CN114440929A - Test and evaluation method, device, vehicle and medium for high-precision map - Google Patents
Test and evaluation method, device, vehicle and medium for high-precision map Download PDFInfo
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Abstract
本发明公开了一种高精度地图的测试评估方法、装置、车辆及介质，包括：根据所述车辆中预先部署的待测高精度地图，实时获取所述车辆预设范围内的高精度地图数据；根据所述高精度地图数据，控制所述车辆进行自动驾驶，并在所述车辆自动驾驶的过程中实时获取所述车辆预设范围内的真实道路图像；将所述高精度地图数据与所述真实道路图像，通过可视化界面同时展示给用户，以使用户根据所述可视化界面的展示结果，对所述待测高精度地图的性能进行评估。本发明实施例的技术方案可以准确快速地对高精度地图的性能进行评估，减少高精度地图性能评估过程所需的时间成本以及人力成本。
The invention discloses a test and evaluation method, device, vehicle and medium for a high-precision map, comprising: obtaining high-precision map data within a preset range of the vehicle in real time according to a high-precision map to be tested pre-deployed in the vehicle ; According to the high-precision map data, control the vehicle to perform automatic driving, and obtain real road images within the preset range of the vehicle in real time during the process of automatic driving of the vehicle; Compare the high-precision map data with all The real road image is simultaneously displayed to the user through a visual interface, so that the user can evaluate the performance of the high-precision map to be tested according to the display result of the visual interface. The technical solutions of the embodiments of the present invention can accurately and quickly evaluate the performance of the high-precision map, and reduce the time cost and labor cost required for the performance evaluation process of the high-precision map.
Description
Technical Field
The embodiment of the invention relates to the technical field of vehicle networking, in particular to a test evaluation method and device for a high-precision map, a vehicle and a medium.
Background
At present, people increasingly rely on electronic maps during traveling, for example, navigation map software is equipped in automobiles, so that drivers drive according to routes specified in the map software. The high-precision map not only has high-precision coordinates, but also comprises data of the gradient, the curvature, the course, the elevation, the roll and the like of each lane. High-precision maps have become popular for use in autonomous vehicles due to their inclusion of rich and complete road network data.
Since the high-precision map directly affects the driving route of the autonomous vehicle, it is particularly important to test and evaluate the performance of the high-precision map. In the prior art, when testing and evaluating the performance of a high-precision map, the latest real road network information is usually collected manually, then the real road network information is compared with road network data in the high-precision map, and a performance evaluation result of the high-precision map is determined according to a comparison result.
However, in the prior art, when a developer manually collects real road network information, high time cost and labor cost are required, which results in that the performance evaluation process of a high-precision map is time-consuming and low in evaluation efficiency.
Disclosure of Invention
The embodiment of the invention provides a test evaluation method, a test evaluation device, a vehicle and a medium for a high-precision map, which can accurately and quickly evaluate the performance of the high-precision map and reduce the time cost and the labor cost required in the performance evaluation process of the high-precision map.
In a first aspect, an embodiment of the present invention provides a test evaluation method for a high-precision map, which is applied to a vehicle, and the method includes:
acquiring high-precision map data within a preset range of the vehicle in real time according to a to-be-detected high-precision map pre-deployed in the vehicle;
controlling the vehicle to automatically drive according to the high-precision map data, and acquiring a real road image in a preset range of the vehicle in real time in the automatic driving process of the vehicle;
and simultaneously displaying the high-precision map data and the real road image to a user through a visual interface so that the user can evaluate the performance of the high-precision map to be detected according to the display result of the visual interface.
In a second aspect, an embodiment of the present invention further provides a device for testing and evaluating a high-precision map, which is applied to a vehicle, and the device includes:
the map data acquisition module is used for acquiring high-precision map data within a preset range of the vehicle in real time according to a to-be-detected high-precision map which is pre-deployed in the vehicle;
the automatic driving module is used for controlling the vehicle to automatically drive according to the high-precision map data;
and the visualization module is used for acquiring a real road image in a preset range of the vehicle in real time in the automatic driving process of the vehicle, and simultaneously displaying the high-precision map data and the real road image to a user through a visualization interface so that the user can evaluate the performance of the high-precision map to be detected according to a display result of the visualization interface.
In a third aspect, an embodiment of the present invention further provides a vehicle, including:
one or more processors;
storage means for storing one or more programs;
when the one or more programs are executed by the one or more processors, the one or more processors implement the test evaluation method for the high-precision map provided by any embodiment of the invention.
