CN108801276A - Accurately drawing generating method and device - Google Patents
Accurately drawing generating method and device Download PDFInfo
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- CN108801276A CN108801276A CN201810812527.2A CN201810812527A CN108801276A CN 108801276 A CN108801276 A CN 108801276A CN 201810812527 A CN201810812527 A CN 201810812527A CN 108801276 A CN108801276 A CN 108801276A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
- G01C21/28—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network with correlation of data from several navigational instruments
- G01C21/30—Map- or contour-matching
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Abstract
The present invention relates to a kind of accurately drawing generating method and devices, belong to unmanned field, accurately drawing generating method includes for this：Obtain the three dimensional point cloud of the vehicle-surroundings object of laser radar acquisition；The Inertial Measurement Unit IMU data and global position system GPS data of the vehicle of integrated navigation system acquisition are obtained, the IMU data and the GPS data are used to indicate the posture information of the vehicle；When it is normal data to detect the GPS data, the three dimensional point cloud is handled according to the IMU data and the GPS data, generate high-precision map, it solves generation high-precision map in the related technology to need to execute multiple image processing operations, workload is larger, operates cumbersome problem, has reached reduction workload, the effect for simplifying operation, for providing high-precision map for vehicle.
Description
Technical field
The present invention relates to unmanned field, more particularly to a kind of accurately drawing generating method and device.
Background technology
With the continuous development of science and technology and progress, computer technology, Modern Transducer Technology and artificial intelligence technology etc. are gradual
It has been applied in automotive field, the intelligent vehicle with functions such as environment sensing, path planning, auxiliary driving comes into being.It is logical
It crosses and intelligent vehicle is controlled, intelligent vehicle can be made to drive safely automatically according to the driving path pre-established, realize nothing
People drives.Wherein, the high-precision map for generating vehicle running environment is an important content in unmanned technology.In high precision
Map can provide the precise information that traditional map does not provide, for example, the road informations such as track rank, bend radius of curvature.
In the related technology, visual sensor is mainly used to generate the high-precision map of vehicle running environment, visual sensing
Device obtains image of the vehicle-surroundings object under different visual angles, is then based on the position between principle of triangulation calculating image pixel
Deviation obtains the three-dimensional information of object, and then is determined between the object and visual sensor according to the three-dimensional information of object
Actual range, and then generate high-precision map.However this generating mode needs to execute multiple image processing operations, workload compared with
Greatly, it operates cumbersome.
Invention content
An embodiment of the present invention provides a kind of accurately drawing generating method and devices, can solve to generate in the related technology
High-precision map needs to execute multiple image processing operations, and workload is larger, operates cumbersome problem.The technical solution is such as
Under：
According to a first aspect of the embodiments of the present invention, a kind of accurately drawing generating method is provided, the method includes：
Obtain the three dimensional point cloud of the vehicle-surroundings object of laser radar acquisition；
Obtain the Inertial Measurement Unit IMU data and global position system GPS of the vehicle of integrated navigation system acquisition
Data, the IMU data and the GPS data are used to indicate the posture information of the vehicle；
When it is normal data to detect the GPS data, according to the IMU data and the GPS data to described three
Dimension point cloud data is handled, and high-precision map is generated.
Optionally, in the Inertial Measurement Unit IMU data of the vehicle of the acquisition integrated navigation system acquisition and entirely
After ball position system GPS data, the method further includes：
When it is normal data to detect the GPS data not, the vehicle speed data of the vehicle is obtained；
The target GPS data of the vehicle is determined according to the vehicle speed data of the vehicle and the IMU data；
The three dimensional point cloud is handled according to the IMU data and the target GPS data, generates high-precision
Map.
Optionally, the three dimensional point cloud includes the device identification of the laser radar, IMU data and described
GPS data includes the device identification of the integrated navigation system.
Optionally, the IMU data and the GPS data include timestamp, described according to the IMU data and described
GPS data handles the three dimensional point cloud, generates high-precision map, including：
According to the timestamp in the IMU data and the GPS data, the IMU data and the GPS data pair are determined
The three dimensional point cloud answered；
Based on the IMU data and the corresponding three dimensional point cloud of the GPS data, the high-precision map is generated.
