High-precision map data acquisition method, device, electronic device and storage medium

Abstract

The present disclosure provides a method, device, electronic device, and storage medium for collecting high-precision map data, relating to the field of data processing technology, and in particular, to the field of autonomous driving technology. A specific implementation scheme includes: obtaining high-precision map data collected by a data collection device at a target time; determining the satellite navigation system time corresponding to the target time, and establishing a correlation between the high-precision map data and the satellite navigation system time. The disclosed scheme achieves the purpose of synchronizing the collection time of high-precision map data with the satellite navigation system time, thereby ensuring the collection accuracy of the high-precision map data.

Description

Technical Field

[0001] The present disclosure relates to the field of data processing technology, in particular to the field of autonomous driving technology, and specifically to a method, device, electronic device, storage medium and computer program product for collecting high-precision map data. Background Art

[0002] High-precision maps, in layman's terms, are electronic maps with higher precision and more data dimensions. This higher precision is reflected in centimeter-level accuracy, while the greater data dimension reflects the inclusion of surrounding static information related to traffic, in addition to road information. As a crucial component of autonomous driving systems, high-precision maps are a key factor driving their development. Summary of the Invention

[0003] The present disclosure provides a method, device, electronic device, storage medium and computer program product for collecting high-precision map data.

[0004] According to one aspect of the present disclosure, a method for collecting high-precision map data is provided, comprising:

[0005] Obtain high-precision map data collected by data acquisition equipment at the target time;

[0006] Determine the satellite navigation system time corresponding to the target moment, and establish the correlation between high-precision map data and satellite navigation system time.

[0007] According to one aspect of the present disclosure, a high-precision map data acquisition device is provided, comprising:

[0008] An acquisition module is used to obtain high-precision map data collected by the data acquisition device at the target time;

[0009] The association record module is used to determine the satellite navigation system time corresponding to the target moment and establish the association relationship between the high-precision map data and the satellite navigation system time.

[0010] According to another aspect of the present disclosure, there is provided an electronic device, comprising:

[0011] at least one processor; and

[0012] a memory communicatively connected to at least one processor; wherein,

[0013] The memory stores instructions that can be executed by at least one processor, and the instructions are executed by at least one processor to enable the at least one processor to execute the high-precision map data collection method of any embodiment of the present disclosure.

[0014] According to another aspect of the present disclosure, a non-transitory computer-readable storage medium storing computer instructions is provided, where the computer instructions are used to enable a computer to execute the high-precision map data collection method of any embodiment of the present disclosure.

[0015] According to another aspect of the present disclosure, a computer program product is provided, including a computer program, which implements the high-precision map data collection method of any embodiment of the present disclosure when executed by a processor.

[0016] According to the technology disclosed in the present invention, the purpose of synchronizing the collection time of high-precision map data to the satellite navigation system time is achieved, and the collection accuracy of high-precision map data can be guaranteed.

[0017] It should be understood that the contents described in this section are not intended to identify the key or important features of the embodiments of the present disclosure, nor are they intended to limit the scope of the present disclosure. Other features of the present disclosure will become readily understood through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] The accompanying drawings are provided to facilitate a better understanding of the present invention and do not constitute a limitation of the present disclosure.

[0019] Figure 1 This is a flow chart of a method for collecting high-precision map data according to an embodiment of the present disclosure;

[0020] Figure 2 This is a flowchart of another method for collecting high-precision map data provided according to an embodiment of the present disclosure;

[0021] Figure 3 This is a flowchart of another method for collecting high-precision map data provided according to an embodiment of the present disclosure;

[0022] Figure 4 This is a flowchart of another method for collecting high-precision map data provided according to an embodiment of the present disclosure;

[0023] Figure 5 This is a flowchart of another method for collecting high-precision map data provided according to an embodiment of the present disclosure;

[0024] Figure 6 is a structural diagram of another high-precision map data acquisition device provided according to an embodiment of the present disclosure;

