CN117710592A - Map topology detection system, method, electronic equipment and storage medium - Google Patents
Map topology detection system, method, electronic equipment and storage medium Download PDFInfo
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Abstract
The invention provides a map topology detection system, a map topology detection method, electronic equipment and a storage medium, wherein the map topology detection system comprises: the system comprises a map data acquisition module, a log data extraction module and a simulation detection module. The simulation scene is constructed based on the first road element information to be verified, the simulation running route is generated based on the vehicle running track data of the vehicle on the target road section, the second road element information is obtained by element extraction of the vehicle log data, the vehicle on the target road section is simulated based on the simulation scene and the simulation running route, and the first road element information is detected based on the second road element information in the simulation process, so that the comparison of map topological elements at the same position and road elements in log data acquired by actual running is realized in the simulation scene, map quality inspection personnel do not need to inspect all map data, the personnel participation in the map quality inspection process is greatly reduced, and the consumption of manpower resources is reduced.
Description
Technical Field
The present invention relates to the field of mapping technologies, and in particular, to a map topology detection system, a method, an electronic device, and a storage medium.
Background
A high-precision map (HD map) is a high-precision map for automatic driving, and includes map elements such as road shapes, road marks, traffic signs, and obstacles. Map accuracy may be on the order of centimeters.
With the rapid development of the map industry, a lot of manpower and material resources are consumed in the middle of map data acquisition to map topology formation, data are acquired by a real vehicle, then the data are processed and a topology map is generated, finally the topology map is inspected, the inspected topology map can be put in storage, a large amount of manpower is consumed to confirm the problem in the inspection process, and the problem is modified. Therefore, how to reduce the consumption of the manual resources while guaranteeing the quality of the map is an urgent problem to be solved.
Disclosure of Invention
Aiming at the technical problems in the prior art, the invention provides a map topology detection system, a method, electronic equipment and a storage medium, which are used for solving the problem of how to reduce the consumption of manual resources while guaranteeing the quality of a map.
In a first aspect of the present invention, there is provided a map topology detection system, comprising: the system comprises a map data acquisition module, a log data extraction module and a simulation detection module;
the map data acquisition module is used for acquiring first road element information to be verified of a target road section and vehicle running track data;
the log data extraction module is used for acquiring vehicle log data of the target road section and extracting second road element information based on the vehicle log data;
the simulation detection module is used for constructing a simulation scene based on the first road element information, simulating the vehicle running track data in the simulation scene, and detecting the first road element information based on the second road element information in the simulation process.
On the basis of the technical scheme, the invention can also make the following improvements.
Preferably, the map data acquisition module includes: a road element acquisition unit and a vehicle track acquisition unit;
the road element acquisition unit is used for acquiring first road element information to be verified of a target road section from the map topology database, wherein the road element information comprises the number of lanes, stop lines, sidewalks, arrows and identification plates;
the vehicle track acquisition unit is used for acquiring vehicle log data of a target road section from the real vehicle track database, extracting vehicle running track data in the vehicle log data, wherein the vehicle log data comprises vehicle running track data and image data.
Preferably, the log data extraction module includes: a picture frame acquisition unit and a road element extraction unit;
the image frame acquisition unit is used for analyzing the image data in the vehicle log data to obtain an image frame sequence;
the road element extraction unit is used for carrying out semantic segmentation on the picture frame sequence to obtain second road element information.
Preferably, the log data extraction module further comprises a coordinate conversion unit;
the coordinate conversion unit is used for performing coordinate conversion on the second road element information based on the camera internal and external parameters corresponding to the picture frame sequence.
Preferably, the simulation detection module includes: the system comprises a scene construction unit, a route generation unit and a simulation detection unit;
the scene construction unit is used for constructing a simulation scene based on the first road element information;
the route generation unit is used for generating a running route of the vehicle based on the vehicle running track data;
the simulation detection unit is used for simulating the vehicle running track data in the simulation scene, and detecting the first road element information and the second road element information in real time based on a simulation clock tsick in the simulation process.
Preferably, the system further comprises a result output unit;
the result output unit is used for outputting simulation scene data when the detection results are inconsistent.
Preferably, the system further comprises a detection log module;
the log detection module is used for storing log information in the running process of the system.