According to a second aspect of the embodiments of the present invention, a kind of high-precision map creation device is provided, described device includes：
First acquisition module, the three dimensional point cloud of the vehicle-surroundings object for obtaining laser radar acquisition；
Second acquisition module, the Inertial Measurement Unit IMU data of the vehicle for obtaining integrated navigation system acquisition
With global position system GPS data, the IMU data and the GPS data are used to indicate the posture information of the vehicle；
First processing module, for detect the GPS data be normal data when, according to the IMU data and institute
It states GPS data to handle the three dimensional point cloud, generates high-precision map.
Optionally, described device further includes：
Third acquisition module, for when it is normal data to detect the GPS data not, obtaining the speed of the vehicle
Data；
Determining module, the target GPS for determining the vehicle according to the vehicle speed data and the IMU data of the vehicle
Data；
Second processing module, for according to the IMU data and the target GPS data to the three dimensional point cloud into
Row processing, generates high-precision map.
Optionally, the three dimensional point cloud includes the device identification of the laser radar, IMU data and described
GPS data includes the device identification of the integrated navigation system.
Optionally, the IMU data and the GPS data include timestamp, and the first processing module is used for：
According to the timestamp in the IMU data and the GPS data, the IMU data and the GPS data pair are determined
The three dimensional point cloud answered；
Based on the IMU data and the corresponding three dimensional point cloud of the GPS data, the high-precision map is generated.
According to a third aspect of the embodiments of the present invention, a kind of high-precision map creation device is provided, including：Memory, place
It manages device and is stored in the computer program that can be run on the memory and on the processor, described in the processor execution
The accurately drawing generating method described in first aspect is realized when computer program.
According to a fourth aspect of the embodiments of the present invention, a kind of computer readable storage medium is provided, in the storage medium
It is stored with computer program, realizes that the high-precision map described in first aspect generates when the computer program is executed by processor
Method.
According to a fifth aspect of the embodiments of the present invention, a kind of computer program product including instruction is provided, when the meter
When calculation machine program product is run on computers so that computer executes the accurately drawing generating method described in first aspect.
Technical solution provided in an embodiment of the present invention includes at least following advantageous effect：
It can be when the GPS data for the vehicle that integrated navigation system acquires be normal data, according to IMU data and GPS numbers
Handled according to the three dimensional point cloud of the vehicle-surroundings object acquired to laser radar, generate high-precision map, the process without
Multiple image processing operations need to be executed, compared to the relevant technologies, reduce workload, operation is simpler.
Description of the drawings
In order to illustrate more clearly of the embodiment of the present invention, attached drawing needed in embodiment description will be made below
Simply introduce, it should be apparent that, drawings in the following description are only some embodiments of the invention, common for this field
For technical staff, without creative efforts, other drawings may also be obtained based on these drawings.
Fig. 1 is the implementation environment schematic diagram involved by the embodiment of the present invention；
Fig. 2 is a kind of flow chart of accurately drawing generating method provided in an embodiment of the present invention；
Fig. 3 is the flow chart of another accurately drawing generating method provided in an embodiment of the present invention；
Fig. 4 is a kind of flow generating high-precision map according to IMU data and GPS data provided in an embodiment of the present invention
Figure；
Fig. 5 is a kind of structural schematic diagram of high-precision map creation device provided in an embodiment of the present invention；
Fig. 6 is the structural schematic diagram of another high-precision map creation device provided in an embodiment of the present invention；
Fig. 7 is the structural schematic diagram of another high-precision map creation device provided in an embodiment of the present invention.
Specific implementation mode
To make the objectives, technical solutions, and advantages of the present invention clearer, below in conjunction with attached drawing to the present invention make into
It is described in detail to one step, it is clear that the described embodiments are only some of the embodiments of the present invention, rather than whole implementation
Example.Based on the embodiments of the present invention, obtained by those of ordinary skill in the art without making creative efforts
All other embodiment, shall fall within the protection scope of the present invention.
