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CN-115587152-B - Data processing, data acquisition method and storage medium

CN115587152BCN 115587152 BCN115587152 BCN 115587152BCN-115587152-B

Abstract

The application provides a data processing and data acquisition method and a storage medium. The method comprises the steps of obtaining map data, wherein the map data comprise X track points and at least one standard-definition road section matched with the track points, segmenting the X track points according to the collection time of the X track points, generating description information of the track sections according to the collection time of the track points contained in the track sections and the matched standard-definition road section, and performing attribute inspection on the track sections by utilizing standard-definition road section data corresponding to the standard-definition road section matched with the track sections in the standard-definition map data, wherein the attribute inspection comprises topology continuity inspection of the track sections and length inspection of the track sections, and storing the description information of the track points and the track sections corresponding to the track points and attribute inspection results of the track sections as data processing results of the map data. The application improves the efficiency of manufacturing the high-precision map based on the data.

Inventors

  • PAN FEI

Assignees

  • 高德软件有限公司

Dates

Publication Date
20260508
Application Date
20220902

Claims (10)

  1. 1. A method of data processing, the method comprising: Obtaining map data, wherein the map data comprises X track points and at least one standard-definition road section matched with the track points; Segmenting the X track points according to the collection time of the X track points on the standard deviation road section matched with the at least one track point to obtain at least one track section; Generating description information of the track section according to the acquisition time of the track points included in the track section and the matched standard deviation section; responding to whether the track section has a matched standard-definition section, and obtaining a first result of whether the length check of the track section passes or not according to whether the difference value of the length of the track section matched with the track section in the standard-definition map data is smaller than a preset difference value threshold value or not; Obtaining a second result of whether the continuity check of the track segment passes or not according to whether the track segment and the time adjacent track segment are continuous or not on the positions of the standard precise map data; Obtaining an attribute checking result of the track segment according to the first result of the track segment and the second result of the track segment; and storing the track points, the description information of the track segments corresponding to the track points and the attribute check result of the track segments as the data processing result of the map data.
  2. 2. The method of claim 1, wherein the segmenting the X track points according to the collection time of the X track points to obtain at least one track segment includes: and dividing the track points which are matched to the same standard-definition road section and have continuous acquisition time into the same track section in the X track points according to the standard-definition road section matched with the track points and the acquisition time of the X track points.
  3. 3. The method of claim 2, wherein if the X number of trajectory points includes a trajectory point that does not match a standard deviation road segment, the method further comprises, for the trajectory point that does not match a standard deviation road segment: Searching a target track section from the track section according to the acquisition time of the track points which are not matched with the standard-definition section, wherein the acquisition time range of the track points of the target track section covers the acquisition time of the track points which are not matched with the standard-definition section; And dividing the track points which are not matched with the standard deviation road section into the searched target track section to serve as a new track section.
  4. 4. The method of claim 3, wherein if the X number of track points includes a track point for which no target track segment is found, the method further comprises: Obtaining track points with the road section matching confidence coefficient smaller than a preset confidence coefficient threshold value from the new track sections; Performing position coordinate correction by taking the track points smaller than a preset confidence coefficient threshold value and the track points without the target track section to be searched as track points to be corrected; carrying out road section matching in standard-precision map data according to the corrected position coordinates of the track points to be corrected, and obtaining standard-precision road sections matched with the track points to be corrected; Aiming at the track points to be corrected matched with the standard deviation section in the track points to be corrected, and the track points contained in the new track section, re-segmenting the track; And aiming at the track points to be corrected, which are not matched with the standard deviation road section, in the track points to be corrected, track segmentation is carried out according to the track point acquisition time.
  5. 5. The method according to any one of claims 1-4, wherein obtaining the attribute check result of the track segment based on the first result of the track segment and the second result of the track segment comprises: If the first result represents that the length inspection of the track segment does not pass, determining that the inspection result of the track segment is attribute inspection failure; if the first result represents that the length inspection of the track section passes and the second result represents that the continuity inspection of the track section passes, determining that the inspection result of the track section is attribute inspection passing; if the first result represents that the length check of the track section passes, the second result represents that the continuity check of the track section does not pass, and no track point with the road section matching confidence less than or equal to a preset confidence threshold exists in the track section, determining that the check result of the track section is that the attribute check does not pass; if the first result indicates that the length check of the track section passes, the second result indicates that the continuity check of the track section does not pass, and track points with the road section matching confidence less than or equal to the preset confidence threshold exist in the track section, replacing the standard-scale road section matched with the track points with the road section matching confidence less than or equal to the preset confidence threshold with other standard-scale road sections matched with the track points, and re-segmenting the track points according to the standard-scale road sections replaced with the track points, and performing attribute check on the new track section to obtain an attribute check result of the track section.
  6. 6. The method of claim 5, wherein the link matching confidence is obtained in advance from a number of standard grade links to which the track points match, the link matching confidence of the track points being inversely related to the number of links to which the track points match.
  7. 7. The method according to any one of claims 1-4, further comprising: And if the track section has no matched standard deviation section, performing attribute inspection on the track section according to whether a first track section and a second track section which are continuous in time with the track section and have the matched standard deviation section exist or not to obtain an attribute inspection result of the track section, wherein the first track section is a track section which is positioned before the track section in time, and the second track section is a track section which is positioned after the track section in time.
  8. 8. The method of claim 7, wherein the performing the attribute check on the track segment according to whether there is a first track segment and a second track segment that are continuous in time with the track segment and have matching standard deviation segments, includes: determining whether there is the first track segment and the second track segment that are temporally continuous with the track segment and have matching standard deviation segments; If the first track segment and/or the second track segment do not exist, determining that the inspection result of the track segment is that the attribute inspection is not passed; If the first track section and the second track section exist and the standard deviation sections matched with the first track section and the second track section are consistent, merging the track section, the first track section and the second track section, and performing attribute inspection on the merged track section; if the first track section and the second track section are inconsistent, and the length check of the first track section and the second track section is passed, adding track points in the track sections into the first track section and the second track section respectively, and performing attribute check on the added first track section and second track section; If the first track section and the second track section are inconsistent, the length check of the first track section and/or the second track section is failed, and the road section matched with the first track section and the road section matched with the second track section are not connected in position in the standard deviation map data, determining that the check result of the track section is attribute check failure; If the first track section and the second track section are inconsistent, the length check of the first track section and the second track section is not passed, and the matched section of the first track section and the matched section of the second track section are connected in position in the standard deviation map data, the first track section and the second track section are extended to add track points of the track sections until the length check is passed, and the continuity check is carried out on the added first track section and second track section.
  9. 9. A method of acquiring data, the method comprising: Acquiring a road section identifier of a target road section; Acquiring data for generating high-precision map data of the target road segment from the data processing result of the map data according to the road segment identification of the target road segment, wherein, If a first target track section is searched from the data processing result of the map data according to the road section identification of the target road section, acquiring data of track points in an acquisition time range corresponding to a track section with non-repeated positions from the first target track section as the data of the target road section, wherein the first target track section comprises the road section identification of the target road section, and the attribute checking result is passed; And if a second target track segment is searched from the data processing result of the map data according to the road segment identification of the target road segment, and a third target track segment of the standard-definition road segment which is topologically continuous with the second target track segment and is not matched with the second target track segment, track points in an acquisition time range corresponding to the third target track segment are added to the second target track segment one by one until the length check of the second target track segment passes, and the data of the track points in the acquisition time range corresponding to the second target track segment with the length check passes is used as the data of the target road segment, wherein the second target track segment is a track segment which has the identification of the target road segment, does not pass the attribute check result and has the road segment matching confidence degree larger than or equal to a preset confidence degree threshold.
  10. 10. A computer readable storage medium having stored therein computer executable instructions which when executed by a processor are adapted to carry out the method of any one of claims 1 to 9.

