preset distance, it may be determined that a repeated mark point result exists in the current mark point.

Specifically, the mark point whose distance from the current mark point is less than the preset distance is the repeated mark point of the current mark point. At this time, the marker repetition result may be determined as the presence of a retry marker result.

In another example, the current mark point may be used as a reference, and if it is detected that distances between all of the other mark points adjacent to the current mark point and the current mark point are greater than or equal to a preset distance, it may be determined that there is no repeated mark point result for the current mark point. According to the method and the device, the accurate repeated marking point result can be obtained.

S503, traversing the plurality of mark points based on the mark point jump detection configuration mode, and determining mark point jump results corresponding to the plurality of mark points, wherein the mark point jump results represent whether jump mark points exist in each mark point, and the jump angle of the jump mark points and each mark point in the vertical direction is larger than a first preset angle, or the jump angle of the jump mark points and each mark point in the horizontal direction is larger than a second preset angle.

In this embodiment, the mark point jump result may include a mark point elevation jump result and a mark point horizontal jump result. The jump mark points can comprise elevation jump mark points and horizontal jump mark points. The first preset angle may be 8-12 deg., and preferably may be 10 deg.. The second predetermined angle may be greater than or equal to 90 °, and preferably may be 90 °.

Optionally, for the elevation jump result of the mark point, sequentially selecting a first mark point and a second mark point which are adjacent to each other from a starting point on the road line based on a mark point jump detection configuration mode, acquiring a first included angle between a connecting line between the first mark point and the second mark point and a horizontal plane, and determining the elevation jump result corresponding to the second mark point based on the first included angle, wherein the first mark point may be the starting point on the road line or other mark points; the second marker may be the marker closest to the first marker.

FIG. 6 is a schematic diagram illustrating an exemplary first included angle provided by an embodiment of the present application; angle theta in the figure₁Indicating a first angle. Further, when the first included angle is larger than the first preset angle, it can be determined that the second mark point has elevation jump and is an elevation jump mark point.

Optionally, for the horizontal jump result of the mark point, a third mark point, a fourth mark point and a fifth mark point which are adjacent to each other may be sequentially selected from a starting point on the road line based on the mark point jump detection configuration mode, a first connection line between the third mark point and the fourth mark point, a second connection line between the fourth mark point and the fifth mark point are determined, and a second included angle of the first connection line and the second connection line on the horizontal plane is obtained; determining a horizontal jump result corresponding to a fifth marking point based on the second included angle, wherein the third marking point can be a starting point on the road route or other marking points; the fourth marker may be the marker closest to the third marker. The fifth marker may be the marker closest to the fourth marker.

FIG. 7 is a schematic illustration of an exemplary second included angle provided by an embodiment of the present application; angle theta in the figure₂Indicating a second angle. Further, under the condition that the second included angle is larger than the second preset angle, it can be determined that the fifth mark point has horizontal jump and is a horizontal jump mark point. This applicationPlease obtain a more accurate jumping result of the mark point by the above method.

In an exemplary embodiment, as shown in fig. 8, a schematic flow chart of a method for determining a reference line intersection point coincidence result according to the embodiment of the present application is shown; the details are as follows.

S801, determining a first reference line set located in an intersection frame line area corresponding to the intersection frame line data to be detected and a second reference line set located outside the intersection frame line area and intersected with an edge line of the intersection frame line area based on the reference line data and the intersection frame line data to be detected; the first set of reference lines includes a plurality of first reference lines and the second set of reference lines includes a plurality of second reference lines.

In the embodiment of the present application, the reference line data may refer to a reference standard line made based on a right lane line of a left-turn lane on a certain road. Fig. 4 shows intersection outline regions corresponding to the reference line data and the intersection outline data to be measured. The first reference lines are all positioned in the intersection frame line area, the second reference lines are all positioned in the intersection frame line area, and the second reference lines are all positioned in the intersection frame line area and are partially positioned outside the intersection frame line area.

S802, traversing the plurality of second reference lines and the plurality of first reference lines based on the reference line intersection point detection configuration mode, and determining the intersection point coincidence result of the reference lines corresponding to the plurality of second reference lines; the coincidence result of the reference line intersection points represents whether the starting point or the end point of the second reference line coincides with the end point or the starting point of a certain first reference line.

In the embodiment of the present application, the reference line intersection coincidence result may include the absence of a first reference line adjacent to a second reference line and the presence of a first reference line adjacent to the second reference line; the second reference line is adjacent to the first reference line, and the fact that the starting point of the second reference line coincides with the end point of the first reference line or the end point of the second reference line coincides with the starting point of the first reference line can be characterized.

Optionally, each second reference line may be traversed, a first start point coordinate and a first end point coordinate of the current second reference line are obtained, each first reference line is traversed, a second start point coordinate and a second end point coordinate corresponding to each first reference line are obtained, and a reference line intersection point coincidence result of the current second reference line is determined based on the first start point coordinate, the first end point coordinate, the second start point coordinate, and the second end point coordinate.

Specifically, if the second start point coordinate coincides with the first end point coordinate, or the second end point coordinate coincides with the first start point coordinate, it may be determined that there is a first reference line adjacent to the second reference line.

If the second start point coordinate does not coincide with the first end point coordinate, and the second end point coordinate does not coincide with the first start point coordinate, it may be determined that there is no first reference line adjacent to the second reference line.

