Data processing method and device, equipment and storage medium

Abstract

The application discloses a data processing method, device and equipment and a storage medium. The method comprises the following steps: acquiring a plurality of to-be-tested data corresponding to a target intersection in a high-definition map, wherein the plurality of to-be-tested data represent the association information of a plurality of driving indication marks of the target intersection; performing accuracy test processing on the plurality of to-be-tested data to obtain a data test result corresponding to each of the plurality of to-be-tested data; in the case that a target data test result exists in the plurality of data test results and meets a preset test condition, performing corresponding processing on target to-be-tested data corresponding to the target data test result; and the target data test result meeting the preset test condition represents that the target to-be-tested data corresponding to the target data test result has error information. The application improves the test efficiency of intersection data of the high-definition map by automatically testing the to-be-tested data corresponding to the target intersection and automatically processing the target to-be-tested data having error information.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of high-precision map testing, in particular to a data processing method and device, equipment and a storage medium. BACKGROUND

[0002] High-precision maps carry element form information, attribute information and semantic information of the physical world. The rich information content will inevitably bring higher production difficulty and maintenance difficulty. In recent years, with the in-depth application of high-precision maps in the field of intelligent driving, the production process and process requirements of high-precision maps are becoming more and more sophisticated. How to quickly and scale detect various errors of high-precision map data, judge and guarantee the quality of high-precision map products is the key path and the only way for the industrialization of high-precision maps.

[0003] As a complex scene in high-precision maps, the intersection involves a large number of map elements, complex geometric logical relationships, and difficult to define the association relationship. Quality assessment and automatic checking of the intersection can speed up the production efficiency of high-precision maps and control the quality of high-precision maps in mass production. At present, the quality inspection of high-precision map intersection data is time-consuming and labor-intensive. The quality inspection of high-precision map intersection data is carried out by elements, the rules are scattered, and the operation personnel have difficulty in understanding and interacting with the quality inspection results, making it difficult to scale process intersection data. In addition, some errors in the quality inspection cannot be automatically corrected, and the automatic processing capacity is weak. SUMMARY

[0004] To solve the above technical problems, the present application discloses a data processing method, which automatically tests the target intersection corresponding to the to-be-tested data, and automatically processes the target to-be-tested data represented by the error information of the data test result, greatly improving the test efficiency of the high-precision map intersection data.

[0005] In order to achieve the above invention purpose, the present application provides a data processing method, which comprises:

[0006] Obtain a plurality of to-be-tested data corresponding to a target intersection in a high-precision map, the plurality of to-be-tested data representing the association information of a plurality of driving indication signs of the target intersection;

[0007] Perform accuracy test processing on the plurality of to-be-tested data to obtain a plurality of data test results corresponding to the plurality of to-be-tested data respectively;

[0008] In the case that a target data test result in the plurality of data test results meets a preset test condition, the target to-be-tested data corresponding to the target data test result is processed accordingly; the target data test result meeting the preset test condition represents that the target to-be-tested data corresponding to the target data test result has error information.

[0009] In some embodiments, the processing of the target to-be-tested data corresponding to the target data test result in the case that the target data test result meets the preset test condition comprises:

[0010] In the case that the target data test result meets the preset test condition, the target to-be-tested data corresponding to the target data test result is updated or attribute information and error association information corresponding to the target to-be-tested data are determined based on the target data test result, the error association information comprising position information corresponding to error information in the target to-be-tested data and a cause of the error of the error information.

[0011] In some embodiments, the accuracy test processing of the plurality of to-be-tested data to obtain the data test result corresponding to each of the plurality of to-be-tested data comprises:

[0012] obtaining preset detection configuration information, the preset detection configuration information comprising detection configuration modes corresponding to the plurality of driving instruction identifiers respectively;

[0013] determining the detection configuration mode corresponding to each to-be-tested data based on the driving instruction identifier corresponding to each to-be-tested data;

[0014] performing accuracy test processing on each to-be-tested data according to the detection configuration mode corresponding to each to-be-tested data to obtain the data test result corresponding to each to-be-tested data.

