CN112414430A

CN112414430A - Electronic navigation map quality detection method and device

Info

Publication number: CN112414430A
Application number: CN201910778638.0A
Authority: CN
Inventors: 侯政华; 杜志颖; 韩永根
Original assignee: Beijing Chusudu Technology Co ltd
Current assignee: Beijing Chusudu Technology Co ltd
Priority date: 2019-08-22
Filing date: 2019-08-22
Publication date: 2021-02-26
Anticipated expiration: 2039-08-22
Also published as: CN116295513A; CN112414430B

Abstract

The embodiment of the invention discloses a method and a device for detecting the quality of an electronic navigation map, wherein the method comprises the following steps: obtaining an electronic navigation map to be detected; the method comprises the steps that a plurality of pose information and corresponding positioning moments of a vehicle in a driving process of a scene corresponding to an electronic navigation map are obtained; acquiring perception data determined by a vehicle in a driving process, wherein a corresponding relation exists between an acquisition time corresponding to each road image and a positioning time corresponding to each pose information; for each pose information, determining map semantic data corresponding to the pose information from the electronic navigation map; and for each pose information, determining a quality detection result of the electronic navigation map based on the map position information of the map semantic data corresponding to the pose information in the electronic navigation map and/or the observation position information of the perception data corresponding to the pose information in the corresponding road image, so as to realize the detection of the quality problem of the electronic navigation map.

Description

Electronic navigation map quality detection method and device

Technical Field

The invention relates to the technical field of intelligent transportation, in particular to a method and a device for detecting the quality of an electronic navigation map.

Background

In the field of unmanned driving, the decision-making and planning technology for the driving route of a vehicle often depends on an electronic navigation map used by the vehicle. In particular, in the case of positioning an unmanned vehicle, the accuracy of the position of the electronic navigation map determines the accuracy of the positioning result of the unmanned vehicle to some extent.

In the related art, in the process of creating an electronic navigation map, quality problems often occur in the electronic navigation map, such as quality problems that a lane line in the electronic navigation map is bent and broken, the elevation of the lane line is shaken, and a light pole is inclined. The quality problem affects the accuracy of the positioning result of the vehicle in the driving process to a certain extent.

Then, the detection of the quality problem of the electronic navigation map is a key problem for obtaining the high-quality electronic navigation map.

Disclosure of Invention

The invention provides a method and a device for detecting the quality of an electronic navigation map, which are used for detecting the quality problem of the electronic navigation map. The specific technical scheme is as follows:

in a first aspect, an embodiment of the present invention provides a method for detecting quality of an electronic navigation map, including:

obtaining an electronic navigation map to be detected;

obtaining track information of a vehicle in a driving process of a scene corresponding to the electronic navigation map, wherein the track information comprises a plurality of pose information and a positioning moment corresponding to each pose information;

obtaining perception data determined by the vehicle in the driving process, wherein each perception data is as follows: acquiring data detected from road images acquired by image acquisition equipment of the vehicle, wherein the acquisition time corresponding to each road image is in a corresponding relation with the positioning time corresponding to each pose information;

for each pose information, determining map semantic data corresponding to the pose information from the electronic navigation map;

and for each pose information, determining the quality detection result of the electronic navigation map based on the map position information of the map semantic data corresponding to the pose information in the electronic navigation map and/or the observation position information of the perception data corresponding to the pose information in the corresponding road image.

Optionally, the quality detection result includes a detection result of a position deviation condition of each geographic semantic data;

the step of determining the quality detection result of the electronic navigation map based on the map position information of the map semantic data corresponding to the pose information in the electronic navigation map and/or the observation position information of the perception data corresponding to the pose information in the corresponding road image for each pose information includes:

for each pose information, determining the projection position information of the map semantic data in the road image corresponding to the pose information based on the map position information of the map semantic data corresponding to the pose information in the electronic navigation map and the pose information;

determining a position deviation value between the map semantic data and the corresponding perception data based on the projection position information of the map semantic data in the road image corresponding to the pose information and the observation position information of the perception data corresponding to the map semantic data in the road image;

judging whether the position deviation value exceeds a preset distance threshold value or not;

and if the judgment result is that the position deviation value exceeds the preset distance threshold value, determining that the map semantic data in the electronic navigation map has a position deviation condition.

Optionally, the perception data includes a perception lane line, and the map semantic data includes a map lane line; the quality detection result comprises a detection result of position deviation of a map lane line in an elevation direction;

for each pose information, determining mapping position information of a map lane line in a vehicle body coordinate system corresponding to the pose information based on the map position information of the map lane line in the map semantic data corresponding to the pose information on the electronic navigation map and the pose information;

for each pose information, determining mapping position information of a perception lane line in a vehicle body coordinate system corresponding to the pose information based on observation position information of the perception lane line in a corresponding road image in the perception data corresponding to the pose information, the pose information and a projection matrix corresponding to the image acquisition equipment;

for each map lane line corresponding to each pose information, determining whether the map lane line has position deviation conditions in the transverse axis direction and the longitudinal axis direction of the vehicle body coordinate system based on mapping position information of the map lane line in the vehicle body coordinate system corresponding to the pose information and mapping position information of a perception lane line corresponding to the map lane line in the vehicle body coordinate system corresponding to the pose information;

if the situation that the map lane line has no position deviation in the direction of the transverse axis and the direction of the longitudinal axis of the vehicle body coordinate system is determined, for each pose information, determining the projection position information of the map lane line in the road image corresponding to the pose information based on the map position information of the map lane line in the map semantic data corresponding to the pose information in the electronic navigation map and the pose information;

and aiming at each map lane line corresponding to each pose information, determining whether the map lane line has a position deviation condition in the elevation direction or not based on the projection position information of the map lane line in the road image corresponding to the pose information and the observation position information of the perception lane line in the road image in the perception data corresponding to the map lane line.

Optionally, the perception data includes a perception lane line, and the map semantic data includes a map lane line; the quality detection result comprises a detection result of the curve condition and/or the breaking condition of the map lane line;

if the quality detection result includes a detection result of a curve condition of a map lane line, the step of determining the quality detection result of the electronic navigation map based on the map position information of the map semantic data corresponding to the pose information in the electronic navigation map and/or the observation position information of the perception data corresponding to the pose information in the corresponding road image for each pose information includes:

for each pose information, determining mapping position information of a map lane line in a vehicle coordinate system corresponding to the pose information based on the map position information of the map lane line in the map semantic data corresponding to the pose information and the pose information, wherein each mapping position information comprises: mapping position information of a plurality of discrete points corresponding to the corresponding map lane lines;

for each map lane line corresponding to each pose information, fitting to obtain a lane line fitting line corresponding to the map lane line based on the mapping position information of a plurality of discrete points corresponding to the map lane line and a preset fitting algorithm;

for each map lane line corresponding to each pose information, determining a distance variance corresponding to the map lane line based on a lane line fit line corresponding to the map lane line and mapping position information of a plurality of discrete points corresponding to the map lane line;

if the distance variance exceeds a preset variance threshold, determining that the lane line of the map has a lane line bending condition;

and/or, if the quality detection result includes a detection result of a broken map lane line, the step of determining the quality detection result of the electronic navigation map based on the map position information of the map semantic data corresponding to the pose information in the electronic navigation map and/or the observation position information of the perception data corresponding to the pose information in the corresponding road image for each pose information includes:

for each pose information, determining conversion position information of a map lane line in a vehicle body coordinate system or a road image corresponding to the pose information based on the map position information of the map lane line in the map semantic data corresponding to the pose information on the electronic navigation map and the pose information, wherein each conversion position information comprises: converting position information of a plurality of discrete points corresponding to the corresponding map lane lines;

calculating the distance between every two adjacent discrete points according to the conversion position information of a plurality of discrete points corresponding to each map lane line corresponding to each pose information;

and if the difference value between the distance between two adjacent discrete points and the distance between two other adjacent discrete points in the plurality of discrete points corresponding to the map lane line exceeds a preset difference value, determining that the map lane line has a lane line fracture condition.

Optionally, the perception data includes a perception light pole, and the map semantic data includes a map light pole; the quality detection result comprises a detection result of the inclination condition of the map light pole;

for each pose information, determining the projection position information of a map light pole in a road image corresponding to the pose information based on the map position information of the map light pole in the electronic navigation map corresponding to the pose information and the pose information;

and determining whether the map light pole is inclined or not according to the projection position information of the map light pole in the road image corresponding to the pose information and the observation position information of the perception light pole in the road image corresponding to the perception data corresponding to the map light pole aiming at each map light pole corresponding to each pose information.

