CN109859611A - Acquisition method, device, equipment and the storage medium of map datum - Google Patents
Acquisition method, device, equipment and the storage medium of map datum Download PDFInfo
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- CN109859611A CN109859611A CN201910038106.3A CN201910038106A CN109859611A CN 109859611 A CN109859611 A CN 109859611A CN 201910038106 A CN201910038106 A CN 201910038106A CN 109859611 A CN109859611 A CN 109859611A
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- G09B—EDUCATIONAL OR DEMONSTRATION APPLIANCES; APPLIANCES FOR TEACHING, OR COMMUNICATING WITH, THE BLIND, DEAF OR MUTE; MODELS; PLANETARIA; GLOBES; MAPS; DIAGRAMS
- G09B29/00—Maps; Plans; Charts; Diagrams, e.g. route diagram
- G09B29/003—Maps
- G09B29/005—Map projections or methods associated specifically therewith
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Abstract
The present invention provides acquisition method, device, equipment and the storage medium of a kind of map datum.This method comprises: vehicle receives the acquisition instructions that server is sent；The vehicle is according to the acquisition instructions, data acquisition is carried out to current location by multiple sensors of the vehicle, and the cartographic data after acquisition is sent to the server, wherein server can send acquisition instructions to multiple vehicles, and the cartographic data sent to the multiple vehicles received is handled, and is charted.Above-mentioned vehicle can be the automatic driving vehicle of actual operation, and sensor can be the sensor of low cost.It can test to acquisition condition before acquisition and in collection process, such as test to signal strength, the parameter of sensor, the integrality of data and instruction, be unsatisfactory for requiring once there is acquisition condition, then can resurvey on demand or filling mining.The embodiment of the present invention acquires cartographic data by multiple vehicles under the instruction of server, and acquisition cost is lower.
Description
Technical field
The present invention relates to field of intelligent transportation technology more particularly to a kind of acquisition method of map datum, device, equipment and
Storage medium.
Background technique
With the progress of science and technology, the especially development of automobile manufacture and information technology, automatic Pilot technology becomes
Research hotspot in recent years.The acquisition and drawing of high-precision map are the indispensable important support technologies of automatic Pilot, and are relied on
It is the core channel and the life of its map that high-precision map datum obtains that the mobile collection vehicle of multiple-sensor integration, which carries out data acquisition,
Produce one of the important link of production.
In the related technology, after the dedicated collecting vehicle and professional for needing to be equipped with a variety of high end sensors carry out map acquisition
It charts again, acquisition cost is higher.
Summary of the invention
The present invention provides acquisition method, device, equipment and the storage medium of a kind of map datum, to reduce acquisition cost.
In a first aspect, the present invention provides a kind of acquisition method of map datum, comprising:
Vehicle receives the acquisition instructions that server is sent；
The vehicle carries out data to current location by multiple sensors of the vehicle and adopts according to the acquisition instructions
Collection, and the cartographic data after acquisition is sent to the server.
Second aspect, the present invention provide a kind of acquisition method of map datum, comprising:
Server sends acquisition instructions to multiple vehicles；The acquisition instructions are used to indicate multiple vehicles to present bit
It sets and carries out data acquisition；
Cartographic data after what the server received that multiple vehicles send acquired by multiple sensors, and according to
The cartographic data charts.
The third aspect, the present invention provide a kind of acquisition device of map datum, comprising:
Receiving module, for receiving the acquisition instructions of server transmission；
Processing module carries out data acquisition to current location for according to the acquisition instructions, and by the drawing after acquisition
Data are sent to the server.
Fourth aspect, the present invention provide a kind of acquisition device of map datum, comprising:
Sending module, for sending acquisition instructions to multiple vehicles；The acquisition instructions are used to indicate multiple vehicles
Data acquisition is carried out to current location；
Receiving module, the drawing number after being acquired for receive that multiple vehicles send by multiple sensors after acquisition
According to；
Processing module, for being charted according to the cartographic data.
5th aspect, the embodiment of the present invention provide a kind of computer readable storage medium, are stored thereon with computer program,
Method described in any one of first aspect or second aspect is realized when the computer program is executed by processor.
6th aspect, the embodiment of the present invention provide a kind of electronic equipment, comprising:
Processor；And
Memory, for storing the executable instruction of the processor；
Wherein, the processor is configured to execute described in any one of first aspect via the executable instruction is executed
Method.