[0015] In some embodiments, the plurality of to-be-tested data comprises to-be-tested road line data, to-be-tested intersection frame line data, and to-be-tested traffic light data; the preset detection configuration information comprises road line detection configuration mode, intersection detection configuration mode, and traffic light detection configuration mode; and the accuracy test processing of each to-be-tested data according to the detection configuration mode corresponding to each to-be-tested data to obtain the data test result corresponding to each to-be-tested data comprises:

[0016] performing accuracy test processing on the to-be-tested road line data according to the road line detection configuration mode to obtain the first data test result corresponding to the to-be-tested road line data;

[0017] performing accuracy test processing on the to-be-tested intersection frame line data according to the intersection detection configuration mode to obtain the second data test result corresponding to the to-be-tested intersection frame line data;

[0018] performing accuracy test processing on the to-be-tested traffic light data according to the traffic light detection configuration mode to obtain the third data test result corresponding to the to-be-tested traffic light data.

[0019] In some embodiments, the first data test result includes a marker point repetition result and a marker point jump result, the road line detection configuration mode includes a marker point repetition detection configuration mode and a marker point jump detection configuration mode; the accuracy test processing of the to-be-tested road line data based on the road line detection configuration mode to obtain the first data test result corresponding to the to-be-tested road line data includes:

[0020] Obtaining the marker points on each road line in the to-be-tested road line data;

[0021] Based on the marker point repetition detection configuration mode, traversing the plurality of marker points to determine the marker point repetition result corresponding to each marker point, the marker point repetition result corresponding to each marker point indicating whether there is a repeated marker point for each marker point, the repeated marker point being less than a preset distance from each marker point;

[0022] Based on the marker point jump detection configuration mode, traversing the plurality of marker points to determine the marker point jump result corresponding to each of the plurality of marker points, the marker point jump result indicating whether there is a jump marker point for each marker point, the jump marker point having a jump angle greater than a first preset angle in a vertical direction from each marker point, or the jump marker point having a jump angle greater than a second preset angle in a horizontal direction from each marker point.

[0023] In some embodiments, the first data test result further includes a reference line intersection coincidence result, the road line detection configuration mode further includes a reference line intersection detection configuration mode, the to-be-tested road line data includes reference line data, and the accuracy test processing of the to-be-tested road line data based on the road line detection configuration mode to obtain the first data test result corresponding to the to-be-tested road line data further includes:

[0024] Based on the reference line data and the to-be-tested intersection frame line data, determining a first reference line set located within a road intersection frame line region corresponding to the to-be-tested intersection frame line data and a second reference line set located outside the road intersection frame line region and intersecting with an edge line of the road intersection frame line region; the first reference line set includes a plurality of first reference lines, and the second reference line set includes a plurality of second reference lines;

[0025] Based on the reference line intersection detection configuration mode, traversing the plurality of second reference lines and the plurality of first reference lines to determine the reference line intersection coincidence result corresponding to each of the plurality of second reference lines; the reference line intersection coincidence result indicating whether the starting point or the ending point of a second reference line coincides with the ending point or the starting point of a first reference line.

[0026] In some embodiments, the to-be-tested road line data comprises lane center line data; the first data test result further comprises a target driving direction indication result; the road line detection configuration manner comprises a driving direction detection configuration manner; and the accuracy test processing of the to-be-tested road line data based on the road line detection configuration manner to obtain the first data test result corresponding to the to-be-tested road line data comprises:

[0027] obtaining a start point direction vector and an end point direction vector corresponding to each of a plurality of lane center lines in a target lane corresponding to the lane center line data;

[0028] determining a driving direction corresponding to each of the plurality of lane center lines based on the driving direction detection configuration manner, the plurality of start point direction vectors and the plurality of end point direction vectors;

[0029] determining the target driving direction indication result corresponding to the target lane based on the plurality of driving directions.

[0030] In some embodiments, the determining of the driving direction corresponding to each of the plurality of lane center lines based on the driving direction detection configuration manner, the plurality of start point direction vectors and the plurality of end point direction vectors comprises:

[0031] determining driving direction association information and a target included angle corresponding to each of the plurality of lane center lines based on the driving direction detection configuration manner, the plurality of start point direction vectors and the plurality of end point direction vectors;

[0032] determining the driving direction corresponding to each of the plurality of lane center lines based on the plurality of driving direction association information and the plurality of target included angles.