Optionally, the perception data includes a perception traffic signboard, and the map semantic data includes a map traffic signboard; the quality detection result comprises a detection result of the turning condition of the map traffic sign board;

for each pose information, determining mapping position information of the map traffic signboards in a vehicle body coordinate system corresponding to the pose information based on the map position information of the map traffic signboards in the map semantic data corresponding to the pose information on the electronic navigation map and the pose information;

for each pose information, determining mapping position information of a perception traffic sign in a vehicle body coordinate system corresponding to the pose information based on observation position information of the perception traffic sign in a corresponding road image in perception data corresponding to the pose information, the pose information and a projection matrix corresponding to the image acquisition equipment;

and determining whether the map traffic signboard corresponding to each pose information is turned over or not based on the mapping position information of the map traffic signboard in the vehicle coordinate system corresponding to the pose information and the mapping position information of the perception traffic signboard corresponding to the map traffic signboard in the vehicle coordinate system corresponding to the pose information.

Optionally, the step of determining whether the map traffic signboard has an overturn condition based on the mapping position information of the map traffic signboard in the vehicle coordinate system corresponding to the pose information and the mapping position information of the perception traffic signboard corresponding to the map traffic signboard in the vehicle coordinate system corresponding to the pose information includes:

fitting to obtain a first fitting surface corresponding to the map traffic sign board based on mapping position information of the map traffic sign board in a vehicle body coordinate system corresponding to the pose information and a preset plane fitting algorithm;

fitting to obtain a second fitting surface corresponding to the perception traffic sign board corresponding to the map traffic sign board based on mapping position information of the perception traffic sign board corresponding to the map traffic sign board in the vehicle body coordinate system corresponding to the pose information and the preset plane fitting algorithm;

calculating an included angle between a normal vector corresponding to the first fitting surface and a normal vector corresponding to the second fitting surface;

and if the included angle exceeds a preset angle, determining that the map traffic sign board is turned over.

Optionally, after the step of determining, for each pose information, a quality detection result of the electronic navigation map based on the map position information of the map semantic data corresponding to the pose information in the electronic navigation map and/or the observed position information of the perception data corresponding to the pose information in the corresponding road image, the method further includes:

if the quality detection result of the electronic navigation map represents that the electronic navigation map has quality problems, storing an abnormal statistical document and abnormal image information corresponding to the electronic navigation map, wherein the abnormal statistical document at least comprises: the electronic navigation map comprises an identifier of map semantic data with quality problems, problem quality types of the map semantic data and map position information in the electronic navigation map, wherein the abnormal image information comprises: and image information corresponding to the map semantic data with quality problems.

In a second aspect, an embodiment of the present invention provides an apparatus for detecting quality of an electronic navigation map, including:

the first obtaining module is configured to obtain an electronic navigation map to be detected;

the second obtaining module is configured to obtain track information of a vehicle in a driving process of a scene corresponding to the electronic navigation map, wherein the track information comprises a plurality of pose information and a positioning moment corresponding to each pose information;

a third obtaining module configured to obtain perception data determined by the vehicle in the driving process, wherein each perception data is as follows: acquiring data detected from road images acquired by image acquisition equipment of the vehicle, wherein the acquisition time corresponding to each road image is in a corresponding relation with the positioning time corresponding to each pose information;

the first determination module is configured to determine map semantic data corresponding to the pose information from the electronic navigation map for each pose information;

and the second determining module is configured to determine, for each pose information, a quality detection result of the electronic navigation map based on map position information of map semantic data corresponding to the pose information in the electronic navigation map and/or observed position information of perception data corresponding to the pose information in a corresponding road image.

the second determining module is specifically configured to determine, for each pose information, based on the map position information of the map semantic data corresponding to the pose information in the electronic navigation map and the pose information, the projection position information of the map semantic data in the road image corresponding to the pose information;

the second determining module is specifically configured to determine, for each pose information, mapping position information of a map lane line in a vehicle coordinate system corresponding to the pose information based on the map position information of the map lane line in the map semantic data corresponding to the pose information on the electronic navigation map and the pose information;

if the quality detection result includes a detection result of a curve condition of a map lane line, the second determining module is specifically configured to determine, for each pose information, mapping position information of the map lane line in a vehicle body coordinate system corresponding to the pose information based on map position information of the map lane line in the map semantic data corresponding to the pose information on the electronic navigation map and the pose information, where each mapping position information includes: mapping position information of a plurality of discrete points corresponding to the corresponding map lane lines;

and/or, if the quality detection result includes a detection result of a map lane line fracture condition, the second determining module is specifically configured to determine, for each pose information, based on the map position information of the map lane line in the map semantic data corresponding to the pose information on the electronic navigation map and the pose information, conversion position information of the map lane line in a vehicle body coordinate system or a road image corresponding to the pose information, where each conversion position information includes: converting position information of a plurality of discrete points corresponding to the corresponding map lane lines;

the second determining module is specifically configured to determine, for each pose information, based on the map position information of the map light pole in the map semantic data corresponding to the pose information in the electronic navigation map and the pose information, the projection position information of the map light pole in the road image corresponding to the pose information;

the second determining module is specifically configured to determine, for each pose information, mapping position information of the map traffic signboard in a vehicle coordinate system corresponding to the pose information based on the map position information of the map traffic signboard in the map semantic data corresponding to the pose information on the electronic navigation map and the pose information;

Optionally, the second determining module is specifically configured to fit to obtain a first fitting surface corresponding to the map traffic signboard based on mapping position information of the map traffic signboard in the vehicle coordinate system corresponding to the pose information and a preset plane fitting algorithm;

Optionally, the apparatus further comprises:

a storage module, configured to, after determining a quality detection result of the electronic navigation map based on map location information of map semantic data corresponding to each pose information in the electronic navigation map and/or observed location information of perception data corresponding to the pose information in a corresponding road image for each pose information, if the quality detection result of the electronic navigation map indicates that the electronic navigation map has a quality problem, store an anomaly statistical document and anomaly image information corresponding to the electronic navigation map, where the anomaly statistical document at least includes: the electronic navigation map comprises an identifier of map semantic data with quality problems, problem quality types of the map semantic data and map position information in the electronic navigation map, wherein the abnormal image information comprises: and image information corresponding to the map semantic data with quality problems.

As can be seen from the above, the method and the device for detecting the quality of the electronic navigation map provided by the embodiment of the invention can obtain the electronic navigation map to be detected; obtaining track information of a vehicle in a driving process of a scene corresponding to an electronic navigation map, wherein the track information comprises a plurality of pose information and a positioning moment corresponding to each pose information; obtaining perception data determined by a vehicle in a driving process, wherein each perception data is as follows: the method comprises the steps that data are identified from road images collected by image collection equipment of a vehicle, and corresponding relation exists between collection time corresponding to each road image and positioning time corresponding to each pose information; for each pose information, determining map semantic data corresponding to the pose information from the electronic navigation map; and for each pose information, determining the quality detection result of the electronic navigation map based on the map position information of the map semantic data corresponding to the pose information in the electronic navigation map and/or the observation position information of the perception data corresponding to the pose information in the corresponding road image.

By applying the embodiment of the invention, the map semantic data and the perception data in the electronic navigation map which correspond to each other can be determined based on the positioning time corresponding to the pose information in the track information of the vehicle in the driving process of the scene corresponding to the electronic navigation map, and further, the quality detection result of the electronic navigation map is determined based on the map position information of the map semantic data corresponding to the pose information in the electronic navigation map and/or the observation position information of the perception data corresponding to the pose information in the corresponding road image, so that the quality problem of the electronic navigation map can be detected. Of course, not all of the advantages described above need to be achieved at the same time in the practice of any one product or method of the invention.

The innovation points of the embodiment of the invention comprise:

1. map semantic data and sensing data in the electronic navigation map which correspond to each other can be determined based on positioning time corresponding to pose information in track information of a vehicle in a scene driving process corresponding to the electronic navigation map, and furthermore, each pose information determines a quality detection result of the electronic navigation map based on map position information of the map semantic data corresponding to the pose information in the electronic navigation map and/or observation position information of the sensing data corresponding to the pose information in a corresponding road image, so that the quality problem of the electronic navigation map can be detected.

2. Based on the projection position information of the semantic data of each region in the electronic navigation map in the corresponding image and the observation position information of the corresponding perception data in the road image, whether the position of the semantic data of each region in the electronic navigation map has deviation or not can be determined.

