CN114136327A - Automatic inspection method and system for recall ratio of dotted line segment - Google Patents
Automatic inspection method and system for recall ratio of dotted line segment Download PDFInfo
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- 238000004590 computer program Methods 0.000 claims description 12
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- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
- G01C21/28—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network with correlation of data from several navigational instruments
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Abstract
The invention relates to an automatic checking method and system for the recall ratio of a dotted line segment, wherein the method comprises the following steps: acquiring real lane line data and real dotted line segment data of a high-precision map; searching one or more virtual and real change points related to the real lane line, and matching all virtual line parts on the lane line according to the virtual and real change points; determining each dotted line segment and the corresponding associated lane thereof according to the real dotted line segment data; and screening out effective virtual line segments according to the projection of each virtual line segment on the associated lane. The invention ensures the correlation correctness by utilizing the correlation relationship between the virtual line segment and the real lane line, and improves the correctness and efficiency of the checking by utilizing the spatial position relationship of the virtual line segment and the real and virtual change positions of the lane line to check the occupancy rate.
Description
Technical Field
The invention belongs to the field of high-precision map making, and particularly relates to an automatic inspection method and system for the recall ratio of a dotted line segment.
Background
High-precision maps, which are important components of unmanned vehicles, need to provide a large amount of high-precision data for support. The number of ground objects is limited, the positioning is not sufficient, the cardinality of the virtual line part of the lane line is large, the lane line can be used as a direction sign for guiding unmanned driving and used for auxiliary positioning, and the number, the quality precision and the correctness of the associated lane are particularly critical. The dotted line segment data in the high-precision map is huge, and a real world scene can be restored. The problems of missing of the dotted line segment, incorrect association relation of the dotted line segment, incorrect length of the dotted line segment and the like can occur in the actual data, and the quality and the association of the data are checked only by people, so that the requirements of high-precision map precision and correctness cannot be met.
According to the high-precision map element classification, the lane lines of the road network part have virtual and real change points, the virtual line parts of the lane lines have the condition of the virtual line segments, all the virtual line segments related to the lane lines are found from the high-precision map original data, the lengths of all the virtual line parts on the lane lines are calculated, the projection ratio of the virtual line segments on the virtual line parts on the lane lines is counted, and the proportion is calculated. At present, the inspection of the occupation ratio of the virtual line segment and the incidence relation with the lane line is not needed, if the occupation ratio of the virtual line segment is insufficient, the number of automatic auxiliary positioning samples of the unmanned automobile is reduced, and the automatic driving positioning precision is reduced. If the association relationship of the dotted line segment is wrong, the reliability of the data is reduced. At present, visual inspection is mainly carried out in a manual mode, and the method is high in cost, low in efficiency and easy to make mistakes.
Disclosure of Invention
In order to solve the problems that the recall of the virtual line segment in the high-precision map depends on manpower, the cost is high, the efficiency is low and the error is easy to occur, the invention provides an automatic checking method of the recall ratio of the virtual line segment on the first aspect, which comprises the following steps: acquiring real lane line data and real dotted line segment data of a high-precision map; searching one or more virtual and real change points related to the real lane line, and matching all virtual line parts on the lane line according to the virtual and real change points; determining each dotted line segment and the corresponding associated lane thereof according to the real dotted line segment data; and screening out effective virtual line segments according to the projection of each virtual line segment on the associated lane.
In some embodiments of the present invention, the searching for one or more virtual-real change points associated with a real lane line and matching all virtual line portions on the lane line according to the one or more virtual-real change points comprises the following steps: generating a virtual and real change point at the first point of each lane line, wherein each virtual and real change point inherits the attribute of the lane line and records the attribute change of the lane line; filtering invalid virtual and real change points according to the attribute change of the lane line of each virtual and real change point; and sequencing the filtered virtual and real change points according to the distance between the virtual and real change points and the corresponding lane line, and calculating the total length of the line segment consisting of all the virtual and real change points.
In some embodiments of the present invention, said determining each dashed line segment and its corresponding associated lane from said real dashed line segment data comprises: acquiring a plane coordinate, a space coordinate and a lane line association relation table of each virtual line segment; and determining the position relation between each dotted line segment and the corresponding lane line according to the space coordinates.
Further, the determining the position relationship between each dashed line segment and the lane line corresponding to the dashed line segment according to the space coordinates includes: determining one or more virtual line segments associated with each lane line according to the plane coordinates and the space coordinates of each virtual line segment; and matching the one or more virtual line segments obtained by calculation with the lane line association relation table, and removing unmatched virtual line segments.