[0033] In some embodiments, the second data test result comprises a coordinate point ground adhesion result; and the accuracy test processing of the to-be-tested intersection frame line data based on the intersection detection configuration manner to obtain the second data test result corresponding to the to-be-tested intersection frame line data comprises:

[0034] obtaining an edge line of an intersection frame line region corresponding to the to-be-tested intersection frame line data and a plurality of coordinate points on the edge line of the intersection frame line region;

[0035] determining a coordinate point ground adhesion result corresponding to each of the plurality of coordinate points based on the intersection detection configuration manner and the plurality of coordinate points; and the coordinate point ground adhesion result represents whether a coordinate of the coordinate point in a z-axis direction is a preset threshold value.

[0036] In some embodiments, the traffic light detection configuration mode includes a traffic light attribute detection configuration mode and a traffic light correlation relationship detection configuration mode, the to-be-tested data includes to-be-tested stop line data and lane center line data; the third data test result includes a heading indication result of the traffic light, a first correlation result, and a second correlation result; the accuracy test processing of the to-be-tested traffic light data based on the traffic light detection configuration mode to obtain the third data test result corresponding to the to-be-tested traffic light data; comprising:

[0037] determining a plurality of traffic light indication boards located at the target intersection and at least one traffic light corresponding to each of the plurality of traffic light indication boards based on the to-be-tested traffic light data;

[0038] determining an indication heading corresponding to each of the plurality of traffic light indication boards, the sorting information of at least one traffic light located on the same traffic light indication board, and the correlation relationship between the indication direction of each of the plurality of traffic lights based on the traffic light attribute detection configuration mode, the plurality of traffic light indication boards, and at least one traffic light corresponding to each of the plurality of traffic light indication boards;

[0039] determining the heading indication result corresponding to each of the plurality of traffic lights based on the indication heading corresponding to each of the plurality of traffic light indication boards, the sorting information of at least one traffic light located on the same traffic light indication board, and the correlation relationship between the indication direction of each of the plurality of traffic lights;

[0040] determining the first correlation result between a plurality of stop lines in the to-be-tested stop line data and the opposite traffic light indication board corresponding to each of the plurality of stop lines based on the traffic light correlation relationship detection configuration mode, the lane center line data, the to-be-tested stop line data, the plurality of traffic light indication boards, and the plurality of heading indication results;

[0041] determining the second correlation result between a plurality of lane center lines in the lane center line data and the target traffic light corresponding to each of the plurality of lane center lines based on the traffic light correlation relationship detection configuration mode, the lane center line data, the plurality of traffic lights, and the plurality of heading indication results.

[0042] In some embodiments, determining the first correlation result between a plurality of stop lines in the to-be-tested stop line data and the opposite traffic light indication board corresponding to each of the plurality of stop lines based on the traffic light correlation relationship detection configuration mode, the lane center line data, the to-be-tested stop line data, the plurality of traffic light indication boards, and the plurality of heading indication results, comprises:

[0043] determine a plurality of stop lines and a plurality of traffic light signs corresponding to each of the plurality of stop lines based on the to-be-detected stop line data and the plurality of traffic light signs;

[0044] determine adjacent lane center lines corresponding to each of the plurality of stop lines based on the lane center line data and the plurality of stop lines, the adjacent lane center line being a lane center line with an end point coordinate adjacent to the stop line;

[0045] for each stop line, determine a target opposite traffic light sign and a first association relationship between at least one traffic light on the target opposite traffic light sign and the target stop line based on the traffic light association relationship detection configuration, the target stop line, a target adjacent lane center line, a plurality of traffic light signs, and a plurality of heading indication results;

[0046] determine a first association result between the target stop line and the at least one traffic light on the target opposite traffic light sign based on a plurality of first association relationships.

[0047] In some embodiments, the determining the second association result between the plurality of lane center lines in the lane center line data and the target traffic light corresponding to each of the plurality of lane center lines based on the traffic light association relationship detection configuration, the lane center line data, the plurality of traffic lights, and the plurality of heading indication results comprises:

[0048] determine a start point direction vector corresponding to each of the plurality of lane center lines in the lane center line data and a connecting line direction vector corresponding to each of the plurality of traffic lights based on the lane center line data and the plurality of traffic lights;

[0049] determine at least one opposite traffic light corresponding to each of the plurality of lane center lines based on the start point direction vector and the plurality of connecting line direction vectors;

[0050] obtain a driving indication direction corresponding to each of the plurality of lane center lines;

[0051] for each target lane center line, determine a target opposite traffic light corresponding to the target lane center line and a second association relationship between the target lane center line and the target opposite traffic light based on the traffic light association relationship detection configuration, a target driving direction corresponding to the target lane center line, at least one opposite traffic light, and at least one heading indication result;

[0052] determine the second association result between the target lane center line and the target opposite traffic light based on a plurality of second association relationships.