In a fourth aspect, an embodiment of the present invention further provides a computer-readable storage medium, where a computer program is stored on the storage medium, and when the computer program is executed by a processor, the computer program implements the test and evaluation method for a high-precision map according to any embodiment of the present invention.
According to the technical scheme of the embodiment of the invention, high-precision map data in a preset range of a vehicle are acquired in real time according to a to-be-detected high-precision map pre-deployed in the vehicle, the vehicle is controlled to be automatically driven according to the high-precision map data, a real road image in the preset range of the vehicle is acquired in real time in the automatic driving process of the vehicle, the high-precision map data and the real road image are displayed to a user through a visual interface, so that the user can accurately and quickly evaluate the performance of the to-be-detected high-precision map according to the display result of the visual interface, and the time cost and the labor cost required in the performance evaluation process of the high-precision map are reduced.
Drawings
Fig. 1 is a flowchart of a test evaluation method for a high-precision map according to an embodiment of the present invention;
FIG. 2a is a flowchart of another method for testing and evaluating a high-precision map according to an embodiment of the present invention;
FIG. 2b is a schematic diagram of a road topology provided by an embodiment of the present invention;
FIG. 2c is a schematic diagram of a simulation map according to an embodiment of the present invention;
FIG. 2d is a schematic view of a visualization interface provided by an embodiment of the invention;
FIG. 3a is a flowchart of another method for testing and evaluating a high-precision map according to an embodiment of the present invention;
FIG. 3b is a schematic view of another visualization interface provided by embodiments of the present invention;
FIG. 4a is a block diagram of a test evaluation apparatus for a high-precision map according to an embodiment of the present invention;
FIG. 4b is a schematic structural diagram of a visualization module according to an embodiment of the present invention;
fig. 5 is a schematic structural diagram of a vehicle according to an embodiment of the present invention.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting of the invention. It should be further noted that, for the convenience of description, only some of the structures related to the present invention are shown in the drawings, not all of the structures.
In the prior art, when the performance of a high-precision map is tested and evaluated, the latest real road network information is usually collected manually, then the real road network information is compared with road network data in the high-precision map, and a performance evaluation result of the high-precision map is determined according to a comparison result, so that higher time cost and labor cost are required, the performance evaluation process of the high-precision map is time-consuming and the evaluation efficiency is lower. To this end, the present invention provides a flowchart of a test and evaluation method for a high-precision map, and fig. 1 is a flowchart of a test and evaluation method for a high-precision map according to an embodiment of the present invention, where the present embodiment is applicable to performance test and evaluation of a high-precision map for an autonomous vehicle application, the method may be executed by a test and evaluation device for a high-precision map, the device may be implemented by software and/or hardware, and may be generally integrated in a vehicle having a data processing function, and specifically includes the following steps:
and 110, acquiring high-precision map data within a preset range of the vehicle in real time according to a to-be-detected high-precision map pre-deployed in the vehicle.
In this embodiment, the vehicle is pre-deployed with a high-precision map to be measured, and the high-precision map is better at serving an automatic driving system than a common navigation electronic map. The high-precision map is also called an automatic driving map and a high-resolution map, and is a new map data normal form for automatic driving vehicles. A Positioning device, which may be a Global Positioning System (GPS), is also deployed in the vehicle.
In the step, the position information of the vehicle can be acquired in real time through a GPS, and high-precision map data in a preset range of the vehicle can be acquired in real time in a high-precision map according to the position information.
And 120, controlling the vehicle to automatically drive according to the high-precision map data, and acquiring a real road image in a preset range of the vehicle in real time in the automatic driving process of the vehicle.
In this step, the vehicle may be controlled to automatically drive according to the route planned in the high-precision map data according to the high-precision map data, and in the process of automatically driving the vehicle, the image acquisition unit in the vehicle acquires the real road image within the preset range of the vehicle in real time.
In a particular embodiment, the image acquisition unit may be a vehicle-mounted camera. In the process of automatic driving of the vehicle, a real road picture or a real road video image in the preset range of the vehicle can be shot by the vehicle-mounted camera.
And step 130, simultaneously displaying the high-precision map data and the real road image to a user through a visual interface so that the user can evaluate the performance of the high-precision map to be detected according to the display result of the visual interface.