3. And if the perception data contains a perception lane line, mapping the map lane line from the electronic navigation map to a vehicle body coordinate system of the vehicle, mapping the perception lane line corresponding to the map lane line from the road image to the vehicle body coordinate system of the vehicle, and further determining whether the map lane line has position deviation or not from different angles based on mapping position information of the map lane line in the vehicle body coordinate system and mapping position information of the perception lane line corresponding to the map lane line in the vehicle body coordinate system, so as to realize detailed detection of the position deviation condition of the map lane line.

4. If a perception lane line exists in perception data, mapping a map lane line from an electronic navigation map to a vehicle body coordinate system of a vehicle, fitting to obtain a lane line fitting line corresponding to the map lane line based on mapping position information of a plurality of discrete points corresponding to the map lane line, determining a distance variance corresponding to the map lane line based on the mapping position information of the plurality of discrete points corresponding to the map lane line and the lane line fitting line, determining whether the map lane line has a lane line bending condition or not based on the distance variance, and/or calculating a distance between every two adjacent discrete points based on conversion position information of the plurality of discrete points corresponding to the map lane line in the vehicle body coordinate system or in a road image, determining whether the map lane line has a lane line breaking condition or not based on the distance between every two adjacent discrete points, and realizing the lane line bending condition and/or the lane line breaking condition of the map lane line in the electronic navigation map And (6) detecting.

5. And if the perception data comprises a perception light pole, projecting the map light pole to an image corresponding to the perception light pole corresponding to the map light pole, and detecting the inclination condition of the map light pole in the electronic navigation map based on the projection position information of the map light pole in the road image and the observation position information of the perception light pole corresponding to the map light pole in the road image.

6. And if the perception data comprises perception traffic signboards, mapping the map traffic signboards in the map semantic data to a vehicle body coordinate system of the vehicle, mapping the perception traffic signboards corresponding to the map traffic signboards to the vehicle body coordinate system, and further realizing the detection of the turning condition of the map traffic signboards in the electronic navigation map based on the mapping position information of the map traffic signboards in the vehicle body coordinate system and the mapping position information of the perception traffic signboards corresponding to the map traffic signboards in the vehicle body coordinate system.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below. It is to be understood that the drawings in the following description are merely exemplary of some embodiments of the invention. For a person skilled in the art, without inventive effort, further figures can be obtained from these figures.

Fig. 1 is a schematic flow chart of a method for detecting quality of an electronic navigation map according to an embodiment of the present invention;

FIG. 2 is a schematic flow chart illustrating a method for detecting quality of an electronic navigation map according to an embodiment of the present invention;

fig. 3 is a schematic structural diagram of an apparatus for detecting quality of an electronic navigation map according to an embodiment of the present invention.

Detailed Description

The technical solution in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. It is to be understood that the described embodiments are merely a few embodiments of the invention, and not all embodiments. All other embodiments, which can be obtained by a person skilled in the art without inventive effort based on the embodiments of the present invention, are within the scope of the present invention.

It is to be noted that the terms "comprises" and "comprising" and any variations thereof in the embodiments and drawings of the present invention are intended to cover non-exclusive inclusions. For example, a process, method, system, article, or apparatus that comprises a list of steps or elements is not limited to only those steps or elements listed, but may alternatively include other steps or elements not listed, or inherent to such process, method, article, or apparatus.

The invention provides a method and a device for detecting the quality of an electronic navigation map, which are used for detecting the quality problem of the electronic navigation map. The following provides a detailed description of embodiments of the invention.

Fig. 1 is a schematic flow chart of a method for detecting quality of an electronic navigation map according to an embodiment of the present invention. The method may comprise the steps of:

s101: and obtaining the electronic navigation map to be detected.

In the embodiment of the present invention, the method may be applied to any type of electronic device with computing capability, and the electronic device may be a server or a terminal device. The electronic device may be provided in a vehicle, or may be provided in a non-vehicle device without being provided in the vehicle.

In this step, the electronic device may obtain an electronic navigation map to be detected, where the electronic navigation map may be any type of electronic map, the electronic navigation map includes map semantic data, and the map semantic data may include: representing semantic information of a lane line, a light pole, a traffic signboard and the like in a scene corresponding to the electronic navigation map, wherein the semantic information can be as follows: and the information representing the shapes, the sizes and the types of the corresponding lane lines, the light poles and the traffic signboard and the position in the scene corresponding to the electronic navigation map.

In the embodiment of the invention, semantic information which is included in map semantic data and represents a lane line included in a scene corresponding to the electronic navigation map can be called a map lane line, semantic information which represents a light pole included in the scene corresponding to the electronic navigation map can be called a map light pole, and semantic information which represents a traffic signboard included in the scene corresponding to the electronic navigation map can be called a map traffic signboard. The electronic navigation map also comprises a map identifier corresponding to each map semantic data, the map identifier can be identified by a serial number or letters, uniqueness is realized in the electronic navigation map, and workers can accurately position each map semantic data in the electronic navigation map.

S102: and obtaining the track information of the vehicle in the driving process of the scene corresponding to the electronic navigation map.

The track information comprises a plurality of pose information and positioning time corresponding to each pose information.

In the embodiment of the invention, the quality detection process of the electronic navigation map provided by the embodiment of the invention can be executed after the vehicle correspondingly drives in the scene corresponding to the electronic navigation map. The track information obtained by the electronic device may be: and the vehicle generates track information in the whole or partial driving process of corresponding driving of the scene corresponding to the electronic navigation map. The track information includes: and acquiring the pose information of the vehicle at each moment in the whole or partial driving process of the vehicle in the scene corresponding to the electronic navigation map.

The electronic navigation map quality detection process provided by the embodiment of the present invention may also be executed during the driving process of the vehicle in the scene corresponding to the electronic navigation map, at this time, the track information may be track information generated at a time before the current time during the driving process of the vehicle in the scene corresponding to the electronic navigation map, that is, the track information includes: and the vehicle position and posture information is generated at the moment before the current moment in the driving process of the scene corresponding to the electronic navigation map.

In an implementation manner, the pose information may be pose information obtained by measurement by a pose determination device such as an inertial navigation system, a global positioning system, and/or a high-precision inertial navigation device that is provided in the vehicle, an obtaining manner of the pose information included in the trajectory information of the vehicle in the driving process of the scene corresponding to the electronic navigation map is not limited in the embodiment of the present invention, and any obtaining manner that can obtain the pose information included in the trajectory information of the vehicle in the driving process of the scene corresponding to the electronic navigation map in the related art may be applied to the embodiment of the present invention. The high-precision inertial navigation equipment comprises high-precision inertial navigation equipment, such as a fiber-optic gyroscope, an acceleration sensor and the like.

S103: and obtaining the perception data determined by the vehicle in the driving process.

Wherein, each perception data is as follows: according to data detected from road images acquired by image acquisition equipment of a vehicle, acquisition time corresponding to each road image and positioning time corresponding to each pose information have a corresponding relation.

In this step, in the driving process of the vehicle in the scene corresponding to the electronic navigation map, the image acquisition device provided in the vehicle may capture an environment in the driving process of the vehicle, acquire road images, and further detect perception data in each road image through a target detection model based on deep learning, where the perception data may include information representing the shape, type, size, and the like of a target included in the road image, and the target may include a lane line, a light pole, a traffic sign, and the like. The target detection model may be a model obtained by training based on a sample image labeled with a target, where the process of training the model may refer to a model training process in the related art, and is not described herein again.

In the embodiment of the invention, the electronic equipment can directly obtain the perception data identified by other equipment from the road image; or the electronic device may directly obtain the road images acquired by the image acquisition device of the vehicle during the driving process of the vehicle in the scene corresponding to the electronic navigation map, and further detect the perception data in each road image based on the deep learning target detection model, which is all right.

In the embodiment of the invention, the information of the lane line in the representation image included in the perception data detected from the road image can be called as the perception lane line, and the information of the light pole in the representation image included in the perception data detected from the road image is called as the perception light pole; the information characterizing the traffic sign in the image, which is included in the sensed data detected from the road image, is referred to as a sensed traffic sign.

S104: and determining map semantic data corresponding to the pose information from the electronic navigation map aiming at each pose information.

