CN115168515A

CN115168515A - Control method of map precision, high-precision map generation method, device and equipment

Info

Publication number: CN115168515A
Application number: CN202210615147.6A
Authority: CN
Inventors: 龙亚斐; 岳顺强
Original assignee: Autonavi Software Co Ltd
Current assignee: Autonavi Software Co Ltd
Priority date: 2022-05-31
Filing date: 2022-05-31
Publication date: 2022-10-11

Abstract

The disclosure relates to a control method of map precision, a high-precision map generation method, a high-precision map generation device and equipment. The method comprises the steps of obtaining a plurality of tracks included in the same road surface range and a standard track corresponding to the road surface range, and realizing alignment of different tracks in the road surface range by utilizing the standard track to obtain alignment accuracy of different tracks; then, a target track meeting the alignment precision requirement is screened out, and the control of the track alignment precision is realized; thereby obtaining a first vector of a map element associated with the target track and a second vector obtained after the first vector is adjusted, and obtaining the vector adjustment precision of the second vector through vector matching; and finally, performing precision control on the second vector of which the vector adjustment precision does not meet the requirement of the preset vector adjustment precision to realize the control of the vector adjustment precision. Therefore, the precision of the second vector used for generating the map is controlled through the control of the track alignment precision and the control of the vector adjustment precision, and the control of the map precision is realized.

Description

Control method of map precision, high-precision map generation method, device and equipment

Technical Field

The disclosed embodiments relate to the technical field of maps, and in particular, to a control method of map accuracy, a high-accuracy map generation method, a high-accuracy map generation device, a high-accuracy map generation apparatus, and a computer program product.

Background

High-precision maps are the infrastructure for intelligent driving of vehicle navigation. Accuracy is an important factor affecting the quality of high-accuracy maps, and therefore, the accuracy of the high-accuracy maps needs to be controlled. At present, the high-precision map precision is mainly controlled by using a target point. However, the target point is obtained by manually performing on-site dotting by using a laser total station, and the laser total station can output the real coordinates of the target point. Therefore, if the number of targets is increased, the labor cost needs to be increased; and some scenes are not suitable for dotting, such as on an expressway, safety risks exist, and the coverage range of performing map precision control by only using the target points is small.

Disclosure of Invention

At least one embodiment of the present disclosure provides a control method of map accuracy, a high-accuracy map generation method, an apparatus, a device, a medium, and a computer program product.

In a first aspect, an embodiment of the present disclosure provides a method for controlling a map precision, where the method includes:

acquiring a plurality of tracks included in the same road surface range and a standard track corresponding to the road surface range;

aligning at least one track included in the road surface range to a standard track, determining the alignment precision corresponding to the at least one track, and determining a target track with the alignment precision larger than or equal to a preset alignment precision threshold in the at least one track;

obtaining a first vector of at least one map element associated with the target track and a second vector obtained by adjusting the first vector, and performing vector matching on the first vector and the second vector to determine the vector adjustment precision of the second vector;

and performing precision control on the second vector with the vector adjustment precision larger than a preset vector adjustment precision threshold value.

In some embodiments, before obtaining a plurality of tracks included in the same road surface range, the method further includes:

acquiring a track corresponding to multi-pass acquisition operation for a target area;

at least one road surface range is determined based on a road boundary and a road start-stop position included in the target area.

In some embodiments, aligning at least one track comprised by the road surface range towards a standard track comprises:

acquiring the original precision of each track included in the road surface range;

and aligning the track with the original precision larger than or equal to the preset original precision threshold value to the standard track.

In some embodiments, aligning at least one track included in the road surface range to a standard track, and determining an alignment accuracy corresponding to the at least one track includes:

aligning at least one track included in the road surface range to a standard track to obtain the position difference between each track point on the at least one track and the corresponding point on the standard track and the change amplitude of the adjacent position difference;

and determining the alignment precision corresponding to at least one track included in the road surface range based on the position difference and the variation amplitude.

In some embodiments, obtaining a first vector of at least one map element associated with the target trajectory and a second vector obtained by adjusting the first vector comprises:

acquiring acquisition data corresponding to the target track, and determining a first vector of at least one map element associated with the target track based on the acquisition data;

and acquiring a second vector obtained by adjusting the first vector of at least one map element.

In some embodiments, vector matching the first vector and the second vector, determining the vector adjustment accuracy of the second vector, comprises:

performing vector matching on the first vector and the second vector to obtain a vector position difference corresponding to each map element associated with the target track and a variation amplitude of the vector position difference;

and determining the vector adjustment precision based on the vector position difference and the variation amplitude of the vector position difference.

In a second aspect, an embodiment of the present disclosure further provides a high-precision map generation method, including: determining a second vector with the vector adjustment precision being greater than or equal to a preset vector adjustment precision threshold value by using the control method for map precision according to any embodiment of the first aspect; and generating a high-precision map based on the second vector of which the vector adjustment precision is greater than or equal to a preset vector adjustment precision threshold value.