In the related technology, the traditional map for being used for vehicle traveling only provides the roads such as road axis and road name letter
Breath, these road informations can not accurately reflect the details of road.Compared to traditional map, high-precision map can carry
For track rank, bend radius of curvature, accurate road shape, lane line, high-precision coordinate, traffic sign, the gradient, height
Journey, detailed road information and the abundant geographic element such as inclination can provide solid foundation to be unmanned.
Fig. 1 shows that the implementation environment schematic diagram involved by the embodiment of the present invention, the implementation environment may include vehicle 01,
Vehicle 01 travel on road, which is provided with laser radar and integrated navigation system, wherein integrated navigation system be by
Inertial Measurement Unit (Inertial Measurement Unit, IMU) and global positioning system (Global Positioning
System, GPS) obtained navigation system after combination.The characteristics of integrated navigation system combination IMU and GPS, improves navigation accuracy.
For example, IMU has the spy of the navigation data (including position, speed, posture) of the completely independent a variety of degree of precision of offer
Point, while there is in short-term the features such as precision is high, and output frequency is high, and independence is strong, and dynamic range is big.GPS can provide position, speed
The data such as degree, and precision is high, error is not accumulated, but can not provide posture information, and therefore, integrated navigation system utilizes GPS error
Be unrelated with the time, can for a long time, the round-the-clock advantage for obtaining high precision position and speed, the shortcomings that make up IMU, Jin Erti
High navigation accuracy.The embodiment of the present invention does not limit the quantity of the vehicle in Fig. 1.
High-precision map is mainly generated using visual sensor in the related technology, which needs to execute at multiple image
Reason operation, workload is larger, cumbersome.And in embodiments of the present invention, it can be according to the three-dimensional point cloud of vehicle-surroundings object
Data, the IMU data and GPS data of vehicle generate high-precision map, and the process is without executing multiple image processing operations, work
Measure it is smaller, operation it is simpler.
Fig. 2 shows a kind of flow charts of accurately drawing generating method provided in an embodiment of the present invention, can be used for vehicle
Industrial personal computer on, this method include：
Step 201, the three dimensional point cloud for obtaining the vehicle-surroundings object that laser radar acquires.
Laser radar can be based on laser radar laser emission point and the laser launched pip on object
The direction of the launch of the laser of distance and laser emission point determines the three-dimensional coordinate of object.The three-dimensional point cloud of vehicle-surroundings object
Data include object at a distance from vehicle, the data such as three-dimensional coordinate of angle and object of object and vehicle.
Step 202, the IMU data and GPS data for obtaining the vehicle that integrated navigation system acquires, IMU data and GPS data
It is used to indicate the posture information of vehicle.
Wherein, the posture information of vehicle includes the location information and posture information of vehicle, for example, IMU data are used to indicate
The data such as the three-axis attitude angle of vehicle or angular speed, acceleration and azimuth.GPS data includes that the geographical location of vehicle is sat
Mark.
Step 203, when detect GPS data be normal data when, according to IMU data and GPS data to three-dimensional point cloud number
According to being handled, high-precision map is generated.
Wherein it is possible to detect whether GPS data is normal data according to the data format of GPS data.When the number of GPS data
According to format be preset data form when, it may be determined that GPS data is normal data；When the data format of GPS data is not default
When data format, it may be determined that GPS data is not normal data, i.e. GPS data is abnormal data.It can about preset data form
It is illustrated with the data format with reference to GPS data in the related technology, for example all characters of data are " $ ", followed by information
Type is data later, is opened with separated by commas between data.
It is exemplary, when vehicle is located at environment (such as the outdoor road) for having satellite-signal, integrated navigation system acquisition
The data format of the GPS data of vehicle is preset data form, and GPS data is normal data.When GPS data is normal data
When, industrial personal computer can directly be handled three dimensional point cloud according to IMU data and GPS data, generate high-precision map.
In conclusion accurately drawing generating method provided in an embodiment of the present invention, can acquire in integrated navigation system
The GPS data of vehicle when being normal data, laser radar is acquired according to IMU data and GPS data vehicle-surroundings object
Three dimensional point cloud handled, generate high-precision map, the process is without executing multiple image processing operations, compared to phase
Pass technology, reduces workload, and operation is simpler.