In the embodiment, the accurate coincidence result of the intersection points of the reference lines can be obtained by comparing and detecting the reference lines in the intersection frame line area and the reference lines outside the intersection frame line area.

In an exemplary embodiment, as shown in fig. 9, it is a flowchart illustrating a method for determining a target driving direction indication result according to an embodiment of the present application; the details are as follows.

S901, acquiring a starting point direction vector and an ending point direction vector corresponding to each of a plurality of lane center lines in a target lane corresponding to lane center line data;

in the embodiment of the application, the target lane may be any lane in a road in any direction for any road section, the target lane includes a plurality of lane center lines, and the lane center lines are connected in sequence. The starting point direction vector and the ending point direction vector of the center lines of the plurality of lanes may be the same or different.

S902, determining the driving directions corresponding to the center lines of the lanes on the basis of the driving direction detection configuration mode, the starting point direction vectors and the ending point direction vectors;

in the embodiment of the present application, each center line may correspond to the same driving direction or different driving directions, and the driving directions may include straight driving, right turning, left turning, and turning around.

Optionally, the lane type of the target road may be determined based on a plurality of lane center lines, and when the lane type satisfies a preset type, the driving directions corresponding to the plurality of lane center lines are determined based on the driving direction detection configuration manner, the plurality of start point direction vectors, and the plurality of end point direction vectors. The preset type may be a type corresponding to a lane not to be turned, and may be, for example, a right-turn lane, a straight lane, and a left-turn lane. The lane types may include a lane to be turned and a lane not to be turned.

In one example, the driving direction related information and the target included angle corresponding to each of the lane center lines may be determined based on the driving direction detection configuration, the plurality of starting point direction vectors, and the plurality of ending point direction vectors; and determining the driving directions corresponding to the center lines of the lanes on the basis of the plurality of driving direction related information and the plurality of target included angles. The driving direction related information may be a relationship between the starting point direction vector and the ending point direction vector of a certain lane center line and the corresponding indication directions, for example, the indication directions of the starting point direction vector and the ending point direction vector of the lane center line may be the same direction or opposite directions.

Further, the driving direction of the lane center line corresponding to the target included angle can be determined based on the preset angle direction configuration mode, the target included angle and the driving direction correlation information. The preset angle direction configuration mode may be a corresponding association relationship between the target included angle, the driving direction association information, and the driving direction.

Specifically, under the condition that the indication directions corresponding to the starting point direction vector and the ending point direction vector of the lane center line are the same, if the target included angle is smaller than or equal to a third preset angle, the driving direction of the lane center line can be judged to be straight; the third preset angle may be 20 °.

Under the condition that the indication directions corresponding to the starting point direction vector and the end point direction vector of the lane center line are opposite, if the target included angle is smaller than or equal to a fourth preset angle, the driving direction of the lane center line can be judged to be a U-turn; the fourth preset angle may be 20 °.

Under the condition that the indication directions corresponding to the starting point direction vector and the ending point direction vector of the lane center line are the same direction or opposite directions, if the target included angle is a fifth preset angle, the driving direction of the lane center line can be judged to be a left turn; the angle corresponding to the fifth preset angle may be any one of 30 to 150 °.

Under the condition that the indication directions corresponding to the starting point direction vector and the ending point direction vector of the lane center line are the same direction or opposite directions, if the target included angle is a sixth preset angle, the driving direction of the lane center line can be judged to be a right turn; the angle corresponding to the fifth preset angle may be any one of 210 ° and 330 °.

In a specific example, as shown in fig. 10, an exemplary schematic diagram of a starting point direction vector and an ending point direction vector of a lane center line provided by the embodiment of the present application is shown. In fig. 10, vec-1 represents a starting point direction vector of the lane center line, and vec-2 represents an ending point direction vector of the lane center line in different directions.

Optionally, when the lane type does not meet the preset type, that is, when the lane type is a lane to be turned, the target driving direction indication result corresponding to the lane may be directly determined as a straight line; and then the driving indication direction of the lane can be directly updated according to the result.

And S903, determining a target driving direction indication result corresponding to the target lane according to the plurality of driving directions.

In the embodiment of the present application, the target driving direction indication result may represent the overall indication direction of the target lane. The target traveling direction indication result may include straight traveling, left turning, right turning, and turning around.

Alternatively, the overall indication direction of the target lane may be determined according to the driving directions of a plurality of lane center lines in the target lane.

In the embodiment, the target driving direction indication result corresponding to the target lane is determined according to the indication directions corresponding to the center lines of the lanes, so that a more accurate target driving direction indication result can be obtained.

In an exemplary embodiment, as shown in fig. 11, a flowchart of a determination method for a coordinate point ground contact result provided in an embodiment of the present application is shown; the details are as follows.

S1101, obtaining an edge line of an intersection frame line area corresponding to the intersection frame line data to be detected and a plurality of coordinate points on the edge line of the intersection frame line area;

in the embodiment of the application, all coordinate points on the edge line of the intersection outline area can be acquired.

S1102, determining coordinate point ground-attaching results corresponding to the coordinate points respectively based on the intersection detection configuration mode and the coordinate points; and the coordinate point ground attaching result represents whether the coordinate of the coordinate point in the z-axis direction is a preset threshold value or not. The coordinate point ground-pasting result comprises that the coordinate point is pasted with the ground or not pasted with the ground. The preset threshold may be 0. The coordinate point closely indicates that the coordinate of the coordinate point in the z-axis direction is 0. The non-contact of the coordinate point indicates that the coordinate of the coordinate point in the z-axis direction is not 0.