In some embodiments of the present invention, the screening out valid dashed segments according to the projection of each dashed segment on its associated lane includes: projecting each imaginary line segment to its associated lane: and if the projection of the virtual line segment is on the real lane line, judging that the virtual line segment is effective.
In the above embodiment, the method further includes calculating the ratio of the broken line segments according to the projected total length of the screened one or more effective broken line segments.
In a second aspect of the present invention, an automated inspection system for the recall ratio of a dashed line segment is provided, which includes: the acquisition module is used for acquiring real lane line data and real dotted line segment data of the high-precision map; the matching module is used for searching one or more virtual and real change points related to the real lane line and matching all virtual line parts on the lane line according to the virtual and real change points; the determining module is used for determining each dotted line segment and the corresponding associated lane thereof according to the real dotted line segment data; and the screening module is used for screening out effective virtual line segments according to the projection of each virtual line segment on the associated lane.
Further, the search module comprises a generation unit, a filtering unit and a calculation unit, wherein the generation unit is used for generating a virtual and real change point at the head point of each lane line, and each virtual and real change point inherits the attribute of the lane line and records the attribute change of the virtual and real change point; the filtering unit is used for filtering invalid virtual and real change points according to the attribute change of the lane line of each virtual and real change point; and the computing unit is used for sequencing the filtered virtual and real change points according to the distances between the virtual and real change points and the corresponding lane lines and computing the total length of the line segment consisting of all the virtual and real change points.
In a third aspect of the present invention, there is provided an electronic device comprising: one or more processors; a storage device, configured to store one or more programs, which when executed by the one or more processors, cause the one or more processors to implement the method for automated inspection of recall of a dashed line segment provided in the first aspect of the present invention.
In a fourth aspect of the present invention, a computer-readable medium is provided, on which a computer program is stored, wherein the computer program, when executed by a processor, implements the automated inspection method for the recall ratio of the dashed line segment provided in the first aspect of the present invention.
The invention has the beneficial effects that:
1. in order to solve the problem of low efficiency of manual visual inspection, the invention ensures the correlation correctness by utilizing the correlation between the virtual line segment and the real lane line, and improves the inspection correctness and efficiency by utilizing the spatial position relation of the virtual line segment and the inspection occupation problem at the virtual and real change positions of the lane line.
2. According to the existing high-precision map data, the precision of the lane lines and the broken line segments can reach 10cm, and the data serving as a source can be more theoretically supported.
Drawings
FIG. 1 is a basic flow diagram of an automated inspection method for recall of a dashed segment in some embodiments of the invention;
FIG. 2 is a detailed flow diagram of an automated inspection method for recall of a dashed segment in some embodiments of the invention;
FIG. 3 is a schematic diagram of the calculation of a dashed segment ratio in some embodiments of the invention;
FIG. 4 is a block diagram of an automated inspection system for recall of a dashed line segment in some embodiments of the invention;
fig. 5 is a schematic structural diagram of an electronic device in some embodiments of the invention.
Detailed Description
The principles and features of this invention are described below in conjunction with the following drawings, which are set forth by way of illustration only and are not intended to limit the scope of the invention.
Referring to fig. 1 and fig. 2, in a first aspect of the present invention, there is provided an automated inspection method for a recall ratio of a dashed line segment, comprising: s100, acquiring real lane line data and real dotted line segment data of a high-precision map; s200, searching one or more virtual and real change points related to a real lane line, and matching all virtual line parts on the lane line according to the virtual and real change points; s300, determining each dotted line segment and a corresponding associated lane thereof according to the real dotted line segment data; s400, screening out effective virtual line segments according to the projection of each virtual line segment on the associated lane.
It is understood that the high-precision map in the present invention includes road-level data, lane-level data, and feature data. Road-level data such as road shape, slope, curvature, pavement, direction, etc.; the lane attribute includes data of lane line type, lane width, and the like; the accuracy of the ground feature data such as overhead objects, guard rails, trees, road edge types, roadside landmarks, etc. is at least 20 cm. The virtual-solid change point indicates a junction point that changes from a virtual line segment to a solid line segment (or from a solid line to a virtual line segment) in the lane line.
In step S100 of some embodiments of the present invention, real lane line data and real broken line segment data of a high-precision map are acquired. Specifically, a real lane line is obtained through HadMap (high-precision map) database data, the attribute logic (logic edge) of the lane line is excluded as a virtual edge line, and the virtual edge line is a line which does not exist in reality and is a contour line constructed in the intersection.