It can be understood that each pose information of the vehicle in the driving process of the scene corresponding to the electronic navigation map can represent the position and the posture of the vehicle in the scene corresponding to the electronic navigation map, and correspondingly, each pose information corresponds to a position and a posture in the electronic navigation map. The electronic equipment can determine a map area of the electronic navigation map corresponding to the pose information from the electronic navigation map through each pose information, and further determine map semantic data corresponding to the pose information based on the map area corresponding to the pose information for each pose information.

S105: and for each pose information, determining the quality detection result of the electronic navigation map based on the map position information of the map semantic data corresponding to the pose information in the electronic navigation map and/or the observation position information of the perception data corresponding to the pose information in the corresponding road image.

In this step, for each pose information, corresponding perception data and corresponding map semantic data in the electronic navigation map can be determined, wherein a corresponding relationship exists between the perception data and the map semantic data. Determining a detection result of map semantic data in the electronic navigation map based on the observation position information of the perception data with corresponding relation in the road image corresponding to the pose information and/or the map position information of the map semantic data in the electronic navigation map, and determining a quality detection result of the electronic navigation map based on the detection result of the map semantic data in the electronic navigation map. For clarity of layout, the process of determining the quality detection result of the electronic navigation map will be described in detail later.

In the embodiment of the invention, after the quality detection result of the electronic navigation map is determined, the quality detection result can be stored so as to be convenient for subsequent workers to check the quality detection result of the electronic navigation map, and the electronic navigation map is corrected based on the quality detection result.

By applying the embodiment of the invention, the map semantic data and the perception data in the electronic navigation map which correspond to each other can be determined based on the positioning time corresponding to the pose information in the track information of the vehicle in the driving process of the scene corresponding to the electronic navigation map, and further, the quality detection result of the electronic navigation map is determined based on the map position information of the map semantic data corresponding to the pose information in the electronic navigation map and/or the observation position information of the perception data corresponding to the pose information in the corresponding road image, so that the quality problem of the electronic navigation map can be detected.

In another embodiment of the present invention, the quality detection result includes a detection result of a position deviation condition of each geographic semantic data; as shown in fig. 2, the S105 may include:

s201: and for each pose information, determining the projection position information of the map semantic data in the road image corresponding to the pose information based on the map position information of the map semantic data corresponding to the pose information in the electronic navigation map and the pose information.

S202: and determining a position deviation value between the map semantic data and the corresponding perception data based on the projection position information of the map semantic data in the road image corresponding to the pose information and the observation position information of the perception data corresponding to the map semantic data in the road image.

S203: and judging whether the position deviation value exceeds a preset distance threshold value.

S204: and if the judgment result is that the position deviation value exceeds a preset distance threshold value, determining that the map semantic data in the electronic navigation map has the position deviation condition.

In the embodiment of the invention, whether the position information of the semantic data of each region in the electronic navigation map is accurate can be detected, and the quality detection result of the electronic navigation map is determined based on the detection result whether the position information of the semantic data of each region is accurate.

The electronic equipment can determine whether the map position information of the map semantic data corresponding to the pose information in the electronic navigation map is accurate or not according to each pose information, wherein for convenience of description, the map position information of the map semantic data in the electronic navigation map can be called as the map position information, and the position information of the perception data in the corresponding road image is called as the perception position information.

In one implementation, for each pose information, the electronic device may determine a pose change between the pose information and a previous pose information of the pose information according to the pose information and the previous pose information of the pose information; acquiring position information of sensing data corresponding to the pose information in a road image corresponding to pose information before the pose information; and determining depth information of the obtained sensing data by utilizing a triangulation algorithm based on the pose change between the pose information and the previous pose information of the pose information and the position information of the sensing data corresponding to the pose information in the road image corresponding to the previous pose information of the pose information, so as to obtain the depth information of the map semantic data corresponding to the sensing data. The depth information represents distance information between the perception data and the image acquisition device of the vehicle, and may also be considered as distance information between the perception data and the vehicle, that is, the depth information represents distance information between the map semantic data corresponding to the perception data and the image acquisition device of the vehicle, and may also be considered as distance information between the map semantic data corresponding to the perception data and the vehicle. And the electronic equipment calculates the projection position information of the map semantic data in the road image corresponding to the pose information based on the pose information, the map position information of the map semantic data corresponding to the pose information in the electronic navigation map and the depth information of the map semantic data.

Alternatively, it may be: the vehicle is provided with a laser sensor, the laser sensor can acquire depth information of map semantic data corresponding to perception data, the electronic equipment acquires the depth information of the map semantic data corresponding to the perception data acquired by the laser sensor, and projection position information of the map semantic data in a road image corresponding to the pose information is calculated based on the pose information, the map position information of the map semantic data corresponding to the pose information in an electronic navigation map and the depth information of the map semantic data.

The process of calculating the projection position information of the map semantic data in the road image corresponding to the pose information based on the pose information, the map position information of the map semantic data corresponding to the pose information in the electronic navigation map, and the depth information of the map semantic data may be: based on a first conversion relation between a map coordinate system corresponding to the electronic navigation map and an equipment coordinate system of the image acquisition equipment corresponding to the road image corresponding to the pose information, converting map semantic data corresponding to the pose information from the map coordinate system to the equipment coordinate system, namely based on the first conversion relation and the map position information of the map semantic data corresponding to the pose information in the electronic navigation map, determining the position information of the map semantic data corresponding to the pose information in the equipment coordinate system; and determining to obtain the projection position information of the map semantic data corresponding to the pose information in the road image corresponding to the pose information based on the position information of the map semantic data corresponding to the pose information in the equipment coordinate system, the depth information of the map semantic data and a second conversion relation between the image coordinate system corresponding to the road image corresponding to the pose information and the equipment coordinate system.

The second conversion relationship between the image coordinate system corresponding to the road image and the equipment coordinate system is as follows: the image acquisition equipment determines the conversion relation calibrated by the image acquisition equipment in advance, and the second conversion relation is determined. The first conversion relationship may be determined by the pose information based on a first conversion relationship between a map coordinate system corresponding to the electronic navigation map and an apparatus coordinate system of the image capturing apparatus corresponding to the road image corresponding to the pose information.

In one case, the above-mentioned pose information is determined by the pose determination device of the vehicle, and the pose information thereof is pose information of the pose determination device describing the vehicle, that is, in the embodiment of the present invention, the pose information of the pose determination device of the vehicle is taken as the pose information describing the vehicle. In order to improve the accuracy of the quality detection result of the electronic navigation map to a certain extent, before S201, the pose information of the image capturing device may be determined based on the transformation relationship between the coordinate system of the pose determining device and the device coordinate system of the image capturing device and the pose information of the pose determining device, and further, for the pose information of each image capturing device, the projection position information of the map semantic data in the road image corresponding to the pose information of the image capturing device is determined based on the map position information of the map semantic data corresponding to the pose information of the image capturing device in the electronic navigation map and the pose information of the image capturing device; and performing the subsequent steps.

When the image acquisition device is arranged in the vehicle, the relative position relationship between the image acquisition device and the vehicle and the relative position relationship between the image acquisition device and the pose determination device arranged in the vehicle can be fixed, and the relative position relationship between the image acquisition device and the vehicle and the relative position relationship between the image acquisition device and the pose determination device arranged in the vehicle can be calibrated through a position relationship calibration mode in the related technology.

In one case, the map semantic data corresponding to each pose information may include at least one map semantic data, for example, may include at least one map lane line, at least one map light pole, and/or at least one map traffic sign, etc.; the perception data corresponding to the pose information may include a plurality of at least one perception data, for example, may include at least one perception lane line, at least one perception light pole, and/or at least one perception traffic sign, and the like. And aiming at each pose information, the semantic data of each map and the perception data have a one-to-one corresponding relation. Correspondingly, the electronic device may calculate, for each map semantic data corresponding to each pose information, a corresponding distance between the map semantic data and its corresponding perception data based on the projection position information of the map semantic data in the road image corresponding to the pose information and the observation position information of the perception data corresponding to the map semantic data in the road image, where the distance is a position deviation value between the map semantic data and its corresponding perception data.

And then, aiming at each map semantic data corresponding to each pose information, comparing a position deviation value between the map semantic data and a corresponding perception target with a preset distance threshold, judging whether the position deviation value between the map semantic data and the corresponding perception data exceeds the preset distance threshold, if so, determining the projection position information of the map semantic data in a road image corresponding to the pose information, and determining that the distance between the projection position information and the observation position information of the corresponding perception data in the road image is overlarge, and further determining that the position deviation condition exists at the position of the map semantic data in the electronic navigation map.