Optionally, each coordinate point may be traversed, and a coordinate point ground-contact result corresponding to each coordinate point is determined according to a coordinate value of each coordinate point in the z-axis direction.

In this embodiment, the method and the device can detect a relatively accurate coordinate point ground-to-ground result.

In an exemplary embodiment, as shown in fig. 12, a flowchart of a method for determining a third data test result according to an embodiment of the present application is shown; the details are as follows.

S1201, determining a plurality of traffic light indicators positioned at a target intersection and at least one traffic light corresponding to each of the plurality of traffic light indicators based on the traffic light data to be detected;

in an embodiment of the present application, each traffic light sign includes at least one traffic light thereon.

S1202, determining the association relation among the indicating headings corresponding to the traffic light indicators, the sequencing information of at least one traffic light positioned on the same traffic light indicator and the indicating directions corresponding to the traffic lights based on the traffic light attribute detection configuration mode, the traffic light indicators and the at least one traffic light corresponding to the traffic light indicators;

in the embodiment of the application, the indication course direction may refer to a direction in which the traffic light is arranged on the traffic light indicator. The association relationship may refer to a correspondence relationship between positions of traffic and directions indicated by traffic lights, for example, taking three traffic lights as an example on a traffic light sign, a direction indicated by a traffic light on the leftmost side on the traffic light sign is left turn, and a direction indicated by a traffic light on the rightmost side on the traffic light sign is right turn. The indication direction corresponding to the traffic light in the middle of the traffic light indication board is straight.

Optionally, for each traffic light indicator, acquiring an intersection center point corresponding to a target intersection, detecting a configuration mode, the intersection center point and the target traffic light indicator based on the attributes of the traffic lights, and determining a preset direction vector of the target traffic light indicator and a connecting line direction vector between the intersection center point and the target traffic light indicator; and determining the initial indication course of the target traffic light indicator board based on the included angle between the preset direction vector and the connecting line direction vector. Fig. 13 is a schematic diagram illustrating an exemplary preset direction vector and a connecting line direction vector provided in an embodiment of the present application; in the figure, vec-3 represents a preset direction vector of the target traffic light sign, and vec-4 represents a direction vector of a connecting line between the center point of the intersection and the target traffic light sign.

In one example, in the case that an included angle between the preset direction vector and the connecting line direction vector is greater than 90 degrees, the reverse indicating course of the initial indicating course of the target traffic light indicator is determined as the indicating course corresponding to the target traffic light indicator.

S1203, determining course indication results corresponding to the plurality of traffic lights based on indication courses corresponding to the plurality of traffic light indication boards, the association relationship between the sequencing information of at least one traffic light on the same traffic light indication board and indication directions corresponding to the plurality of traffic lights.

In the embodiment of the application, the heading indication result can represent the position of the traffic light and the indication direction of the traffic light at the position. The heading indication results may include left turn, right turn, straight line, and u-turn.

Optionally, based on the indication headings corresponding to the plurality of traffic light indicators and the at least one traffic light on the same traffic light indicator, determining the sequencing information between the traffic lights on each traffic light indicator; and determining course indication results corresponding to the plurality of traffic lights respectively based on the sequencing information among the plurality of traffic lights and the incidence relation between the sequencing information of at least one traffic light positioned on the same traffic light indication board and the indication directions corresponding to the plurality of traffic lights respectively.

In one example, for each traffic light sign, the vector of the current traffic light is taken as a first direction vector, the vector of the target traffic light relative to the current traffic light is taken as a second direction vector, and ranking information between traffic lights on the current traffic light sign is determined based on the first direction vector and the second direction vector. Fig. 14 is a schematic diagram illustrating a direction vector indication provided in an embodiment of the present application. In the figure, vec-5 denotes a first direction vector; vec-6 denotes a second direction vector.

Furthermore, cross multiplication calculation can be performed on the first direction vector and the second direction vector to obtain a cross multiplication result, and the sorting information is determined according to the cross multiplication result.

Specifically, the cross product calculation may be performed by using a first model:

model one:Vec-5×Vec-6=x5y6-x6y5，

wherein (x 5, y 5) represents the vector coordinates of Vec-5, (x 6, y 6) represents the vector coordinates of Vec-6,x5y6-x6y5 big (a)In the case of 0, it means that the target traffic light corresponding to Vec-6 is located on the left side of the current traffic light,x5y6-x6y5if the value is greater than 0, the target traffic light corresponding to Vec-6 is positioned at the right side of the current traffic light.

In another example, the indication direction corresponding to each traffic light on the traffic light indicator board can be determined according to the association relationship between the sequencing information of at least one traffic light on the same traffic light indicator board and the indication direction corresponding to each of the plurality of traffic lights. For example, taking the example of three traffic lights arranged on the traffic light indicator, the indication direction corresponding to the leftmost traffic light on the traffic light indicator is a left turn, and the indication direction corresponding to the rightmost traffic light on the traffic light indicator is a right turn. The indication direction corresponding to the traffic light in the middle of the traffic light indication board is straight.

S1204, based on the traffic light incidence relation detection configuration mode, lane center line data, stop line data to be detected, a plurality of traffic light signboards and a plurality of course indication results, determining first incidence results between a plurality of stop lines in the stop line data to be detected and opposite traffic light signboards corresponding to the stop lines respectively.