7th aspect, the embodiment of the present invention provide a kind of server, comprising:
Processor；And
Memory, for storing the executable instruction of the processor；
Wherein, the processor is configured to execute described in any one of second aspect via the executable instruction is executed
Method.
Acquisition method, device, equipment and the storage medium of map datum provided in an embodiment of the present invention, vehicle receive service
The acquisition instructions that device is sent；The vehicle carries out data acquisition according to the acquisition instructions, to current location, and will be after acquisition
Cartographic data is sent to the server, and vehicle passes through the acquisition drawing of multiple sensors under the instruction of server in above scheme
Data, acquisition cost are lower.
Detailed description of the invention
The drawings herein are incorporated into the specification and forms part of this specification, and shows the implementation for meeting the disclosure
Example, and together with specification for explaining the principles of this disclosure.
Fig. 1 is the application scenario diagram that one embodiment of the invention provides；
Fig. 2 is the flow diagram of one embodiment of acquisition method of map datum provided by the invention；
Fig. 3 is the interaction schematic diagram of one embodiment of acquisition method of map datum provided by the invention；
Fig. 4 is the flow diagram of another embodiment of acquisition method of map datum provided by the invention；
Fig. 5 is the structural schematic diagram of one embodiment of acquisition device of map datum provided by the invention；
Fig. 6 is the structural schematic diagram of another embodiment of acquisition device of map datum provided by the invention；
Fig. 7 is the structural schematic diagram of electronic equipment embodiment provided by the invention；
Fig. 8 is the structural schematic diagram of server example provided by the invention.
Through the above attached drawings, it has been shown that the specific embodiment of the disclosure will be hereinafter described in more detail.These attached drawings
It is not intended to limit the scope of this disclosure concept by any means with verbal description, but is by referring to specific embodiments
Those skilled in the art illustrate the concept of the disclosure.
Specific embodiment
Example embodiments are described in detail here, and the example is illustrated in the accompanying drawings.Following description is related to
When attached drawing, unless otherwise indicated, the same numbers in different drawings indicate the same or similar elements.Following exemplary embodiment
Described in embodiment do not represent all implementations consistent with this disclosure.On the contrary, they be only with it is such as appended
The example of the consistent device and method of some aspects be described in detail in claims, the disclosure.
Term " includes " in description and claims of this specification and the attached drawing and " having " and they appoint
What is deformed, it is intended that is covered and non-exclusive is included.Such as contain the process, method, system, production of a series of steps or units
Product or equipment are not limited to listed step or unit, but optionally further comprising the step of not listing or unit, or
Optionally further comprising the other step or units intrinsic for these process, methods, product or equipment.
Application scenarios according to the present invention are introduced first:
Map datum in the application refers to the data for being used to make map of acquisition.
The acquisition method of map datum provided in an embodiment of the present invention is applied to data acquisition scenarios needed for map makes
In, data acquisition is carried out in collecting efficiency, such as automatic Pilot scene to improve.Wherein, vehicle can be used in above-mentioned acquisition method
It is acquired.
The method of the embodiment of the present invention is interacted by server and multiple vehicles, sends acquisition instructions, indicates vehicle
Data acquisition is carried out to current location, collecting efficiency is improved, reduces acquisition cost.
Above-mentioned vehicle can be automatic driving vehicle or common vehicle.Vehicle is acquired compared to dedicated cartographic data, it can be with
The acquisition of cartographic data is realized using the sensor combinations of low cost, acquisition cost is lower.Above-mentioned vehicle can be user's reality
The vehicle used realizes the effective use of resource.
Fig. 1 is the application scenario diagram that one embodiment of the invention provides, optionally, as shown in Figure 1, including in the application scenarios
Server 11, electronic equipment 12；The electronic equipment 12 can be the processor of car-mounted terminal or vehicle on vehicle.
Wherein, electronic equipment 12 and server 11 can pass through network connection, such as 3G, 4G or Wireless Fidelity
Communication networks such as (Wireless Fidelity, WIFI).
Method provided by the invention can execute corresponding software code realization by such as processor of electronic equipment 12, can also be by this
Electronic equipment 12 is realized by carrying out data interaction with server 11, is such as serviced while executing corresponding software code
The operation of device execution part carrys out the acquisition method that controlling electronic devices executes map datum.
The following examples are illustrated by executing subject of electronic equipment.With automatic driving vehicle in following embodiment
For be illustrated.
Technical solution of the present invention is described in detail with specific embodiment below.These specific implementations below
Example can be combined with each other, and the same or similar concept or process may be repeated no more in some embodiments.