[0025] Figure 7 It is a block diagram of an electronic device used to implement the high-precision map data collection method of the embodiment of the present disclosure. DETAILED DESCRIPTION

[0026] The following description of exemplary embodiments of the present disclosure is made in conjunction with the accompanying drawings, including various details of the embodiments of the present disclosure to facilitate understanding. These details should be considered as merely exemplary. Therefore, those skilled in the art will recognize that various changes and modifications may be made to the embodiments described herein without departing from the scope and spirit of the present disclosure. Similarly, for the sake of clarity and conciseness, descriptions of well-known functions and structures are omitted in the following description.

[0027] In an embodiment of the present disclosure, a map acquisition device for collecting high-precision map data is mounted on a collection vehicle (e.g., a car). When in operation, the collection vehicle drives along a road to collect high-precision map data. The map acquisition device includes multiple data acquisition devices, including an image acquisition device removably mounted on a first mounting post of a mounting platform, a laser radar removably mounted on a second mounting post of the mounting platform, and a combined navigation device removably mounted on a base of the mounting platform. The image acquisition device includes a forward-looking camera and a panoramic camera. The mounting platform is a component that ensures that the various data acquisition devices can be installed on the collection vehicle. Because each data acquisition device is removable, it is easy to repair or replace, thereby improving work efficiency. Furthermore, each data acquisition device includes a local clock, allowing each data acquisition device to collect high-precision map data according to its own local clock. This can lead to errors or reduced accuracy in the collected high-precision map data due to the lack of a unified time scale. Based on this, the present disclosure proposes a high-precision map data acquisition method. The detailed process of this method is described in the following embodiment.

[0028] Figure 1 This is a flow chart of a high-precision map data acquisition method according to an embodiment of the present disclosure. This embodiment is applicable to time synchronization of data acquisition devices within a map acquisition apparatus. The method can be performed by a high-precision map data acquisition apparatus implemented using software and / or hardware and integrated into an AR-based electronic device.

[0029] For details, see Figure 1 ,The high-precision map data collection method is as follows:

[0030] S101. Obtain high-precision map data collected by a data collection device at a target time.

[0031] In the disclosed embodiment, the data acquisition device includes an image acquisition device removably mounted on a first mounting post of the mounting platform and a laser radar removably mounted on a second mounting post of the mounting platform. The image acquisition device includes a forward-looking camera and a panoramic camera. The panoramic camera comprises a housing and a plurality of cameras spaced around the housing. The housing is removably mounted on the top of the first mounting post, and the cameras are removably connected to the housing. The forward-looking camera is positioned below the panoramic camera with an adjustable pitch angle.

[0032] In the embodiment of the present disclosure, the target time is determined based on the local clock of the data acquisition device; each time the data acquisition device completes the acquisition of high-precision map data (such as image data acquired by the image collector and three-dimensional point cloud data acquired by the lidar), the target time of acquisition is determined. Optionally, the target time can be the shooting and mapping time of the data acquisition device.

[0033] S102: Determine the satellite navigation system time corresponding to the target time, and establish an association between the high-precision map data and the satellite navigation system time.

[0034] In the disclosed embodiment, the satellite navigation system time fed back by the navigation satellite received at the target moment can be used as the satellite navigation system time corresponding to the target moment; or it can be determined based on the time relationship between the predetermined target moment and the satellite navigation system time, which is not specifically limited here. After obtaining the satellite navigation system time corresponding to the target moment, an association relationship between the high-precision map data collected at the target moment and the satellite navigation system time is established. In this way, the purpose of synchronizing the collection time of the high-precision map data to the satellite navigation system time is achieved, that is, it is guaranteed that each data collection device has a unified time scale, and the order of each collection of high-precision map data by the data collection device can be clarified to avoid errors in the collected high-precision map data; and the collection time is synchronized to the satellite navigation system time, and the position of the high-precision map data can be determined based on the positioning data corresponding to the satellite navigation system time at this time, so that the accuracy of the collected high-precision map data can be guaranteed.