In the embodiment of the present application, the first association result may refer to control association information between each stop line and each traffic light on the traffic light sign corresponding to each stop line.

S1205, based on the traffic light association relation detection configuration mode, the lane center line data, the plurality of traffic lights and the plurality of course indication results, determining second association results between the plurality of lane center lines in the lane center line data and target traffic lights corresponding to the plurality of lane center lines.

In the embodiment of the present application, the first correlation result may refer to control correlation information between each lane center line and a traffic light corresponding to each lane center line.

In the embodiment, the third data test result is divided into the course indication result, the first correlation result and the second correlation result of the traffic light to be tested respectively, and the first correlation result and the second correlation result are determined based on the course indication result of the traffic light, so that the more accurate course indication result, the first correlation result and the second correlation result of the traffic light can be obtained, and the third data test result corresponding to the traffic light data to be tested is more accurate and comprehensive.

In an exemplary embodiment, as shown in fig. 15, a flowchart of a method for determining a first correlation result provided in the embodiment of the present application is shown; the details are as follows.

S1501, determining a plurality of stop lines and a plurality of traffic light indicating boards corresponding to the stop lines respectively based on the stop lines to be detected and the plurality of traffic light indicating boards.

In the embodiment of the application, the plurality of traffic light indicators corresponding to the plurality of stop lines may be traffic light indicators related to the stop lines. For example, it may be all traffic light signs located at the same intersection.

S1502, determining adjacent lane center lines corresponding to the stop lines based on the lane center line data and the stop lines, wherein the adjacent lane center lines are lane center lines of which the end point coordinates are adjacent to the stop lines in the lane center lines.

In the embodiment of the present application, the lane center line whose end point coordinate is adjacent to the stop line may be the lane center line whose end point coordinate is located on the stop line.

S1503, determining a first association relation between the target opposite traffic light indicator and at least one traffic light on the target opposite traffic light indicator and the target stop line based on the traffic light association relation detection configuration mode, the target stop line, the center line of the target adjacent lane, the plurality of traffic light indicators and the plurality of course indication results.

In this embodiment, the first association relationship may refer to a correspondence relationship between each traffic light on the target oncoming traffic light indicator board and the target stop line, for example, any traffic light on the target oncoming traffic light indicator board may control vehicles on other roads not to enter the lane corresponding to the target stop line. The first association relationship may include a target stop line associated control with each traffic light on the target oncoming traffic light sign and a target stop line not associated control with each traffic light on the target oncoming traffic light sign.

Optionally, for each stop line, determining a target opposite traffic light indicator opposite to the target stop line based on the traffic light incidence relation detection configuration mode, the target stop line, the center line of the target adjacent lane and a plurality of traffic light indicators; and determining a first association relation between at least one traffic light on the target opposite traffic light indicator board and the target stop line respectively based on the target stop line, the target opposite traffic light indicator board and a plurality of course indication results.

In one example, the end point direction of the center line of the adjacent lane of the target can be taken as a lane direction vector, and the connecting line between the center point of the stop line of the target stop line and the plurality of traffic light signboards is taken as a connecting line; and determining a target opposite direction traffic light indicator opposite to the target stop line based on an included angle between the lane direction vector and the connecting line. Fig. 16 is a schematic diagram illustrating an exemplary target stop-line and link line provided in an embodiment of the present application. In the figure, vec-7 denotes a lane direction vector, and vec-8 denotes a connecting line between the center point of the stop line and the traffic light sign.

Furthermore, under the condition that the included angle between the lane direction vector and the connecting line is smaller than a preset angle threshold value, the traffic light indicator can be judged to be a target opposite traffic light indicator opposite to the target stop line.

And further, whether the indication directions of the traffic lights on the target opposite traffic light indication board are all related to the target stop line or not is judged based on a plurality of heading indication results and the target stop line which correspond to the traffic lights on the target opposite traffic light indication board.

In another example, in the case where the lane is a lane to be turned, the first association may be determined according to a traffic light for controlling a left turn on a target oncoming traffic light indicator and a target stop line.

S1504, determining a first association result of the target stop line and at least one traffic light on the target opposite traffic light sign based on the plurality of first association relations.

In the embodiment, the method determines the correlation result between the target stop line and the target opposite traffic light sign based on the relation between the stop line and the traffic light sign; the first correlation result between the target stop line and the target opposite traffic light indicator can be accurately acquired.

In an exemplary embodiment, as shown in fig. 17, it is a flowchart illustrating a method for determining a second correlation result provided in the embodiment of the present application; the details are as follows.

S1701, starting point direction vectors corresponding to a plurality of lane center lines in the lane center line data and connecting line direction vectors corresponding to the starting points and the plurality of traffic lights are determined based on the lane center line data and the plurality of traffic lights.

In the present embodiment, the lane center line data indicates lane center line data of a motor lane.

S1702, determining at least one opposite traffic light corresponding to each of the lane center lines based on the starting point direction vector and the plurality of connecting line direction vectors;

in an embodiment of the present application, at least one oncoming traffic light may all be located on the same traffic light sign.