In this embodiment, after the high-precision map data and the real road image within the preset range of the vehicle are acquired, the high-precision map data and the real road image may be displayed to the user through a visual interface. The visual interface may be a display interface on an in-vehicle display device (e.g., a display screen installed in a vehicle).
In this step, after the high-precision map data and the real road image within the preset range of the vehicle are simultaneously displayed to the user (the user may be a developer corresponding to the high-precision map) through the visual interface, the user may compare the high-precision map data with the real road image, and determine the performance evaluation result of the high-precision map to be tested according to the comparison result.
In a specific embodiment, assuming that, in the process of the automatic driving of the vehicle, the real lane line shown in the visual interface is a solid line, and the lane line recorded in the high-precision map data is a dashed line, it may be stated that there is inaccurate map data in the high-precision map to be measured, that is, the accuracy of the high-precision map to be measured does not meet the preset requirement.
In this embodiment, by simultaneously displaying the real road image and the high-precision map data within the preset range of the vehicle to the user, the user can compare the high-precision map data with the real road image through the visual interface, so that the user can accurately and quickly evaluate the performance of the high-precision map, and under the condition that the performance evaluation result of the high-precision map is determined not to meet the preset requirement, the data of the high-precision map can be accurately updated, so that the high-precision map can better serve for automatically driving the vehicle.
According to the technical scheme of the embodiment of the invention, high-precision map data in a preset range of a vehicle are acquired in real time according to a to-be-detected high-precision map pre-deployed in the vehicle, the vehicle is controlled to be automatically driven according to the high-precision map data, a real road image in the preset range of the vehicle is acquired in real time in the automatic driving process of the vehicle, the high-precision map data and the real road image are displayed to a user through a visual interface, so that the user can accurately and quickly evaluate the performance of the to-be-detected high-precision map according to the display result of the visual interface, and the time cost and the labor cost required in the performance evaluation process of the high-precision map are reduced.
Fig. 2a is a flowchart of another method for testing and evaluating a high-precision map provided in this embodiment, the technical solution of this embodiment may be combined with one or more methods in the solutions of the foregoing embodiments, as shown in fig. 2a, the method provided in this embodiment may further include:
and step 210, acquiring high-precision map data within a preset range of the vehicle in real time according to a to-be-detected high-precision map pre-deployed in the vehicle.
And step 220, controlling the vehicle to automatically drive according to the high-precision map data, and acquiring a real road image in a preset range of the vehicle in real time in the automatic driving process of the vehicle.
And step 230, generating a simulation map corresponding to the high-precision map data according to the high-precision map data.
In the embodiment, since the plurality of discrete high-precision map data are acquired according to the high-precision map in step 210, in order to enable the user to intuitively compare the high-precision map data with the real road image through the visual interface, the simulation map corresponding to the high-precision map data can be generated according to the plurality of discrete high-precision map data.
In a specific embodiment, optionally, the simulation map may be obtained by restoring and reconstructing road features (e.g., road signs, traffic signs, lane lines, and the like) included in each high-precision map data according to the position information corresponding to each high-precision map data.
In one embodiment of this embodiment, generating a simulation map corresponding to the high-accuracy map data from the high-accuracy map data includes:
231, drawing a road topological graph corresponding to the high-precision map data according to the road attribute data in the high-precision map data;
in this step, the road attribute data may include a road name, a road direction, and the like. Specifically, a road topology map corresponding to the high-accuracy map data may be drawn based on the position information corresponding to each piece of the road attribute data.
Step 232, according to the lane attribute data in the high-precision map data, drawing the lane attribute characteristics corresponding to each road in the road topological graph to obtain the simulation map corresponding to the high-precision map data.
In this step, the lane attribute data may be geographic data corresponding to lane attribute features, which may include lanes, lane lines, road signs, traffic signs, and geo-fences, and the like, and may include lane geometric features (such as gradient, curvature, direction, and width, etc.), lane types, lane line positions, lane line types, lane line geometric features, road sign positions, road sign semantics, traffic sign positions, traffic sign shapes, traffic sign semantics, and the like.
In a specific embodiment, it is assumed that the following road attribute data is recorded in the high-precision map data acquired through step 210: if the road 1 (including the target points F, A, B and C), the road 2 (including the target points D, E and G), the included angle between the road 1 and the road 2, and the position information of each target point in the road 1 and the road 2, the road topology map drawn according to the above-mentioned road attribute data can be as shown in fig. 2 b.