In a second aspect of the present invention, there is provided a map topology detection method, including:
acquiring first road element information to be verified and vehicle driving track data of a target road section;
the log data extraction module is used for acquiring vehicle log data of the target road section and extracting second road element information based on the vehicle log data;
and constructing a simulation scene based on the first road element information, simulating the vehicle running track data in the simulation scene, and detecting the first road element information based on the second road element information in the simulation process.
In a third aspect of the present invention, there is provided an electronic device comprising a memory, a processor for implementing the steps of the map topology detection method in the second aspect described above when executing a computer management class program stored in the memory.
In a fourth aspect of the present invention, there is provided a computer-readable storage medium having stored thereon a computer management class program which, when executed by a processor, implements the steps of the map topology detection method in the above second aspect.
The invention provides a map topology detection system, a method, electronic equipment and a storage medium, wherein the system comprises: the system comprises a map data acquisition module, a log data extraction module and a simulation detection module. The simulation scene is constructed based on the first road element information to be verified, the simulation running route is generated based on the vehicle running track data of the vehicle on the target road section, the second road element information is obtained by element extraction on the vehicle log data, the vehicle on the target road section is simulated based on the simulation scene and the simulation running route, and the first road element information is detected based on the second road element information in the simulation process, so that the comparison of map topological elements at the same position and road elements in the log data acquired by actual running is realized in the simulation scene, map quality inspection personnel do not need to inspect all map data, the inspection on the map data can be completed only through the detection result output by simulation, the personnel participation in the map quality inspection process is greatly reduced while the map quality is ensured, and the consumption of artificial resources is reduced.
Drawings
FIG. 1 is a schematic diagram of a map topology detection system according to the present invention;
FIG. 2 is a schematic diagram of an operation flow of the map topology detection system provided by the present invention;
FIG. 3 is a flow chart of a map topology detection method provided by the invention;
fig. 4 is a schematic hardware structure of one possible electronic device according to the present invention;
fig. 5 is a schematic hardware structure of a possible computer readable storage medium according to the present invention.
Detailed Description
The following describes in further detail the embodiments of the present invention with reference to the drawings and examples. The following examples are illustrative of the invention and are not intended to limit the scope of the invention.
Quality inspection is also known as "technical inspection". And a quality control method for determining the quality characteristics of the product by adopting a certain inspection means and inspection method, and comparing the determination result with a specified quality standard, thereby making a qualified or unqualified judgment on the product or a batch of products. The method aims at ensuring that unqualified raw materials are not put into production, unqualified parts are not transferred to the next working procedure, and unqualified products are not delivered; and collecting and accumulating data reflecting the quality conditions, providing information for measuring and analyzing process capability, supervising the process, and improving quality. In the traditional mode, quality inspection after map topology mapping requires quality inspection personnel to carry out a large amount of and careful detection on the map topology, which definitely requires a large amount of manual labor, therefore, the application provides a map topology detection system which automatically inspects the map topology, and aims to save manpower resources so as to ensure the mapping quality with minimized resource consumption.
Referring to fig. 1, fig. 1 is a schematic diagram of a map topology detection system according to an embodiment of the present invention, and as shown in fig. 1, a map topology detection system includes a map data acquisition module 100, a log data extraction module 200, and a simulation detection module 300, where:
the map data obtaining module 100 is configured to obtain first road element information to be verified and vehicle driving track data of a target road segment; the log data extraction module 200 is configured to obtain vehicle log data of the target road segment, and extract second road element information based on the vehicle log data; the simulation detection module 300 is configured to construct a simulation scene based on the first road element information, simulate the vehicle driving track data in the simulation scene, and detect the first road element information based on the second road element information in the simulation process.
It may be appreciated that the first road element information and the vehicle driving track data may be obtained from a local database, or may be generated in real time when the vehicle collects the road on the target road section, which is not limited in this embodiment.
It should be appreciated that the vehicle log data may be data collected in real time by a plurality of sensors on the vehicle, including but not limited to lidar and cameras, as the vehicle is road-collected on a target road segment.
The above-described vehicle log data includes, for example, vehicle travel track data, image data, vehicle speed, vehicle acceleration, and the like.
The road element information includes, but is not limited to, data of the number of lanes, stop lines, crosswalks, arrows, signs, and the like, for example.