S1703, acquiring driving indication directions corresponding to the center lines of the lanes respectively;

s1704, aiming at each target lane central line, determining a target opposite traffic light corresponding to the target lane central line and a second association relation between the target lane central line and the target opposite traffic light based on a traffic light association relation detection configuration mode, a target driving direction corresponding to the target lane central line, at least one opposite traffic light and at least one course indication result;

in the embodiment of the present application, the second association relationship may include association control of the target lane center line with the target opposing traffic light and non-association control of the target lane center line with the target opposing traffic light.

Optionally, a target opposite traffic light corresponding to the target lane center line may be determined based on the target lane center line and the at least one opposite traffic light; determining a target indication direction corresponding to the target opposite traffic light according to the at least one opposite traffic light and the at least one course indication result; and determining a second incidence relation between the target traffic lights of the center line of the target lane and the target opposite traffic lights according to the target driving direction corresponding to the center line of the target lane and the target indication direction corresponding to the target opposite traffic lights.

And S1705, determining a second association result of the center line of the target lane and the target opposite traffic light based on the plurality of second association relations.

In the embodiment, the method determines the correlation result between the target lane center line and the target opposite traffic light based on the relationship between the lane center line and the traffic light indicator; the second correlation result between the center line of the target lane and the target opposite traffic light can be accurately obtained.

Fig. 18 is a schematic structural diagram of a data processing apparatus provided in an embodiment of the present application; specifically, the device comprises:

an obtaining module 1801, configured to obtain multiple pieces of data to be detected corresponding to a target intersection in a high-precision map, where the multiple pieces of data to be detected represent associated information of multiple driving indication identifiers of the target intersection;

a first processing module 1802, configured to perform accuracy test processing on the multiple pieces of data to be tested, so as to obtain data test results corresponding to the multiple pieces of data to be tested;

a second processing module 1803, configured to, in a case that a target data test result in the multiple data test results meets a preset test condition, perform corresponding processing on target to-be-tested data corresponding to the target data test result; and representing that the target data to be tested corresponding to the target data test result has error information when the target data test result meets a preset test condition.

In this embodiment of the present application, the second processing module 1803 includes:

the first processing unit is configured to, when a target data test result in the multiple data test results meets a preset test condition, update target to-be-tested data corresponding to the target data test result or determine attribute information and error correlation information corresponding to the target to-be-tested data based on the target data test result, where the error correlation information includes position information corresponding to error information in the target to-be-tested data and a reason why the error information is wrong.

In this embodiment, the first processing module 1802 includes:

the first acquisition unit is used for acquiring preset detection configuration information; the preset detection configuration information comprises detection configuration modes corresponding to the multiple running indication marks respectively;

the first determining unit is used for determining a detection configuration mode corresponding to each piece of data to be detected based on the running indication identifier corresponding to each piece of data to be detected;

and the second processing unit is used for carrying out accuracy test processing on each data to be tested according to the detection configuration mode corresponding to each data to be tested to obtain a data test result corresponding to each data to be tested.

In an embodiment of the present application, the second processing unit includes:

the third processing unit is used for carrying out accuracy test processing on the to-be-tested road line data based on the road line detection configuration mode to obtain a first data test result corresponding to the to-be-tested road line data;

the fourth processing unit is used for carrying out accuracy test processing on the frame line data of the intersection to be tested based on the intersection detection configuration mode to obtain a second data test result corresponding to the frame line data of the intersection to be tested;

and the fifth processing unit is used for carrying out accuracy test processing on the traffic light data to be tested based on the traffic light detection configuration mode to obtain a third data test result corresponding to the traffic light data to be tested.

In an embodiment of the present application, the third processing unit includes:

the first acquisition subunit is used for acquiring a mark point on each road line in the road line data to be detected;

the first determining subunit is used for traversing a plurality of mark points based on the mark point repeated detection configuration mode, and determining a mark point repeated result corresponding to each mark point, wherein the mark point repeated result corresponding to each mark point represents whether repeated mark points exist in each mark point, and the distance between the repeated mark point and each mark point is smaller than a preset distance;

and the second determining subunit is used for traversing the plurality of mark points based on the mark point jump detection configuration mode, and determining mark point jump results corresponding to the plurality of mark points, wherein the mark point jump results represent whether jump mark points exist in each mark point, and the jump angle of each jump mark point and each mark point in the vertical direction is larger than a first preset angle, or the jump angle of each jump mark point and each mark point in the horizontal direction is larger than a second preset angle.

In an embodiment of the present application, the third processing unit further includes:

a third determining subunit, configured to determine, based on the reference line data and the to-be-detected intersection frame line data, a first reference line set located in an intersection frame line area corresponding to the to-be-detected intersection frame line data and a second reference line set located outside the intersection frame line area and intersecting with an edge line of the intersection frame line area; the first set of reference lines comprises a plurality of first reference lines and the second set of reference lines comprises a plurality of second reference lines;

a fourth determining subunit, configured to traverse the plurality of second reference lines and the plurality of first reference lines based on the reference line intersection detection configuration manner, and determine a coincidence result of the reference line intersections corresponding to each of the plurality of second reference lines; and the coincidence result of the intersection points of the reference lines represents whether the starting point or the end point of the second reference line coincides with the end point or the starting point of a certain first reference line.

the second acquiring subunit is used for acquiring a starting point direction vector and an ending point direction vector which correspond to each of a plurality of lane center lines in a target lane corresponding to the lane center line data;

a fifth determining subunit, configured to determine, based on the driving direction detection arrangement manner, the plurality of starting point direction vectors, and the plurality of ending point direction vectors, a driving direction corresponding to each of the plurality of lane center lines;

a sixth determining subunit, configured to determine, based on the plurality of driving directions, a target driving direction indication result corresponding to the target lane.