In a third aspect, an embodiment of the present disclosure further provides a control apparatus for map accuracy, where the apparatus includes:

the device comprises an acquisition unit, a processing unit and a control unit, wherein the acquisition unit is used for acquiring a plurality of tracks included in the same road surface range and a standard track corresponding to the road surface range;

the alignment unit is used for aligning at least one track included in the road surface range to a standard track, determining the alignment precision corresponding to the at least one track, and determining a target track with the alignment precision larger than or equal to a preset alignment precision threshold in the at least one track;

the vector matching unit is used for obtaining a first vector of at least one map element associated with the target track and a second vector obtained by adjusting the first vector, performing vector matching on the first vector and the second vector and determining the vector adjustment precision of the second vector;

and the control unit is used for performing precision control on the second vector of which the vector adjustment precision is smaller than a preset vector adjustment precision threshold.

In a fourth aspect, an embodiment of the present disclosure further provides a high-precision map generating apparatus, where the apparatus is configured to: determining a second vector with the vector adjustment precision being greater than or equal to a preset vector adjustment precision threshold by using the control method for map precision according to any embodiment of the first aspect; and generating a high-precision map based on the second vector with the vector adjustment precision being greater than or equal to a preset vector adjustment precision threshold.

In a fifth aspect, an embodiment of the present disclosure further provides an electronic device, where the electronic device includes a memory, a processor, and a computer program stored on the memory, where the processor executes the computer program to implement the steps of the control method for map accuracy according to any one of the embodiments of the first aspect or the steps of the high-accuracy map generation method according to the second aspect.

In a sixth aspect, this disclosed embodiment further provides a computer-readable storage medium, where the computer-readable storage medium stores a program or instructions for causing a computer to execute the steps of the map accuracy control method according to any one of the first aspect or the steps of the high-precision map generation method according to the second aspect.

In a seventh aspect, the present disclosure also provides a computer program product, which includes computer instructions, where the computer instructions, when executed by a processor, implement the steps of the control method for map accuracy according to any embodiment of the first aspect or the steps of the high-accuracy map generation method according to the second aspect.

Therefore, in at least one embodiment of the disclosure, by acquiring a plurality of tracks included in the same road surface range and a standard track corresponding to the road surface range, the standard track is utilized to realize the alignment of different tracks in the road surface range, and the alignment accuracy of different tracks is obtained; further screening out a target track meeting the alignment precision requirement, and realizing the control of the track alignment precision; thereby obtaining a first vector of a map element associated with the target track and a second vector obtained after the first vector is adjusted, and obtaining the vector adjustment precision of the second vector through vector matching; and finally, performing precision control on the second vector with the vector adjustment precision not meeting the preset vector adjustment precision requirement, and realizing the control of the vector adjustment precision. Therefore, the precision of the second vector used for generating the map is controlled through the control of the track alignment precision and the control of the vector adjustment precision, and the control of the map precision is realized.

Drawings

To more clearly illustrate the technical solutions of the embodiments of the present disclosure, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present disclosure, and other drawings can be obtained by those skilled in the art according to the drawings.

Fig. 1 is a schematic flow chart of an embodiment of a method for controlling map accuracy according to the present disclosure;

fig. 2 is a schematic flow chart of another embodiment of a map accuracy control method provided by the present disclosure;

FIG. 3 is a schematic diagram of a control device for map accuracy provided by an embodiment of the present disclosure;

fig. 4 is an exemplary block diagram of an electronic device provided in an embodiment of the present disclosure.

Detailed Description

In order that the above objects, features and advantages of the present disclosure can be more clearly understood, the present disclosure will be described in further detail with reference to the accompanying drawings and examples. It is to be understood that the embodiments described are only a few embodiments of the present disclosure, and not all embodiments. The specific embodiments described herein are merely illustrative of the disclosure and do not delimit the disclosure. All other embodiments derived by one of ordinary skill in the art from the described embodiments of the disclosure are intended to be within the scope of the disclosure.

It is noted that, in this document, relational terms such as "first" and "second," and the like, are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions.

In the related art, a high-precision map is mainly obtained by extracting and editing map elements from a point cloud and an image acquired by a mobile measurement system (for example, a vehicle equipped with a laser radar device and an image acquisition device). The radar device is, for example, a laser scanning device (Lidar), laser pulses emitted by the Lidar at intervals of a preset duration are reflected from the ground surface and ground surface objects (forming laser points), and a large number of points are combined together to form a point cloud. The image acquisition device is for example a visible light camera.