In step S200 in some embodiments of the present invention, the searching for one or more virtual-real change points associated with a real lane line and matching all virtual line portions on the lane line according to the one or more virtual-real change points comprises the following steps: s201, generating a virtual and real change point at the first point of each lane line, wherein each virtual and real change point inherits the attribute of the lane line and records the attribute change of the lane line; s202, filtering invalid virtual and real change points according to the attribute change of the lane line of each virtual and real change point; and S203, sequencing the filtered virtual and real change points according to the distances between the virtual and real change points and the corresponding lane lines, and calculating the total length of the line segment consisting of all the virtual and real change points.
Specifically, searching for virtual and real change points associated with a real lane line, namely changing from real to virtual and changing from virtual to real points; the virtual and real change points are on the lane line, and the first point of the lane line has no lane attribute point, so that a virtual and real change point is virtualized at the first point, the attribute inherits the lane line, and the lane attribute point records the attribute change of the line, including color, protrusion and the like, so that the non-virtual and real change point needs to be eliminated when the virtual and real change is 255 (the change degree is zero or the attribute does not change). Sequencing all virtual and real change points on the real lane line from near to far according to distance, and finding all virtual line parts on the real lane line, namely: the lane line where the virtual-real change point is located is a dotted line, or the lane line changes from real to virtual-real change point to real virtual-real change point. And (4) counting the lengths of line segments formed by all adjacent virtual and real change points, and counting the lengths L.
It will be appreciated that 255 represents only one measure of the degree of change of the attribute, and that the value of the change measure and the threshold may be set to exclude non-virtual change points, as the case may be.
In step S300 of some embodiments of the present invention, the determining each dashed line segment and its corresponding associated lane according to the real dashed line segment data includes: s301, acquiring a plane coordinate, a space coordinate and a lane line association relation table of each virtual line segment; s302, determining the position relation between each dotted line segment and the corresponding lane line according to the space coordinates.
Further, in step S302, the determining the position relationship between each dashed line segment and the corresponding lane line according to the space coordinate includes: s3021, determining one or more virtual line segments associated with each lane line according to the plane coordinates and the space coordinates of each virtual line segment; and S3022, matching the one or more virtual line segments obtained by calculation with the lane line association relation table, and removing unmatched virtual line segments.
Specifically, all the imaginary line segments (representing imaginary line segments) whose FCode (FCode 121 is an imaginary line segment in the standard high-precision map) associated to the real lane line is 121, and the (coordinates of) XYZ of the plane thereof are acquired. The virtual line segment associated with the lane line, that is, the virtual line segment closest to the lane line in the spatial position, the planar BOX of the virtual line segment is obtained through spatial calculation, and the lane line intersecting with the planar BOX is calculated, so that the situation of vertical overhead occurs, and therefore the Z value needs to be considered. And after finding the virtual line segment, searching the association relation table, finding the corresponding recorded association lane line, checking whether the result is consistent with the result calculated through the space, and reporting an error if the association relation is incorrect.
In step S400 of some embodiments of the present invention, the screening out valid dashed line segments according to the projection of each dashed line segment on its associated lane includes: projecting each imaginary line segment to its associated lane: and if the projection of the virtual line segment is on the real lane line, judging that the virtual line segment is effective.
Specifically, all the virtual line segments are projected to the associated lane lines, if the virtual line segments are projected on the virtual line part of the real lane line, the virtual line segment is regarded as the projection of the effective virtual line segment, and the projection accumulation of the effective virtual line segments is the length Dash _ L of the virtual line segment.
Referring to fig. 3, in the above embodiment, the method further includes calculating a ratio of the broken line segments (broken line segment ratio) according to the total projected length of the screened one or more effective broken line segments. Specifically, the ratio of the statistical effective dashed line segment projection length Dash _ L to the length L of the dashed line portion of the lane boundary line is the ratio of the dashed line segment. In the figure, the direction indicated by the arrow is the direction of the lane line, B1, B2, C1 and C2 are the projections of the corresponding virtual line segments on the lane line, and the corresponding virtual and real change points are not shown in the figure and do not affect the meaning expression. A1 represents the total length of the dashed segment B1C1, a2 represents the total length of the dashed segment B2C2, i.e.: broken line segment ratio (B1+ B2+ C1+ C2)/(a1+ a 2).