In an embodiment of the present application, the fifth determining subunit includes:

the first determining submodule is used for determining driving direction associated information and target included angles corresponding to the center lines of the lanes on the basis of the driving direction detection configuration mode, the starting point direction vectors and the ending point direction vectors;

and the second determining submodule is used for determining the driving directions corresponding to the lane center lines respectively based on the plurality of driving direction associated information and the plurality of target included angles.

In an embodiment of the present application, the fourth processing unit includes:

a third obtaining subunit, configured to obtain an edge line of an intersection frame line area corresponding to the intersection frame line data to be detected, and multiple coordinate points forming the edge line of the intersection frame line area;

a seventh determining subunit, configured to determine, based on the intersection detection configuration manner and the plurality of coordinate points, a coordinate point ground contact result corresponding to each of the plurality of coordinate points; and the coordinate point ground attaching result represents whether the coordinate of the coordinate point in the z-axis direction is a preset threshold value or not.

In an embodiment of the present application, the fifth processing unit includes:

the eighth determining subunit is used for determining at least one traffic light corresponding to each of a plurality of traffic light signboards and a plurality of traffic light signboards which are positioned at the target intersection based on the traffic light data to be detected;

a ninth determining subunit, configured to determine, based on the traffic light attribute detection configuration manner, the plurality of traffic light indicators, and the at least one traffic light corresponding to each of the plurality of traffic light indicators, an indication heading corresponding to each of the plurality of traffic light indicators, the ordering information of the at least one traffic light located on the same traffic light indicator, and an association relationship between indication directions corresponding to each of the plurality of traffic lights;

a tenth determining subunit, configured to determine, based on the indication headings corresponding to the multiple traffic light indicators, the association relationship between the sequencing information of the at least one traffic light located on the same traffic light indicator and the indication directions corresponding to the multiple traffic lights, heading indication results corresponding to the multiple traffic lights;

an eleventh determining subunit, configured to determine, based on the traffic light association relation detection configuration manner, the lane center line data, the stop line data to be detected, the plurality of traffic light signs, and a plurality of heading indication results, the first association result between the plurality of stop lines in the stop line data to be detected and the opposite traffic light signs corresponding to the plurality of stop lines, respectively;

a twelfth determining subunit, configured to determine, based on the traffic light association relation detection configuration manner, the lane center line data, the plurality of traffic lights, and a plurality of heading indication results, the second association result between a plurality of lane center lines in the lane center line data and a target traffic light corresponding to each of the plurality of lane center lines.

In an embodiment of the present application, the eleventh determining subunit includes:

the third determining submodule is used for determining a plurality of stop lines and a plurality of traffic light indicating boards corresponding to the stop lines based on the data of the stop line to be detected and the plurality of traffic light indicating boards;

a fourth determining submodule, configured to determine, based on the lane center line data and the stop lines, an adjacent lane center line corresponding to each of the stop lines, where the adjacent lane center line is a lane center line of the plurality of lane center lines whose end point coordinates are adjacent to the stop line;

a fifth determining sub-module, configured to determine, for each stop line, a first association relationship between each of the target stop line and at least one traffic light on the target oncoming traffic light indicator and the target stop line, based on the traffic light association relationship detection configuration manner, the target stop line, the center line of a target adjacent lane, the plurality of traffic light indicators, and the plurality of heading indication results;

a sixth determining sub-module for determining a first association result of the target stop line with at least one traffic light on the target oncoming traffic light sign based on a plurality of first association relationships.

In an embodiment of the present application, the twelfth determining subunit includes:

a seventh determining submodule, configured to determine, based on the lane centerline data and the plurality of traffic lights, starting point direction vectors corresponding to a plurality of lane centerlines in the lane centerline data and connecting line direction vectors corresponding to the starting point and the plurality of traffic lights;

an eighth determining submodule, configured to determine, based on the starting point direction vector and a plurality of line direction vectors, at least one opposite traffic light corresponding to each of the lane center lines;

the first acquisition submodule is used for acquiring the driving indication directions corresponding to the center lines of the lanes;

a ninth determining submodule, configured to determine, for each target lane center line, a target opposite traffic light corresponding to the target lane center line and a second association between the target lane center line and the target opposite traffic light based on the traffic light association detection configuration manner, the target driving direction corresponding to the target lane center line, at least one opposite traffic light, and at least one heading indication result;

a tenth determining submodule for determining the second association result of the target lane center line with the target oncoming traffic light based on a plurality of second association relations.

In this embodiment of the application, the obtaining module 1801 includes:

the second acquisition unit is used for acquiring intersection data corresponding to an intersection scene in the high-precision map;

the second determining unit is used for determining a target intersection and frame line data of the intersection to be detected corresponding to the target intersection from the intersection data;

a third determining unit, configured to determine, based on the frame line data of the intersection to be detected, a region to be detected corresponding to the target intersection;

and the fourth determining unit is used for determining the road route data to be detected and the traffic light data to be detected corresponding to the target intersection from the intersection data in the high-precision map based on the area to be detected.