[0035] In the disclosed embodiment, the purpose of synchronizing the collection time of high-precision map data to the satellite navigation system time is achieved, which not only avoids errors in the collected high-precision map data, but also ensures the accuracy of the high-precision map data.

[0036] Figure 2 This is a flow chart of another high-precision map data collection method according to an embodiment of the present disclosure. The present disclosure embodiment is based on the above implementation and refines the solution for the case where the forward-looking camera as a data collection device does not support timing synchronization. Figure 2 ,The specific method for collecting high precision map data is as follows:

[0037] S201. Obtain high-precision map data collected by a data collection device at a target time.

[0038] In the embodiments of the present disclosure, a data acquisition device is described as a forward-looking camera as an example.

[0039] S202: If the forward-looking camera does not support timing synchronization, a message indicating that high-precision map data collection is completed at the target time is sent to the integrated navigation device via the forward-looking camera.

[0040] S203. Determine the satellite navigation system time received at the target time through the combined navigation device, and establish an association between the high-precision map data and the satellite navigation system time.

[0041] In the disclosed embodiment, since the forward-looking camera does not support time synchronization, that is, it is impossible to synchronize the time of the forward-looking camera according to the satellite navigation system time, it is necessary to synchronize the high-precision map data collected by the forward-looking camera according to its own local clock with the satellite navigation system time through other means. During implementation, a combined navigation device is provided in the map acquisition device, wherein the combined navigation device can be composed of a satellite navigation module (such as a GNSS module) and an inertial navigation module (such as an IMU module). The combined navigation device can be detachably provided on the base of the mounting platform for determining position and attitude data. At the same time, the combined navigation device also receives the satellite navigation system time fed back by the navigation satellite in real time through the antenna.

[0042] Since the forward-looking camera does not support timing synchronization, the forward-looking camera in the disclosed embodiment can operate in an active triggering mode, for example, the forward-looking camera shoots at a fixed frequency. When the forward-looking camera completes shooting of a frame of high-precision map data at the target time, it sends a message to the combined navigation device indicating that the high-precision map data collection is completed at the target time. Optionally, the message is transmitted by sending a level signal to the combined navigation device. After receiving the message, the combined navigation device determines the satellite navigation system time fed back by the navigation satellite received through the antenna at the target time, and records the information data, that is, establishes an association between the high-precision map data and the satellite navigation system time. The recorded data can be subsequently fed back to the industrial computer for processing and storage.

[0043] In the disclosed embodiment, by combining the interaction between the navigation device and the forward-looking camera, the purpose of synchronizing the collection time of the high-precision map data to the satellite navigation system time is achieved when the forward-looking camera does not support timing synchronization, thereby ensuring the accuracy and precision of the collected high-precision map data.

[0044] Furthermore, in the disclosed embodiment, the combined navigation device is also used to determine the position and posture data when collecting high-precision map data. And in preset scenarios (such as tunnels, under overpasses, and other scenarios where there is no satellite signal or the signal is very poor), the combined navigation device can also perform auxiliary positioning based on the wheel speed information fed back by the wheel speed meter, mainly using the wheel speed information to correct the drift phenomenon that occurs in the inertial navigation module in the combined navigation device in the preset scenario, so as to achieve accurate positioning of the device. Among them, the wheel speed information is obtained by the wheel speed meter directly obtaining and processing the wheel speed sensor signal of the collecting vehicle itself, without the use of an external wheel speed measurement component. It should be noted that the main reason for not using an external wheel speed measurement component is that the installation is troublesome. Different car models have different wheel hubs, and different fixing mechanisms need to be customized to adapt. The versatility is poor, and the external wheel speed measurement component is easily deformed and damaged by external collision, thereby affecting the signal accuracy.