[0053] In some embodiments, the obtaining the multiple to-be-tested data corresponding to the target intersection in the high-definition map comprises:

[0054] obtaining intersection data corresponding to an intersection scene in the high-definition map;

[0055] determining the target intersection and to-be-tested intersection frame line data corresponding to the target intersection from the intersection data;

[0056] determining a to-be-tested area corresponding to the target intersection based on the to-be-tested intersection frame line data;

[0057] determining the to-be-tested road line data and the to-be-tested traffic light data corresponding to the target intersection from the intersection data in the high-definition map based on the to-be-tested area.

[0058] In some embodiments, the preset test conditions include a first result error condition corresponding to the first data test result, a second result error condition corresponding to the second data test result, and a third result error condition corresponding to the third data test result; and the processing the target to-be-tested data corresponding to the target data test result in the case where the target data test result in the multiple data test results meets the preset test condition comprises:

[0059] processing the to-be-tested road line data corresponding to the first data test result in the case where the first data test result meets the first result error condition;

[0060] processing the to-be-tested intersection frame line data corresponding to the second data test result in the case where the second data test result meets the second result error condition;

[0061] processing the to-be-tested traffic light data corresponding to the third data test result in the case where the third data test result meets the third result error condition.

[0062] The application also provides a data processing device, which comprises:

[0063] an obtaining module, configured to obtain multiple to-be-tested data corresponding to a target intersection in a high-definition map, the multiple to-be-tested data representing association information of multiple driving indication signs of the target intersection;

[0064] a first processing module, configured to perform accuracy test processing on the multiple to-be-tested data to obtain data test results corresponding to the multiple to-be-tested data respectively;

[0065] The second processing module is configured to perform corresponding processing on target to-be-tested data corresponding to a target data test result in the plurality of data test results, if the target data test result satisfies a preset test condition.

[0066] The application further provides a data processing device, which comprises a processor and a memory, and the memory stores at least one instruction or at least one program, and the at least one instruction or the at least one program is loaded and executed by the processor to implement the data processing method as described above.

[0067] The application further provides a computer readable storage medium, which stores at least one instruction or at least one program, and the at least one instruction or the at least one program is loaded and executed by a processor to implement the data processing method as described above.

[0068] The application has the following beneficial effects:

[0069] The data processing method provided by the application greatly improves the test efficiency of the intersection data of the high-precision map by automatically testing the to-be-tested data corresponding to the target intersection and automatically processing the target to-be-tested data represented by the data test result and having error information. BRIEF DESCRIPTION OF DRAWINGS

[0070] In order to more clearly illustrate the data processing method, device, equipment and storage medium provided by the application, the drawings required by the embodiments will be briefly introduced below. Obviously, the drawings in the following description are only some embodiments of the application, and those skilled in the art can obtain other drawings according to these drawings without creative labor.

[0071] Figure 1 An implementation environment diagram of a data processing method provided by an embodiment of the application is shown in the figure.

[0072] Figure 2 A flowchart of a data processing method provided by an embodiment of the application is shown in the figure.

[0073] Figure 3 A method flowchart for obtaining to-be-tested data provided by an embodiment of the application is shown in the figure.

[0074] Figure 4 An exemplary diagram of to-be-tested data provided by an embodiment of the application is shown in the figure.

[0075] Figure 5A flowchart of a determination method of a marker point repetition result and a marker point jump result provided for an embodiment of the present application is shown in FIG. 1;

[0076] Figure 6 An exemplary schematic diagram of a first included angle provided for an embodiment of the present application is shown in FIG. 2;

[0077] Figure 7 An exemplary schematic diagram of a second included angle provided for an embodiment of the present application is shown in FIG. 3;

[0078] Figure 8 A flowchart of a determination method of a reference line intersection point coincidence result provided for an embodiment of the present application is shown in FIG. 4;

[0079] Figure 9 A flowchart of a determination method of a target driving direction indication result provided for an embodiment of the present application is shown in FIG. 5;