In an embodiment of the present application, the second processing module further includes:

the sixth processing unit is configured to, when the first data test result meets a first result error condition, perform corresponding processing on the to-be-tested road route data corresponding to the first data test result;

the seventh processing unit is configured to, when the second data test result meets a second result error condition, perform corresponding processing on the intersection frame line data to be tested corresponding to the second data test result;

and the eighth processing unit is used for correspondingly processing the traffic light data to be detected corresponding to the third data test result under the condition that the third data test result meets a third result error condition.

It should be noted that the device and method embodiments in the device embodiment are based on the same inventive concept.

The embodiment of the present application provides a data processing device, which includes a processor and a memory, where at least one instruction or at least one program is stored in the memory, and the at least one instruction or the at least one program is loaded and executed by the processor to implement the data processing method according to the above method embodiment.

Further, fig. 19 is a schematic diagram of a hardware structure of an electronic device for implementing the data processing method provided in the embodiment of the present application, where the electronic device may participate in forming or including the data processing apparatus provided in the embodiment of the present application. As shown in fig. 19, the electronic device 190 may include one or more processors (shown as 1902a, 1902b, … …, 1902 n) (which may include, but are not limited to, a processing device such as a microprocessor MCU or a programmable logic device FPGA), a memory 1904 for storing data, and a transmission device 1906 for communication functions. Besides, the method can also comprise the following steps: a display, an input/output interface (I/O interface), a Universal Serial Bus (USB) port (which may be included as one of the ports of the I/O interface), a network interface, a power source, and/or a camera. It will be understood by those skilled in the art that the structure shown in fig. 19 is merely illustrative and is not intended to limit the structure of the electronic device. For example, the electronic device 190 may also include more or fewer components than shown in FIG. 19, or have a different configuration than shown in FIG. 19.

It should be noted that the one or more processors and/or other data processing circuitry described above may be referred to generally herein as "data processing circuitry". The data processing circuitry may be embodied in whole or in part in software, hardware, firmware, or any combination thereof. Further, the data processing circuitry may be a single, stand-alone processing module, or incorporated in whole or in part into any of the other elements in the electronic device 190 (or mobile device). As referred to in the embodiments of the application, the data processing circuit acts as a processor control (e.g. selection of a variable resistance termination path connected to the interface).

The memory 1904 can be used for storing software programs and modules of application software, such as program instructions/data storage devices corresponding to the data processing method described in the embodiment of the present application, and the processor executes various functional applications and data processing by running the software programs and modules stored in the memory 1904, so as to implement the above-mentioned data processing method. The memory 1904 may include high-speed random access memory, and may also include non-volatile memory, such as one or more magnetic storage devices, flash memory, or other non-volatile solid-state memory. In some examples, the memory 1904 may further include memory located remotely from the processor, which may be connected to the electronic device 190 through a network. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.

The transmission device 1906 is used for receiving or sending data via a network. Specific examples of the network described above may include a wireless network provided by a communication provider of the electronic device 190. In one example, the transmission device 1906 includes a network adapter (NIC) that can be connected to other network devices through a base station so as to communicate with the internet. In one embodiment, the transmission device 1906 may be a Radio Frequency (RF) module, which is used for communicating with the internet in a wireless manner.

The display may be, for example, a touch screen type Liquid Crystal Display (LCD) that may enable a user to interact with a user interface of the electronic device 190 (or mobile device).

Embodiments of the present application further provide a computer-readable storage medium, which may be disposed in an electronic device to store at least one instruction or at least one program for implementing a data processing method in the method embodiments, where the at least one instruction or the at least one program is loaded and executed by the processor to implement the data processing method provided in the method embodiments.

Alternatively, in this embodiment, the storage medium may be located in at least one network server of a plurality of network servers of a computer network. Optionally, in this embodiment, the storage medium may include but is not limited to: a U-disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a removable hard disk, a magnetic disk, or an optical disk, and various media capable of storing program codes.

It should be noted that: the sequence of the embodiments of the present application is only for description, and does not represent the advantages or disadvantages of the embodiments. And specific embodiments thereof have been described above. Other embodiments are within the scope of the following claims. In some cases, the actions or steps recited in the claims may be performed in a different order than in the embodiments and still achieve desirable results. In addition, the processes depicted in the accompanying figures do not necessarily require the particular order shown, or sequential order, to achieve desirable results. In some embodiments, multitasking and parallel processing may also be possible or may be advantageous.

According to an aspect of the application, there is provided a computer program product or computer program comprising computer instructions stored in a computer readable storage medium. The processor of the computer device reads the computer instructions from the computer-readable storage medium, and the processor executes the computer instructions to cause the computer device to perform the method provided in the various alternative implementations described above.

The embodiments in the present application are described in a progressive manner, and the same and similar parts among the embodiments can be referred to each other, and each embodiment focuses on differences from other embodiments. In particular, for the device and electronic apparatus embodiments, since they are substantially similar to the method embodiments, the description is relatively simple, and reference may be made to some descriptions of the method embodiments for relevant points.

It will be understood by those skilled in the art that all or part of the steps for implementing the above embodiments may be implemented by hardware, or may be implemented by a program instructing relevant hardware, where the program may be stored in a computer-readable storage medium, and the above-mentioned storage medium may be a read-only memory, a magnetic disk or an optical disk, etc.

The above description is only exemplary of the present application and should not be taken as limiting the present application, as any modification, equivalent replacement, or improvement made within the spirit and principle of the present application should be included in the protection scope of the present application.