Taking the road topology map in fig. 2b as an example, it is assumed that the following lane attribute data are recorded in the high-precision map data: a position corresponding to a lane line in the road 1 as a dotted line, a position corresponding to a lane line in the road 1 as a solid line, driving directions corresponding to the two lanes, road sections corresponding to the inside and outside of the geo-fence, respectively, positions corresponding to the lane line in the road 2, and positions of the guideboards 1, according to the lane attribute data, the drawn simulation map may be as shown in fig. 2 c.
The determination rule of the geo-fence road segment may be defined by a developer of the vehicle automatic driving function, for example, when it is determined that the gradient of the road segment exceeds a preset threshold, the road segment is defined as outside the geo-fence, otherwise, the road segment is defined as inside the geo-fence.
And 240, simultaneously displaying the simulation map and the real road image to a user through a visual interface so that the user can evaluate the performance of the high-precision map to be tested according to the display result of the visual interface.
In this embodiment, fig. 2d may be a schematic diagram of the visualization interface, and as shown in fig. 2d, the visualization interface may include a video window and a graphic window. The video window is used for displaying real road video images acquired in real time in the automatic driving process of the vehicle; the graphic window is used for displaying the simulation map. The simulation map and the real road video image are displayed to the user at the same time, so that the user can visually find the difference between the high-precision map data and the real road, and the user can conveniently and quickly and accurately evaluate the performance of the high-precision map.
The technical scheme of the embodiment of the invention obtains the high-precision map data in the preset range of the vehicle in real time according to the high-precision map to be detected pre-deployed in the vehicle, controlling the vehicle to automatically drive according to the high-precision map data, and acquiring a real road image in a preset range of the vehicle in real time in the automatic driving process of the vehicle, generating a simulation map corresponding to the high-precision map data according to the high-precision map data, associating the simulation map with the real road image, and simultaneously displaying the data to the user through the visual interface so that the user can display the data according to the display result of the visual interface, the technical means for evaluating the performance of the high-precision map to be measured can accurately and quickly evaluate the performance of the high-precision map, and reduce the time cost and the labor cost required in the performance evaluation process of the high-precision map.
Fig. 3a is a flowchart of a test evaluation method for a high-precision map provided in this embodiment, the technical solution of this embodiment may be combined with one or more methods in the solutions of the foregoing embodiments, as shown in fig. 3a, the method provided in this embodiment may further include:
and 310, acquiring high-precision map data within a preset range of the vehicle in real time according to the to-be-detected high-precision map pre-deployed in the vehicle.
And 320, controlling the vehicle to automatically drive according to the high-precision map data, and acquiring a real road image in a preset range of the vehicle in real time in the automatic driving process of the vehicle.
And 330, generating a simulation map corresponding to the high-precision map data according to the high-precision map data.
And 340, simultaneously displaying the simulation map and the real road image to a user through a visual interface so that the user can evaluate the performance of the high-precision map to be tested according to the display result of the visual interface.
And 350, generating a text box corresponding to each lane attribute feature in the simulation map, and displaying the text box to a user through a visual interface, so that the user can adjust the automatic driving parameters of the vehicle according to the lane attribute feature in the text box and the automatic driving condition of the vehicle.
In this embodiment, taking the visualization interface in fig. 2d as an example, to avoid a situation that a graphic is occluded due to too many simulated map characters in a graphic window, the embodiment proposes an implementation manner of displaying a text box in the visualization interface. The text box is used for describing elements which are inconvenient to express in the simulation map, such as road names, guideboard semantics, judgment rules of the geo-fence road sections and the like.
In this embodiment, fig. 3b may be a schematic diagram of a visualization interface in this embodiment, as shown in fig. 3b, the visualization interface may include a video window, a graphic window, and a text attribute window. The video window is used for displaying real road video images acquired in real time in the automatic driving process of the vehicle; the graphic window is used for displaying the simulation map; and the character attribute window is used for displaying a text box corresponding to the attribute characteristics of each lane in the simulation map.
In a specific embodiment, after the text box corresponding to each lane attribute feature is displayed to the user, the user can know the determination rule of the geo-fence road segment through the text box, that is, when the road segment gradient exceeds a preset threshold (e.g., 6%), the road segment is defined as being outside the geo-fence. If the autonomous driving situation of the vehicle in the road section outside the geo-fence is good, it can be stated that a smaller threshold value is set in the determination rule with respect to the gradient, so that the user can set a larger threshold value (e.g., 7%) in the determination rule of the geo-fence road section to improve the autonomous driving performance of the vehicle.