Fig. 2 is the flow diagram of one embodiment of acquisition method of map datum provided by the invention.As shown in Fig. 2, this
The method that embodiment provides, comprising:
Step 201, vehicle receive the acquisition instructions that server is sent；
Step 202, vehicle carry out data to current location by multiple sensors of the vehicle and adopt according to acquisition instructions
Collection, and the cartographic data after acquisition is sent to server.
Specifically, server can send acquisition instructions to multiple vehicles, multiple vehicles are receiving server transmission
After acquisition instructions, data acquisition is carried out to current location by multiple sensors of the vehicle respectively, by the drawing number after acquisition
According to server is sent to, server receives the cartographic data that multiple vehicles are sent, and passes through multiple sensings respectively to multiple vehicles
The cartographic data of device acquisition carries out integrated treatment, is charted according to cartographic data.
The method of the present embodiment, vehicle receive the acquisition instructions that server is sent；The vehicle according to the acquisition instructions,
Data acquisition is carried out to current location, and the cartographic data after acquisition is sent to the server, vehicle exists in above scheme
Pass through multiple sensor acquisition cartographic datas under the instruction of server, acquisition cost is lower.
Fig. 3 is the interaction schematic diagram of one embodiment of acquisition method of map datum provided by the invention.As shown in figure 3, this
The method that embodiment provides, comprising:
Step 301, server send acquisition instructions to multiple vehicles；Acquisition instructions are used to indicate multiple vehicles to present bit
It sets and carries out data acquisition；
Step 302, vehicle receive the acquisition instructions that server is sent；
Step 303, vehicle carry out data to current location by multiple sensors of the vehicle and adopt according to acquisition instructions
Collection；
Cartographic data after acquisition is sent to server by step 304, vehicle；
Cartographic data after what step 305, server received that multiple vehicles send acquired by multiple sensors, and according to
Cartographic data charts.
The method of the present embodiment is interacted by server and multiple vehicles, sends acquisition instructions, instruction vehicle is to working as
Front position carries out data acquisition, improves collecting efficiency, reduces acquisition cost.
On the basis of the above embodiments, as shown in figure 4, in order to improve the acquisition matter of collecting efficiency and cartographic data
Amount, the method for the present embodiment, further includes:
Step 401, vehicle receive the acquisition instructions that server is sent.
Step 402, to current location carry out data acquisition when, the signal strength of vehicle detection current location.
If step 403, the signal strength of current location are unsatisfactory for signal strength preset condition, the first prompt of vehicle push
Information, the first prompt information are used to indicate after driver's driving vehicle goes to destination locations and return to current location, and
Data acquisition is re-started to current location, the signal strength of destination locations meets signal strength preset condition.
Specifically, during data needed for cartographic map are acquired, can in real time (periodically or
Person is every preset period of time) signal strength of detection current location, the signal for example including satellite-signal and/or base station signal is strong
Degree continues to acquire current location if the signal strength of satellite-signal and/or base station signal meets signal strength preset condition
Cartographic data.
If the signal strength of satellite-signal and/or base station signal is unsatisfactory for signal strength preset condition, issues first and mention
Show information, with prompt driver (or security official) current location satellite-signal and/or base station signal signal strength it is inadequate,
It indicates to return to current location in time after driver drives the place that vehicle goes to signal good, acquires data in current location again.
Further, above-mentioned signal can also include wireless network WIFI signal or other signals, the embodiment of the present invention pair
This is not limited.
Further, the first prompt information also can indicate that driver drives the backward server that vehicle goes to destination locations
Collected cartographic data is sent, and is returned to after having sent cartographic data to current location, it is timely convenient for server
Cartographic data is analyzed.
Further, it after carrying out data acquisition to current location, can be charted according to the cartographic data of acquisition.
Wherein, in order to reduce acquisition time, collecting efficiency is improved, destination locations are less than default threshold at a distance from current location
Value.Driver can use short period return current location and resurvey.
Further, before pushing the first prompt information, the position in the preset range of detection current location can also be passed through
The signal strength set determines the destination locations that vehicle should be gone to.
The method of the present embodiment detects the signal strength of current location when carrying out data acquisition to current location；If working as
The signal strength of front position is unsatisfactory for signal strength preset condition, then pushes the first prompt information, the first prompt information is for referring to
Show that driver drives after vehicle goes to destination locations to return to current location, and data are re-started to current location and are adopted
Collection, the signal strength of destination locations meet signal strength preset condition, are unsatisfactory for wanting once there is acquisition condition in collection process
It asks, if signal strength is unsatisfactory for requiring, then can resurvey on demand or filling mining, can all acquire and be over after passback to avoid data
It just finds data deficiencies or quality of data problem not up to standard, improves collecting efficiency, reduce acquisition cost.
