Search

CN-115930978-B - Map creation method and device

CN115930978BCN 115930978 BCN115930978 BCN 115930978BCN-115930978-B

Abstract

The application discloses a map creation method and a map creation device. The method comprises the steps of firstly obtaining environment data collected by mobile equipment aiming at a target area, then classifying the environment data to obtain at least one data set containing the environment data corresponding to the same type of pavement elements, then determining the confidence coefficient corresponding to each data set based on three-dimensional space coordinates corresponding to each environment data contained in each data set, and creating a high-precision map based on the confidence coefficient corresponding to each data set. Compared with the prior art, the map with higher precision can be created by the scheme provided by the embodiment of the disclosure, so that the problem of low accuracy of the map created by the prior art is solved, and the scheme provided by the embodiment of the disclosure does not need to adopt high-performance mobile equipment, so that the map with higher precision can be obtained by reducing the cost, and the map with higher precision has a wider application range.

Inventors

  • XUE YUFEI

Assignees

  • 北京地平线机器人技术研发有限公司

Dates

Publication Date
20260512
Application Date
20220905

Claims (10)

  1. 1. A map creation method, comprising: Acquiring environment data acquired by mobile equipment aiming at a target area; Determining at least one data set by classifying the environmental data, wherein the environmental data contained in each data set corresponds to the same type of pavement elements; Determining the confidence degrees respectively corresponding to the data sets based on the three-dimensional space coordinates corresponding to the environmental data contained in the data sets; creating a high-precision map based on the confidence degrees respectively corresponding to the data sets; the determining the confidence level corresponding to each data set based on the three-dimensional space coordinates corresponding to each environmental data contained in each data set includes: Three relation curves of a first parameter of the pavement element and three second parameters are determined based on three-dimensional space coordinates of each environmental data contained in each data set, wherein the first parameter is the arc length of an observation point of the pavement element from the starting point of the relation curve, and each second parameter is the distance between the observation point and the projection point of the observation point in the relation curve in the three-dimensional direction; determining the aggregation degree of the distribution of the environmental data contained in each data set based on the relation curve; and determining the confidence degrees respectively corresponding to the data sets based on the aggregation degree of the distribution of the environmental data.
  2. 2. The method of claim 1, wherein the determining, based on the relationship, a degree of aggregation of each of the environmental data distributions contained within each of the data sets comprises: Determining residual matrixes respectively corresponding to the data sets based on the relation curves and three-dimensional space coordinates of the environmental data in the data sets; Determining covariance matrixes respectively corresponding to the data sets based on residual matrixes respectively corresponding to the data sets; determining unbiased estimation amounts respectively corresponding to the data sets based on tracks of covariance matrices respectively corresponding to the data sets, wherein the unbiased estimation amounts are used for representing aggregation degrees of the environmental data distribution contained in the data sets; The determining the confidence level corresponding to each data set based on the aggregation degree of each environmental data distribution includes: And determining the confidence degrees corresponding to the data sets respectively based on the unbiased estimation amounts corresponding to the data sets and the times of the mobile equipment collecting the environmental data.
  3. 3. The method of claim 1, wherein the determining at least one data set by classifying the environmental data comprises: Classifying the environment data based on the types of the mobile devices respectively corresponding to the environment data, and determining at least one intermediate data set; And classifying each environmental data contained in each intermediate data set based on the type of the pavement element corresponding to each environmental data, and determining at least one data set.
  4. 4. A method according to claim 3, wherein after said determining at least one data set, further comprising: Determining a first target data set in each data set, wherein the confidence of the first target data set is smaller than the confidence of other data sets in each data set; and generating prompt information based on the mobile equipment corresponding to the first target data set.
  5. 5. The method of any of claims 1 to 4, wherein the creating a high-precision map based on the respective confidence levels for each of the data sets comprises: Determining a second target data set based on the confidence coefficient corresponding to each data set, wherein the confidence coefficient of the second target data set is larger than that of other data sets; And creating a high-precision map corresponding to each data set, and marking and displaying the pavement elements determined by the second target data set in the high-precision map.
  6. 6. The method according to any one of claims 1 to 4, wherein the mobile device includes at least two navigation modes, and a first map navigation mode based on the high-precision map is included in the at least two navigation modes, and after the high-precision map is created based on the confidence level respectively corresponding to each data set, the method further includes: Determining a weight applying the first map navigation mode based on the confidence coefficient corresponding to each data set and a preset threshold corresponding to each data set; and navigating the mobile equipment based on the weight.
  7. 7. The method of claim 6, wherein the respective preset thresholds for each of the data sets are determined by: Determining the corresponding preset threshold value of each data set based on the corresponding relation between the pavement elements and the preset threshold value, or Determining influence parameters of the environmental data, wherein the influence parameters comprise at least one of acquisition time, illumination and weather of the environmental data; and determining preset thresholds corresponding to the data sets respectively based on the influence parameters.
  8. 8. A map creation apparatus comprising: the data acquisition module is used for acquiring environment data acquired by the mobile equipment aiming at the target area; the set determining module is used for determining at least one data set by classifying the environmental data acquired by the data acquisition module, wherein the environmental data contained in each data set corresponds to the same type of pavement elements; The confidence degree determining module is used for determining the confidence degrees respectively corresponding to the data sets based on the three-dimensional space coordinates corresponding to the environmental data contained in the data sets determined by the set determining module; the map creation module is used for creating a high-precision map based on the confidence coefficient corresponding to each data set determined by the confidence coefficient determination module; The confidence determining module is used for executing the following operations: Three relation curves of a first parameter of the pavement element and three second parameters are determined based on three-dimensional space coordinates of each environmental data contained in each data set, wherein the first parameter is the arc length of an observation point of the pavement element from the starting point of the relation curve, and each second parameter is the distance between the observation point and the projection point of the observation point in the relation curve in the three-dimensional direction; determining the aggregation degree of the distribution of the environmental data contained in each data set based on the relation curve; and determining the confidence degrees respectively corresponding to the data sets based on the aggregation degree of the distribution of the environmental data.
  9. 9. A computer-readable storage medium storing a computer program for executing the map creation method according to any one of the preceding claims 1 to 7.
  10. 10. An electronic device, the electronic device comprising: A processor; a memory for storing the processor-executable instructions; the processor is configured to read the executable instructions from the memory and execute the executable instructions to implement the map creation method of any of the above claims 1-7.