Description

Data processing, data acquisition method and storage medium Technical Field The present application relates to high-precision map technology, and more particularly, to a data processing and data acquisition method and a storage medium. Background With the development of technology, electronic maps are evolving from current common maps (also called standard-definition maps) to high-definition maps. High-precision maps need to be made from collected data. The data can be collected through the special collection vehicle, but because the special collection vehicle has high manufacturing cost and limited quantity of the special collection vehicle, the special collection vehicle generally follows the principle of fully collecting the data when executing the collection task to collect the data, but the data can be larger, so that the efficiency of manufacturing the high-precision map based on the data is reduced. Disclosure of Invention The application provides a data processing method, a data acquisition method and a storage medium, so as to improve the stability of data processing. In a first aspect, the present application provides a data processing method, the method comprising: Obtaining map data, wherein the map data comprises X track points and at least one standard-definition road section matched with the track points; Segmenting the X track points according to the collection time of the X track points on the standard deviation road section matched with the at least one track point to obtain at least one track section; Generating description information of the track section according to the acquisition time of the track points included in the track section and the matched standard deviation section; Performing attribute inspection on the track segment by utilizing standard-definition road segment data corresponding to the standard-definition road segment matched with the track segment in standard-definition map data to obtain an attribute inspection result of the track segment, wherein the attribute inspection comprises topology continuity inspection of the track segment and length inspection of the track segment; and storing the track points, the description information of the track segments corresponding to the track points and the attribute check result of the track segments as the data processing result of the map data. Optionally, the segmenting the X track points according to the collection time of the X track points on the basis of the standard deviation segment matched with the at least one track point to obtain at least one track segment includes: and dividing the track points which are matched to the same standard-definition road section and have continuous acquisition time into the same track section in the X track points according to the standard-definition road section matched with the track points and the acquisition time of the X track points. Optionally, if the X track points include track points that do not match the standard deviation road section, the method further includes, for the track points that do not match the standard deviation road section: Searching a target track section from the track section according to the acquisition time of the track points which are not matched with the standard-definition section, wherein the acquisition time range of the track points of the target track section covers the acquisition time of the track points which are not matched with the standard-definition section; And dividing the track points which are not matched with the standard deviation road section into the searched target track section to serve as a new track section. Optionally, if the X track points include track points where the target track segment is not found, the method further includes: Obtaining track points with the road section matching confidence coefficient smaller than a preset confidence coefficient threshold value from the new track sections; Performing position coordinate correction by taking the track points smaller than a preset confidence coefficient threshold value and the track points without the target track section to be searched as track points to be corrected; carrying out road section matching in standard-precision map data according to the corrected position coordinates of the track points to be corrected, and obtaining standard-precision road sections matched with the track points to be corrected; Aiming at the track points to be corrected matched with the standard deviation section in the track points to be corrected, and the track points contained in the new track section, re-segmenting the track; And aiming at the track points to be corrected, which are not matched with the standard deviation road section, in the track points to be corrected, track segmentation is carried out according to the track point acquisition time. Optionally, the performing attribute inspection on the track segment by using standard deviation segment data corresponding to the standar