In the related technology, the high-precision map precision is mainly controlled by using the target points, specifically, the real coordinates of a plurality of target points and the map coordinates of each target point in the high-precision map are obtained, and then the real coordinates and the map coordinates of each target point are compared to obtain the coordinate difference of each target point, so that the precision of the high-precision map is obtained by using the coordinate difference of each target point, wherein the precision measurement indexes can be various, and include but not limited to the qualified proportion, standard deviation, variance and the like of the coordinate difference of each target point. The target point can be a discontinuity (e.g., a vertex) of a boundary of a map element, the map element is an element for constructing a high-precision map, the types of the map element include, but are not limited to, ground elements such as a direction arrow, a lane line, a stop line, and ground characters on the ground, and ground elements such as a sign board and a speed measuring frame outside the ground, and each vertex of the direction arrow can be the target point by taking the direction arrow as an example. The target points are obtained by manually dotting with a laser total station on the spot, so that the number of the target points is increased, and the labor cost needs to be increased; in addition, some scenes are not suitable for dotting, for example, on an expressway, safety risks exist, and the coverage range of performing map precision control by only using the target points is small.

In order to reduce labor cost and improve the coverage of map accuracy control, at least one embodiment of the present disclosure provides a control method of map accuracy, a high-accuracy map generation method, an apparatus, a device, a medium, or a computer program product, by obtaining a plurality of tracks included in the same road surface range and a standard track corresponding to the road surface range, and by using the standard track to achieve alignment of different tracks in the road surface range, alignment accuracy of different tracks is obtained; then, a target track meeting the alignment precision requirement is screened out, and the control of the track alignment precision is realized; thereby obtaining a first vector of a map element associated with the target track and a second vector obtained after the first vector is adjusted, and obtaining the vector adjustment precision of the second vector through vector matching; and finally, performing precision control on the second vector with the vector adjustment precision not meeting the preset vector adjustment precision requirement, and realizing the control of the vector adjustment precision. Therefore, the precision of the second vector used for generating the map is controlled through the control of the track alignment precision and the control of the vector adjustment precision, and the control of the map precision is realized.

It should be noted that, in some embodiments, a scheme of performing map accuracy control by using a target point and a control scheme of map accuracy provided by the present disclosure may be used together, and complement each other, so as to further improve a control effect of map accuracy.

Fig. 1 is a schematic flowchart of a method for controlling map accuracy according to an embodiment of the present disclosure, where an execution subject of the method is an electronic device. The electronic device includes, but is not limited to, a smart phone, a palm computer, a tablet computer, a wearable device with a display screen, a desktop computer, a notebook computer, an all-in-one machine, a smart home device, a vehicle-mounted device, a server, and the like. The server can be an independent server or a cluster of a plurality of servers, and can comprise a server built in the local and a server erected in the cloud.

As shown in fig. 1, the control method of map accuracy may include, but is not limited to, steps 101 to 104:

in step 101, a plurality of tracks included in the same road surface range and a standard track corresponding to the road surface range are acquired.

For a target area (the target area can be understood as an area in which a map is to be made or updated, and the target area can be an area divided manually), a mobile measurement system (for example, a vehicle equipped with a laser radar device and an image acquisition device) acquires point clouds and images in the target area, and a positioning system (for example, an inertial navigation system) in the mobile measurement system records a track of the mobile measurement system in the current acquisition operation process, wherein the track is formed by a plurality of track points (which can be understood as coordinate points).

Since the collected data (including point clouds and images) of one collection operation process cannot provide enough data for generating a map, in some embodiments, multiple collection operations are performed on a target, and accordingly, each collection operation corresponds to the collected data and the track of the mobile measurement system.

For the target area, different road surface ranges included in the target area may be determined in advance based on the road network information, for example, an up road and a down road are different road surface ranges, and a main road and a sub road are different road surface ranges. The road surface range may be understood as a range (for example, a polygon such as a rectangle or a parallelogram) formed by the start and end positions of a road and the boundary of the road, such as a curb, a fence, a boundary lane line, and the like of the road.

After determining different road surface ranges included in the target area, the track corresponding to the multiple-pass collection operation of the mobile measurement system for the same road surface range can be obtained, and the standard track corresponding to the road surface range can be obtained, wherein the standard track can be understood as the expected driving track of the mobile measurement system in the road surface range.

In step 102, at least one track included in the road surface range is aligned to a standard track, the alignment accuracy corresponding to the at least one track is determined, and a target track with the alignment accuracy greater than or equal to a preset alignment accuracy threshold value in the at least one track is determined.

For the same road surface scope, when considering that the mobile measurement system collects every time, the track points collected by the positioning system in the mobile measurement system can not be all points on the standard track, and a certain distance deviation exists.

The method comprises the steps of aligning at least one track included in the road surface range to a standard track, obtaining the position difference (namely deviation rectifying amount) between each track point on the at least one track and the corresponding point on the standard track, and determining the change amplitude (namely the difference value of adjacent position differences) of the adjacent position differences.