[0045] Figure 3 This is a flow chart of another high-precision map data acquisition method according to an embodiment of the present disclosure. The present disclosure embodiment is based on the above implementation and refines the solution for the case where the panoramic camera as a data acquisition device does not support timing synchronization. Figure 3 ,The specific method for collecting high precision map data is as follows:

[0046] S301. Obtain high-precision map data collected by the data collection device at the target time.

[0047] In the embodiments of the present disclosure, a panoramic camera is used as an example for description.

[0048] S302: If the panoramic camera does not support timing synchronization, the control device marks the high-precision map data collected by the panoramic camera at the target time, and determines the satellite navigation system time uploaded by the integrated navigation device at the target time.

[0049] S303: Establishing a correlation between high-precision map data and satellite navigation system time.

[0050] In the disclosed embodiment, the collection vehicle is also provided with a control device for managing data collection equipment and high-precision map data; wherein, the control device includes an industrial computer, a display and a memory (such as a mobile hard disk); the collection software runs on the industrial computer to communicate with all data collection equipment, and is used to control the data collection equipment and monitor the equipment status, etc.; all collected high-precision map data are stored in the disk to facilitate the transfer of results data. The collection software interface is displayed on the display to show the operator the status of all equipment. In addition, the industrial computer also receives the satellite navigation system time uploaded by the combined navigation device in real time, as well as the position and posture data corresponding to each satellite navigation system time.

[0051] In the disclosed embodiment, the panoramic camera is connected to the industrial computer in the control device through a junction box. The junction box includes a power module, a data communication module, and a control module. The power module is responsible for supplying power to the multiple cameras that make up the panoramic camera; the data communication module establishes a data communication link between the multiple cameras and the industrial computer. Before the panoramic camera starts collecting data, it is necessary to set shooting parameters (such as exposure parameters). The process is as follows: the industrial computer sends a shooting instruction to the panoramic camera through the data communication module. The panoramic camera performs light measurement according to the shooting instruction and transmits the light measurement parameters back to the industrial computer through the data communication module. The industrial computer synchronizes the shooting parameters to the multiple cameras through the data communication module, such as sending exposure parameters to the panoramic camera. It should be noted that the exposure parameters of each independent camera that makes up the panoramic camera are the same. After configuring the shooting parameters, the control module sends a trigger electrical signal to the panoramic camera end to execute shooting. Then, when the industrial computer receives the electrical signal including the mapping time fed back by the panoramic camera, it marks the high-precision map data collected by the panoramic camera at the target time (i.e., the mapping time), and determines the satellite navigation system time uploaded by the combined navigation device at the target time, and then establishes the correlation between the high-precision map data and the satellite navigation system time, so as to achieve the purpose of synchronizing the collection time of the high-precision map data to the satellite navigation system time.

[0052] In the disclosed embodiment, through data interaction between the industrial computer, the combined navigation device and the panoramic camera, the purpose of synchronizing the collection time of the high-precision map data to the satellite navigation system time is achieved when the panoramic camera does not support timing synchronization, thereby ensuring the accuracy and precision of the collected high-precision map data.

[0053] Figure 4 This is a flow chart of another high-precision map data collection method according to an embodiment of the present disclosure. The embodiment of the present disclosure is based on the above implementation and refines the scheme for the case where the data collection device supports timing synchronization. Figure 4 ,The specific method for collecting high precision map data is as follows:

[0054] S401. If both the image collector and the laser radar support timing synchronization, the image collector and the laser radar are time synchronized through a synchronization module.

[0055] In the disclosed embodiments, a synchronization module receives the satellite navigation system time transmitted in real time from the integrated navigation device and controls the synchronization of the synchronization module's clock with the integrated navigation device's clock based on the satellite navigation system time. Furthermore, because the synchronization module includes multiple input and output ports, the synchronization module can also transmit the received satellite navigation system time in real time as a message to the image collector and lidar via the input and output ports for timing synchronization, thereby achieving time synchronization between the image collector and lidar.

[0056] S402: Obtain high-precision map data collected by the data collection device at the target time.

