CN112487123A - Road connectivity testing method and system based on large-range high-precision map - Google Patents
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Abstract
The embodiment of the invention provides a road connectivity testing method and a road connectivity testing system based on a large-range high-precision map. Then, the shape point samples in the two shape point sample sets are respectively used as a starting point and an end point to obtain a test sample set. And finally, performing path planning according to each test sample in the test sample set to obtain a test sample with failed path planning, thereby obtaining a route without road communication. The method can quickly obtain a large number of test samples for road connectivity test, can quickly find out the route which is not planned to be communicated by executing path planning based on the large number of test samples, reduces the manual test cost, can efficiently find out the problem position of road non-communication, and improves the road connectivity test efficiency of a large-range high-precision map.
Description
Technical Field
The invention relates to the field of high-precision map testing, in particular to a road connectivity testing method and system based on a large-range high-precision map.
Background
At present, a large-scale high-precision map is easy to have the problem that connectivity of part of routes is interrupted due to non-specification and negligence of a manufacturing process or non-manufacturing of part of roads, so that path planning fails. The existing road connectivity test method for the high-precision map adopts manual test, a starting point and an end point need to be manually set, and a region to be tested is set into a single path to test the road connectivity, so that the labor cost is high and the efficiency is low.
Therefore, how to provide a set of test methods for the road connectivity of a large-scale high-precision map to find which routes have normal connectivity and which routes cannot be subjected to path planning becomes an urgent problem to be solved.
Disclosure of Invention
In order to solve the above problems, embodiments of the present invention provide a road connectivity testing method and system based on a large-scale high-precision map, which overcome the above problems or at least partially solve the above problems.
In a first aspect, an embodiment of the present invention provides a road connectivity testing method based on a large-range high-precision map, including:
s1, acquiring shape point information of all lane lines in high-precision map data, extracting two groups of shape point sample sets with the same number of samples from the shape point information, and taking the shape point samples in the two groups of shape point sample sets as a starting point and an end point respectively to obtain a test sample set;
and S2, performing path planning according to each test sample in the test sample set to obtain a test sample with failed path planning, thereby obtaining a route with disconnected roads.
Preferably, after step S2, the method further includes:
and S3, analyzing based on the test sample of the path planning failure to obtain the position and reason of the road disconnection.
Preferably, in step S1, the obtaining of shape point information of all lane lines in the high-precision map data and extracting two groups of shape point sample sets with the same number of samples from the shape point information specifically include:
acquiring high-precision map lane line data;
extracting all shape point information forming the lane line from the lane line data;
and extracting two groups of shape points with the same quantity by using an average random sampling method to serve as two groups of shape point sample sets.
Preferably, in step S1, the method for obtaining a test sample set by using shape point samples in two shape point sample sets as a starting point and an ending point respectively includes:
for the extracted shape point sample set a (A1, A2 … An) and shape point sample set B (B1, B2 … Bn), a test sample set C (A1B1, A2B2 … AnBn) is obtained with the shape point samples in the shape point sample set a as the starting point and the shape point samples in the shape point sample set B as the end point.
Preferably, step S2 specifically includes:
performing path planning according to each test sample in the test sample set to obtain a path planning result of each test sample;
if the path planning result of any test sample is successful, obtaining a road communicated route according to the path planning result of the test sample;
and if the path planning result of any test sample fails, obtaining a route without a connected road according to the path planning result of the test sample.
Preferably, the method further comprises:
and when the path planning fails, automatically recording the failure reason and the position information of the path planning in the document corresponding to the path planning result.
In a second aspect, an embodiment of the present invention provides a road connectivity test system based on a large-range high-precision map, including:
the test sample acquisition module is used for acquiring shape point information of all lane lines in high-precision map data, extracting two groups of shape point sample sets with the same number of samples from the shape point information, and taking the shape point samples in the two groups of shape point sample sets as a starting point and an end point respectively to acquire a test sample set;
and the path planning module is used for planning a path according to each test sample in the test sample set to obtain a test sample with failed path planning, so that a route with disconnected roads is obtained.