In one case, when it is determined that a position deviation condition exists in the position of at least one map semantic data in the electronic navigation map for each map semantic data corresponding to each pose information, it can be further determined that the electronic navigation map has a quality problem. The quality detection result corresponding to the electronic navigation map comprises information representing the situation of position deviation of the map semantic data, wherein it can be understood that in order to ensure that a worker can quickly locate which map lane lines in the electronic navigation map have problems, the map identifier corresponding to the map semantic data with the situation of position deviation and the map position information of the map semantic data in the electronic navigation map can be correspondingly recorded.

In another implementation manner of the present invention, if the determination result indicates that the position deviation values corresponding to all the map semantic data in the electronic navigation map do not exceed the preset distance threshold, it may be determined that the map semantic data in the electronic navigation map does not have a position deviation condition.

In another embodiment of the invention, the perception data comprises a perception lane line, and the map semantic data comprises a map lane line; the quality detection result comprises a detection result of the position deviation of the map lane line in the elevation direction; the S105 may include: for each pose information, determining mapping position information of a map lane line in a vehicle body coordinate system corresponding to the pose information based on the map position information of the map lane line in the electronic navigation map corresponding to the pose information and the pose information;

for each pose information, determining mapping position information of a perception lane line in a vehicle body coordinate system corresponding to the pose information based on observation position information of the perception lane line in a corresponding road image in perception data corresponding to the pose information, the pose information and a projection matrix corresponding to image acquisition equipment; wherein the projection matrix is the second transformation relation;

for each map lane line corresponding to each pose information, determining whether the map lane line has position deviation conditions in the transverse axis direction and the longitudinal axis direction of the vehicle body coordinate system based on the mapping position information of the map lane line in the vehicle body coordinate system corresponding to the pose information and the mapping position information of the sensing lane line corresponding to the map lane line in the vehicle body coordinate system corresponding to the pose information;

if the situation that the map lane line has no position deviation in the direction of the transverse axis and the direction of the longitudinal axis of the vehicle body coordinate system is determined, for each pose information, determining the projection position information of the map lane line in the road image corresponding to the pose information based on the map position information of the map lane line in the map semantic data corresponding to the pose information on the electronic navigation map and the pose information;

and determining whether the map lane line has the position deviation condition in the elevation direction or not according to the projection position information of the map lane line in the road image corresponding to the pose information and the observation position information of the perception lane line in the road image in the perception data corresponding to the map lane line aiming at each map lane line corresponding to each pose information.

Wherein, the automobile body coordinate system: also called a wheel speed coordinate system, which can take the midpoint of the connecting line of the centers of two rear wheels of the vehicle as the center, namely the origin; observing in the direction from the tail of the vehicle to the head of the vehicle, wherein the direction from left to right is the direction of a transverse shaft of a vehicle body coordinate system; the direction of the longitudinal axis of the vehicle body coordinate system is from back to front; the vertical axis direction of the vehicle body coordinate system is from bottom to top. The elevation direction may be referred to as a vertical axis direction of the body coordinate system, the horizontal axis direction of the body coordinate system may be referred to as a left-right direction of the vehicle, and the vertical axis direction of the body coordinate system may be referred to as a front-rear direction of the vehicle.

In the implementation mode, the perception data comprises perception lane lines, and under the condition that the map semantic data comprises the map lane lines, whether the map lane lines in the electronic navigation map have position deviation or not can be determined in a more detailed mode, and the position deviation in which direction the map lane lines in the electronic navigation map have the position deviation can be determined, so that a quality detection result with a more detailed result can be obtained, and the subsequent correction of the electronic navigation map by workers is facilitated.

The electronic equipment determines a vehicle body coordinate system corresponding to each pose information based on the pose information; further, determining a conversion relation between the vehicle body coordinate system corresponding to the pose information and the electronic navigation map as a third conversion relation; and determining the mapping position information of the map lane line in the map semantic data corresponding to the pose information in the vehicle body coordinate system corresponding to the pose information based on the third conversion relation and the map position information of the map lane line in the map semantic data corresponding to the pose information in the electronic navigation map.

Determining the pose change between the pose information and the previous pose information of the pose information according to the pose information and the previous pose information of the pose information aiming at each pose information; obtaining position information of a perception lane line corresponding to the pose information in a road image corresponding to pose information one position before the pose information; and determining to obtain depth information of the perception lane line by utilizing a triangularization algorithm based on the pose change between the pose information and the previous pose information of the pose information and the position information of the perception lane line corresponding to the pose information in the road image corresponding to the previous pose information of the pose information. Alternatively, it may be: the vehicle is provided with a laser sensor, the depth information of the perception lane line can be acquired through the laser sensor, and the electronic equipment acquires the depth information of the perception lane line acquired by the laser sensor.

The depth information represents distance information between the perception lane line and the image acquisition equipment of the vehicle, and can also be regarded as distance information between the perception lane line and the vehicle.

And the electronic equipment calculates the equipment position information of the equipment coordinate system corresponding to the road image corresponding to the position and posture information of the sensing lane line based on the position and posture information, the observation position information of the sensing lane line corresponding to the position and posture information in the corresponding road image and the depth information of the sensing data. And determining mapping position information of the sensing lane line in the vehicle body coordinate system corresponding to the pose information based on the conversion relation between the device coordinate system corresponding to the road image corresponding to the pose information and the vehicle body coordinate system and the device position information of the sensing lane line in the device coordinate system corresponding to the road image corresponding to the pose information.

In one implementation, each map lane line in each map semantic data in the electronic navigation map may include a series of discrete points, and the mapping position information of each map lane line in the vehicle body coordinate system corresponding to the pose information includes: and mapping position information of a plurality of discrete points corresponding to the map lane line.

Correspondingly, the electronic device may calculate, for each discrete point included in each map lane line corresponding to each pose information, an error sub-vector between the discrete point and a sensing lane line corresponding to the map lane line based on the mapping position information of the discrete point and the mapping position information of the sensing lane line corresponding to the map lane line in the vehicle body coordinate system corresponding to the pose information, where a modulo size of the error sub-vector between the discrete point and the sensing lane line corresponding to the map lane line is: equal to the distance between the discrete point and the perception lane line corresponding to the map lane line, and the direction of the error sub-vector between the discrete point and the perception lane line corresponding to the map lane line points to the discrete point.

Subsequently, the electronic device determines, based on an error sub-vector between each discrete point included by each pose information corresponding to each map lane line and a perception lane line corresponding to the map lane line, an error vector between each pose information corresponding to each map lane line and the perception lane line corresponding to the map lane line, as an error vector corresponding to each map lane line.

Wherein, each pose information corresponds to the magnitude of the module of the error vector between each map lane line and the perception lane line corresponding to the map lane line: equal to the average value of the moduli of the error sub-vectors between each discrete point included in the map lane line and the perception lane line corresponding to the map lane line, and the direction of the error vector between each map lane line and the perception lane line corresponding to the map lane line corresponding to each pose information is as follows: any one of error sub-vectors between each discrete point included in the map lane line and the perception lane line corresponding to the map lane line specifies a direction of the error sub-vector. Wherein, the specified error sub-vector can be an error sub-vector corresponding to a discrete point located at an intermediate position included in the map lane line.

The electronic equipment determines an error vector component of an error vector corresponding to each map lane line corresponding to each pose information in the direction of the transverse axis of a vehicle coordinate system corresponding to the pose information and an error vector component in the direction of the longitudinal axis of the vehicle coordinate system corresponding to the pose information based on the error vector corresponding to the map lane line; and respectively calculating a module of an error vector component of an error vector corresponding to the map lane line in the direction of the transverse axis of the vehicle body coordinate system corresponding to the pose information and a module of an error vector component in the direction of the longitudinal axis of the vehicle body coordinate system corresponding to the pose information.

Judging whether the modulus of the error vector component of the error vector corresponding to the map lane line in the cross axis direction of the vehicle body coordinate system corresponding to the pose information exceeds a first numerical value, if the modulus of the error vector component of the error vector corresponding to the map lane line in the cross axis direction of the vehicle body coordinate system corresponding to the pose information does not exceed first data, determining that the map lane line does not have a position deviation condition in the cross axis direction of the vehicle body coordinate system, otherwise, if the modulus of the error vector component of the error vector corresponding to the map lane line in the cross axis direction of the vehicle body coordinate system corresponding to the pose information exceeds the first data, determining that the map lane line has a position deviation condition in the cross axis direction of the vehicle body coordinate system.