Aiming at a track included in the road surface range, based on the deviation correction quantity of each track point on the track and the variation amplitude of the adjacent deviation correction quantity, the alignment precision corresponding to the track can be determined. The alignment accuracy may be considered as a statistical result of the deviation correction amount and the variation range of the adjacent deviation correction amounts, for example, the alignment accuracy includes absolute alignment accuracy and relative alignment accuracy, where the absolute alignment accuracy is inversely proportional to the standard deviation or variance of the deviation correction amount of each track point on the track, that is, the smaller the standard deviation of the deviation correction amount is, the larger the absolute alignment accuracy is; the relative alignment accuracy is inversely proportional to the standard deviation or variance of the variation amplitude of the adjacent correction amounts, that is, the smaller the standard deviation of the variation amplitude of the adjacent correction amounts, the greater the relative alignment accuracy. In some embodiments, the absolute alignment accuracy is a proportion of track points with deviation rectifying amount less than or equal to a preset deviation rectifying amount threshold, for example, 10 deviation rectifying amounts are provided, and if 3 deviation rectifying amounts are greater than or equal to the preset deviation rectifying amount threshold, the absolute alignment accuracy is 0.7; the relative alignment precision is a ratio of the variation range of the adjacent correction quantities to a preset variation range threshold or less, for example, 10 correction quantities, the variation ranges of the adjacent correction quantities are calculated, the variation ranges are 9, and if 3 variation ranges are greater than or equal to the preset variation range threshold, the relative alignment precision is 2/3.

After the alignment accuracy corresponding to at least one track included in the road surface range is determined, a target track with the alignment accuracy larger than or equal to a preset alignment accuracy threshold value in the at least one track can be determined, that is, the target track meeting the alignment accuracy requirement is screened out, the target track is better, and the control of the track alignment accuracy is realized. For example, for a track included in the road surface range, the alignment accuracy corresponding to the track includes absolute alignment accuracy and relative alignment accuracy, and if the absolute alignment accuracy is greater than or equal to a preset absolute alignment accuracy threshold and the relative alignment accuracy is greater than or equal to a preset relative alignment accuracy threshold, the track is determined to be the target track.

In step 103, a first vector of at least one map element associated with the target track and a second vector obtained by adjusting the first vector are obtained, and the vector adjustment precision of the second vector is determined by performing vector matching on the first vector and the second vector.

After determining the target trajectory, a first vector of at least one map element associated with the target trajectory may be obtained. For example, acquiring data corresponding to the target track, wherein the acquired data are point clouds and images acquired by a mobile measurement system during acquisition operation; determining at least one map element associated with the target track based on the collected data, and determining that the map element belongs to a mature technology in the map field according to the collected data without repeated description; therefore, the first vector of the map element is obtained through a map element vectorization identification technology, the first vector can be understood as the edge shape of the map element, for example, the map element of the guideboard, and the vector of the guideboard shape can be obtained after vectorization, wherein the map element vectorization belongs to the conventional operation in the map field and is not described again.

After obtaining the first vector of the at least one map element, a second vector obtained by adjusting the first vector may be obtained, for example, the first vector is provided to a professional, and the professional adjusts the first vector to obtain the second vector.

After the first vector and the second vector of the same map element are obtained, the first vector and the second vector are subjected to vector matching, and the vector matching can determine whether the first vector and the second vector belong to the same map element or not, and can determine a vector position difference between the first vector and the second vector, so as to obtain a vector position difference corresponding to each map element associated with the target track, and can determine a variation amplitude of the vector position difference (for example, a difference value of adjacent vector position differences) of different map elements.

Based on the vector position difference corresponding to each map element associated with the target track and the variation range of the vector position difference, a vector adjustment precision may be determined, and the vector adjustment precision may be considered as a statistical result of the vector position difference and the variation range of the vector position difference, for example, the vector adjustment precision includes an absolute vector adjustment precision and a relative vector adjustment precision, wherein the absolute vector adjustment precision is inversely proportional to a standard deviation or a variance of the vector position difference corresponding to each map element associated with the target track, that is, the smaller the standard deviation of the vector position difference is, the larger the absolute vector adjustment precision is; the relative vector adjustment accuracy is inversely proportional to the standard deviation or variance of the magnitude of change of the vector position difference, that is, the smaller the standard deviation of the magnitude of change of the vector position difference, the greater the relative alignment accuracy. In some embodiments, the absolute vector adjustment precision is a ratio of the vector position difference less than or equal to a preset vector position difference threshold, for example, 10 vector position differences are total, and if 3 vector position differences are greater than or equal to a preset vector position difference threshold, the absolute vector adjustment precision is 0.7; the relative vector adjustment precision is the proportion of the vector position difference with the variation amplitude smaller than or equal to the preset variation amplitude threshold, for example, 10 vector position differences, the variation amplitudes of the adjacent vector position differences are calculated, the variation amplitudes are 9 in total, and if 3 variation amplitudes are larger than or equal to the preset variation amplitude threshold, the relative vector adjustment precision is 2/3.