Preferably, the system further comprises:
and the analysis module is used for analyzing based on the test sample of the path planning failure to obtain the position and the reason of the road non-communication.
In a third aspect, an embodiment of the present invention provides an electronic device, which includes a memory, a processor, and a computer program stored in the memory and executable on the processor, where the processor, when executing the computer program, implements the road connectivity testing method based on the map with high precision in a large range, provided in the embodiment of the first aspect.
In a fourth aspect, an embodiment of the present invention provides a non-transitory computer-readable storage medium storing computer instructions for causing a computer to execute the road connectivity testing method based on a large-scale high-precision map provided in the first aspect.
The embodiment of the invention provides a road connectivity testing method and a road connectivity testing system based on a large-range high-precision map. Then, the shape point samples in the two shape point sample sets are respectively used as a starting point and an end point to obtain a test sample set. And finally, performing path planning according to each test sample in the test sample set to obtain a test sample with failed path planning, thereby obtaining a route without road communication. The method can quickly obtain a large number of test samples for road connectivity test, can quickly find out the route which is not planned to be communicated by executing path planning based on the large number of test samples, reduces the manual test cost, can efficiently find out the problem position of road non-communication, and improves the road connectivity test efficiency of a large-range high-precision map.
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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 introduced below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.
Fig. 1 is a schematic flowchart of a road connectivity testing method based on a large-scale high-precision map according to an embodiment of the present invention;
FIG. 2 is a data segmentation diagram of total mileage data in a memory according to an embodiment of the present invention;
fig. 3 is a schematic structural diagram of a road connectivity testing system based on a large-range high-precision map according to an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Reference herein to "an embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment can be included in at least one embodiment of the application. The appearances of the phrase in various places in the specification are not necessarily all referring to the same embodiment, nor are separate or alternative embodiments mutually exclusive of other embodiments. It is explicitly and implicitly understood by one skilled in the art that the embodiments described herein can be combined with other embodiments.
At present, a large-scale high-precision map is easy to have the problem that connectivity of part of routes is interrupted due to non-specification and negligence of a manufacturing process or non-manufacturing of part of roads, so that path planning fails. The existing road connectivity test method for the high-precision map adopts manual test, a starting point and an end point need to be manually set, and a region to be tested is set into a single path to test the road connectivity, so that the labor cost is high and the efficiency is low.
Therefore, the embodiment of the invention provides a road connectivity testing method based on a large-range high-precision map, a large number of test samples for road connectivity testing are rapidly obtained, path planning is executed based on the large number of test samples, and a route which cannot be planned can be rapidly found. The method solves the problem of selecting the large-range high-precision map road connectivity test sample set, and solves the problem that the reason for road connectivity failure cannot be efficiently found. The following description and description of various embodiments are presented in conjunction with the following drawings.
Fig. 1 is a schematic flowchart of a road connectivity testing method based on a large-range high-precision map according to an embodiment of the present invention. First, an overall principle of a method provided by an embodiment of the present invention is explained, where the method includes the following steps:
and S1, acquiring shape and point information of all lane lines in the high-precision map data, extracting two groups of shape and point sample sets with the same number of samples from the shape and point information, and taking the shape and point samples in the two groups of shape and point sample sets as a starting point and an end point respectively to obtain a test sample set.
Specifically, after acquiring high-precision map lane line data, all shape point information constituting a lane line is extracted from the lane line data. Then, two groups of the same number of shape points are extracted as two groups of shape point sample sets by using an average random sampling method. The two sets of shape point sample sets include shape point sample set a (a1, a2 … An) and shape point sample set B (B1, B2 … Bn).
Further, for the extracted shape point sample set a (A1, A2 … An) and shape point sample set B (B1, B2 … Bn), a test sample set C (A1B1, A2B2 … AnBn) is obtained with the shape point samples in the shape point sample set a as the starting point and the shape point samples in the shape point sample set B as the end point.