In embodiments of the present invention, when GPS data is normal data, industrial personal computer can be directly according to IMU data and GPS
Data handle three dimensional point cloud, generate high-precision map；When GPS data is not normal data, GPS data can not
With in this case, industrial personal computer can estimate the GPS data of vehicle according to the vehicle speed data and IMU data of vehicle, accordingly
, accurately drawing generating method can be with as shown in figure 3, include for this：
Step 301, the three dimensional point cloud for obtaining the vehicle-surroundings object that laser radar acquires.
The three dimensional point cloud of vehicle-surroundings object includes object at a distance from vehicle, the angle of object and vehicle, and
The data such as the three-dimensional coordinate of object.
Before executing accurately drawing generating method provided in an embodiment of the present invention, some pre-operations can be first carried out,
For example, powered on to laser radar, the device identification of laser radar and corresponding first storage region are set on industrial personal computer, this
One storage region is used to store the data of laser radar acquisition, data of the setting for receiving laser radar acquisition on industrial personal computer
Network interface；It is powered on to integrated navigation system, the port of data of the setting for receiving integrated navigation system acquisition on industrial personal computer,
And message transmission rate, and on industrial personal computer be arranged integrated navigation system device identification and corresponding second storage region and
Third storage region, the second storage region is for storing IMU data, and third storage region is for storing GPS data.
Step 302, the IMU data and GPS data for obtaining the vehicle that integrated navigation system acquires.
Accurately based on the positioning of map generalization process needs with high precision.High-precision positioning number in order to obtain
According to, in embodiments of the present invention, the IMU data and GPS data of integrated navigation system collection vehicle, industrial personal computer by IMU data and
GPS data is as high-precision location data.IMU data and GPS data are used to indicate the posture information of vehicle.Wherein, vehicle
Posture information include vehicle location information and posture information, for example, IMU data be used to indicate vehicle three-axis attitude angle or
The data such as angular speed, acceleration and azimuth.GPS data includes the geographical position coordinates of vehicle.
In embodiments of the present invention, the IMU data and GPS data of the real-time collection vehicle of integrated navigation system, industrial personal computer are real
When obtain integrated navigation system acquisition vehicle IMU data and GPS data.
Industrial personal computer get integrated navigation system acquisition vehicle GPS data when, can first detect GPS data whether be
Normal data, for example, when the data format of GPS data is preset data form, it may be determined that GPS data is normal data；
When the data format of GPS data is not preset data form, it may be determined that GPS data is not normal data.When GPS data is
When normal data, step 303 is executed；When GPS data is not normal data, step 304 is executed.
Step 303, when detect GPS data be normal data when, according to IMU data and GPS data to three-dimensional point cloud number
According to being handled, high-precision map is generated.
It is exemplary, when vehicle is located at environment (such as the outdoor road) for having satellite-signal, integrated navigation system acquisition
The GPS data of vehicle is normal data.Industrial personal computer can directly carry out three dimensional point cloud according to IMU data and GPS data
Processing generates high-precision map.
Wherein, IMU data and GPS data include timestamp, correspondingly, according to IMU data and GPS numbers in step 303
It is handled according to three dimensional point cloud, the process of high-precision map is generated, as shown in figure 4, may include steps of：
Step 3031, according to the timestamp in IMU data and GPS data, determine IMU data and GPS data corresponding three
Tie up point cloud data.
Before generating high-precision map, industrial personal computer determines IMU numbers first according to the timestamp in IMU data and GPS data
According to three dimensional point cloud corresponding with GPS data.For example, at the t1 moment, vehicle is travelled to position A, corresponding three-dimensional point cloud number
According to for XX；At the t2 moment, vehicle is travelled to position B, and corresponding three dimensional point cloud is YY；At the t3 moment, vehicle is travelled to position
C is set, corresponding three dimensional point cloud is ZZ.All three-dimensional point cloud numbers that industrial personal computer acquires laser radar according to each timestamp
According to being arranged.
