CN-115168515-B - Map precision control method, high-precision map generation method, device and equipment

Abstract

The disclosure relates to a control method of map precision, a high-precision map generation method, a device and equipment. The method comprises the steps of obtaining a plurality of tracks in the same road surface range and standard tracks corresponding to the road surface range, utilizing the standard tracks to achieve alignment of different tracks in the road surface range to obtain alignment accuracy of different tracks, screening out target tracks meeting the alignment accuracy requirement to achieve control of track alignment accuracy, obtaining a first vector of map elements related to the target tracks and a second vector obtained after adjustment of the first vector, obtaining vector adjustment accuracy of the second vector through vector matching, and finally controlling the accuracy of the second vector, wherein the second vector does not meet the preset vector adjustment accuracy requirement, so that control of the vector adjustment accuracy is achieved. It can be seen that the present disclosure controls the accuracy of the second vector for generating the map by controlling the trajectory alignment accuracy and controlling the vector adjustment accuracy, thereby realizing the control of the map accuracy.

Inventors

• LONG YAFEI
• Yue Shunqiang

Assignees

• 高德软件有限公司
• 高德软件有限公司

Dates

Publication Date

20260421

Application Date

20220531

Priority Date

20220531

Claims (9)

1. 1. A method of controlling map accuracy, the method comprising: Acquiring a plurality of tracks included in the same road surface range and a standard track corresponding to the road surface range; Aligning at least one track included in the pavement range to the standard track, determining alignment precision corresponding to the at least one track, and determining a target track with the alignment precision greater than or equal to a preset alignment precision threshold value in the at least one track; acquiring a first vector of at least one map element associated with the target track and a second vector obtained after the first vector is adjusted, and carrying out vector matching on the first vector and the second vector to obtain a vector position difference and a change amplitude of the vector position difference corresponding to each map element associated with the target track; and performing precision control on a second vector with the vector adjustment precision smaller than a preset vector adjustment precision threshold.
2. 2. The method of claim 1, wherein prior to the acquiring the plurality of tracks included in the same road surface range, the method further comprises: acquiring a track corresponding to a multi-pass acquisition operation aiming at a target area; At least one road surface range is determined based on the road boundary and the road start-stop position included in the target area.
3. 3. The method of claim 1, wherein said aligning at least one track comprised by the road surface range to the standard track comprises: acquiring the original precision of each track included in the pavement range; And aligning the tracks with the original precision larger than or equal to a preset original precision threshold to the standard tracks.
4. 4. The method of claim 1, wherein said aligning at least one track included in the road surface range to the standard track, determining an alignment accuracy corresponding to the at least one track, comprises: aligning at least one track included in the road surface range to the standard track to obtain the position difference between each track point on the at least one track and the corresponding point on the standard track and the variation amplitude of the adjacent position difference; and determining alignment accuracy corresponding to at least one track included in the pavement range based on the position difference and the variation amplitude.
5. 5. A high-precision map generation method comprises the steps of utilizing the map precision control method according to any one of claims 1 to 4 to determine a second vector with vector adjustment precision greater than or equal to a preset vector adjustment precision threshold value, and generating a high-precision map based on the second vector with vector adjustment precision greater than or equal to the preset vector adjustment precision threshold value.
6. 6. A map accuracy control apparatus, the apparatus comprising: The acquisition unit is used for acquiring a plurality of tracks included in the same road surface range and a standard track corresponding to the road surface range; An alignment unit, configured to align at least one track included in the road surface range to the standard track, determine an alignment precision corresponding to the at least one track, and determine a target track in which the alignment precision in the at least one track is greater than or equal to a preset alignment precision threshold; The vector matching unit is used for acquiring a first vector of at least one map element associated with the target track and a second vector obtained by adjusting the first vector, and carrying out vector matching on the first vector and the second vector to obtain a vector position difference corresponding to each map element associated with the target track and a change amplitude of the vector position difference; And the control unit is used for controlling the precision of the second vector with the vector adjustment precision smaller than the preset vector adjustment precision threshold value.
7. 7. A high-precision map generation apparatus for determining a second vector having a vector adjustment precision greater than or equal to a preset vector adjustment precision threshold using the map precision control method according to any one of claims 1 to 4, and generating a high-precision map based on the second vector having the vector adjustment precision greater than or equal to the preset vector adjustment precision threshold.
8. 8. An electronic device comprising a memory, a processor and a computer program stored on the memory, wherein the processor executes the computer program to implement the steps of the method of controlling map accuracy according to any one of claims 1 to 4 or to implement the steps of the method of generating a high-accuracy map according to claim 5.
9. 9. A computer program product comprising computer instructions which, when executed by a processor, implement the steps of the control method of map accuracy of any one of claims 1 to 4 or perform the steps of the high-accuracy map generation method of claim 5.