In step 104, the accuracy of the second vector with the vector adjustment accuracy smaller than the preset vector adjustment accuracy threshold is controlled.

And if the quality is poor, performing precision control on the second vector with the vector adjustment precision smaller than the preset vector adjustment precision threshold. In some embodiments, the precision control of the second vector with the vector adjustment precision smaller than the preset vector adjustment precision threshold is, for example: and outputting the second vector so as to facilitate manual checking and visual checking and realize control of vector adjustment precision.

Therefore, the precision of the second vector used for generating the map is controlled through the control of the track alignment precision and the control of the vector adjustment precision, and the control of the map precision is realized.

On the basis of the above embodiment, fig. 2 is another embodiment of the control method for map accuracy provided by the present disclosure, and the method may include, but is not limited to, the following steps 201 to 211:

in step 201, a trajectory corresponding to multiple acquisition operations for a target area is obtained.

Because the collected data (including point clouds and images) in one collection operation process cannot provide enough data for generating a map, multiple collection operations are performed on a target, and accordingly, the collected data and the track of the mobile measurement system are obtained correspondingly in each collection operation.

In step 202, at least one road surface range is determined based on the road boundary and the road start-stop position included in the target area.

For a target area, different road surface ranges included in the target area are determined based on the road network information, for example, an up road and a down road are different road surface ranges, and a main road and a sub road are different road surface ranges. The road surface range may be understood as a range (for example, a polygon such as a rectangle or a parallelogram) formed by the start and end positions of a road and the boundary of the road, such as a curb, a fence, a boundary lane line, and the like of the road.

In step 203, a plurality of tracks included in the same road surface range and a standard track corresponding to the road surface range are acquired.

After determining different road surface ranges included in the target area, the track corresponding to the mobile measurement system for multiple acquisition operations for the same road surface range may be obtained, and a standard track corresponding to the road surface range may be obtained, where the standard track may be understood as a driving track expected by the mobile measurement system for the acquisition operations in the road surface range.

In step 204, the original accuracy of each track included in the same road surface range is obtained.

The positioning system in the mobile measurement system has certain acquisition precision, the positioning system can output the track of the mobile measurement system and also can output the original precision of the track, and the larger the value of the original precision is, the better the quality of the track is.

In some embodiments, the raw accuracy of the trajectory is determined based on the solution error of the trajectory, the number of satellites associated with the trajectory. For example, the positioning system can record the heading, wheel speed and other driving state information of the mobile measurement system, and in a scene with weak satellite signals, such as a cave, the positioning system can calculate the position (namely coordinates) of a track point by combining the driving state information. The resolving of the track has certain errors, the errors are standard deviations of collected track points, and the locating system can output resolving errors of the track and satellite numbers related to the track while outputting the track.

For example, the state grade of the track is determined based on the duration of the stable orientation of the track, the resolving error of the track and the number of satellites associated with the track, wherein the state grade of the track is divided into 5 grades, each state grade corresponds to different precision (namely original precision), and each state grade is provided with a duration threshold of the stable orientation, a resolving error threshold of the track and a satellite number threshold. Further, based on the state level of the trajectory, the original accuracy of the trajectory is determined. The higher the state level of the trace, the better the quality of the trace is.

In step 205, the trajectory with the original accuracy greater than or equal to the preset original accuracy threshold is aligned to the standard trajectory, so as to obtain the position difference between each trajectory point on the trajectory and the corresponding point on the standard trajectory and the variation range of the adjacent position difference.

The tracks with the original precision greater than or equal to the preset original precision threshold can be understood as tracks which meet the original precision requirement and have better quality, and the tracks are aligned to the standard tracks, so that the precision of the subsequent processing flow can be improved.

For the same road surface range, considering that the track points acquired by the positioning system in the mobile measurement system cannot be all points on the standard track when the mobile measurement system acquires each time, and a certain distance deviation exists, in the embodiment of the disclosure, the track with the original precision greater than or equal to the preset original precision threshold value is aligned to the standard track, and the alignment can be understood as giving a certain deviation correction amount to the acquired track points, so that the corrected track points are located on the standard track.

The tracks with the original precision greater than or equal to the preset original precision threshold are aligned to the standard track, so that the position difference (namely, the deviation rectifying amount) between each track point on at least one track and the corresponding point on the standard track can be obtained, and the change amplitude of the adjacent position difference (namely, the difference value of the adjacent position difference) can be determined.

In step 206, the alignment accuracy is determined based on the position difference and the magnitude of change of the adjacent position difference.