Step 3032 is based on IMU data and the corresponding three dimensional point cloud of GPS data, generates high-precision map.
Industrial personal computer, can also be further to determination after determining IMU data and the corresponding three dimensional point cloud of GPS data
Three dimensional point cloud handled, filter out the useful data in three dimensional point cloud, the useful data be can reflect ground
The data of figure feature, for example, the three dimensional point cloud of the static building of vehicle-surroundings is useful data, and vehicle-surroundings movement
The three dimensional point cloud of people or vehicle is not useful data, needs to be filtered.Later, industrial personal computer is had based on what is filtered out again
With data, high-precision map is generated.
Wherein, the process that high-precision map is generated based on useful data may include steps of：
1, the vehicle coordinate system that integrated navigation system determines is obtained, and useful data is mapped into vehicle coordinate system.
2, the three dimensional point cloud for mapping to vehicle coordinate system is filtered, noise is removed, to improve three-dimensional point
The accuracy of cloud data.It is exemplary, may be used bilateral filtering algorithm, Laplce's filtering algorithm etc. to three dimensional point cloud into
Row is filtered.
3, using the ground partitioning algorithm based on Gauss regression process, the three dimensional point cloud after being filtered is divided
Class obtains ground data and non-ground data after obtaining different classes of three dimensional point cloud, such as classification.
4, the corresponding object of different classes of three dimensional point cloud is determined, using different colours by different classes of three-dimensional point
The corresponding object of cloud data shows, and improves the display effect of high-precision map, enriches cartographic information.
Step 304, when detect GPS data not be normal data when, obtain the vehicle speed data of vehicle.Execute step 305.
When it is normal data that industrial personal computer, which detects GPS data not, in order to generate high-precision map, industrial personal computer obtains vehicle
Vehicle speed data, the GPS data of vehicle is then estimated according to the vehicle speed data of vehicle and IMU data.
Exemplary, when vehicle is from when having the environment of satellite-signal to travel to the environment of no satellite-signal, for example vehicle is from family
When outer road driving to underground parking or tunnel, the GPS data of the vehicle of integrated navigation system acquisition can malfunction, GPS data
It is not normal data, GPS data is not used to generate high-precision map.
So accurately drawing generating method provided in an embodiment of the present invention, the vehicle that can be acquired in integrated navigation system
GPS data when not being normal data, the GPS data of vehicle is estimated according to the vehicle speed data of vehicle and IMU data, and generate height
Precision map.This method vehicle from when thering is the environment of satellite-signal to travel to the environment of no satellite-signal, remain to for vehicle give birth to
At high-precision map, abundant environmental information is provided to driver, ensures vehicle steady safety in the environment of no satellite-signal
Traveling.
Wherein, industrial personal computer can be blocked by controller local area network (Controller Area Network, CAN) from CAN
Bus obtains the vehicle speed data of vehicle.
Step 305, the target GPS data that vehicle is determined according to the vehicle speed data and IMU data of vehicle.Execute step 306.
Industrial personal computer determines the target GPS data for generating high-precision map according to the vehicle speed data and IMU data of vehicle,
In order to generate high-precision map according to the target GPS data and IMU data.Wherein, it is determined according to vehicle speed data and IMU data
The process of target GPS data can refer to the relevant technologies, and details are not described herein.
Step 306 is handled three dimensional point cloud according to IMU data and target GPS data, is generated accurately
Figure.
Wherein, industrial personal computer can determine IMU data and target first according to the timestamp in IMU data and target GPS data
The corresponding three dimensional point cloud of GPS data；It is based on IMU data and the corresponding three dimensional point cloud of target GPS data again, generates high
Precision map.Likewise, industrial personal computer can first be handled determining three dimensional point cloud, filter out in three dimensional point cloud
It can reflect the useful data of map feature, then, useful data is mapped to vehicle coordinate system by industrial personal computer, then, to mapping
Three dimensional point cloud to vehicle coordinate system is filtered, and removes noise, then to the three dimensional point cloud after being filtered
Classify, later, is showed the different classes of corresponding object of three dimensional point cloud using different colours.