Example 2
Referring to fig. 4, in a second aspect of the present invention, there is provided an automated inspection system 1 for recall of a dashed line segment, comprising: the acquisition module 11 is used for acquiring real lane line data and real dotted line segment data of the high-precision map; the matching module 12 is configured to search for one or more virtual-real change points associated with a real lane line, and match all virtual line portions on the lane line according to the virtual-real change points; a determining module 13, configured to determine, according to the real dashed line segment data, each dashed line segment and its corresponding associated lane; and the screening module 14 is used for screening out effective virtual line segments according to the projection of each virtual line segment on the associated lane.
Further, the matching module 12 includes a generating unit, a filtering unit, and a calculating unit, where the generating unit is configured to generate a virtual-real change point at a first point of each lane line, and each virtual-real change point inherits the attribute of the lane line and records the attribute change of the lane line; the filtering unit is used for filtering invalid virtual and real change points according to the attribute change of the lane line of each virtual and real change point; and the computing unit is used for sequencing the filtered virtual and real change points according to the distances between the virtual and real change points and the corresponding lane lines and computing the total length of the line segment consisting of all the virtual and real change points.
Example 3
Referring to fig. 5, in a third aspect of the present invention, there is provided an electronic apparatus comprising: one or more processors; storage means for storing one or more programs which, when executed by the one or more processors, cause the one or more processors to carry out the method of the invention in the first aspect.
The electronic device 500 may include a processing means (e.g., central processing unit, graphics processor, etc.) 501 that may perform various appropriate actions and processes in accordance with a program stored in a Read Only Memory (ROM)502 or a program loaded from a storage means 508 into a Random Access Memory (RAM) 503. In the RAM503, various programs and data necessary for the operation of the electronic apparatus 500 are also stored. The processing device 501, the ROM502, and the RAM503 are connected to each other through a bus 504. An input/output (I/O) interface 505 is also connected to bus 504.
The following devices may be connected to the I/O interface 505 in general: input devices 506 including, for example, a touch screen, touch pad, keyboard, mouse, camera, microphone, accelerometer, gyroscope, etc.; output devices 507 including, for example, a Liquid Crystal Display (LCD), speakers, vibrators, and the like; a storage device 508 including, for example, a hard disk; and a communication device 509. The communication means 509 may allow the electronic device 500 to communicate with other devices wirelessly or by wire to exchange data. While fig. 5 illustrates an electronic device 500 having various means, it is to be understood that not all illustrated means are required to be implemented or provided. More or fewer devices may alternatively be implemented or provided. Each block shown in fig. 5 may represent one device or may represent multiple devices as desired.
In particular, according to an embodiment of the present disclosure, the processes described above with reference to the flowcharts may be implemented as computer software programs. For example, embodiments of the present disclosure include a computer program product comprising a computer program embodied on a computer readable medium, the computer program comprising program code for performing the method illustrated in the flow chart. In such an embodiment, the computer program may be downloaded and installed from a network via the communication means 509, or installed from the storage means 508, or installed from the ROM 502. The computer program, when executed by the processing device 501, performs the above-described functions defined in the methods of embodiments of the present disclosure. It should be noted that the computer readable medium described in the embodiments of the present disclosure may be a computer readable signal medium or a computer readable storage medium or any combination of the two. A computer readable storage medium may be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination of the foregoing. More specific examples of the computer readable storage medium may include, but are not limited to: an electrical connection having one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. In embodiments of the disclosure, a computer readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device. In embodiments of the present disclosure, however, a computer readable signal medium may comprise a propagated data signal with computer readable program code embodied therein, for example, in baseband or as part of a carrier wave. Such a propagated data signal may take many forms, including, but not limited to, electro-magnetic, optical, or any suitable combination thereof. A computer readable signal medium may also be any computer readable medium that is not a computer readable storage medium and that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device. Program code embodied on a computer readable medium may be transmitted using any appropriate medium, including but not limited to: electrical wires, optical cables, RF (radio frequency), etc., or any suitable combination of the foregoing.
The computer readable medium may be embodied in the electronic device; or may exist separately without being assembled into the electronic device. The computer readable medium carries one or more computer programs which, when executed by the electronic device, cause the electronic device to:
computer program code for carrying out operations for embodiments of the present disclosure may be written in any combination of one or more programming languages, including an object oriented programming language such as Java, Smalltalk, C + +, Python, and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code may execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any type of network, including a Local Area Network (LAN) or a Wide Area Network (WAN), or the connection may be made to an external computer (for example, through the Internet using an Internet service provider).