The alignment accuracy may be considered as a statistical result of the deviation correction amount and the variation range of the adjacent deviation correction amounts, for example, the alignment accuracy includes absolute alignment accuracy and relative alignment accuracy, where the absolute alignment accuracy is inversely proportional to the standard deviation or variance of the deviation correction amount of each track point on the track, that is, the smaller the standard deviation of the deviation correction amount is, the larger the absolute alignment accuracy is; the relative alignment accuracy is inversely proportional to the standard deviation or variance of the variation magnitudes of the adjacent error correction amounts, that is, the smaller the standard deviation of the variation magnitudes of the adjacent error correction amounts, the greater the relative alignment accuracy. In some embodiments, the absolute alignment accuracy is a proportion of track points with deviation rectification amounts less than or equal to a preset deviation rectification amount threshold, for example, 10 deviation rectification amounts are provided, and if 3 deviation rectification amounts are greater than or equal to the preset deviation rectification amount threshold, the absolute alignment accuracy is 0.7; the relative alignment precision is a ratio of the variation range of the adjacent error correction amounts to a preset variation range threshold or less, for example, 10 error correction amounts, 9 variation ranges of the adjacent error correction amounts are calculated, and if 3 variation ranges are greater than or equal to the preset variation range threshold, the relative alignment precision is 2/3.

In step 207, a target trajectory having an alignment accuracy greater than or equal to a preset alignment accuracy threshold is determined.

After the alignment accuracy corresponding to at least one track included in the road surface range is determined, a target track with the alignment accuracy larger than or equal to a preset alignment accuracy threshold value in the at least one track can be determined, that is, a target track meeting the alignment accuracy requirement is screened out, the target track is better, and the control of the track alignment accuracy is realized. For example, for a track included in the road surface range, the alignment accuracy corresponding to the track includes absolute alignment accuracy and relative alignment accuracy, and if the absolute alignment accuracy is greater than or equal to a preset absolute alignment accuracy threshold and the relative alignment accuracy is greater than or equal to a preset relative alignment accuracy threshold, the track is determined to be the target track.

In step 208, acquired data corresponding to the target trajectory is obtained, and a first vector of at least one map element associated with the target trajectory is determined based on the acquired data.

The collected data are point clouds and images collected by the mobile measurement system during collecting operation, at least one map element related to the target track is determined based on the collected data, and the map element determined by the collected data belongs to the mature technology of the map field and is not repeated; therefore, a first vector of the map element is obtained through vectorization of the map element, and the first vector can be understood as an edge shape of the map element, for example, a guideboard, and a guideboard-shaped vector can be obtained after vectorization, where the vectorization of the map element belongs to a conventional operation in the map field and is not described any more.

In step 209, a second vector obtained by adjusting the first vector of the at least one map element is obtained.

In the embodiment of the present disclosure, the first vector is provided to a skilled person, and the skilled person adjusts the first vector to obtain the second vector.

In step 210, the first vector and the second vector are vector-matched to obtain a vector position difference corresponding to each map element associated with the target track and a variation amplitude of the vector position difference.

In step 211, the vector adjustment accuracy of the second vector is determined based on the vector position difference and the magnitude of change of the vector position difference.

The vector adjustment precision may be considered as a statistical result of the vector position difference and the variation amplitude of the vector position difference, for example, the vector adjustment precision includes an absolute vector adjustment precision and a relative vector adjustment precision, wherein the absolute vector adjustment precision is inversely proportional to a standard deviation or a variance of the vector position difference corresponding to each map element associated with the target track, that is, the smaller the standard deviation of the vector position difference is, the larger the absolute vector adjustment precision is; the relative vector adjustment accuracy is inversely proportional to the standard deviation or variance of the magnitude of change of the vector position difference, that is, the smaller the standard deviation of the magnitude of change of the vector position difference, the greater the relative alignment accuracy. In some embodiments, the absolute vector adjustment precision is a ratio of the vector position difference less than or equal to a preset vector position difference threshold, for example, 10 vector position differences are total, and if 3 vector position differences are greater than or equal to a preset vector position difference threshold, the absolute vector adjustment precision is 0.7; the relative vector adjustment precision is the proportion of the vector position difference with the variation amplitude smaller than or equal to the preset variation amplitude threshold, for example, 10 vector position differences, the variation amplitudes of the adjacent vector position differences are calculated, the variation amplitudes are 9 in total, and if 3 variation amplitudes are larger than or equal to the preset variation amplitude threshold, the relative vector adjustment precision is 2/3.

In step 212, a second vector with a vector adjustment accuracy smaller than a preset vector adjustment accuracy threshold is subjected to accuracy control.

In some embodiments, the present disclosure further provides a high-precision map generation method, including: determining a second vector with the vector adjustment precision being greater than or equal to a preset vector adjustment precision threshold by using the control method of map precision disclosed in any one of the embodiments; and generating a high-precision map based on the second vector with the vector adjustment precision being greater than or equal to the preset vector adjustment precision threshold. The second vector is a vector of a map element, and a high-precision map is generated by the vector of the map element, belongs to the mature technology in the technical field of maps, and is not repeated.