In conclusion accurately drawing generating method provided in an embodiment of the present invention, can acquire in integrated navigation system
The GPS data of vehicle when being normal data, laser radar is acquired according to IMU data and GPS data vehicle-surroundings object
Three dimensional point cloud handled, generate high-precision map, the process is without executing multiple image processing operations, compared to phase
Pass technology, reduces workload, and operation is simpler.
It should be noted that the sequencing of the step of accurately drawing generating method provided in an embodiment of the present invention can be with
Suitably adjusted, high-precision map generate the step of according to circumstances can also accordingly be increased and decreased.It is any to be familiar with this technology neck
In the technical scope disclosed by the present invention, the method that can readily occur in variation should all cover the present invention's the technical staff in domain
Within protection domain, therefore repeat no more.
Fig. 5 is a kind of structural schematic diagram of high-precision map creation device 400 provided in an embodiment of the present invention, the device
400 may include：
First acquisition module 410, the three dimensional point cloud of the vehicle-surroundings object for obtaining laser radar acquisition.
Second acquisition module 420, for obtain integrated navigation system acquisition vehicle Inertial Measurement Unit IMU data and
Global position system GPS data, IMU data and GPS data are used to indicate the posture information of vehicle.
First processing module 430, for when detect GPS data be normal data when, according to IMU data and GPS data
Three dimensional point cloud is handled, high-precision map is generated.
Optionally, as shown in fig. 6, the device 400 can also include：
Third acquisition module 440, for when it is normal data to detect GPS data not, obtaining the vehicle speed data of vehicle.
Determining module 450, the target GPS data for determining vehicle according to the vehicle speed data and IMU data of vehicle.
Second processing module 460, it is raw for being handled three dimensional point cloud according to IMU data and target GPS data
At high-precision map.
Optionally, three dimensional point cloud includes the device identification of laser radar, and IMU data and GPS data include combination
The device identification of navigation system.
Optionally, IMU data and GPS data include timestamp, and first processing module 430 is used for：
According to the timestamp in IMU data and GPS data, IMU data and the corresponding three-dimensional point cloud number of GPS data are determined
According to；
Based on IMU data and the corresponding three dimensional point cloud of GPS data, high-precision map is generated.
In conclusion high-precision map creation device provided in an embodiment of the present invention, can acquire in integrated navigation system
The GPS data of vehicle when being normal data, laser radar is acquired according to IMU data and GPS data vehicle-surroundings object
Three dimensional point cloud handled, generate high-precision map, the process is without executing multiple image processing operations, compared to phase
Pass technology, reduces workload, and operation is simpler.
The embodiment of the present invention also provides a kind of high-precision map creation device 600, as shown in fig. 7, should be wrapped in device 600
It includes：Memory 610, processor 620 and is stored in the computer program that can be run on memory 610 and on processor 620
611, processor 620 realizes the accurately drawing generating method that above method embodiment provides when executing computer program 611, should
Method can be as shown in Figure 2 or Figure 3.
The embodiment of the present invention also provides a kind of computer readable storage medium, which stores for non-volatile readable
Medium is stored with computer program in the storage medium, above method embodiment is realized when computer program is executed by processor
The accurately drawing generating method provided.
The embodiment of the present invention also provides a kind of computer program product including instruction, when computer program product is calculating
When being run on machine so that computer executes the accurately drawing generating method that above method embodiment provides.
The embodiment of the present invention also provides a kind of chip, and the chip includes programmable logic circuit and/or program instruction, when
The accurately drawing generating method provided for realizing such as above method embodiment when the chip operation.
It is apparent to those skilled in the art that for convenience and simplicity of description, the device of foregoing description
With the specific work process of module, the specific work process of each step in preceding method embodiment can be referred to, it is no longer superfluous herein
It states.
In the present invention, term " first ", " second " and " third " are used for description purposes only, and should not be understood as instruction or
Imply relative importance.