On the basis of the above embodiments, optionally, in order to further increase collecting efficiency, the data of acquisition is avoided to exist
Problem, as shown in figure 4, in the present embodiment before carrying out data acquisition to current location, further includes:
Step 404, vehicle judge whether the parameter current of each sensor meets parameter preset condition；
If the parameter current of step 405, at least one sensor is unsatisfactory for parameter preset condition, vehicle push second is mentioned
Show information, the parameter current that the second prompt information is used to that driver to be prompted to adjust at least one sensor.
Specifically, being examined first to the parameter current of each sensor of vehicle before carrying out cartographic data acquisition
It tests, sensor is surveyed for example including global positioning system (Global Positioning System, abbreviation GPS) sensor, inertia
It measures unit (Inertial Measurement Unit, abbreviation IMU), wheeled odometer, direction sensor, laser radar, vehicle-mounted
Camera, millimetre-wave radar, gyroscope, rain sensor, infrared sensor etc., parameter current is for example including installation parameter and mark
Determine parameter, installation parameter is closed for example including setting angle, calibrating parameters for example including the conversion of coordinate between different sensors
It is the transformational relation of the setting angle between that is, different sensors；If it is pre- that installation parameter and/or calibrating parameters meet parameter
If condition, then start to carry out data acquisition；If installation parameter and/or calibrating parameters are unsatisfactory for parameter preset condition, is issued
Two prompt informations, to prompt driver to be adjusted the installation parameter and/or calibrating parameters of the sensor of current vehicle.
Further, if parameter current includes setting angle, vehicle judges whether the parameter current of each sensor meets
Parameter preset condition can be specifically accomplished in that
Vehicle judges whether the deviation of the setting angle of each sensor belongs to preset first deviation range；
If the deviation of the setting angle of at least one sensor is not belonging to the first deviation range, push the second prompt letter
Breath, the setting angle that the second prompt information is used to that driver to be prompted to readjust at least one sensor.
Specifically, the first deviation range of a setting angle about sensor, different sensings can be preset
The numerical value of corresponding first deviation range of device can be different, if detecting the presence of the deviation of the setting angle of at least one sensor
It is not belonging to first deviation range, then driver is prompted to readjust the setting angle of at least one sensor.
Further, if parameter current includes calibrating parameters, vehicle judges whether the parameter current of each sensor meets
Parameter preset condition can be specifically accomplished in that
Vehicle judges whether the deviation of the calibrating parameters of each sensor belongs to preset second deviation range；
If the deviation of the calibrating parameters of at least one sensor is not belonging to the second deviation range, push the second prompt letter
Breath, the second prompt information is for prompting driver to re-scale at least one sensor.
Specifically, the second deviation range of the calibrating parameters about sensor, different sensings can be preset
The numerical value of corresponding second deviation range of device can be different, if detecting the presence of the deviation of the calibrating parameters of at least one sensor
It is not belonging to second deviation range, then driver is prompted to demarcate again at least one sensor.
In the present embodiment, before carrying out data acquisition to current location, to the parameter current of each sensor of vehicle
It is examined, judges whether the parameter current of each sensor meets parameter preset condition, further improve collecting efficiency,
Avoiding the data of acquisition, there are problems.
On the basis of the above embodiments, optionally, in order to improve collecting efficiency, guarantee the matter of the cartographic data of acquisition
Amount, as shown in figure 4, the method for the present embodiment can also include:
Step 406, to current location carry out data acquisition when, vehicle detection acquisition cartographic data integrality；
If step 407, the integrality of cartographic data are unsatisfactory for integrality preset condition, vehicle pushes third prompt information,
Third prompt information is for prompting driver to resurvey data in current location.
Specifically, can verify in real time current location during cartographic data acquisition and collect cartographic data
The quality of integrality and/or cartographic data, if the quality and integrality of discovery cartographic data are unsatisfactory for preset requirement, such as chart number
According to integrality be unsatisfactory for integrality preset condition, then push third prompt information, third prompt information is for prompting driver
Data are resurveyed in current location.
It should be noted that step 406 and step 402 can in no particular order sequentially.
