Map data evaluation device, map data evaluation system, data acquisition system, acquisition vehicle and acquisition base station

Abstract

The invention discloses a map data evaluation device, a map data evaluation system, a data acquisition system, an acquisition vehicle and an acquisition base station. The map data evaluation device comprises a data acquisition module, an analysis and judgment module, a quality evaluation module, and a registration accuracy calculation module. The data acquisition module is used for acquiring the data of the field operation of an automatic driving map in real time through a mobile network. The analysis and judgment module is connected with the data acquisition module and is used for analyzing and judging whether the acquired data of the field operation of the automatic driving map are lost or not, and outputting an analysis result. The quality evaluation module is used for carrying out panoramic image quality inspection and outputting an inspection result. The registration accuracy calculation module is used for carrying out track analysis on a panoramic camera and a laser point cloud based on the original data of laser scanning and the original data of the panoramic camera, detecting the registration accuracy based on the mutual information of laser scanning data and panoramic image data, and outputting a registration error. Therefore, the data quality of the acquired data of the field operation can be evaluated in time through the implementation of the invention. The acquisition quality and the production efficiency of map data are improved.

Description

Technical field [0001] The invention relates to the field of map data collection, in particular to an automatic driving map data evaluation system, a map data evaluation device, an automatic driving map data collection system, a collection vehicle and a collection base station. Background technique [0002] Autonomous driving maps are an indispensable and important supporting technology for autonomous driving, and field data collection that relies on multi-sensor integrated mobile collection vehicles is the core channel for autonomous driving map data acquisition and one of the important links in its map production. With the rapid development of autonomous driving technology, this requires high-precision maps to mature rapidly to provide more accurate and fresh map data. [0003] The core channel for autopilot map data acquisition is field data collection through multi-sensor integrated mobile collection vehicles. For example, mobile collection vehicles are equipped with laser scan...

AI Technical Summary

Problems solved by technology

[0003] The core channel for autonomous driving map data acquisition is to collect field data through multi-sensor integrated mobile collection vehicles, such as laser scanners, panoramic cameras, integrated navigation (inertial navigation + GPS), odometer (DMI ) and other measurement equipment, such a complex field data acquisition system includes multiple modules such as combined sensors, mechanical structure, electronics and electrical, data communication storage, etc., which is more susceptible to the influence of the equipment itself, the acquisition personnel and the external complex environment. Reduce the quality and efficiency of its data collection

[0004] However, in the actual collection process, the inventors of the present invention found that the quality inspection of the existing field data collection for automatic driving maps is carried out after the data collection is completed. Due to the complicated data preprocessing process and other reasons, the data quality assessment and inspection are completed hours or even days after the field collection task is completed

It takes several hours or even a few days after the field collection task to complete the data quality assessment and inspection. If a quality problem is found at this time, it will cost a lot to re-collect or re-collect the data, which will seriously affect the efficiency of field data collection for autonomous driving maps. Larger waste of human and material resources

[0005] In addition, the inventors of the present invention also found that: the above-mentioned automatic driving map field data collection vehicle is not robust enough, and its data quality inspection timeliness is poor. Therefore, a real-time and effective data quality evaluation solution is urgently needed to realize the accuracy of the collected data. Real-time quality inspection and problem feedback

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