Further, the map data acquisition module includes: a road element acquisition unit and a vehicle track acquisition unit;
the road element acquisition unit is used for acquiring first road element information to be verified of a target road section from the map topology database, wherein the road element information comprises the number of lanes, stop lines, sidewalks, arrows and identification plates;
specifically, the road elements to be verified, such as the number of lanes, stop lines, crosswalks, arrows, signs, etc., are acquired from the map topology database, and these data are converted into the data used in the simulation scene.
The vehicle track acquisition unit is used for acquiring vehicle log data of a target road section from the real vehicle track database, extracting vehicle running track data in the vehicle log data, wherein the vehicle log data comprises vehicle running track data and image data.
Specifically, vehicle driving track data is obtained from a real vehicle track database, and tracks of vehicles from start to end in the log data are converted into data required by simulation as well as road data.
Further, the log data extraction module includes: a picture frame acquisition unit and a road element extraction unit;
the image frame acquisition unit is used for analyzing the image data in the vehicle log data to obtain an image frame sequence;
specifically, the method analyzes the log data acquired by the real vehicle to acquire a picture frame sequence, and is convenient for visually comparing actual data with map topology data after mapping in simulation.
The road element extraction unit is used for carrying out semantic segmentation on the picture frame sequence to obtain second road element information.
It will be appreciated that the semantic segmentation of the sequence of picture frames may be based on a pre-trained image recognition model, which may be used by the image recognition module, which is not limited in this embodiment.
Specifically, the pre-trained image recognition model is used for carrying out semantic segmentation on the picture, so that real road elements (the accuracy of the model determines the reliability of a verification scheme) are conveniently extracted from the picture, and required road elements such as lanes, arrows, stop lines and the like are extracted from the semantic segmentation map.
Further, the log data extraction module further comprises a coordinate conversion unit;
the coordinate conversion unit is used for performing coordinate conversion on the second road element information based on the camera internal and external parameters corresponding to the picture frame sequence.
Specifically, the picture data are transferred to actual coordinate data through the internal and external parameters of the camera, so that subsequent simulation comparison is facilitated.
Further, the simulation detection module includes: the system comprises a scene construction unit, a route generation unit and a simulation detection unit;
the scene construction unit is used for constructing a simulation scene based on the first road element information;
specifically, a simulation scene is constructed according to the first management element information, such as lane information, model triangularization is performed according to the lane polygon data, then the lane information is rendered in the simulation scene, and the arrow, the stop line and the like are processed in the same way.
The route generation unit is used for generating a running route of the vehicle based on the vehicle running track data;
specifically, a driving route of the vehicle is generated according to the vehicle driving track information, so that real-time tracking driving of the vehicle in the simulation t ick is facilitated.
The simulation detection unit is used for simulating the vehicle running track data in the simulation scene, and detecting the first road element information and the second road element information in real time based on a simulation clock tsick in the simulation process.
Specifically, running the simulation scene, comparing the map topological element generated at the same position with the road element in the actual log data in real time according to the key, such as whether the number of lanes is consistent, whether the stop line is identical in the arrow direction and the type, and outputting scene data which is inconsistent in the map and the actual log.
Further, the system also comprises a result output unit; the result output unit is used for outputting simulation scene data when the detection results are inconsistent.
Further, the system also comprises a detection log module; the log detection module is used for storing log information in the running process of the system.
It can be appreciated that based on the defects in the background technology, the embodiment of the invention provides a map topology detection system. The system comprises: the system comprises a map data acquisition module, a log data extraction module and a simulation detection module. The simulation scene is constructed based on the first road element information to be verified, the simulation running route is generated based on the vehicle running track data of the vehicle on the target road section, the second road element information is obtained by element extraction on the vehicle log data, the vehicle on the target road section is simulated based on the simulation scene and the simulation running route, and the first road element information is detected based on the second road element information in the simulation process, so that the comparison of map topological elements at the same position and road elements in the log data acquired by actual running is realized in the simulation scene, map quality inspection personnel do not need to inspect all map data, the inspection on the map data can be completed only through the detection result output by simulation, the personnel participation in the map quality inspection process is greatly reduced while the map quality is ensured, and the consumption of artificial resources is reduced.