Further, the integrality of the cartographic data is detected, can be specifically accomplished in that
Vehicle detection cartographic data whether include the required sensor acquisition of drawing data；
If cartographic data includes the data of the required sensor acquisition of drawing, vehicle determines that the integrality of cartographic data is full
Sufficient integrality preset condition；
If cartographic data does not include the data of the required sensor acquisition of drawing, vehicle determines the integrality of cartographic data
It is unsatisfactory for integrality preset condition.
Specifically, illustrating that cartographic data has been if including the data of sensor acquisition needed for drawing in cartographic data
It is whole, be otherwise it is incomplete, need to resurvey.
Further, as shown in figure 4, the present embodiment method, can also include:
If step 408, the integrality of cartographic data meet integrality preset condition, vehicle judges each sensor acquisition
Cartographic data whether meet corresponding preset quality requirement；
The cartographic data that step 409, if it exists at least one sensor acquire is unsatisfactory for corresponding preset quality requirement, then
Vehicle pushes the 4th prompt information, and the 4th prompt information is for prompting driver by being unsatisfactory for corresponding preset quality requirement
Sensor resurveys data in current location.
Specifically, can verify in real time current location during cartographic data acquisition and collect cartographic data
Quality, if discovery cartographic data quality is unsatisfactory for corresponding preset quality requirement, such as there are the acquisitions of at least one sensor
Cartographic data is unsatisfactory for corresponding preset quality requirement, then again through the cartographic data of sensor acquisition current location；If
The data of each sensor acquisition meet corresponding preset quality requirement, then continue the cartographic data for acquiring next position.Example
When can also such as judge to acquire cartographic data, whether vehicle has travelled predetermined amount in current acquisition path.
Wherein, in practical applications, judge whether the cartographic data of each sensor acquisition meets corresponding preset quality
It is required that can specifically be accomplished in that
Whether the averaged acquisition frame per second or instantaneous acquisition frame rate for judging each sensor are greater than default acquisition frame rate.
Specifically, can also judge whether the frequency acquisition of sensor meets the requirements, such as averaged acquisition frame per second or wink
When acquisition frame rate whether be greater than default acquisition frame rate.Wherein, the quality index of different sensors is different, the matter of some sensors
Figureofmerit is averaged acquisition frame per second, has plenty of instantaneous acquisition frame rate.
Further, judge whether the cartographic data of each sensor acquisition meets corresponding preset quality requirement, may be used also
To be accomplished by the following way:
Vehicle judges whether the cartographic data of each sensor acquisition meets preset circle said conditions.
Specifically, may determine that the cartographic data of each sensor acquisition reaches predetermined amount, that is, whether the vehicle acquired
In acquisition route predetermined amount.
In addition, can have different dimensional to the inspection of the quality of cartographic data according to the acquisition demand of different cartographic datas
The requirement of degree, the embodiment of the present invention do not limit this.
In the present embodiment, once there is the quality of data in collection process or integrality is unsatisfactory for requiring, can weigh on demand at once
New acquisition or filling mining, can all acquire the problem of just finding data deficiencies or quality dissatisfaction after being over passback to avoid data.
Fig. 5 is the structure chart of one embodiment of acquisition device of map datum provided by the invention, as shown in figure 5, this implementation
The acquisition device of the map datum of example, comprising:
Receiving module 501, for receiving the acquisition instructions of server transmission；
Processing module 502, for being counted to current location by multiple sensors of vehicle according to the acquisition instructions
The server is sent to according to acquisition, and by the cartographic data after acquisition.
Optionally, processing module 502 are also used to:
When carrying out data acquisition to current location, the signal strength of the current location is detected；
If detecting, the signal strength of the current location is unsatisfactory for signal strength preset condition, push the first prompt letter
Breath, first prompt information are used to indicate after driver's driving vehicle goes to destination locations and return to the present bit
It sets, and data acquisition is re-started to the current location, it is pre- that the signal strength of the destination locations meets the signal strength
If condition.
Optionally, the processing module 502, is specifically used for:
Detect the base station signal of the current location and/or the signal strength of satellite-signal.
Optionally, processing module 502 are also used to:
Before carrying out data acquisition to current location, judge whether the parameter current of each sensor of vehicle meets ginseng
Number preset condition；
If detecting, the parameter current of at least one sensor is unsatisfactory for parameter preset condition, push the second prompt letter
Breath, the parameter current that second prompt information is used to that driver to be prompted to adjust at least one sensor.
Optionally, if the parameter current includes setting angle, the processing module 502 is specifically used for:
Judge whether the deviation of the setting angle of each sensor belongs to preset first deviation range；
If the deviation of the setting angle of at least one sensor is not belonging to first deviation range, the second prompt of push
Information, the setting angle that second prompt information is used to that driver to be prompted to readjust at least one sensor.