Description

Map creation method and device Technical Field The application relates to the technical field of map creation, in particular to a map creation method and device. Background In application scenarios such as assisted driving or automatic driving, it is often necessary for a vehicle to determine the type and position of road surface elements (e.g. lane lines, road edges, road signs, etc.) contained in the surrounding environment in order to adjust the driving behavior accordingly. To meet this demand of vehicles, it is common today to construct a map for the vehicle that displays the surrounding environment. In constructing a map, environmental data acquired by an acquisition device (e.g., a depth camera or lidar, etc.) is first acquired, and then a map is created from the environmental data. However, the environment data may include data with low accuracy, which results in a map with low accuracy, so a scheme capable of constructing a map with high accuracy is needed. Disclosure of Invention The present disclosure has been made in order to solve the above technical problems. The embodiment of the disclosure provides a map creation method and device. According to one aspect of the present disclosure, there is provided a map creation method including: Acquiring environment data acquired by mobile equipment aiming at a target area; Determining at least one data set by classifying the environmental data, wherein the environmental data contained in each data set corresponds to the same type of pavement elements; Determining the confidence degrees respectively corresponding to the data sets based on the three-dimensional space coordinates corresponding to the environmental data contained in the data sets; and creating a high-precision map based on the confidence degrees respectively corresponding to the data sets. According to still another aspect of the embodiments of the present disclosure, there is provided a map creation apparatus including: the data acquisition module is used for acquiring environment data acquired by the mobile equipment aiming at the target area; the set determining module is used for determining at least one data set by classifying the environmental data acquired by the data acquisition module, wherein the environmental data contained in each data set corresponds to the same type of pavement elements; The confidence degree determining module is used for determining the confidence degrees respectively corresponding to the data sets based on the three-dimensional space coordinates corresponding to the data contained in the data sets determined by the set determining module; And the map creation module is used for creating a high-precision map based on the confidence coefficient corresponding to each data set determined by the confidence coefficient determination module. According to still another aspect of the embodiments of the present disclosure, there is provided a computer-readable storage medium storing a computer program for executing the map creation method according to any one of the embodiments of the present disclosure. According to still another aspect of the embodiments of the present disclosure, there is provided an electronic device including: A processor; a memory for storing the processor-executable instructions; the processor is configured to read the executable instructions from the memory and execute the instructions to implement the map creation method according to any of the foregoing embodiments of the disclosure. According to the scheme provided by the embodiment of the disclosure, after the environmental data of the target area are acquired, the environmental data are divided into at least one data set, the environmental data contained in each data set correspond to the same type of pavement elements, then three-dimensional space coordinates respectively corresponding to the environmental data contained in each data set are determined, confidence degrees respectively corresponding to each data set are determined, and then a high-precision map is created based on the confidence degrees. Compared with the scheme in the prior art, the scheme provided by the embodiment of the disclosure can create the map with higher precision, and solves the problem of low accuracy of the map created in the prior art. Furthermore, the scheme provided by the embodiment of the disclosure has lower performance requirements on the mobile equipment for collecting the environmental data, and high-performance mobile equipment is not required, so that a high-precision map can be obtained through reduced cost, and the method has a wider application range. Drawings The above and other objects, features and advantages of the present application will become more apparent by describing embodiments of the present application in more detail with reference to the attached drawings. The accompanying drawings are included to provide a further understanding of embodiments of the application and are incorpor