[0057] S403: Determine the satellite navigation system time corresponding to the target time, and establish an association between the high-precision map data and the satellite navigation system time.

[0058] In the embodiment of the present disclosure, based on the time synchronization of the image collector and the laser radar completed through S401, after the image collector and the laser radar collect high-precision map data at the target time, the image collector and the laser radar can first determine the satellite navigation system time received at the target time, and establish a correlation between the high-precision map data and the satellite navigation system time.

[0059] In the disclosed embodiment, the time synchronization of the image collector and the lidar is achieved through a synchronization module, and both are synchronized to the satellite navigation system time to ensure the accuracy of high-precision map data collection.

[0060] Figure 5 This is a flow chart of another high-precision map data collection method according to an embodiment of the present disclosure. The embodiment of the present disclosure refines the above implementation scheme. Figure 5 ,The specific method for collecting high precision map data is as follows:

[0061] S501. Send an acquisition instruction to the forward-looking camera through the synchronization module to trigger the forward-looking camera to acquire high-precision map data.

[0062] S502. Record the satellite navigation system time corresponding to each time the forward-looking camera is triggered to collect high-precision map data through the synchronization module, so as to establish an association between the high-precision map data and the satellite system navigation time.

[0063] As can be seen from the above embodiment, the synchronization module includes multiple input and output ports. Therefore, the synchronization module can also control the forward-looking camera to collect high-precision map data, for example, controlling the forward-looking camera to capture images at a fixed distance or at a fixed time. During implementation, the synchronization module optionally sends an electrical signal including a collection instruction to the forward-looking camera via the input and output ports to trigger the forward-looking camera to collect high-precision map data. Simultaneously, the synchronization module records the satellite navigation system time corresponding to each time the forward-looking camera is triggered to collect high-precision map data, thereby establishing a correlation between the high-precision map data and the satellite system navigation time.

[0064] In the disclosed embodiment, not only is it possible to actively trigger the front-view camera using the synchronization module, but it is also possible to synchronize the collection time of the high-precision map data to the satellite navigation system time.

[0065] Figure 6This is a schematic diagram of the structure of a high-precision map data acquisition device according to an embodiment of the present disclosure. This embodiment is applicable to the case of time synchronization of data acquisition equipment. Figure 6 ,include:

[0066] An acquisition module 601 is used to acquire high-precision map data collected by a data collection device at a target time;

[0067] The association recording module 602 is used to determine the satellite navigation system time corresponding to the target time and establish an association relationship between the high-precision map data and the satellite navigation system time.

[0068] Based on the above embodiment, optionally, the data acquisition device includes an image collector detachably mounted on a first mounting column of the mounting platform and a laser radar detachably mounted on a second mounting column of the mounting platform; the image collector includes a forward-looking camera and a panoramic camera.

[0069] Based on the above embodiment, optionally, the association record module is used to:

[0070] If the forward-looking camera does not support timing synchronization, the forward-looking camera sends a message to the integrated navigation device indicating that it has completed high-precision map data collection at the target time. The integrated navigation device is detachably mounted on the base of the mounting platform and receives the satellite navigation system time in real time via an antenna.

[0071] The satellite navigation system time received at the target time is determined by combining navigation equipment, and the correlation relationship between high-precision map data and satellite navigation system time is established.

[0072] Based on the above embodiment, optionally, the association record module is further configured to:

[0073] If the panoramic camera does not support timing synchronization, the control device marks the high-precision map data collected by the panoramic camera at the target time and determines the satellite navigation system time uploaded by the integrated navigation device at the target time; wherein the control device is used to manage the data collection device and the high-precision map data;

[0074] Establish the correlation between high-precision map data and satellite navigation system time.

[0075] Based on the above embodiment, optionally, the method further includes:

[0076] A timing module is used to synchronize the image collector and the laser radar through the synchronization module if both support timing synchronization. The synchronization module receives the satellite navigation system time transmitted by the integrated navigation device in real time, and controls the synchronization module clock to synchronize with the clock of the integrated navigation device according to the satellite navigation system time.