Optionally, if the parameter current includes calibrating parameters, the processing module 502 is specifically used for:
Judge whether the deviation of the calibrating parameters of each sensor belongs to preset second deviation range；
If the deviation of the calibrating parameters of at least one sensor is not belonging to second deviation range, the second prompt of push
Information, second prompt information is for prompting driver to re-scale at least one described sensor.
Optionally, processing module 502 are also used to:
When carrying out data acquisition to current location, the integrality of the cartographic data of acquisition is detected；
If detecting, the integrality of the cartographic data is unsatisfactory for integrality preset condition, pushes third prompt information,
The third prompt information is for prompting driver to resurvey data in the current location.
Optionally, processing module 502 are specifically used for:
Detect the cartographic data whether include the required sensor acquisition of drawing data；
If the cartographic data includes the data of the required sensor acquisition of drawing, it is determined that the cartographic data it is complete
Property meets the integrality preset condition；
If the cartographic data does not include the data of the required sensor acquisition of drawing, it is determined that the cartographic data it is complete
Whole property is unsatisfactory for the integrality preset condition.
Optionally, processing module 502 are also used to:
If the integrality of the cartographic data meets the integrality preset condition, the system of each sensor acquisition is judged
Whether diagram data meets corresponding preset quality requirement；
If judging, the cartographic data acquired there are at least one sensor is unsatisfactory for corresponding preset quality requirement, pushes away
Send the 4th prompt information, the biography that the 4th prompt information is used to prompt driver by being unsatisfactory for corresponding preset quality requirement
Sensor resurveys data in the current location.
Optionally, processing module 502 are specifically used for:
Whether the averaged acquisition frame per second or instantaneous acquisition frame rate for judging each sensor are greater than default acquisition frame rate.
Optionally, processing module 502 are specifically used for:
Judge whether the cartographic data of each sensor acquisition meets preset circle said conditions.
The device of the present embodiment can be used for executing the technical solution of above method embodiment, realization principle and technology
Effect is similar, and details are not described herein again.
Fig. 6 is the structure chart of another embodiment of acquisition device of map datum provided by the invention, as shown in fig. 6, this reality
Apply the acquisition device of the map datum of example, comprising:
Sending module 601, for sending acquisition instructions to multiple vehicles；The acquisition instructions are used to indicate multiple vehicles
To current location carry out data acquisition；
Receiving module 602, the system after being acquired for receive that multiple vehicles send by multiple sensors after acquisition
Diagram data；
Processing module 603, for being charted according to the cartographic data.
The device of the present embodiment can be used for executing the technical solution of above method embodiment, realization principle and technology
Effect is similar, and details are not described herein again.
Fig. 7 is the structure chart of electronic equipment embodiment provided by the invention, as shown in fig. 7, the electronic equipment includes:
Processor 701, and, the memory 702 of the executable instruction for storage processor 701.
It optionally, can also include: communication interface 703, for being communicated with other equipment.
Above-mentioned component can be communicated by one or more bus.
Wherein, processor 701 is configured to execute via the executable instruction is executed corresponding in preceding method embodiment
Method, specific implementation process may refer to preceding method embodiment, and details are not described herein again.
The electronic equipment can be set on the acquisition vehicle of map datum, which can be automatic Pilot vehicle
Or other vehicles.
Fig. 8 is the structure chart of server example provided by the invention, as shown in figure 8, the server includes:
Processor 801, and, the memory 802 of the executable instruction for storage processor 801.
It optionally, can also include: communication interface 803, for being communicated with other equipment.
Above-mentioned component can be communicated by one or more bus.
Wherein, processor 801 is configured to execute via the executable instruction is executed corresponding in preceding method embodiment
Method, specific implementation process may refer to preceding method embodiment, and details are not described herein again.
A kind of computer readable storage medium is also provided in the embodiment of the present invention, is stored thereon with computer program, it is described
Realize that corresponding method in preceding method embodiment, specific implementation process may refer to when computer program is executed by processor
Preceding method embodiment, it is similar that the realization principle and technical effect are similar, and details are not described herein again.
The embodiment of the present application also provides a kind of computer program product, and the computer program product includes computer program
Code, when the computer program code is run on computers, so that computer is executed as electronics is set in above-described embodiment
The acquisition method of standby performed map datum.
