CN109189872B - High-precision map data verification device and method - Google Patents
High-precision map data verification device and method Download PDFInfo
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- CN109189872B CN109189872B CN201810918620.1A CN201810918620A CN109189872B CN 109189872 B CN109189872 B CN 109189872B CN 201810918620 A CN201810918620 A CN 201810918620A CN 109189872 B CN109189872 B CN 109189872B
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Abstract
The invention discloses a high-precision map data verification method and a high-precision map data verification system, wherein the method comprises the steps of loading high-precision map data and establishing a three-dimensional driving scene; establishing a display window positioned at any monocular relative position of a simulated driver in the three-dimensional driving scene; driving the display window to simulate the vehicle to advance along the driving path; and simulating a driver to observe the three-dimensional driving scene and marking error data on an interface of the display window. The invention can simulate driving under the condition of a three-dimensional driving scene established by high-precision map data along a driving path under the condition of simulating the visual angle of a driver, and finds and records error data of the high-precision map data in the simulated driving so as to be searched and corrected by engineering personnel.
Description
Technical Field
The invention relates to the technical field of geographic information, in particular to a device and a method for performing high-precision map data verification by simulating a visual angle of a driver.
Background
With the development of the automatic driving technology, high-precision map technology for providing a large amount of road data information has become necessary, unlike the conventional digital map.
The traditional high-precision map is mainly built by leading basic geographic information or acquired remote sensing images into a geographic information system so as to reduce errors as little as possible. It is necessary to verify the data of the high-precision map.
The verification method of the high-precision map generally performs data verification based on the visual angles of six aspects; in the verification process, in consideration of the great influence of different viewing angles on verification data, the viewing angles in six aspects need to be continuously switched to reduce errors as much as possible. Inevitably, the verification efficiency is reduced by switching the view angle in the high-precision map verification method.
Disclosure of Invention
The embodiment of the invention at least provides a high-precision map data verification method which can solve the problem of low efficiency of high-precision map verification.
The method comprises the following steps:
step100, loading high-precision map data and establishing a three-dimensional driving scene;
step200, establishing a display window positioned at any monocular relative position of the simulated driver in the three-dimensional driving scene;
and Step300, driving the display window to simulate the vehicle to move forwards along the driving path.
And Step400, simulating a driver to observe the three-dimensional driving scene and marking error data on an interface of the display window.
In some embodiments of the present disclosure of the invention,
the Step200 is configured as follows:
step210, loading or setting the starting point coordinates of the driving path in the three-dimensional driving scene,
step220, superposing a threshold value coordinate and a starting point coordinate to be an observation coordinate simulating any monocular relative position of the driver, wherein the center of the display window is positioned at the observation coordinate.
In some embodiments of the present disclosure of the invention,
the post-Step 220 configuration is as follows:
step230, establishing an observation vector line by taking the observation coordinate as an initial point, wherein the display window is vertical to the observation vector line;
and Step240, the rotating included angle between the observation vector line and the advancing direction of the simulated driving is less than 90 degrees.
In some embodiments of the present disclosure of the invention,
step200 is configured to establish a display window positioned at a binocular relative position of a simulated driver in the three-dimensional driving scene;
in some embodiments of the present disclosure of the invention,
the Step200 is configured to establish two display windows respectively positioned at binocular coordinates of a simulated driver in the three-dimensional driving scene;
in some embodiments of the present disclosure of the invention,
the Step300 is configured as follows:
step310, dividing the driving route into at least two intermediate routes in sequence;
step320, driving the display window to sequentially simulate the vehicle to advance along a middle path and simulate a driver to observe road data in the three-dimensional driving scene;
and Step400, observing the three-dimensional driving scene by taking the two ends of the middle path as starting points, and marking error data on the interface of the display window.
In some embodiments of the present disclosure of the invention,
step310 is configured to divide the travel path into intermediate paths at the travel speed of the simulated vehicle.
In some embodiments of the present disclosure of the invention,
the Step320 is configured as:
step321, configuring a horizontal steering angle and/or a vertical pitch angle simulating the visual angle of a driver by taking two ends of the middle path as observation points;
step322, driving the display window to adjust the observation direction at the observation point according to the horizontal steering angle and/or the vertical pitch angle.