Those skilled in the art will readily occur to its of the present invention after considering specification and putting into practice the invention invented here
Its embodiment.This application is intended to cover the present invention any variations, uses, or adaptations, these modifications, purposes or
Person's adaptive change follows the general principle of the present invention and includes undocumented common knowledge in the art of the invention
Or conventional techniques.The description and examples are only to be considered as illustrative, and true scope and spirit of the invention are wanted by right
It asks and points out.
It should be understood that the invention is not limited in the precision architectures for being described above and being shown in the accompanying drawings, and
And various modifications and changes may be made without departing from the scope thereof.The scope of the present invention is limited only by the attached claims.
Claims (10)
1. a kind of accurately drawing generating method, which is characterized in that the method includes：
Obtain the three dimensional point cloud of the vehicle-surroundings object of laser radar acquisition；
The Inertial Measurement Unit IMU data and global position system GPS data of the vehicle of integrated navigation system acquisition are obtained,
The IMU data and the GPS data are used to indicate the posture information of the vehicle；
When it is normal data to detect the GPS data, according to the IMU data and the GPS data to the three-dimensional point
Cloud data are handled, and high-precision map is generated.
2. according to the method described in claim 1, it is characterized in that, the vehicle acquired in the acquisition integrated navigation system
Inertial Measurement Unit IMU data and global position system GPS data after, the method further includes：
When it is normal data to detect the GPS data not, the vehicle speed data of the vehicle is obtained；
The target GPS data of the vehicle is determined according to the vehicle speed data of the vehicle and the IMU data；
The three dimensional point cloud is handled according to the IMU data and the target GPS data, is generated accurately
Figure.
3. according to the method described in claim 1, it is characterized in that, the three dimensional point cloud includes setting for the laser radar
Standby mark, the IMU data and the GPS data include the device identification of the integrated navigation system.
4. according to the method described in claim 1, it is characterized in that, the IMU data and the GPS data include the time
Stamp, it is described that the three dimensional point cloud is handled according to the IMU data and the GPS data, high-precision map is generated,
Including：
According to the timestamp in the IMU data and the GPS data, determine that the IMU data and the GPS data are corresponding
Three dimensional point cloud；
Based on the IMU data and the corresponding three dimensional point cloud of the GPS data, the high-precision map is generated.
5. a kind of high-precision map creation device, which is characterized in that described device includes：
First acquisition module, the three dimensional point cloud of the vehicle-surroundings object for obtaining laser radar acquisition；
Second acquisition module, Inertial Measurement Unit IMU data of the vehicle for obtaining integrated navigation system acquisition and complete
Ball position system GPS data, the IMU data and the GPS data are used to indicate the posture information of the vehicle；
First processing module, for detect the GPS data be normal data when, according to the IMU data and the GPS
Data handle the three dimensional point cloud, generate high-precision map.
6. device according to claim 5, which is characterized in that described device further includes：
Third acquisition module, for when it is normal data to detect the GPS data not, obtaining the speed number of the vehicle
According to；
Determining module, the target GPS numbers for determining the vehicle according to the vehicle speed data and the IMU data of the vehicle
According to；
Second processing module, at according to the IMU data and the target GPS data to the three dimensional point cloud
Reason generates high-precision map.
7. device according to claim 5, which is characterized in that the three dimensional point cloud includes setting for the laser radar
Standby mark, the IMU data and the GPS data include the device identification of the integrated navigation system.
8. device according to claim 5, which is characterized in that the IMU data and the GPS data are including the time
Stamp, the first processing module are used for：
According to the timestamp in the IMU data and the GPS data, determine that the IMU data and the GPS data are corresponding
Three dimensional point cloud；
Based on the IMU data and the corresponding three dimensional point cloud of the GPS data, the high-precision map is generated.
9. a kind of high-precision map creation device, which is characterized in that including：Memory, processor and is stored in the memory
Computer program that is upper and can running on the processor realizes that right is wanted when the processor executes the computer program
Seek 1 to 4 any accurately drawing generating method.
10. a kind of computer readable storage medium, which is characterized in that computer program is stored in the storage medium, it is described
Claims 1-4 any accurately drawing generating method is realized when computer program is executed by processor.
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