Those skilled in the art after considering the specification and implementing the invention disclosed here, will readily occur to its of the disclosure
Its embodiment.The present invention is directed to cover any variations, uses, or adaptations of the disclosure, these modifications, purposes or
Person's adaptive change follows the general principles of this disclosure and including the undocumented common knowledge in the art of the disclosure
Or conventional techniques.The description and examples are only to be considered as illustrative, and the true scope and spirit of the disclosure are by following
Claims are pointed out.
It should be understood that the present disclosure is not limited to the precise structures that have been described above and shown in the drawings, and
And various modifications and changes may be made without departing from the scope thereof.The scope of the present disclosure is only limited by appended claims.
Claims (19)
1. a kind of acquisition method of map datum characterized by comprising
Vehicle receives the acquisition instructions that server is sent；
The vehicle carries out data acquisition to current location according to the acquisition instructions, by multiple sensors of the vehicle,
And the cartographic data after acquisition is sent to the server.
2. the method according to claim 1, wherein further include:
When carrying out data acquisition to current location, the signal strength of current location described in the vehicle detection；
If the signal strength of the current location is unsatisfactory for signal strength preset condition, the first prompt of vehicle push letter
Breath, first prompt information, which is used to indicate driver and drives the vehicle and go to after destination locations to return to described, to be worked as
Front position, and data acquisition is re-started to the current location, it is strong that the signal strength of the destination locations meets the signal
Spend preset condition.
3. according to the method described in claim 2, it is characterized in that, the signal strength of current location described in the vehicle detection,
Include:
The base station signal of current location described in the vehicle detection and/or the signal strength of satellite-signal.
4. method according to claim 1-3, which is characterized in that acquire it carrying out data to current location
Before, further includes:
The vehicle judges whether the parameter current of each sensor meets parameter preset condition；
If the parameter current of at least one sensor is unsatisfactory for parameter preset condition, the vehicle pushes the second prompt information,
The parameter current that second prompt information is used to that driver to be prompted to adjust at least one sensor.
5. according to the method described in claim 4, it is characterized in that, if the parameter current includes setting angle, the vehicle
Judge whether the parameter current of each sensor meets parameter preset condition, comprising:
The vehicle judges whether the deviation of the setting angle of each sensor belongs to preset first deviation range；
If the deviation of the setting angle of at least one sensor is not belonging to first deviation range, the vehicle push second
Prompt information, the setting angle that second prompt information is used to that driver to be prompted to readjust at least one sensor.
6. according to the method described in claim 4, it is characterized in that, if the parameter current includes calibrating parameters, the vehicle
Judge whether the parameter current of each sensor meets parameter preset condition, comprising:
The vehicle judges whether the deviation of the calibrating parameters of each sensor belongs to preset second deviation range；
If the deviation of the calibrating parameters of at least one sensor is not belonging to second deviation range, the vehicle push second
Prompt information, second prompt information is for prompting driver to re-scale at least one described sensor.
7. method according to claim 1-3, which is characterized in that further include:
When carrying out data acquisition to current location, the integrality of the cartographic data of the vehicle detection acquisition；
If the integrality of the cartographic data is unsatisfactory for integrality preset condition, the vehicle pushes third prompt information, institute
Third prompt information is stated for prompting driver to resurvey data in the current location.
8. the method according to the description of claim 7 is characterized in that the integrality of cartographic data described in the vehicle detection, packet
It includes:
Cartographic data described in the vehicle detection whether include the required sensor acquisition of drawing data；
If the cartographic data includes the data of the required sensor acquisition of drawing, the vehicle determines the cartographic data
Integrality meets the integrality preset condition；
If the cartographic data does not include the data of the required sensor acquisition of drawing, the vehicle determines the cartographic data
Integrality be unsatisfactory for the integrality preset condition.
9. the method according to the description of claim 7 is characterized in that further include:
If the integrality of the cartographic data meets the integrality preset condition, the vehicle judges each sensor acquisition
Cartographic data whether meet corresponding preset quality requirement；
The cartographic data of at least one sensor acquisition is unsatisfactory for corresponding preset quality requirement if it exists, then the vehicle push
4th prompt information, the sensing that the 4th prompt information is used to prompt driver by being unsatisfactory for corresponding preset quality requirement
Device resurveys data in the current location.
10. according to the method described in claim 9, it is characterized in that, the vehicle judges the drawing number of each sensor acquisition
According to whether meeting corresponding preset quality requirement, comprising:
The vehicle judges whether the averaged acquisition frame per second of each sensor or instantaneous acquisition frame rate are greater than default acquisition
Frame per second.