Claims

1. A method of data processing, the method comprising:

carrying out accuracy test processing on the multiple data to be tested to obtain data test results corresponding to the multiple data to be tested;

2. The data processing method according to claim 1, wherein, in a case that a target data test result in the plurality of data test results meets a preset test condition, performing corresponding processing on target to-be-tested data corresponding to the target data test result includes:

3. The data processing method according to claim 1 or 2, wherein the performing accuracy test processing on the multiple pieces of data to be tested to obtain data test results corresponding to the multiple pieces of data to be tested includes:

4. The data processing method of claim 3, wherein the plurality of data to be tested comprises data of a road route to be tested, data of a frame line of an intersection to be tested, and data of a traffic light to be tested; the preset detection configuration information comprises a road line detection configuration mode, an intersection detection configuration mode and a traffic light detection configuration mode; the method for performing accuracy test processing on each data to be tested according to the detection configuration mode corresponding to each data to be tested to obtain the data test result corresponding to each data to be tested includes:

5. The data processing method of claim 4, wherein the first data test result comprises a mark point repeat result and a mark point jump result, and the road line detection configuration comprises a mark point repeat detection configuration and a mark point jump detection configuration; the method for performing accuracy test processing on the road line data to be tested based on the road line detection configuration mode to obtain a first data test result corresponding to the road line data to be tested comprises the following steps:

acquiring a marking point on each road line in the road line data to be detected;

6. The data processing method according to claim 4, wherein the first data test result further includes a reference line intersection point coincidence result, the road line detection configuration further includes a reference line intersection point detection configuration, the road line data to be tested includes reference line data, and the accuracy test processing is performed on the road line data to be tested based on the road line detection configuration to obtain the first data test result corresponding to the road line data to be tested, further comprising:

traversing the plurality of second reference lines and the plurality of first reference lines based on the reference line intersection detection configuration mode, and determining the coincidence result of the reference line intersections corresponding to the plurality of second reference lines; and the coincidence result of the intersection points of the reference lines represents whether the starting point or the end point of the second reference line coincides with the end point or the starting point of a certain first reference line.

7. The data processing method of claim 4, wherein the road line data to be measured includes lane center line data; the first data test result also comprises a target driving direction indication result; the road route detection configuration mode comprises a driving direction detection configuration mode; the method for carrying out accuracy test processing on the road line data to be tested based on the road line detection configuration mode to obtain a first data test result corresponding to the road line data to be tested comprises the following steps:

8. The data processing method according to claim 7, wherein the determining a driving direction corresponding to each of the plurality of lane center lines based on the driving direction detection arrangement, a plurality of starting point direction vectors, and a plurality of ending point direction vectors, comprises:

9. The data processing method of claim 4, wherein the second data test result comprises a coordinate point-to-ground result; the accuracy test processing is carried out on the intersection frame line data to be tested based on the intersection detection configuration mode, and a second data test result corresponding to the intersection frame line data to be tested is obtained, and the method comprises the following steps:

10. The data processing method of claim 4, wherein the traffic light detection configuration mode comprises a traffic light attribute detection configuration mode and a traffic light association relation detection configuration mode, and the data to be detected comprises stop line data to be detected and lane center line data; the third data test result comprises a course indication result of the traffic light, a first correlation result and a second correlation result; the traffic light data to be tested is subjected to accuracy test processing based on the traffic light detection configuration mode, and a third data test result corresponding to the traffic light data to be tested is obtained; the method comprises the following steps:

determining a plurality of traffic light indicators and at least one traffic light corresponding to each of the plurality of traffic light indicators at the target intersection based on the traffic light data to be detected;

determining the indication headings corresponding to the traffic light signs, the sequencing information of the at least one traffic light positioned on the same traffic light sign and the association relation between the indication directions corresponding to the traffic lights on the basis of the traffic light attribute detection configuration mode, the plurality of traffic light signs and the at least one traffic light corresponding to the plurality of traffic light signs;

11. The data processing method of claim 10, wherein the determining the first association result between the stop lines in the stop line data to be detected and the oncoming traffic light signs corresponding to the stop lines based on the traffic light association detection configuration, the lane center line data, the stop line data to be detected, the traffic light signs, and the heading indication results comprises:

12. The data processing method of claim 10, wherein the determining the second association result between the plurality of lane centerlines in the lane centerline data and the target traffic light corresponding to each of the plurality of lane centerlines based on the traffic light association detection configuration, the lane centerline data, the plurality of traffic lights, and the plurality of heading indication results comprises:

13. The data processing method according to claim 4, wherein the acquiring of the plurality of data to be measured corresponding to the target intersection in the high-precision map comprises:

acquiring intersection data corresponding to the intersection scene in the high-precision map;

14. The data processing method of claim 4, wherein the predetermined test conditions comprise a first result error condition corresponding to the first data test result, a second result error condition corresponding to the second data test result, and a third result error condition corresponding to the third data test result; and correspondingly processing the target to-be-tested data corresponding to the target data test result under the condition that the target data test result in the plurality of data test results meets the preset test condition, wherein the processing comprises the following steps:

15. A data processing apparatus, characterized in that said apparatus comprises:

16. A data processing apparatus, characterized in that the apparatus comprises a processor and a memory, in which at least one instruction or at least one program is stored, which is loaded and executed by the processor to implement the data processing method according to any one of claims 1 to 14.

17. A computer-readable storage medium, in which at least one instruction or at least one program is stored, which is loaded by a processor and executes a data processing method according to any one of claims 1 to 14.