And S2, performing path planning according to each test sample in the test sample set to obtain a test sample with failed path planning, thereby obtaining a route with disconnected roads.
Specifically, each test sample in the test sample set is sequentially imported into the high-precision map data, and path planning is performed by combining the high-precision map roads to obtain a path planning result of each test sample.
Further, according to the path planning result of each test sample, a path which is successfully planned and a path which is failed in path planning can be obtained. And aiming at the path planning result of any test sample, if the path planning result of any test sample is successful, obtaining a road communicated route according to the path planning result of the test sample. And if the path planning result of any test sample fails, obtaining a route without a connected road according to the path planning result of the test sample.
The road connectivity testing method based on the large-range high-precision map, provided by the embodiment of the invention, can quickly obtain a large number of test samples for road connectivity testing, can quickly find out routes which are not planned to be communicated by executing path planning based on the large number of test samples, and compared with the prior art, reduces the manual testing cost and improves the road connectivity testing efficiency. And the problem of selecting a large-range high-precision map road connectivity test sample set is solved.
In one embodiment, a road connectivity test method based on a large-scale high-precision map is illustrated:
firstly, converting the lane line data of the map master library into a kml data format by an open source QGIS tool. Then, extracting all shape point information forming the lane line by using a Python script language, and storing all shape point information in a shape point document according to P1, P2.
Then, two groups of the same number of shape points are extracted as two groups of shape point sample sets by using an average random sampling method. The number of extracted samples N is set as N, N is selected according to aql (maximum acceptable defect, 1%), and when the maximum acceptable defect is aql ═ 1%, the number of extracted samples N is N/100. And (2) extracting a group of shape point sample sets A (A1, A2 … An) with the number of n samples from the stored shape point document by using a random.random () random row extraction principle in a random () function, and obtaining shape point sample sets B (B1, B2 … Bn) with the same number of samples by using the same method.
Further, a test sample set C is obtained with the shape point samples in the shape point sample set a as the starting point and the shape point samples in the shape point sample set B as the ending point (A1B1, A2B2 … AnBn).
Finally, the test samples in the test sample set C (A1B1, A2B2 … AnBn) are sequentially imported into the high-precision map data, path planning is performed in combination with the high-precision map road, and path planning is performed according to each test sample in the test sample set C (A1B1, A2B2 … AnBn) to obtain a path planning result of each test sample.
On the basis of the above embodiment, after the step S2, the method further includes: and S3, analyzing based on the test sample of the path planning failure to obtain the position and reason of the road disconnection.
In this embodiment, after the path planning result of each test sample is obtained, the path planning result of the test sample in which the path planning fails is analyzed, and the position and the reason of the road disconnection can be obtained. The path planning result of each test sample records the start and end point of the path planning, the success or failure of the path planning, and the reason of the failure of the path planning.
Specifically, in the path planning process of any test sample, if the following path failures are encountered, the path planning failure reason and the path failure positions are automatically recorded in the path planning result corresponding document. The reasons for the failure of the path planning at least include: 1) starting and ending points are not in the planning range, 2) the head is broken, and 3) breakpoints exist in the lane lines.
Wherein, 1) the starting point and the ending point are not in the planning range, which means that the distance from the starting point and/or the ending point to the nearest lane line on the high-precision map is greater than a preset distance threshold. 2) The dot number of the broken end path is not associated with the next number. 3) The fact that the lane line has a breakpoint means that the next form point number corresponds to the breakpoint, but no corresponding topological connection relation exists.
The road connectivity testing method based on the large-range high-precision map provided by the embodiment of the invention solves the problem that the reason of road connectivity failure cannot be efficiently found.
In one embodiment, the present invention may perform the above-described road connectivity test method based on a wide-range high-precision map for high-precision map data of an area.
And for the high-precision map data of different areas, circularly executing the steps S1-S3, namely obtaining the road connectivity of the high-precision map of different areas and the reason of the occurrence of road non-connectivity. For different versions of map data of the same area, steps S2-S3 are executed in a loop, namely, the road connectivity of the different versions of map and the reason why the road non-connectivity occurs.