In an implementation manner of this embodiment, the method further includes: storing the high-precision map data into a preset storage unit; and in the automatic driving process of the vehicle, acquiring the target position of the vehicle in real time, determining invalid map data in the storage unit according to the target position, and removing the invalid map data.
The method for determining the invalid map data in the storage unit according to the target position includes the following steps: and in the automatic driving process of the vehicle, acquiring the target position of the vehicle in real time, and taking the high-precision map data behind the target position in the storage unit as the invalid map data.
In a specific embodiment, taking the simulation map in fig. 2c as an example, assuming that the current position of the vehicle is located at the target point a, the high-precision map data between the target point a and the target point F may be used as invalid map data, and the invalid map data may be eliminated. This has the advantage that it is prevented that other programs in the vehicle are rendered inoperable when the storage space of the storage unit is full.
The technical scheme of the embodiment of the invention includes acquiring high-precision map data in a preset range of the vehicle in real time according to a to-be-detected high-precision map pre-deployed in the vehicle, controlling the vehicle to automatically drive according to the high-precision map data, acquiring a real road image in the preset range of the vehicle in real time during the automatic driving of the vehicle, generating a simulation map corresponding to the high-precision map data according to the high-precision map data, simultaneously displaying the simulation map and the real road image to a user through a visual interface, so that the user can evaluate the performance of the to-be-detected high-precision map according to the display result of the visual interface, generate a text box corresponding to each lane attribute feature in the simulation map, and display the text box to the user through the visual interface, according to the technical means that the user adjusts the automatic driving parameters of the vehicle according to the lane attribute characteristics in the text box and the automatic driving condition of the vehicle, the performance of the high-precision map can be accurately and quickly evaluated, and the time cost and the labor cost required in the performance evaluation process of the high-precision map are reduced.
Fig. 4a is a structural diagram of a test evaluation apparatus for a high-precision map according to an embodiment of the present invention, the apparatus includes: a map data acquisition module 410, an autopilot module 420, and a visualization module 430.
The map data acquisition module 410 is configured to acquire high-precision map data within a preset range of the vehicle in real time according to a to-be-detected high-precision map pre-deployed in the vehicle;
the automatic driving module 420 is used for controlling the vehicle to automatically drive according to the high-precision map data;
and the visualization module 430 is configured to obtain a real road image within a preset range of the vehicle in real time in the automatic driving process of the vehicle, and simultaneously display the high-precision map data and the real road image to a user through a visualization interface, so that the user can evaluate the performance of the high-precision map to be detected according to a display result of the visualization interface.
The device for testing and evaluating the high-precision map further comprises a positioning module, the positioning module is used for sending the position information of the vehicle to a map data acquisition module 410, and the map data acquisition module 410 is used for acquiring the high-precision map data within the preset range of the vehicle in real time in the high-precision map to be tested according to the position information and sending the high-precision map data to an automatic driving module 420 and a visualization module 430 respectively. Specifically, the map data obtaining module 410 may send the high-precision map data to the automatic driving module 420 and the visualization module 430, respectively, through a switch.
According to the technical scheme of the embodiment of the invention, high-precision map data in a preset range of a vehicle are acquired in real time according to a to-be-detected high-precision map which is pre-deployed in the vehicle, the vehicle is controlled to automatically drive according to the high-precision map data, a real road image in the preset range of the vehicle is acquired in real time in the automatic driving process of the vehicle, and the high-precision map data and the real road image are simultaneously displayed to a user through a visual interface, so that the user can accurately and quickly evaluate the performance of the high-precision map to be detected according to the display result of the visual interface, and the time cost and the labor cost required in the performance evaluation process of the high-precision map are reduced.
On the basis of the foregoing embodiments, fig. 4b is a schematic structural diagram of the visualization module 430, where the visualization module 430 may further include:
the image acquisition unit 431 is used for acquiring real road images in a preset range of the vehicle in real time in the automatic driving process of the vehicle;
an image data storage unit 432, configured to store the acquired real road image, and send the real road image to a display unit 436;
the map data receiving and caching unit 433 is used for receiving high-precision map data within a preset range of the vehicle and storing the high-precision map data into a preset storage unit;
the map data management unit 434 is configured to manage newly added high-precision map data in a storage unit, acquire a target position of the vehicle in real time, determine invalid map data in the storage unit according to the target position, and remove the invalid map data, and specifically, is configured to acquire the target position of the vehicle in real time during automatic driving of the vehicle, and use the high-precision map data located behind the target position in the storage unit as the invalid map data.