In some embodiments, the embodiments of the present disclosure further provide a high-precision map generating apparatus, configured to determine, by using the control method for map precision disclosed in any of the foregoing embodiments, a second vector whose vector adjustment precision is greater than or equal to a preset vector adjustment precision threshold; and generating a high-precision map based on the second vector with the vector adjustment precision being greater than or equal to the preset vector adjustment precision threshold.

Fig. 3 is a schematic diagram of a control device for map accuracy according to an embodiment of the present disclosure, where the control device for map accuracy can execute a processing procedure according to an embodiment of a control method for map accuracy. As shown in fig. 3, the map accuracy control device includes: an acquisition unit 31, an alignment unit 32, a vector matching unit 33, and a control unit 34.

An acquisition unit 31 configured to acquire a plurality of tracks included in the same road surface range and a standard track corresponding to the road surface range;

the alignment unit 32 is configured to align at least one track included in the road surface range to a standard track, determine alignment accuracy corresponding to the at least one track, and determine a target track of which the alignment accuracy is greater than or equal to a preset alignment accuracy threshold in the at least one track;

the vector matching unit 33 is configured to obtain a first vector of at least one map element associated with the target track and a second vector obtained by adjusting the first vector, perform vector matching on the first vector and the second vector, and determine a vector adjustment accuracy of the second vector;

and the control unit 34 is used for performing precision control on the second vector with the vector adjustment precision smaller than a preset vector adjustment precision threshold value.

In some embodiments, the acquiring unit 31 is configured to acquire a trajectory corresponding to multiple acquisition jobs for a target area; determining at least one road surface range based on a road boundary and a road start-stop position included in the target area; and acquiring a plurality of tracks included in the same road surface range and a standard track corresponding to the road surface range.

In some embodiments, the alignment unit 32 aligns at least one trajectory included in the road surface range to a standard trajectory, including acquiring an original accuracy of each trajectory included in the road surface range; and aligning the track with the original precision larger than or equal to a preset original precision threshold value to a standard track.

In some embodiments, the aligning unit 32 aligns at least one track included in the road surface range to a standard track, and determines the alignment accuracy corresponding to the at least one track, including: aligning at least one track included in the road surface range to a standard track to obtain the position difference between each track point on the at least one track and the corresponding point on the standard track and the change amplitude of the adjacent position difference; and determining the alignment precision corresponding to at least one track included in the road surface range based on the position difference and the variation amplitude.

In some embodiments, the vector matching unit 33 obtains a first vector of at least one map element associated with the target track and a second vector obtained by adjusting the first vector, including: acquiring acquisition data corresponding to the target track, and determining a first vector of at least one map element associated with the target track based on the acquisition data; and acquiring a second vector obtained by adjusting the first vector of at least one map element.

In some embodiments, the vector matching unit 33 performs vector matching on the first vector and the second vector, and determines the vector adjustment precision of the second vector, including: performing vector matching on the first vector and the second vector to obtain a vector position difference corresponding to each map element associated with the target track and a variation amplitude of the vector position difference; and determining the vector adjustment precision based on the vector position difference and the variation amplitude of the vector position difference.

The details of the embodiments of the map accuracy control device disclosed above may refer to the details of the embodiments of the map accuracy control method, and are not repeated here to avoid repetition.

Fig. 4 is an exemplary block diagram of an electronic device provided by an embodiment of the disclosure. As shown in fig. 4, the electronic apparatus includes: a memory 41, a processor 42 and a computer program stored on said memory 41. It will be appreciated that the memory 41 in the present embodiment can be either volatile memory or nonvolatile memory, or can include both volatile and nonvolatile memory.

In some embodiments, memory 41 stores elements, executable modules or data structures, or a subset thereof, or an expanded set thereof: an operating system and an application program.

The operating system includes various system programs, such as a framework layer, a core library layer, a driver layer, and the like, and is used for implementing various basic tasks and processing hardware-based tasks. The application programs include various application programs such as a media player (MediaPlayer), a Browser (Browser), etc. for implementing various application tasks. A program for implementing the control method of map accuracy or the high-accuracy map generation method provided by the embodiments of the present disclosure may be included in an application program.

In the embodiment of the present disclosure, the at least one processor 42 is configured to execute the steps of the control method for map accuracy or the high-accuracy map generation method provided by the embodiment of the present disclosure by calling a program or an instruction stored in the at least one memory 41, which may be specifically a program or an instruction stored in an application program.

The control method of the map accuracy or the high-accuracy map generation method provided by the embodiment of the disclosure can be applied to the processor 42 or implemented by the processor 42. The processor 42 may be an integrated circuit chip having signal processing capabilities. In implementation, the steps of the above method may be performed by instructions in the form of hardware, integrated logic circuits, or software in the processor 42. The processor 42 may be a general purpose processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), an off-the-shelf programmable gate array (FPGA) or other programmable logic device, discrete gate or transistor logic device, or discrete hardware components. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.