In a possible embodiment, referring to fig. 2, map data acquisition in fig. 2 firstly acquires data of a map corresponding to a target road section from a database, thereby extracting lane lines and road data to be detected, storing the data into a file, facilitating subsequent simulation construction, and constructing a simulation scene by a simulation detection module through map topology imaging data; then, the map data acquisition module acquires driving track data corresponding to the log, and the simulation detection module generates simulated vehicle driving track data according to the driving track data; the log data extraction module acquires the l og data acquired by the acquired vehicle, extracts a driving video picture frame sequence, performs semantic segmentation on the picture to extract road elements, and the simulation detection module outputs map mapping defects according to the position contrast gradient mapping data and the actual l og picture data, captures images in a reverse scene and outputs a simulation verification result.
In the embodiment, the simulation scene is constructed based on the first road element information to be verified, the simulation running route is generated based on the vehicle running track data of the vehicle on the target road section, the second road element information is obtained by element extraction on the vehicle log data, the vehicle on the target road section is simulated based on the simulation scene and the simulation running route, and the first road element information is detected based on the second road element information in the simulation process, so that the comparison of map topological elements at the same position and road elements in the log data acquired by actual driving is realized in the simulation scene, map quality inspection personnel do not need to inspect all map data, the inspection on the map data can be completed only through the detection result output by simulation, the personnel participation in the map quality inspection process is greatly reduced, and the consumption of manpower resources is reduced.
Referring to fig. 3, fig. 3 is a flowchart of a map topology detection method provided by the present invention, and as shown in fig. 3, the method includes:
step S100: acquiring first road element information to be verified and vehicle driving track data of a target road section;
it should be noted that, the execution body of the method of this embodiment may be a computer terminal device having functions of data processing, network communication, and program running, for example: computers, tablet computers, etc.; the present embodiment is not limited to this, and may be a server device having the same similar function, or may be a cloud server having a similar function. For ease of understanding, this embodiment and the following embodiments will be described by taking a server device as an example.
Step S200: the log data extraction module is used for acquiring vehicle log data of the target road section and extracting second road element information based on the vehicle log data;
step S300: and constructing a simulation scene based on the first road element information, simulating the vehicle running track data in the simulation scene, and detecting the first road element information based on the second road element information in the simulation process.
It can be understood that, in the map topology detection method provided by the present invention, corresponding to the map topology detection system provided in the foregoing embodiments, relevant technical features of the map topology detection method may refer to relevant technical features of the map topology detection system, which are not described herein again.
Referring to fig. 4, fig. 4 is a schematic diagram of an embodiment of an electronic device according to an embodiment of the invention. As shown in fig. 4, an embodiment of the present invention provides an electronic device including a memory 1310, a processor 1320, and a computer program 1311 stored on the memory 1310 and executable on the processor 1320, the processor 1320 implementing the following steps when executing the computer program 1311:
acquiring first road element information to be verified and vehicle driving track data of a target road section; the log data extraction module is used for acquiring vehicle log data of the target road section and extracting second road element information based on the vehicle log data; and constructing a simulation scene based on the first road element information, simulating the vehicle running track data in the simulation scene, and detecting the first road element information based on the second road element information in the simulation process.
Referring to fig. 5, fig. 5 is a schematic diagram of an embodiment of a computer readable storage medium according to the present invention. As shown in fig. 5, the present embodiment provides a computer-readable storage medium 1400 having stored thereon a computer program 1411, which computer program 1411, when executed by a processor, performs the steps of:
acquiring first road element information to be verified and vehicle driving track data of a target road section; the log data extraction module is used for acquiring vehicle log data of the target road section and extracting second road element information based on the vehicle log data; and constructing a simulation scene based on the first road element information, simulating the vehicle running track data in the simulation scene, and detecting the first road element information based on the second road element information in the simulation process.
The embodiment of the invention provides a map topology detection system, a map topology detection method, electronic equipment and a storage medium, wherein the map topology detection system comprises: the system comprises a map data acquisition module, a log data extraction module and a simulation detection module. The simulation scene is constructed based on the first road element information to be verified, the simulation running route is generated based on the vehicle running track data of the vehicle on the target road section, the second road element information is obtained by element extraction on the vehicle log data, the vehicle on the target road section is simulated based on the simulation scene and the simulation running route, and the first road element information is detected based on the second road element information in the simulation process, so that the comparison of map topological elements at the same position and road elements in the log data acquired by actual running is realized in the simulation scene, map quality inspection personnel do not need to inspect all map data, the inspection on the map data can be completed only through the detection result output by simulation, the personnel participation in the map quality inspection process is greatly reduced while the map quality is ensured, and the consumption of artificial resources is reduced.