The map data reconstruction unit 435 is configured to generate a simulation map corresponding to the high-precision map data according to the high-precision map data, and specifically, is configured to draw a road topology map corresponding to the high-precision map data according to road attribute data in the high-precision map data, draw a lane attribute feature corresponding to each road in the road topology map according to lane attribute data in the high-precision map data, obtain the simulation map corresponding to the high-precision map data, and send the simulation map to the display unit 436.
The map data reconstructing unit 435 is further configured to generate a text box corresponding to each lane attribute feature in the simulation map, and send the text box to the display unit 436, so that a user adjusts the automatic driving parameters of the vehicle according to the lane attribute feature in the text box and the automatic driving condition of the vehicle.
The display unit 436 is configured to display the simulation map, the text box, and the real road image to a user through a visual interface at the same time.
The test evaluation device for the high-precision map provided by the embodiment of the invention can execute the test evaluation method for the high-precision map provided by any embodiment of the invention, and has corresponding functional modules and beneficial effects of the execution method.
Fig. 5 is a schematic structural diagram of a vehicle according to an embodiment of the present invention, as shown in fig. 5, the vehicle includes a processor 510, a memory 520, an input device 530, and an output device 540; the number of processors 510 in the vehicle may be one or more, and one processor 510 is taken as an example in fig. 5; the processor 510, memory 520, input device 530, and output device 540 in the vehicle may be connected by a bus or other means, as exemplified by the bus connection in fig. 5. The memory 520 may be used as a computer-readable storage medium for storing software programs, computer-executable programs, and modules, such as program instructions/modules corresponding to a test evaluation method for a high-precision map according to any embodiment of the present invention (for example, the map data acquisition module 410, the autopilot module 420, and the visualization module 430 in a test evaluation apparatus for a high-precision map). The processor 510 executes various functional applications and data processing of the vehicle by executing software programs, instructions and modules stored in the memory 520, so as to implement the above-mentioned test evaluation method for a high-precision map. That is, the program when executed by the processor implements:
acquiring high-precision map data within a preset range of the vehicle in real time according to a to-be-detected high-precision map pre-deployed in the vehicle;
controlling the vehicle to automatically drive according to the high-precision map data, and acquiring a real road image in a preset range of the vehicle in real time in the automatic driving process of the vehicle;
and simultaneously displaying the high-precision map data and the real road image to a user through a visual interface so that the user can evaluate the performance of the high-precision map to be measured according to the display result of the visual interface.
The memory 520 may mainly include a program storage area and a data storage area, wherein the program storage area may store an operating system, an application program required for at least one function; the storage data area may store data created according to the use of the terminal, and the like. Further, the memory 520 may include high speed random access memory, and may also include non-volatile memory, such as at least one magnetic disk storage device, flash memory device, or other non-volatile solid state storage device. In some examples, the memory 520 may further include memory located remotely from the processor 510, which may be connected to the vehicle over a network. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof. The input device 530 may be used to receive input numeric or character information and generate key signal inputs related to user settings and function control of the vehicle, and may include a keyboard and a mouse, etc. The output device 540 may include a display device such as a display screen.
Embodiments of the present invention further provide a computer-readable storage medium, on which a computer program is stored, where the computer program, when executed by a processor, implements the method according to any of the embodiments of the present invention. Of course, the embodiment of the present invention provides a computer-readable storage medium, which can perform related operations in the test evaluation method for a high-precision map provided by any embodiment of the present invention. That is, the program when executed by the processor implements:
acquiring high-precision map data within a preset range of the vehicle in real time according to a to-be-detected high-precision map pre-deployed in the vehicle;
controlling the vehicle to automatically drive according to the high-precision map data, and acquiring a real road image in a preset range of the vehicle in real time in the automatic driving process of the vehicle;
and simultaneously displaying the high-precision map data and the real road image to a user through a visual interface so that the user can evaluate the performance of the high-precision map to be measured according to the display result of the visual interface.
From the above description of the embodiments, it is obvious for those skilled in the art that the present invention can be implemented by software and necessary general hardware, and certainly, can also be implemented by hardware, but the former is a better embodiment in many cases. Based on such understanding, the technical solutions of the present invention may be embodied in the form of a software product, which can be stored in a computer-readable storage medium, such as a floppy disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a FLASH Memory (FLASH), a hard disk or an optical disk of a computer, and includes instructions for enabling a vehicle to perform the methods according to the embodiments of the present invention.