And if the module of the error vector component of the error vector corresponding to the map lane line in the longitudinal axis direction of the vehicle body coordinate system corresponding to the pose information does not exceed the second data, determining that the map lane line does not have a position deviation condition in the longitudinal axis direction of the vehicle body coordinate system, otherwise, determining that the map lane line has a position deviation condition in the longitudinal axis direction of the vehicle body coordinate system corresponding to the pose information if the module of the error vector component of the error vector corresponding to the map lane line in the longitudinal axis direction of the vehicle body coordinate system corresponding to the pose information exceeds the first data.

The first numerical value and the second numerical value may be set according to actual conditions, and the first numerical value and the second numerical value may be equal to or different from each other.

The electronic equipment can continuously project the map lane lines in the map semantic data corresponding to the pose information to the road image corresponding to the pose information aiming at each pose information when determining that the map lane lines do not have position deviation in the directions of the horizontal axis and the vertical axis of the vehicle body coordinate system, namely, the electronic equipment determines the projection position information of the map lane lines in the road image corresponding to the pose information based on the map position information of the map lane lines in the map semantic data corresponding to the pose information and the pose information, and further, aiming at each map lane line corresponding to each pose information, the electronic equipment determines the projection position information of the map lane lines in the road image corresponding to the pose information based on the projection position information of the map lane lines in the road image corresponding to the pose information and the observation position information of the perception lane lines in the road image in the perception data corresponding to the map lane lines, and determining whether the map lane line has a position deviation condition in the elevation direction.

In one implementation, after determining that the map lane line has a position deviation in the horizontal axis direction and/or the vertical axis direction of the body coordinate system, the electronic device may not perform the subsequent step of determining whether the map lane line has a position deviation in the vertical axis direction, i.e., the elevation direction, of the body coordinate system.

In one case, the mapping position information of the perception lane line corresponding to each map lane line in the vehicle body coordinate system corresponding to the pose information may include mapping position information of a plurality of discrete points corresponding to the perception lane line. Correspondingly, for each discrete point included by each map lane line corresponding to each pose information, the process of calculating the error sub-vector between the discrete point and the sensing lane line corresponding to the map lane line based on the mapping position information of the discrete point and the mapping position information of the sensing lane line corresponding to the map lane line in the vehicle body coordinate system corresponding to the pose information by the electronic device may be:

traversing projection points of a plurality of discrete points contained in a perception lane line corresponding to a map lane line in a vehicle body coordinate system corresponding to the pose information, determining two projection points with the nearest distance from the discrete points from the projection points of the plurality of discrete points contained in the perception lane line corresponding to the map lane line in the vehicle body coordinate system corresponding to the pose information, calculating an error sub-vector between the discrete point and a connecting line of the two projection points with the nearest distance from the discrete point, and taking the error sub-vector between the discrete point and the connecting line of the two projection points with the nearest distance from the discrete point as the error sub-vector between the discrete point and the perception lane line corresponding to the map lane line.

Furthermore, the quality detection result corresponding to the electronic navigation map includes information representing a position deviation situation of the map lane line in the elevation direction, a position deviation situation of the vehicle in the left-right upward direction, or a position deviation situation of the vehicle in the front-back upward direction, where it can be understood that, in order to ensure that a worker can quickly locate which map lane line in the electronic navigation map has a problem, a map identifier corresponding to the map lane line having the problem and map position information of the map lane line in the electronic navigation map can be correspondingly recorded.

In another embodiment of the invention, the perception data comprises a perception lane line, and the map semantic data comprises a map lane line; the quality detection result comprises a detection result of the curve condition and/or the breaking condition of the map lane line.

In one implementation, if the quality detection result includes a detection result of a curve condition of a lane line of a map, the S105 may include:

for each pose information, determining mapping position information of a map lane line in a vehicle body coordinate system corresponding to the pose information based on the map position information of the map lane line in the electronic navigation map corresponding to the pose information and the pose information, wherein each mapping position information comprises: mapping position information of a plurality of discrete points corresponding to the corresponding map lane lines;

and if the distance variance exceeds a preset variance threshold, determining that the curve condition of the lane line exists in the map lane line.

In the embodiment of the invention, whether the lane line is bent or not in the electronic navigation map can be detected, and the quality detection result comprises a detection result of the bending condition of the lane line.

In one implementation, each map lane line in each map semantic data in the electronic navigation map may include a series of discrete points, and theoretically, each map lane line includes a series of discrete points which are uniformly distributed among the discrete points and distributed along a straight line. In this embodiment of the present invention, for each map lane line corresponding to each pose information, the electronic device may map a series of discrete points included in the map lane line to a vehicle body coordinate system corresponding to the pose information, obtain mapping position information of the series of discrete points included in the map lane line in the vehicle body coordinate system corresponding to the pose information, and obtain a lane line fitting line corresponding to the map lane line in the vehicle body coordinate system corresponding to the pose information based on the mapping position information of the series of discrete points included in each map lane line in the vehicle body coordinate system corresponding to the pose information, and perform fitting by using a preset fitting algorithm. The preset fitting algorithm can be any type of straight line fitting method such as a least square method straight line fitting method.

Theoretically, how each map lane line is not curved, the distance variance between the mapping position information of a series of discrete points included in each map lane line in the vehicle body coordinate system corresponding to the pose information and the lane line fit line corresponding to the map lane line in the vehicle body coordinate system corresponding to the pose information is not large.

In view of this, for each map lane line corresponding to each pose information, the electronic device calculates, based on a lane line fit line corresponding to the map lane line and mapping position information of a plurality of discrete points corresponding to the map lane line, a square of a distance between each discrete point corresponding to the map lane line and a lane line fit line corresponding to the map lane line, further calculates a sum of squares of distances between each discrete point corresponding to the map lane line and the lane line fit line corresponding to the map lane line, as a distance variance corresponding to the map lane line, determines whether the distance variance exceeds a preset variance threshold, and determines that the map lane line has a lane line bending condition if the distance variance exceeds the preset variance threshold. And if the distance variance does not exceed the preset variance threshold, determining that the curve condition of the lane line does not exist in the map lane line. The preset variance threshold is a value set according to the situation.

In one implementation, if the quality detection result includes a detection result of a broken map lane, the S105 may include: for each pose information, determining conversion position information of a map lane line in a vehicle body coordinate system or a road image corresponding to the pose information based on the map position information of the map lane line in the map semantic data corresponding to the pose information and the pose information, wherein each conversion position information comprises: converting position information of a plurality of discrete points corresponding to the corresponding map lane lines;

In one implementation, each map lane line in each map semantic data in the electronic navigation map may include a series of discrete points, and theoretically, each map lane line includes a series of discrete points which are uniformly distributed among the discrete points and distributed along a straight line. In one case, the electronic device may map, for each map lane line corresponding to each pose information, a series of discrete points included in the map lane line into a vehicle coordinate system corresponding to the pose information, so as to obtain mapping position information of the series of discrete points included in the map lane line in the vehicle coordinate system corresponding to the pose information. Or, the electronic device may project, for each map lane line corresponding to each pose information, a series of discrete points included in the map lane line to the road image corresponding to the pose information, so as to obtain projection position information of the series of discrete points included in the map lane line in the road image corresponding to the pose information. In the embodiment of the present invention, the mapping position information of a series of discrete points included in the map lane line in the vehicle body coordinate system corresponding to the pose information and the projection position information of a series of discrete points included in the map lane line in the road image corresponding to the pose information may be referred to as conversion position information.

Furthermore, the electronic device calculates, for each map lane line corresponding to each pose information, a distance between every two adjacent discrete points based on the transformed position information of the multiple discrete points corresponding to the map lane line, and compares the distance between every two adjacent discrete points. In view of this, if the difference between the distance between two adjacent discrete points and the distance between two other adjacent discrete points in the plurality of discrete points corresponding to the map lane line exceeds the preset difference, it may be determined that a series of discrete points included in the map lane line in the electronic navigation map are non-uniformly distributed, and further, it is determined that the map lane line is broken.

Furthermore, the quality detection result corresponding to the electronic navigation map includes information representing the situation that the map lane line has a lane line break, wherein it can be understood that, in order to ensure that the staff can quickly locate which map lane lines in the electronic navigation map have problems, the map identifier corresponding to the map lane line having the situation that the lane line break and the map position information of the map lane line in the electronic navigation map can be correspondingly recorded.