The steps of the control method of the map precision or the high-precision map generation method provided by the embodiment of the disclosure can be directly implemented by the execution of a hardware decoding processor, or implemented by the combination of hardware and software modules in the decoding processor. The software module may be located in ram, flash memory, rom, prom, or eprom, registers, etc. storage media as is well known in the art. The storage medium is located in a memory 41, and a processor 42 reads information in the memory 41 and performs steps of the method in combination with hardware thereof.

The embodiments of the present disclosure further provide a computer-readable storage medium, where the computer-readable storage medium stores a program or an instruction, where the program or the instruction causes a computer to execute the steps of the embodiments of the control method for map accuracy or the high-accuracy map generation method, and in order to avoid repeated description, the steps are not described again here. The computer readable storage medium may be a non-transitory computer readable storage medium, among others.

The disclosed embodiments also provide a computer program product, where the computer program product includes a computer program, the computer program is stored in a non-transitory computer-readable storage medium, and at least one processor of the computer reads and executes the computer program from the storage medium, so that the computer executes the steps of the control method of map precision or the high-precision map generation method, which are not described herein again to avoid repeated descriptions.

It should be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrases "comprising 8230; \8230;" 8230; "does not exclude the presence of additional like elements in a process, method, article, or apparatus that comprises the element.

Those skilled in the art will appreciate that while some embodiments described herein include some features included in other embodiments, rather than others, combinations of features of different embodiments are meant to be within the scope of the disclosure and form different embodiments.

Those skilled in the art will appreciate that the description of each embodiment has a respective emphasis, and reference may be made to the related description of other embodiments for those parts of an embodiment that are not described in detail.

Although the embodiments of the present disclosure have been described in conjunction with the accompanying drawings, those skilled in the art may make various modifications and variations without departing from the spirit and scope of the present disclosure, and such modifications and variations fall within the scope defined by the appended claims.

Claims

1. A method of controlling map accuracy, the method comprising:

aligning at least one track included in the road surface range to the standard track, determining alignment accuracy corresponding to the at least one track, and determining a target track with the alignment accuracy larger than or equal to a preset alignment accuracy threshold in the at least one track;

obtaining a first vector of at least one map element associated with the target track and a second vector obtained after the first vector is adjusted, and performing vector matching on the first vector and the second vector to determine the vector adjustment precision of the second vector;

and performing precision control on the second vector with the vector adjustment precision smaller than a preset vector adjustment precision threshold value.

2. The method of claim 1, wherein prior to the obtaining a plurality of tracks included in a same road surface range, the method further comprises:

3. The method of claim 1, wherein said aligning at least one track included in the road surface area to the standard track comprises:

and aligning the track with the original precision larger than or equal to a preset original precision threshold value to the standard track.

4. The method according to claim 1, wherein the aligning at least one track included in the road surface range to the standard track and determining the alignment accuracy corresponding to the at least one track comprise:

aligning at least one track included in the road surface range to the standard track to obtain the position difference between each track point on the at least one track and the corresponding point on the standard track and the change amplitude of the adjacent position difference;

5. The method of claim 1, wherein said vector matching said first vector and said second vector, determining a vector adjustment precision of said second vector, comprises:

6. A high precision map generation method, the method comprising: determining a second vector with the vector adjustment precision being greater than or equal to a preset vector adjustment precision threshold by using the control method of the map precision of any one of claims 1 to 5; and generating a high-precision map based on the second vector with the vector adjustment precision being greater than or equal to a preset vector adjustment precision threshold.

7. A control apparatus of map accuracy, the apparatus comprising:

the alignment unit is used for aligning at least one track included in the road surface range to the standard track, determining alignment accuracy corresponding to the at least one track, and determining a target track with the alignment accuracy larger than or equal to a preset alignment accuracy threshold in the at least one track;

the vector matching unit is used for acquiring a first vector of at least one map element associated with the target track and a second vector obtained by adjusting the first vector, performing vector matching on the first vector and the second vector and determining the vector adjustment precision of the second vector;

8. A high precision map generation apparatus, the apparatus being configured to: determining a second vector with the vector adjustment precision being greater than or equal to a preset vector adjustment precision threshold value by using the control method of the map precision of any one of claims 1 to 5; and generating a high-precision map based on the second vector with the vector adjustment precision being greater than or equal to a preset vector adjustment precision threshold.

9. An electronic device comprising a memory, a processor and a computer program stored on the memory, wherein the processor executes the computer program to implement the steps of the method for controlling the accuracy of a map according to any one of claims 1 to 5 or to implement the steps of the method for generating a high accuracy map according to claim 6.

10. A computer program product comprising computer instructions, wherein the computer instructions, when executed by a processor, implement the steps of the control method of map accuracy of any one of claims 1 to 5 or the steps of the high accuracy map generation method of claim 6.