[0077] Based on the above embodiment, optionally, the synchronization module is further configured to:

[0078] Send collection instructions to the forward-looking camera to trigger the forward-looking camera to collect high-precision map data;

[0079] Record the satellite navigation system time corresponding to each time the forward-looking camera is triggered to collect high-precision map data, so as to establish a correlation between the high-precision map data and the satellite system navigation time.

[0080] On the basis of the above embodiment, optionally, the integrated navigation device is further used to obtain position and posture data, and perform auxiliary positioning according to the wheel speed information fed back by the wheel speed odometer in a preset scenario.

[0081] The high-precision map data acquisition device provided in the embodiments of the present disclosure can execute the high-precision map data acquisition method provided in any embodiment of the present disclosure, and has the corresponding functional modules and beneficial effects of the execution method. For any content not fully described in this embodiment, please refer to the description of any method embodiment of the present disclosure.

[0082] In the technical solutions disclosed herein, the acquisition, storage, and application of user personal information involved comply with the provisions of relevant laws and regulations and do not violate public order and good morals.

[0083] According to an embodiment of the present disclosure, the present disclosure also provides an electronic device, a readable storage medium, and a computer program product.

[0084] Figure 7 A schematic block diagram of an example electronic device 700 that can be used to implement embodiments of the present disclosure is shown. The electronic device is intended to represent various forms of digital computers, such as laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The electronic device can also represent various forms of mobile devices, such as personal digital assistants, cellular phones, smartphones, wearable devices, and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely examples and are not intended to limit the implementation of the present disclosure described and / or claimed herein.

[0085] like Figure 7As shown, the device 700 includes a computing unit 701, which can perform various appropriate actions and processes according to a computer program stored in a read-only memory (ROM) 702 or a computer program loaded from a storage unit 708 into a random access memory (RAM) 703. Various programs and data required for the operation of the device 700 can also be stored in the RAM 703. The computing unit 701, the ROM 702, and the RAM 703 are connected to each other via a bus 704. An input / output (I / O) interface 705 is also connected to the bus 704.

[0086] Various components in device 700 are connected to I / O interface 705, including an input unit 706, such as a keyboard, mouse, etc.; an output unit 707, such as various types of displays, speakers, etc.; a storage unit 708, such as a magnetic disk, optical disk, etc.; and a communication unit 709, such as a network card, modem, wireless communication transceiver, etc. The communication unit 709 allows device 700 to exchange information / data with other devices via a computer network such as the Internet and / or various telecommunication networks.

[0087] The computing unit 701 can be any general-purpose and / or specialized processing component with processing and computing capabilities. Some examples of the computing unit 701 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various specialized artificial intelligence (AI) computing chips, various computing units running machine learning model algorithms, a digital signal processor (DSP), and any suitable processor, controller, microcontroller, etc. The computing unit 701 performs the various methods and processes described above, such as the high-precision map data collection method. For example, in some embodiments, the high-precision map data collection method can be implemented as a computer software program tangibly embodied in a machine-readable medium, such as the storage unit 708. In some embodiments, part or all of the computer program can be loaded and / or installed onto the device 700 via the ROM 702 and / or the communication unit 709. When the computer program is loaded into the RAM 703 and executed by the computing unit 701, one or more steps of the high-precision map data collection method described above can be performed. Alternatively, in other embodiments, the computing unit 701 can be configured to perform the high-precision map data collection method by any other suitable means (e.g., via firmware).

[0088] Various embodiments of the systems and techniques described above can be implemented in digital electronic circuit systems, integrated circuit systems, field programmable gate arrays (FPGAs), application specific integrated circuits (ASICs), application specific standard products (ASSPs), system-on-chip systems (SOCs), complex programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various embodiments can include being implemented in one or more computer programs that are executable and / or interpreted on a programmable system that includes at least one programmable processor, which can be a special purpose or general purpose programmable processor that can receive data and instructions from a storage system, at least one input device, and at least one output device, and transmit data and instructions to the storage system, the at least one input device, and the at least one output device.