In an embodiment, fig. 2 is a block diagram of a road connectivity testing system based on a large-scale high-precision map according to an embodiment of the present invention, and referring to fig. 2, the system includes:
the test sample obtaining module 201 is configured to obtain shape point information of all lane lines in the high-precision map data, extract two groups of shape point sample sets with the same number of samples from the shape point information, and take shape point samples in the two groups of shape point sample sets as a starting point and an end point respectively to obtain a test sample set;
and the path planning module 202 is configured to perform path planning according to each test sample in the test sample set, and obtain a test sample with a failed path planning, so as to obtain a route with disconnected roads.
Specifically, how to perform a road connectivity test based on a large-range high-precision map by using the test sample obtaining module 201 and the path planning module 202 may refer to the above method embodiment, and the embodiment of the present invention is not described herein again.
On the basis of the above embodiment, referring to fig. 2, the system further includes: and the analysis module 203 is used for analyzing based on the test sample of the path planning failure to obtain the position and the reason of the road non-communication.
In an embodiment, fig. 3 is a schematic structural diagram of an electronic device according to an embodiment of the present invention, and referring to fig. 3, the electronic device includes a memory, a processor, and a computer program stored in the memory and executable on the processor, where the processor and the memory are connected by a communication line. When the processor executes the computer program, the steps of the road connectivity testing method based on the large-range high-precision map provided by the above embodiments are implemented, for example, including: s1, acquiring shape point information of all lane lines in high-precision map data, extracting two groups of shape point sample sets with the same number of samples from the shape point information, and taking the shape point samples in the two groups of shape point sample sets as a starting point and an end point respectively to obtain a test sample set; and S2, performing path planning according to each test sample in the test sample set to obtain a test sample with failed path planning, thereby obtaining a route with disconnected roads.
In one embodiment, based on the same concept, the embodiment of the present invention further provides a non-transitory computer-readable storage medium, on which a computer program is stored, where the computer program is implemented to, when executed by a processor, perform the steps of the road connectivity testing method based on a large-scale high-precision map provided by the above embodiments, for example, the method includes: s1, acquiring shape point information of all lane lines in high-precision map data, extracting two groups of shape point sample sets with the same number of samples from the shape point information, and taking the shape point samples in the two groups of shape point sample sets as a starting point and an end point respectively to obtain a test sample set; and S2, performing path planning according to each test sample in the test sample set to obtain a test sample with failed path planning, thereby obtaining a route with disconnected roads.
In summary, embodiments of the present invention provide a method and a system for testing road connectivity based on a large-scale high-precision map, first, form and point information of all lane lines in high-precision map data is obtained, and two sets of form and point sample sets with the same number of samples are extracted from the form and point information. Then, the shape point samples in the two shape point sample sets are respectively used as a starting point and an end point to obtain a test sample set. And finally, performing path planning according to each test sample in the test sample set to obtain a test sample with failed path planning, thereby obtaining a route without road communication. The method can quickly obtain a large number of test samples for road connectivity test, can quickly find out the route which is not planned to be communicated by executing path planning based on the large number of test samples, reduces the manual test cost, can efficiently find out the problem position of road non-communication, and improves the road connectivity test efficiency of a large-range high-precision map.
The embodiments of the present invention can be arbitrarily combined to achieve different technical effects.
The above-described system embodiments are merely illustrative, and the units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of the present embodiment. One of ordinary skill in the art can understand and implement it without inventive effort.
Through the above description of the embodiments, those skilled in the art will clearly understand that each embodiment can be implemented by software plus a necessary general hardware platform, and certainly can also be implemented by hardware. With this understanding in mind, the above-described technical solutions may be embodied in the form of a software product, which can be stored in a computer-readable storage medium such as ROM/RAM, magnetic disk, optical disk, etc., and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute the methods described in the embodiments or some parts of the embodiments.