In the foregoing embodiments, the descriptions of the embodiments are focused on, and for those portions of one embodiment that are not described in detail, reference may be made to the related descriptions of other embodiments.
It will be appreciated by those skilled in the art that embodiments of the present invention may be provided as a method, system, or computer program product. Accordingly, the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present invention may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The present invention is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems) and computer program products according to embodiments of the invention. It will be understood that each flow and/or block of the flowchart illustrations and/or block diagrams, and combinations of flows and/or blocks in the flowchart illustrations and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded computer, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
While preferred embodiments of the present invention have been described, additional variations and modifications in those embodiments may occur to those skilled in the art once they learn of the basic inventive concepts. It is therefore intended that the following claims be interpreted as including the preferred embodiments and all such alterations and modifications as fall within the scope of the invention.
It will be apparent to those skilled in the art that various modifications and variations can be made to the present invention without departing from the spirit or scope of the invention. Thus, it is intended that the present invention also include such modifications and alterations insofar as they come within the scope of the appended claims or the equivalents thereof.
Claims (10)
1. A map topology detection system, the system comprising: the system comprises a map data acquisition module, a log data extraction module and a simulation detection module;
the map data acquisition module is used for acquiring first road element information to be verified of a target road section and vehicle running track data;
the log data extraction module is used for acquiring vehicle log data of the target road section and extracting second road element information based on the vehicle log data;
the simulation detection module is used for constructing a simulation scene based on the first road element information, simulating the vehicle running track data in the simulation scene, and detecting the first road element information based on the second road element information in the simulation process.
2. The map topology detection system of claim 1, wherein the map data acquisition module comprises: a road element acquisition unit and a vehicle track acquisition unit;
the road element acquisition unit is used for acquiring first road element information to be verified of a target road section from the map topology database, wherein the road element information comprises the number of lanes, stop lines, sidewalks, arrows and identification plates;
the vehicle track acquisition unit is used for acquiring vehicle log data of a target road section from the real vehicle track database, extracting vehicle running track data in the vehicle log data, wherein the vehicle log data comprises vehicle running track data and image data.
3. The map topology detection system of claim 2, wherein the log data extraction module comprises: a picture frame acquisition unit and a road element extraction unit;
the image frame acquisition unit is used for analyzing the image data in the vehicle log data to obtain an image frame sequence;
the road element extraction unit is used for carrying out semantic segmentation on the picture frame sequence to obtain second road element information.
4. The map topology detection system of claim 3, wherein the log data extraction module further comprises a coordinate conversion unit;
the coordinate conversion unit is used for performing coordinate conversion on the second road element information based on the camera internal and external parameters corresponding to the picture frame sequence.
5. The map topology detection system of claim 1, wherein the simulation detection module comprises: the system comprises a scene construction unit, a route generation unit and a simulation detection unit;
the scene construction unit is used for constructing a simulation scene based on the first road element information;
the route generation unit is used for generating a running route of the vehicle based on the vehicle running track data;
the simulation detection unit is used for simulating the vehicle running track data in the simulation scene, and detecting the first road element information and the second road element information in real time based on a simulation clock tick in the simulation process.
6. The map topology detection system of claim 1, further comprising a result output unit;
the result output unit is used for outputting simulation scene data when the detection results are inconsistent.
7. The map topology detection system of claim 1, further comprising a detection log module;
the log detection module is used for storing log information in the running process of the system.
8. A map topology detection method, the method comprising:
acquiring first road element information to be verified and vehicle driving track data of a target road section;
the log data extraction module is used for acquiring vehicle log data of the target road section and extracting second road element information based on the vehicle log data;
and constructing a simulation scene based on the first road element information, simulating the vehicle running track data in the simulation scene, and detecting the first road element information based on the second road element information in the simulation process.
9. An electronic device comprising a memory, a processor for implementing the steps of the map topology detection method of claim 8 when executing a computer management class program stored in the memory.
10. A computer-readable storage medium, having stored thereon a computer management class program which, when executed by a processor, implements the steps of the map topology detection method of claim 8.
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