Description

Map precision control method, high-precision map generation method, device and equipment Technical Field The embodiment of the disclosure relates to the technical field of maps, in particular to a control method of map precision, a high-precision map generation method, a device, equipment and a computer program product. Background High-precision maps are the infrastructure for intelligent driving vehicle navigation. Precision is an important factor affecting the quality of a high-precision map, and therefore, control over the precision of the high-precision map is required. At present, high-precision map precision control is mainly performed by utilizing targets. However, the target point is obtained by manually dotting on the spot by using a laser total station, and the laser total station can output the real coordinates of the target point. Therefore, if the number of targets is increased, the labor cost is required to be increased, and some scenes are not suitable for dotting, such as on a highway, safety risks exist, and the coverage area for map precision control by only using the targets is small. Disclosure of Invention At least one embodiment of the present disclosure provides a control method for map precision, a high-precision map generation method, a device, equipment, a medium and a computer program product. In a first aspect, an embodiment of the present disclosure provides a method for controlling map accuracy, where the method includes: Acquiring a plurality of tracks included in the same road surface range and a standard track corresponding to the road surface range; Aligning at least one track included in the pavement range to a standard track, determining alignment precision corresponding to the at least one track, and determining a target track with the alignment precision greater than or equal to a preset alignment precision threshold value in the at least one track; acquiring a first vector of at least one map element associated with a target track and a second vector obtained by adjusting the first vector, carrying out vector matching on the first vector and the second vector, and determining the vector adjustment precision of the second vector; and performing precision control on a second vector with the vector adjustment precision larger than a preset vector adjustment precision threshold. In some embodiments, before acquiring the plurality of tracks included in the same road surface range, the method further includes: acquiring a track corresponding to a multi-pass acquisition operation aiming at a target area; At least one road surface range is determined based on the road boundary and the road start-stop position included in the target area. In some embodiments, aligning at least one track comprised by the road surface range to a standard track comprises: acquiring the original precision of each track included in the road surface range; And aligning the tracks with the original precision larger than or equal to a preset original precision threshold to the standard tracks. In some embodiments, aligning at least one track included in the road surface range to a standard track, determining an alignment accuracy corresponding to the at least one track includes: aligning at least one track included in the road surface range to a standard track to obtain the position difference between each track point on the at least one track and a corresponding point on the standard track and the variation amplitude of adjacent position differences; and determining the alignment precision corresponding to at least one track included in the road surface range based on the position difference and the variation amplitude. In some embodiments, obtaining the first vector of the at least one map element associated with the target track and the second vector obtained by adjusting the first vector includes: acquiring acquisition data corresponding to a target track, and determining a first vector of at least one map element associated with the target track based on the acquisition data; and obtaining a second vector obtained by adjusting the first vector of at least one map element. In some embodiments, vector matching the first vector with the second vector, determining a vector adjustment accuracy of the second vector, includes: Carrying out vector matching on the first vector and the second vector to obtain a vector position difference corresponding to each map element associated with the target track and a change amplitude of the vector position difference; The vector adjustment accuracy is determined based on the vector position difference and the magnitude of change in the vector position difference. In a second aspect, an embodiment of the present disclosure further provides a method for generating a high-precision map, where the method for controlling the precision of a map according to any one of the embodiments of the first aspect is used to determine a second vector having a vector adjustment prec