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 (10)
1. A road connectivity test method based on a large-range high-precision map is characterized by comprising the following steps:
s1, acquiring shape point information of all lane lines in high-precision map data, extracting two groups of shape point sample sets with the same number of samples from the shape point information, and taking the shape point samples in the two groups of shape point sample sets as a starting point and an end point respectively to obtain a test sample set;
and S2, performing path planning according to each test sample in the test sample set to obtain a test sample with failed path planning, thereby obtaining a route with disconnected roads.
2. The method for testing road connectivity based on the large-scale high-precision map according to claim 1, wherein after the step S2, the method further comprises:
and S3, analyzing based on the test sample of the path planning failure to obtain the position and reason of the road disconnection.
3. The method for testing road connectivity based on the wide-range high-precision map according to claim 1, wherein in step S1, the obtaining of the shape point information of all the lane lines in the high-precision map data and the extracting of two groups of shape point sample sets with the same number of samples from the shape point information specifically include:
acquiring high-precision map lane line data;
extracting all shape point information forming the lane line from the lane line data;
and extracting two groups of shape points with the same quantity by using an average random sampling method to serve as two groups of shape point sample sets.
4. The method for testing road connectivity based on the large-scale high-precision map according to claim 3, wherein in step S1, the method for obtaining the test sample set by using the shape point samples in the two shape point sample sets as a starting point and an end point respectively comprises:
for the extracted shape point sample set a (A1, A2 … An) and shape point sample set B (B1, B2 … Bn), a test sample set C (A1B1, A2B2 … AnBn) is obtained with the shape point samples in the shape point sample set a as the starting point and the shape point samples in the shape point sample set B as the end point.
5. The method for testing road connectivity based on the large-scale high-precision map as claimed in claim 1, wherein the step S2 specifically includes:
performing path planning according to each test sample in the test sample set to obtain a path planning result of each test sample;
if the path planning result of any test sample is successful, obtaining a road communicated route according to the path planning result of the test sample;
and if the path planning result of any test sample fails, obtaining a route without a connected road according to the path planning result of the test sample.
6. The road connectivity testing method based on the large-scale high-precision map as claimed in claim 5, further comprising:
and when the path planning fails, automatically recording the failure reason and the position information of the path planning in the document corresponding to the path planning result.
7. A road connectivity test system based on a large-scale high-precision map is characterized by comprising:
the test sample acquisition module is used for acquiring shape point information of all lane lines in high-precision map data, extracting two groups of shape point sample sets with the same number of samples from the shape point information, and taking the shape point samples in the two groups of shape point sample sets as a starting point and an end point respectively to acquire a test sample set;
and the path planning module is used for planning a path according to each test sample in the test sample set to obtain a test sample with failed path planning, so that a route with disconnected roads is obtained.
8. The system for testing road connectivity based on the large-scale high-precision map according to claim 7, further comprising:
and the analysis module is used for analyzing based on the test sample of the path planning failure to obtain the position and the reason of the road non-communication.
9. A road connectivity testing system based on a large-scale high-precision map, which is characterized by comprising a memory, a processor and a computer program stored on the memory and capable of running on the processor, wherein the processor executes the computer program to realize the steps of the road connectivity testing method based on the large-scale high-precision map according to any one of claims 1 to 6.
10. A non-transitory computer-readable storage medium, on which a computer program is stored, wherein the computer program, when being executed by a processor, implements the steps of the method for road connectivity testing based on a wide-range high-precision map according to any one of claims 1 to 6.
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| CN109285163A (en) * | 2018-09-05 | 2019-01-29 | 武汉中海庭数据技术有限公司 | Lane line based on laser point cloud or so contour line interactive mode extracting method |
| CN110749329A (en) * | 2019-10-26 | 2020-02-04 | 武汉中海庭数据技术有限公司 | Lane level topology construction method and device based on structured road |
| CN111272190A (en) * | 2020-02-17 | 2020-06-12 | 商汤集团有限公司 | Map calibration error detection method and device |
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