In another embodiment of the invention, the sensory data comprises a sensory light pole, and the map semantic data comprises a map light pole; the quality detection result comprises a detection result of the inclination condition of the map light pole; the S105 may include:

for each pose information, determining the projection position information of a map light pole in a road image corresponding to the pose information based on the map position information of the map light pole in the electronic navigation map and the pose information in the map semantic data corresponding to the pose information;

In this implementation, if the sensing data includes a sensing light pole, the map semantic data includes a map light pole, and the electronic device needs to detect whether the map light pole is inclined. In the detection process, the electronic device may project the map light pole in the map semantic data corresponding to each pose information to the road image corresponding to the pose information, that is, determine the projection position information of the map light pole in the road image corresponding to the pose information based on the map position information of the map light pole in the map semantic data corresponding to the pose information in the electronic navigation map and the pose information; and determining observation position information of a perception light pole corresponding to each map light pole in the corresponding road image, namely the road image corresponding to the pose information, calculating an included angle between the map light pole and the perception light pole based on the projection position information of the map light pole in the road image corresponding to the pose information and the observation position information of the perception light pole corresponding to the map light pole in the road image corresponding to the pose information, and determining whether the map light pole has an inclination condition or not based on the included angle.

In one case, the electronic device may determine, for each map light pole corresponding to each pose information, whether an included angle between the map light pole and the sensing light pole exceeds a preset included angle, determine that the map light pole is inclined if the determined included angle exceeds the preset included angle, and determine that the map light pole is not inclined if the determined included angle does not exceed the preset included angle.

And if the map light pole is determined to have the inclination condition, the quality detection result corresponding to the electronic navigation map comprises information representing the inclination condition of the map light pole. The map identifier corresponding to the map light pole with the inclined condition and the map position information of the map light pole in the electronic navigation map can be correspondingly recorded in order to ensure that a worker can quickly locate which map light poles in the electronic navigation map have problems.

In another embodiment of the invention, the perception data comprises perception traffic signs, and the map semantic data comprises map traffic signs; the quality detection result comprises a detection result of the turning condition of the map traffic sign board;

the S105 may include: for each pose information, determining mapping position information of the map traffic signboards in a vehicle body coordinate system corresponding to the pose information based on the map position information of the map traffic signboards in the map semantic data corresponding to the pose information on the electronic navigation map and the pose information;

for each pose information, determining mapping position information of the perception traffic sign in a vehicle body coordinate system corresponding to the pose information based on observation position information of the perception traffic sign in a corresponding road image in perception data corresponding to the pose information, the pose information and a projection matrix corresponding to image acquisition equipment;

In this implementation, if the sensing data includes a sensing traffic sign board, the map semantic data includes a map traffic sign board, and the electronic device needs to detect whether the map traffic sign board is turned over. In the detection process, the electronic equipment maps the map traffic signboards in the electronic navigation map and the perception map traffic signboards corresponding to the map traffic signboards into a vehicle body coordinate system so as to determine whether the map traffic signboards are turned over or not through a space coordinate system.

Specifically, for each pose information, the electronic device maps the map traffic signboard to a vehicle body coordinate system corresponding to the pose information based on the map position information of the map traffic signboard in the map semantic data corresponding to the pose information and the pose information in the electronic navigation map, and determines the mapping position information of the map traffic signboard in the vehicle body coordinate system corresponding to the pose information; for each pose information, mapping the perception traffic sign corresponding to the map traffic sign to a vehicle body coordinate system corresponding to the pose information based on observation position information of the perception traffic sign in the corresponding road image in perception data corresponding to the pose information, the pose information and a projection matrix corresponding to image acquisition equipment, and determining mapping position information of the perception traffic sign in the vehicle body coordinate system corresponding to the pose information; and the projection matrix corresponding to the image acquisition equipment is the second conversion relation. And then, determining whether the map traffic signboard has the overturning condition or not based on the map traffic signboard corresponding to each pose information, the mapping position information of the map traffic signboard in the vehicle coordinate system corresponding to the pose information and the mapping position information of the perception traffic signboard corresponding to the map traffic signboard in the vehicle coordinate system corresponding to the pose information.

The process of mapping the map traffic sign to the vehicle body coordinate system corresponding to the pose information may refer to the process of mapping the map lane line to the vehicle body coordinate system corresponding to the pose information, the process of mapping the perception traffic sign corresponding to the map traffic sign to the vehicle body coordinate system corresponding to the pose information, and the process of mapping the perception lane line corresponding to the map lane line to the vehicle body coordinate system corresponding to the pose information, which is not described herein again.

In an embodiment of the present invention, the step of determining whether the map traffic signboard has an overturn condition based on the mapping position information of the map traffic signboard in the vehicle coordinate system corresponding to the pose information and the mapping position information of the perception traffic signboard corresponding to the map traffic signboard in the vehicle coordinate system corresponding to the pose information may include:

fitting to obtain a second fitting surface corresponding to the perception traffic sign board corresponding to the map traffic sign board based on mapping position information of the perception traffic sign board corresponding to the map traffic sign board in the vehicle body coordinate system corresponding to the pose information and a preset plane fitting algorithm;

and if the included angle exceeds the preset angle, determining that the map traffic sign board is turned over.

In this implementation manner, the electronic device may fit to obtain a first fitting surface corresponding to the map traffic signboard based on the mapping position information of the map traffic signboard in the vehicle body coordinate system corresponding to the pose information and a preset plane fitting algorithm, and fit to obtain a second fitting surface corresponding to the perception traffic signboard corresponding to the map traffic signboard based on the mapping position information of the perception traffic signboard corresponding to the map traffic signboard in the vehicle body coordinate system corresponding to the pose information and the preset plane fitting algorithm. Further, determining a normal vector of the first fitting surface and a normal vector of the second fitting surface, and calculating an included angle between the normal vector corresponding to the first fitting surface and the normal vector corresponding to the second fitting surface; comparing an included angle between a normal vector corresponding to the first fitting surface and a normal vector corresponding to the second fitting surface with a preset angle, and determining that the map traffic sign board has a turnover condition if the included angle between the normal vector corresponding to the first fitting surface and the normal vector corresponding to the second fitting surface exceeds the preset angle; and if the included angle between the normal vector corresponding to the first fitting surface and the normal vector corresponding to the second fitting surface does not exceed the preset angle, determining that the map traffic sign does not have the overturning condition.

In one case, the traffic sign is generally a plane, and the preset plane fitting algorithm may be any type of algorithm that can obtain a plane of a series of spatial points based on fitting of the series of spatial points, such as a plane fitting algorithm based on a least square method.

And when the map traffic sign board is determined to have the turnover condition, the quality detection result corresponding to the electronic navigation map comprises information representing the turnover condition of the map traffic sign board. In order to ensure that a worker can quickly locate which map traffic signboards in the electronic navigation map have problems, the map identifications corresponding to the map traffic signboards with the turning conditions and the map position information of the map traffic signboards in the electronic navigation map can be correspondingly recorded.

In another embodiment of the present invention, after the S105, the method may further include:

if the quality detection result of the electronic navigation map represents that the electronic navigation map has quality problems, storing an abnormal statistical document and abnormal image information corresponding to the electronic navigation map, wherein the abnormal statistical document at least comprises: the method comprises the following steps of identifying semantic data of a map with quality problems in an electronic navigation map, identifying problem quality types of the semantic data, and map position information in the electronic navigation map, wherein abnormal image information comprises: and image information corresponding to the map semantic data with quality problems.

If the quality detection result of the electronic navigation map represents that the electronic navigation map has a quality problem, that is, at least one map semantic data in the electronic navigation map has a quality problem, the quality problem that the map semantic data has can be classified, wherein the problem quality types obtained by classifying the quality problems that the map semantic data has can include but are not limited to: position deviation condition, map lane line bending condition, breaking condition, light pole inclination condition and map traffic sign board overturning condition. Specifically, the classification can be further refined, for example: when the map lane line has the position deviation condition, namely the problem quality type corresponding to the map lane line is the condition of the position deviation, the method can be further specifically subdivided into the following steps: there are problem quality sub-types such as a situation of positional deviation in the elevation direction, a situation of positional deviation in the left-right direction of the vehicle, and a situation of positional deviation in the front-rear direction of the vehicle.

In one case, for each map semantic data in the electronic navigation map, during the driving process of the vehicle in the scene corresponding to the electronic navigation map, the image acquisition device of the vehicle may observe the real target corresponding to the map semantic data for multiple times, that is, each map semantic data may correspond to multiple pose information, and correspondingly, for different pose information, the electronic device may determine the detection result of one position deviation condition, the position deviation condition in the elevation direction, the map lane line bending condition break condition, the map lamp post inclination condition, and/or the map traffic signboard turning condition of the map semantic data. The position deviation condition, the position deviation condition in the elevation direction, the curve condition of a map lane line, the fracture condition of the map lane line, the inclination condition of a map light pole and/or the overturning condition of a map traffic sign and the like can be called as the error condition corresponding to the map semantic data.