The flowchart and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of systems, methods and computer program products according to various embodiments of the present disclosure. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents, improvements and the like that fall within the spirit and principle of the present invention are intended to be included therein.
Claims (10)
1. An automated inspection method for the recall ratio of a dotted line segment, comprising:
acquiring real lane line data and real dotted line segment data of a high-precision map;
searching one or more virtual and real change points related to the real lane line, and matching all virtual line parts on the lane line according to the virtual and real change points;
determining each dotted line segment and the corresponding associated lane thereof according to the real dotted line segment data;
and screening out effective virtual line segments according to the projection of each virtual line segment on the associated lane.
2. The method for automatically checking the recall ratio of a dotted line segment according to claim 1, wherein the step of searching for one or more virtual-real change points associated with a real lane line and matching all dotted line portions on the lane line according to the one or more virtual-real change points comprises the steps of:
generating a virtual and real change point at the first point of each lane line, wherein each virtual and real change point inherits the attribute of the lane line and records the attribute change of the lane line;
filtering invalid virtual and real change points according to the attribute change of the lane line of each virtual and real change point;
and sequencing the filtered virtual and real change points according to the distance between the virtual and real change points and the corresponding lane line, and calculating the total length of the line segment consisting of all the virtual and real change points.
3. The method for automated inspection of recall of dashed segments of claim 1, wherein said determining each dashed segment from said real dashed segment data with its corresponding associated lane comprises:
acquiring a plane coordinate, a space coordinate and a lane line association relation table of each virtual line segment;
and determining the position relation between each dotted line segment and the corresponding lane line according to the space coordinates.
4. The method for automatically inspecting recall ratio of virtual line segments according to claim 3, wherein the determining the position relationship between each virtual line segment and the corresponding lane line according to the spatial coordinates comprises:
determining one or more virtual line segments associated with each lane line according to the plane coordinates and the space coordinates of each virtual line segment;
and matching the one or more virtual line segments obtained by calculation with the lane line association relation table, and removing unmatched virtual line segments.
5. The method for automated inspection of recall of dashed segments of claim 1, wherein said screening out valid dashed segments from the projection of each dashed segment on its associated lane comprises:
projecting each imaginary line segment to its associated lane: and if the projection of the virtual line segment is on the real lane line, judging that the virtual line segment is effective.
6. The method for automatically inspecting recall ratio of a broken line segment according to any one of claims 1 to 5, further comprising calculating a broken line segment ratio based on a projected total length of the screened one or more valid broken line segments.
7. An automated inspection system for the recall of a segment of a dashed line, comprising:
the acquisition module is used for acquiring real lane line data and real dotted line segment data of the high-precision map;
the matching module is used for searching one or more virtual and real change points related to the real lane line and matching all virtual line parts on the lane line according to the virtual and real change points;
the determining module is used for determining each dotted line segment and the corresponding associated lane thereof according to the real dotted line segment data;
and the screening module is used for screening out effective virtual line segments according to the projection of each virtual line segment on the associated lane.
8. The automated inspection system of recall of a dashed line segment of claim 7, wherein the search module comprises a generation unit, a filtering unit, a calculation unit,
the generating unit is used for generating a virtual and real change point at the head point of each lane line, and each virtual and real change point inherits the attribute of the lane line and records the attribute change of the virtual and real change point;
the filtering unit is used for filtering invalid virtual and real change points according to the attribute change of the lane line of each virtual and real change point;
and the computing unit is used for sequencing the filtered virtual and real change points according to the distances between the virtual and real change points and the corresponding lane lines and computing the total length of the line segment consisting of all the virtual and real change points.
9. An electronic device, comprising: one or more processors; a storage device for storing one or more programs which, when executed by the one or more processors, cause the one or more processors to implement the automated inspection method for recall of a dashed line segment as claimed in any one of claims 1 to 6.
10. A computer-readable medium, on which a computer program is stored, wherein the computer program, when being executed by a processor, implements an automated inspection method of the recall of a dashed line segment as claimed in any one of claims 1 to 6.
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN116091645A (en) * | 2022-12-29 | 2023-05-09 | 武汉中海庭数据技术有限公司 | Method and device for generating virtual line segment of lane |
| CN117152299A (en) * | 2023-10-27 | 2023-12-01 | 腾讯科技（深圳）有限公司 | Lane dotted line rendering method, device, equipment, storage medium and program product |
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