[0089] The program code for implementing the method of the present disclosure can be written in any combination of one or more programming languages. These program codes can be provided to a processor or controller of a general-purpose computer, a special-purpose computer, or other programmable data processing device so that when the program code is executed by the processor or controller, the functions / operations specified in the flow chart and / or block diagram are implemented. The program code can be executed entirely on the machine, partially on the machine, as a stand-alone software package, partially on the machine and partially on a remote machine, or entirely on a remote machine or server.

[0090] In the context of the present disclosure, a machine-readable medium can be a tangible medium that can contain or store a program for use by or in conjunction with an instruction execution system, device or equipment. A machine-readable medium can be a machine-readable signal medium or a machine-readable storage medium. A machine-readable medium can include, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, device or equipment, or any suitable combination of the foregoing. A more specific example of a machine-readable storage medium can include an electrical connection based on one or more lines, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

[0091] To provide interaction with a user, the systems and techniques described herein can be implemented on a computer having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user; and a keyboard and pointing device (e.g., a mouse or trackball) through which the user can provide input to the computer. Other types of devices can also be used to provide interaction with the user; for example, the feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form (including acoustic input, voice input, or tactile input).

[0092] The systems and techniques described herein can be implemented in a computing system that includes back-end components (e.g., as a data server), or a computing system that includes middleware components (e.g., an application server), or a computing system that includes front-end components (e.g., a user computer having a graphical user interface or a web browser through which a user can interact with implementations of the systems and techniques described herein), or a computing system that includes any combination of such back-end components, middleware components, or front-end components. The components of the system can be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include a local area network (LAN), a wide area network (WAN), and the Internet.

[0093] A computer system may include a client and a server. The client and server are generally remote from each other and typically interact through a communication network. The client-server relationship arises through computer programs running on the respective computers and having a client-server relationship with each other. The server may be a cloud server, a server in a distributed system, or a server integrated with a blockchain.

[0094] It should be understood that the various forms of the processes shown above can be used to reorder, add, or delete steps. For example, the steps described in this disclosure can be performed in parallel, sequentially, or in a different order, as long as the desired results of the technical solutions disclosed in this disclosure can be achieved. This is not a limitation herein.

[0095] The above specific embodiments do not constitute a limitation on the scope of protection of this disclosure. Those skilled in the art will appreciate that various modifications, combinations, sub-combinations, and substitutions may be made based on design requirements and other factors. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this disclosure shall be included within the scope of protection of this disclosure.

Claims

1. A method for collecting high-precision map data, comprising: Obtaining high-precision map data collected by a data acquisition device at a target time; wherein the target time is the time at which the data acquisition device captures the map according to a local clock; the data acquisition device includes an image acquisition device, the image acquisition device including a forward-looking camera and a panoramic camera; the panoramic camera includes a housing and a plurality of cameras spaced axially around the housing, the forward-looking camera being disposed below the panoramic camera with an adjustable pitch angle; If the forward-looking camera does not support timing synchronization, the forward-looking camera sends a message to the integrated navigation device indicating that it has completed high-precision map data collection at the target time; the forward-looking camera shoots in an active trigger mode; Determining, by means of the integrated navigation device, the satellite navigation system time received at the target time, and establishing an association between the high-precision map data and the satellite navigation system time; If the panoramic camera does not support timing synchronization, marking the high-precision map data collected by the panoramic camera at the target time by a control device, and determining the satellite navigation system time uploaded by the integrated navigation device at the target time; wherein the control device is used to manage the data collection device and the high-precision map data; Establish an association between the high-precision map data and the satellite navigation system time.