In some embodiments of the present disclosure of the invention,
the Step400 is configured as follows:
step410, clicking error data on an interface of a display window after the error data are identified in the three-dimensional driving scene;
step420, generating a marking frame comprising the error data by the interface;
step430, recording the detailed information of the error data in the mark frame;
step440, storing the coordinate position and the detailed information of the mark frame to a modification database.
Another embodiment of the present invention discloses a high-precision map data verification system, which includes:
the display module is configured to load the high-precision map data and simulate a three-dimensional driving scene;
the visual angle module is configured to establish a display window located at any monocular relative position of a simulated driver in the simulated three-dimensional driving scene and drive the display window to simulate the vehicle to advance along a driving path;
and the error recording module is configured to observe the three-dimensional driving scene, mark and store error data after the error data is found.
In view of the above, other features and advantages of the disclosed exemplary embodiments will become apparent from the following detailed description of the disclosed exemplary embodiments, which proceeds with reference to the accompanying drawings.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present invention and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained according to the drawings without inventive efforts.
FIG. 1 is a flow chart of an embodiment;
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. The components of embodiments of the present invention generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations.
Thus, the following detailed description of the embodiments of the present invention, presented in the figures, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the 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.
The embodiment discloses a high-precision map data verification method, which is used for verifying data from a driver perspective in simulated driving and comprises the following steps:
step100, loading high-precision map data and simulating to establish a three-dimensional driving scene;
step200, establishing a display window located at any monocular relative position of the simulated driver in a three-dimensional driving scene, specifically:
step210, loading or calculating a driving path of the simulated vehicle in the three-dimensional driving scene and at least determining a starting point coordinate P of the simulated vehicle;
step220, establishing a threshold coordinate T according to the size data of the simulated vehicle and the driver, superposing the threshold coordinate T and the starting point coordinate P to form an observation coordinate C simulating any monocular relative position of the driver, and enabling the center point of the display window to coincide with the observation coordinate.
Then, the observation coordinate C is a visual angle starting point of the simulated driver when the simulated driver advances along the driving path; the display window is used as an optimal simulated driver viewing angle.
Further, when the simulated vehicle advances along the driving path, the observation of the surrounding driving scene from the driver perspective is simulated. The method of the present embodiment is further configured with:
step230, establishing an observation vector line by taking the observation coordinate C as an initial point, wherein a display window is vertical to the observation vector line;
step240, the rotating included angle between the observation vector line and the advancing direction of the simulated driving is less than 90 degrees.
Then, in the embodiment, the observation vector line is used as the sight line of the simulated driver, and the rotation angle of the observation vector line relative to the foreground direction of the simulated driving is limited, so that the simulated simulation of the driver observing the surrounding driving scene is realized, the rigor degree of the method for verifying the high-precision map data by adopting the visual angle of the driver is provided, and the authenticity of the verification result is improved.
Step300, driving a display window to simulate the vehicle to advance along the driving path, and specifically configuring:
step310, the travel route is sequentially divided into a plurality of equally divided intermediate routes at the simulated travel speed of the vehicle. Therefore, the method of the embodiment can verify the accuracy of the high-precision map data in a segmented manner, and improve the verification accuracy.
Step320, driving a display window to sequentially simulate the vehicle to advance along a middle path and simulate a driver to observe road data in a three-dimensional driving scene; two start-stop end points of the intermediate path in this embodiment can be used as nodes for reconciling the display windows, and specifically are as follows:
step321, taking two starting and stopping end points of the middle path as observation nodes, and adjusting a horizontal steering angle or a vertical pitch angle or a combination of the horizontal steering angle and the vertical pitch angle of the view angle of the simulated driver when the simulated driver moves forward on the middle path according to the three-dimensional driving scene of the observation nodes.
Step322, driving the display window to adjust the viewing angle of the simulated driver at the observation node by simulating a horizontal steering angle and a vertical pitch angle.
Of course, the reference of the present embodiment for equally dividing the driving path into a plurality of intermediate paths may be that the faster the driving speed is, the shorter the intermediate path is; namely, the period for adjusting the visual angle of the simulated driver is ensured to be stable as much as possible.