It should be noted that, in the embodiment of the test evaluation device for a high-precision map, the included units and modules are only divided according to the functional logic, but are not limited to the above division, as long as the corresponding functions can be realized; in addition, specific names of the functional units are only for convenience of distinguishing from each other, and are not used for limiting the protection scope of the present invention.
It is to be noted that the foregoing is only illustrative of the preferred embodiments of the present invention and the technical principles employed. It will be understood by those skilled in the art that the present invention is not limited to the particular embodiments described herein, but is capable of various obvious changes, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the invention. Therefore, although the present invention has been described in greater detail by the above embodiments, the present invention is not limited to the above embodiments, and may include other equivalent embodiments without departing from the spirit of the present invention, and the scope of the present invention is determined by the scope of the appended claims.
Claims (10)
1. A test evaluation method of a high-precision map is applied to a vehicle, and comprises the following steps:
acquiring high-precision map data within a preset range of the vehicle in real time according to a to-be-detected high-precision map pre-deployed in the vehicle;
controlling the vehicle to automatically drive according to the high-precision map data, and acquiring a real road image in a preset range of the vehicle in real time in the automatic driving process of the vehicle;
and simultaneously displaying the high-precision map data and the real road image to a user through a visual interface so that the user can evaluate the performance of the high-precision map to be measured according to the display result of the visual interface.
2. The method of claim 1, wherein presenting the high-precision map data and the real road image to a user simultaneously through a visual interface comprises:
generating a simulation map corresponding to the high-precision map data according to the high-precision map data;
and simultaneously displaying the simulation map and the real road image to a user through a visual interface.
3. The method of claim 2, wherein generating, from the high accuracy map data, a simulated map corresponding to the high accuracy map data comprises:
drawing a road topological graph corresponding to the high-precision map data according to the road attribute data in the high-precision map data;
and according to the lane attribute data in the high-precision map data, drawing lane attribute features corresponding to each road in the road topological graph to obtain a simulation map corresponding to the high-precision map data.
4. The method of claim 3, wherein after presenting the simulated map and the real road image to the user simultaneously through the visualization interface, further comprising:
generating a text box corresponding to each lane attribute feature in the simulation map, and displaying the text box to a user through a visual interface, so that the user can adjust the automatic driving parameters of the vehicle according to the lane attribute feature in the text box and the automatic driving condition of the vehicle.
5. The method of claim 1, further comprising:
storing the high-precision map data into a preset storage unit;
and in the automatic driving process of the vehicle, acquiring the target position of the vehicle in real time, determining invalid map data in the storage unit according to the target position, and removing the invalid map data.
6. The method according to claim 5, wherein acquiring a target position of the vehicle in real time during the automatic driving of the vehicle, and determining invalid map data in the storage unit according to the target position comprises:
and in the automatic driving process of the vehicle, acquiring the target position of the vehicle in real time, and taking the high-precision map data behind the target position in the storage unit as the invalid map data.
7. A test evaluation device of a high-precision map, which is applied to a vehicle, the device comprising:
the map data acquisition module is used for acquiring high-precision map data within a preset range of the vehicle in real time according to a to-be-detected high-precision map which is pre-deployed in the vehicle;
the automatic driving module is used for controlling the vehicle to automatically drive according to the high-precision map data;
and the visualization module is used for acquiring a real road image in a preset range of the vehicle in real time in the automatic driving process of the vehicle, and simultaneously displaying the high-precision map data and the real road image to a user through a visualization interface so that the user can evaluate the performance of the high-precision map to be detected according to a display result of the visualization interface.
8. The apparatus of claim 7, wherein the visualization module comprises:
the map data reconstruction unit is used for generating a simulation map corresponding to the high-precision map data according to the high-precision map data;
and the display unit is used for simultaneously displaying the simulation map and the real road image to a user through a visual interface.
9. A vehicle, comprising:
one or more processors;
storage means for storing one or more programs;
the one or more programs when executed by the one or more processors cause the one or more processors to implement a method of test evaluation of a high accuracy map as claimed in any one of claims 1-6 when the program is executed.
10. A computer-readable storage medium on which a computer program is stored, the program, when executed by a processor, implementing a test evaluation method for a high-precision map according to any one of claims 1 to 6.
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