2. The method according to claim 1, wherein The image collector is detachably mounted on a first mounting post of the mounting platform; the data acquisition device further comprises a laser radar detachably mounted on a second mounting post of the mounting platform.

3. The method according to claim 2, further comprising: If both the image collector and the lidar support timing synchronization, the image collector and the lidar are time synchronized through a synchronization module; wherein, the synchronization module receives the satellite navigation system time transmitted by the combined navigation device in real time, and controls the clock of the synchronization module to be synchronized with the clock of the combined navigation device according to the satellite navigation system time.

4. The method according to claim 3, further comprising: Sending a collection instruction to the front-view camera through the synchronization module to trigger the front-view camera to collect high-precision map data; The synchronization module records the satellite navigation system time corresponding to each time the forward-looking camera is triggered to collect high-precision map data, so as to establish an association between the high-precision map data and the satellite navigation system time.

5. The method according to claim 1, wherein The integrated navigation device is further used to obtain position and attitude data, and perform auxiliary positioning according to the wheel speed information fed back by the wheel speed odometer in a preset scenario.

6. A high-precision map data acquisition device, comprising: An acquisition module is configured to acquire high-precision map data collected by a data acquisition device at a target time; wherein the target time is the time at which the data acquisition device captures the map according to a local clock; the data acquisition device includes an image collector, which includes a forward-looking camera and a panoramic camera; the panoramic camera includes a housing and a plurality of cameras spaced axially around the housing, the forward-looking camera being disposed below the panoramic camera with an adjustable pitch angle; An association recording module is used to determine the satellite navigation system time corresponding to the target time and establish an association relationship between the high-precision map data and the satellite navigation system time; Wherein, the association record module is used to: If the forward-looking camera does not support timing synchronization, the forward-looking camera sends a message to the integrated navigation device indicating that it has completed high-precision map data collection at the target time; wherein the forward-looking camera shoots in an active trigger mode; Determining, by means of the integrated navigation device, the satellite navigation system time received at the target time, and establishing an association between the high-precision map data and the satellite navigation system time; If the panoramic camera does not support timing synchronization, marking the high-precision map data collected by the panoramic camera at the target time by a control device, and determining the satellite navigation system time uploaded by the integrated navigation device at the target time; wherein the control device is used to manage the data collection device and the high-precision map data; Establish an association between the high-precision map data and the satellite navigation system time.

7. The device according to claim 6, wherein The image collector is detachably mounted on a first mounting post of the mounting platform; the data acquisition device further comprises a laser radar detachably mounted on a second mounting post of the mounting platform.

8. The apparatus according to claim 7, further comprising: A timing module is used to synchronize the image collector and the laser radar through a synchronization module if both support timing synchronization; wherein the synchronization module receives the satellite navigation system time transmitted by the combined navigation device in real time, and controls the clock of the synchronization module to be synchronized with the clock of the combined navigation device according to the satellite navigation system time.

9. The apparatus according to claim 8, wherein the synchronization module is further configured to: Sending a collection instruction to the forward-looking camera to trigger the forward-looking camera to collect high-precision map data; The satellite navigation system time corresponding to each time the forward-looking camera is triggered to collect high-precision map data is recorded, so as to establish an association between the high-precision map data and the satellite navigation system time.

10. The device according to claim 6, wherein The integrated navigation device is further used to obtain position and attitude data, and perform auxiliary positioning according to the wheel speed information fed back by the wheel speed odometer in a preset scenario.

11. An electronic device comprising: at least one processor; as well as a memory communicatively connected to the at least one processor; wherein, The memory stores instructions that can be executed by the at least one processor, and the instructions are executed by the at least one processor to enable the at least one processor to perform the method according to any one of claims 1 to 5.

12. A non-transitory computer-readable storage medium storing computer instructions, wherein: The computer instructions are used to enable a computer to execute the method according to any one of claims 1 to 5.

13. A computer program product comprising a computer program, which, when executed by a processor, implements the method according to any one of claims 1 to 5.

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