Step400, observing a three-dimensional driving scene by taking two ends of a middle path as starting points, and marking error data on an interface of a display window, wherein the method is specifically configured as follows:
step410, clicking error data on an interface of a display window after identifying the error data in the three-dimensional driving scene;
step420, generating a marking frame comprising error data by the interface;
step430, recording the detailed information of the error data in the mark frame;
step440, storing the coordinate position and the detailed information of the mark frame to a modification database for the engineering personnel to search and modify.
In addition, the present embodiment is preferably configured at Step200 to establish a display window located at a relative position between two eyes of the simulated driver in the three-dimensional driving scene.
Still alternatively, the present embodiment is preferably configured at Step200 to establish two display windows respectively located at binocular coordinates of the simulated driver in the three-dimensional driving scene; the two display windows together establish a simulated driver viewing angle.
The embodiment further discloses a high-precision map data verification system, which includes:
the display module is configured to load high-precision map data and simulate a three-dimensional driving scene;
the visual angle module is configured to establish a display window located at any monocular relative position of the simulated driver in the simulated three-dimensional driving scene and drive the display window to simulate the vehicle to advance along the driving path;
and the error recording module is configured to observe the three-dimensional driving scene, mark and store error data after finding the error data.
In summary, the device and method according to the present invention can perform simulated driving along the driving path in the three-dimensional driving scene established by the high-precision map data under the view angle of the simulated driver, and find and record error data of the high-precision map data during the simulated driving, so as to be searched and corrected by the engineer. Through the scheme, the method and the device provided by the invention can visually and effectively verify the high-precision map data, and improve the verification efficiency and the rationality of the verification process compared with the prior art.
The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (7)
1. A high-precision map data verification method for verifying data from a driver's perspective in simulated driving, the method comprising:
step100, loading high-precision map data and establishing a three-dimensional driving scene;
step200, establishing a display window positioned at any monocular relative position of the simulated driver in the three-dimensional driving scene;
step300, driving the display window to simulate the vehicle to advance along the driving path;
step400, simulating a driver to observe the three-dimensional driving scene and marking error data on an interface of the display window;
the Step200 is configured as follows:
step210, loading or setting a starting point coordinate of a driving path in the three-dimensional driving scene, and Step220, superposing a threshold value coordinate and the starting point coordinate to be an observation coordinate simulating any monocular relative position of the driver, wherein the center of the display window is positioned at the observation coordinate.
2. The high accuracy map data validation method of claim 1, wherein Step220 is post-configured to:
step230, establishing an observation vector line by taking the observation coordinate as an initial point, wherein the display window is vertical to the observation vector line;
and Step240, the rotating included angle between the observation vector line and the advancing direction of the simulated driving is less than 90 degrees.
3. The high accuracy map data validation method of claim 1, wherein Step200 is configured to establish a display window in the three dimensional driving scene at a relative position between the two eyes of the simulated driver.
4. The high accuracy map data validation method of claim 1, wherein Step200 is configured to establish two display windows within the three dimensional driving scene, each at binocular coordinates of a simulated driver.
5. The high accuracy map data verification method of claim 1, wherein Step300 is configured to:
step310, dividing the driving route into at least two intermediate routes in sequence;
step320, driving the display window to sequentially simulate the vehicle to advance along a middle path and simulate a driver to observe road data in the three-dimensional driving scene;
and Step400, observing the three-dimensional driving scene by taking the two ends of the middle path as starting points, and marking error data on the interface of the display window.
6. The high accuracy map data verification method according to claim 5, wherein Step310 is configured to divide the travel path into intermediate paths at a travel speed of the simulated vehicle.
7. A high-precision map data verification system is characterized in that,
the system comprises:
the display module is configured to load the high-precision map data and simulate a three-dimensional driving scene;
the viewing angle module is configured to load or set a starting point coordinate of a driving path in the three-dimensional driving scene, superimpose a threshold value coordinate and the starting point coordinate as an observation coordinate simulating any monocular relative position of a driver, locate the center of a display window at the observation coordinate, and drive the display window to simulate a vehicle to advance along the driving path;
and the error recording module is configured to observe the three-dimensional driving scene, mark and store error data after the error data is found.
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| CN110276952B (en) * | 2019-06-27 | 2020-11-27 | 武汉中海庭数据技术有限公司 | Traffic information simulation acquisition method and device |
| CN115880890A (en) * | 2021-09-26 | 2023-03-31 | 华为技术有限公司 | Map validity detection method and related product |
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