In this case, for each map semantic data, from each problem quality type, an error condition that characterizes the map semantic data with the largest error may be determined from the error conditions corresponding to the map semantic data, and the largest error condition corresponding to each map semantic data may be added to the abnormal statistical document.

The error condition representing the maximum position deviation of the map semantic data is as follows: the error condition with the largest error value is corresponded. For example: when the error condition is a position deviation condition, the error value can be a position deviation value; when the error condition is a position deviation condition in the elevation direction, the error value is a position deviation value in the elevation direction; when the error condition is the curve condition of the map lane line, the error value is the distance variance corresponding to the map lane line; when the error condition is the break condition of the map lane line, the error value is the difference value between the distance between two adjacent discrete points corresponding to the map lane line and the distance between two other adjacent discrete points; when the error condition is the inclination condition of the map light pole, the error value is an included angle between the map light pole and the corresponding perception light pole; when the error condition is the turning condition of the map traffic sign board, the error value is the included angle between the map traffic sign board and the corresponding perception traffic sign board.

Wherein, the abnormal image information may be: road images including projected points of map semantic data having quality problems, and the like. The abnormal image information reflects the comparison result between the map semantic data with the corresponding relation and the perception data, and can be used for subsequently analyzing the specific quality problem of the map semantic data with the quality problem in the electronic navigation map.

In one implementation, the method may include detecting a position deviation condition in an elevation direction for a map lane line in map semantic data in an electronic navigation map, detecting a lane line bending condition and a lane line breaking condition for the map lane line in the map semantic data, detecting a map lamp pole inclination condition for the map lamp pole in the map semantic data, detecting a map traffic sign inversion condition for the map traffic sign in the map semantic data, and detecting a position accuracy for the map semantic data, that is, detecting the position deviation condition of the map semantic data. It should be understood that the above is only an example of the execution sequence of the detection aspect, and the execution sequence of the detection aspect provided by the embodiment of the present invention is not limited.

Corresponding to the above method embodiment, an embodiment of the present invention provides an apparatus for detecting quality of an electronic navigation map, as shown in fig. 3, which may include:

a first obtaining module 310 configured to obtain an electronic navigation map to be detected;

a second obtaining module 320, configured to obtain track information of a vehicle during driving of a scene corresponding to the electronic navigation map, where the track information includes a plurality of pose information and a positioning time corresponding to each pose information;

a third obtaining module 330, configured to obtain perception data determined during the driving of the vehicle, where each perception data is: acquiring data detected from road images acquired by image acquisition equipment of the vehicle, wherein the acquisition time corresponding to each road image is in a corresponding relation with the positioning time corresponding to each pose information;

the first determining module 340 is configured to determine, for each pose information, map semantic data corresponding to the pose information from the electronic navigation map;

the second determining module 350 is configured to determine, for each pose information, a quality detection result of the electronic navigation map based on map position information of map semantic data corresponding to the pose information in the electronic navigation map and/or observed position information of perception data corresponding to the pose information in a corresponding road image.

In another embodiment of the invention, the perceptual data comprises perceptual lane lines, and the map semantic data comprises map lane lines; the quality detection result comprises a detection result of position deviation of a map lane line in an elevation direction;

the second determining module 350 is specifically configured to determine, for each pose information, mapping position information of a map lane line in a vehicle coordinate system corresponding to the pose information based on the map position information of the map lane line in the map semantic data corresponding to the pose information on the electronic navigation map and the pose information;

In another embodiment of the invention, the perceptual data comprises perceptual lane lines, and the map semantic data comprises map lane lines; the quality detection result comprises a detection result of the curve condition and/or the breaking condition of the map lane line;

if the quality detection result includes a detection result of a curve condition of a map lane line, the second determining module 350 is specifically configured to determine, for each pose information, mapping position information of the map lane line in a vehicle body coordinate system corresponding to the pose information based on the map position information of the map lane line in the map semantic data corresponding to the pose information on the electronic navigation map and the pose information, where each mapping position information includes: mapping position information of a plurality of discrete points corresponding to the corresponding map lane lines;

and/or, if the quality detection result includes a detection result of a map lane line fracture condition, the second determining module 350 is specifically configured to determine, for each pose information, conversion position information of the map lane line in a vehicle coordinate system or a road image corresponding to the pose information based on the map position information of the map lane line in the map semantic data corresponding to the pose information on the electronic navigation map and the pose information, where each conversion position information includes: converting position information of a plurality of discrete points corresponding to the corresponding map lane lines;

In another embodiment of the present invention, the perception data comprises a perception light pole, and the map semantic data comprises a map light pole; the quality detection result comprises a detection result of the inclination condition of the map light pole;

the second determining module 350 is specifically configured to determine, for each pose information, based on the map position information of the map light pole in the map semantic data corresponding to the pose information in the electronic navigation map and the pose information, the projection position information of the map light pole in the road image corresponding to the pose information;

In another embodiment of the invention, the perception data comprises a perception traffic sign, the map semantic data comprises a map traffic sign; the quality detection result comprises a detection result of the turning condition of the map traffic sign board;

the second determining module 350 is specifically configured to determine, for each pose information, mapping position information of the map traffic signboard in the vehicle coordinate system corresponding to the pose information based on the map position information of the map traffic signboard in the map semantic data corresponding to the pose information on the electronic navigation map and the pose information;

In another embodiment of the present invention, the second determining module 350 is specifically configured to fit to obtain a first fit surface corresponding to the map traffic signboard based on the mapping position information of the map traffic signboard in the vehicle coordinate system corresponding to the pose information and a preset plane fitting algorithm;

In another embodiment of the present invention, the apparatus further comprises:

The device and system embodiments correspond to the method embodiments, and have the same technical effects as the method embodiments, and specific descriptions refer to the method embodiments. The device embodiment is obtained based on the method embodiment, and for specific description, reference may be made to the method embodiment section, which is not described herein again.

Those of ordinary skill in the art will understand that: the figures are merely schematic representations of one embodiment, and the blocks or flow diagrams in the figures are not necessarily required to practice the present invention.

Those of ordinary skill in the art will understand that: modules in the devices in the embodiments may be distributed in the devices in the embodiments according to the description of the embodiments, or may be located in one or more devices different from the embodiments with corresponding changes. The modules of the above embodiments may be combined into one module, or further split into multiple sub-modules.

Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.

Claims

1. A quality detection method for an electronic navigation map is characterized by comprising the following steps:

obtaining an electronic navigation map to be detected;

2. The method according to claim 1, wherein the quality detection result includes a detection result of a positional deviation condition of each piece of geographic semantic data;

3. The method of claim 1, wherein the perception data comprises a perception lane line, the map semantic data comprises a map lane line; the quality detection result comprises a detection result of position deviation of a map lane line in an elevation direction;

4. The method of claim 1, wherein the perception data comprises a perception lane line, the map semantic data comprises a map lane line; the quality detection result comprises a detection result of the curve condition and/or the breaking condition of the map lane line;

5. The method of claim 1, wherein the sensory data comprises sensory light poles, the map semantic data comprises map light poles; the quality detection result comprises a detection result of the inclination condition of the map light pole;

6. The method of any of claims 1-5, wherein the perception data comprises a perception traffic sign, the map semantic data comprises a map traffic sign; the quality detection result comprises a detection result of the turning condition of the map traffic sign board;

7. The method as claimed in claim 6, wherein the step of determining whether the map traffic signboard has a turn condition based on the mapping position information of the map traffic signboard in the vehicle coordinate system corresponding to the pose information and the mapping position information of the perception traffic signboard corresponding to the map traffic signboard in the vehicle coordinate system corresponding to the pose information comprises:

8. The method according to any one of claims 1 to 7, wherein after the step of determining, for each pose information, a quality detection result of the electronic navigation map based on the map position information of the map semantic data corresponding to the pose information in the electronic navigation map and/or the observed position information of the perception data corresponding to the pose information in the corresponding road image, the method further comprises:

9. An electronic navigation map quality detection device, characterized in that the device comprises:

10. The apparatus of claim 9, wherein the quality detection result includes a detection result of a positional deviation condition of each piece of geographic semantic data;