11. according to the method described in claim 9, it is characterized in that, the vehicle judges the drawing number of each sensor acquisition
According to whether meeting corresponding preset quality requirement, comprising:
The vehicle judges whether the cartographic data of each sensor acquisition meets preset circle said conditions.
12. method according to claim 1 or 2, which is characterized in that
The vehicle is that non-dedicated cartographic data acquires vehicle；The cost of the sensor, which is lower than, is preset to this threshold value.
13. according to the method for claim 12, which is characterized in that the vehicle is the automatic driving vehicle of actual use.
14. a kind of acquisition method of map datum characterized by comprising
Server sends acquisition instructions to multiple vehicles；The acquisition instructions be used to indicate multiple vehicles to current location into
The acquisition of row data；
The server receives the cartographic data passed through after the acquisition of multiple sensors that multiple vehicles are sent, and according to described
Cartographic data charts.
15. a kind of acquisition device of map datum characterized by comprising
Receiving module, for receiving the acquisition instructions of server transmission；
Processing module, for carrying out data acquisition to current location by multiple sensors of vehicle according to the acquisition instructions,
And the cartographic data after acquisition is sent to the server.
16. a kind of acquisition device of map datum characterized by comprising
Sending module, for sending acquisition instructions to multiple vehicles；The acquisition instructions are used to indicate multiple vehicles to working as
Front position carries out data acquisition；
Receiving module, the cartographic data passed through after being acquired after multiple sensors acquire sent for receiving multiple vehicles；
Processing module, for being charted according to the cartographic data.
17. a kind of computer readable storage medium, is stored thereon with computer program, which is characterized in that the computer program
Any one of claim 1-13 or method of claim 14 are realized when being executed by processor.
18. a kind of electronic equipment characterized by comprising
Processor；And
Memory, for storing the executable instruction of the processor；
Wherein, the processor is configured to require 1-13 described in any item via executing the executable instruction and carry out perform claim
Method.
19. a kind of server characterized by comprising
Processor；And
Memory, for storing the executable instruction of the processor；
Wherein, the processor is configured to carry out perform claim 14 described in any item sides of requirement via the execution executable instruction
Method.
Priority Applications (4)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910038106.3A CN109859611B (en) | 2019-01-16 | 2019-01-16 | Map data acquisition method, device, equipment and storage medium |
| CN202111183131.4A CN113793550B (en) | 2019-01-16 | 2019-01-16 | Method, device, equipment and storage medium for collecting map data |
| CN202111181717.7A CN113838359B (en) | 2019-01-16 | 2019-01-16 | Method, device, equipment and storage medium for collecting map data |
| CN202111181767.5A CN113838360B (en) | 2019-01-16 | 2019-01-16 | Method, device, equipment and storage medium for collecting map data |
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| CN201910038106.3A CN109859611B (en) | 2019-01-16 | 2019-01-16 | Map data acquisition method, device, equipment and storage medium |
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| CN202111181767.5A Division CN113838360B (en) | 2019-01-16 | 2019-01-16 | Method, device, equipment and storage medium for collecting map data |
| CN202111181717.7A Division CN113838359B (en) | 2019-01-16 | 2019-01-16 | Method, device, equipment and storage medium for collecting map data |
| CN202111183131.4A Division CN113793550B (en) | 2019-01-16 | 2019-01-16 | Method, device, equipment and storage medium for collecting map data |
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| CN202111181767.5A Active CN113838360B (en) | 2019-01-16 | 2019-01-16 | Method, device, equipment and storage medium for collecting map data |
| CN202111181717.7A Active CN113838359B (en) | 2019-01-16 | 2019-01-16 | Method, device, equipment and storage medium for collecting map data |
| CN202111183131.4A Active CN113793550B (en) | 2019-01-16 | 2019-01-16 | Method, device, equipment and storage medium for collecting map data |
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| CN202111183131.4A Active CN113793550B (en) | 2019-01-16 | 2019-01-16 | Method, device, equipment and storage medium for collecting map data |
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Also Published As
| Publication number | Publication date |
|---|---|
| CN113793550A (en) | 2021-12-14 |
| CN113838359A (en) | 2021-12-24 |
| CN113793550B (en) | 2023-06-20 |
| CN109859611B (en) | 2021-10-29 |
| CN113838359B (en) | 2023-06-13 |
| CN113838360A (en) | 2021-12-24 |
| CN113838360B (en) | 2023-06-13 |
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