[0080] Figure 10 An exemplary schematic diagram of a start point direction vector and an end point direction vector of a lane center line provided for an embodiment of the present application is shown in FIG. 6;

[0081] Figure 11 A flowchart of a determination method of a coordinate point ground attachment result provided for an embodiment of the present application is shown in FIG. 7;

[0082] Figure 12 A flowchart of a determination method of a third data test result provided for an embodiment of the present application is shown in FIG. 8;

[0083] Figure 13 An exemplary schematic diagram of a preset direction vector and a connecting line direction vector provided for an embodiment of the present application is shown in FIG. 9;

[0084] Figure 14 A direction vector indication schematic diagram provided for an embodiment of the present application is shown in FIG. 10;

[0085] Figure 15 A flowchart of a determination method of a first association result provided for an embodiment of the present application is shown in FIG. 11;

[0086] Figure 16 An exemplary schematic diagram of a target stop line and a connecting line provided for an embodiment of the present application is shown in FIG. 12;

[0087] Figure 17 A flowchart of a determination method of a second association result provided for an embodiment of the present application is shown in FIG. 13;

[0088] Figure 18 A structural schematic diagram of a data processing apparatus provided for an embodiment of the present application is shown in FIG. 14;

[0089] Figure 19 A structural schematic diagram of an electronic device provided for an embodiment of the present application is shown in FIG. 15. DETAILED DESCRIPTION

[0090] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative work fall within the scope of protection of the present application.

[0091] It should be noted that the terms "first", "second" and the like in the specification and claims of the present application and the above-described drawings are used to distinguish similar objects, and do not necessarily indicate a specific order or a chronological sequence. It should be understood that the data thus used can be interchanged under appropriate circumstances, so that the embodiments of the present application described herein can be implemented in an order other than that illustrated or described herein. In addition, the terms "include" and "have" and any variations thereof are intended to cover non-exclusive inclusion, for example, a process, method, system, product or server including a series of steps or units need not be limited to those steps or units clearly listed, but can include other steps or units not clearly listed or inherent to these processes, methods, products or devices.

[0092] Reference should be made to Figure 1 which shows an implementation environment schematic diagram provided by the embodiments of the present application, which can include:

[0093] at least one terminal 01 and at least one server 02. The at least one terminal 01 and the at least one server 02 can communicate data through a network.

[0094] In an optional embodiment, the terminal 01 can be an executor of a data processing method. The terminal 01 can include, but is not limited to, an electronic device of the type of a vehicle-mounted terminal, a smart phone, a desktop computer, a tablet computer, a notebook computer, a smart speaker, a digital assistant, an augmented reality (AR) / virtual reality (VR) device, a smart wearable device, etc. The operating system running on the terminal 01 can include, but is not limited to, an Android system, an IOS system, linux, windows, Unix, etc.

[0095] The server 02 can provide the terminal 01 with a plurality of to-be-tested data corresponding to a target intersection and a preset test condition. Optionally, the server 02 can be a physical server, a server cluster composed of a plurality of physical servers, or a distributed system, and can also be a cloud server providing basic cloud computing services such as cloud services, cloud databases, cloud computing, cloud functions, cloud storage, network services, cloud communication, middleware services, domain name services, security services, CDNs (Content Delivery Networks), and big data and artificial intelligence platforms.

[0096] Please refer to Figure 2 , which is a flowchart of a data processing method provided by an embodiment of the present application. The present specification provides method operation steps as described in the embodiments or flowcharts, but based on conventional; or uncreative labor can include more or fewer operation steps. The order of steps listed in the embodiments is only one of the many execution orders, and does not represent the only execution order. The data processing method can be executed according to the method order shown in the embodiments or the drawings. Specifically, as shown in Figure 2 , the method comprises:

[0097] S201, obtaining a plurality of to-be-tested data corresponding to a target intersection in a high-definition map, the plurality of to-be-tested data representing associated information of a plurality of driving indication signs of the target intersection.

[0098] In the embodiments of the present application, the target intersection can be any intersection in the high-definition map. The associated information of the plurality of driving indication signs can be different. The associated information of the driving indication sign can refer to at least one of the shape, position, direction vector, etc. of the driving indication sign. The plurality of to-be-tested data can include to-be-tested road line data, to-be-tested intersection frame line data, and to-be-tested traffic light data, etc.

[0099] Optionally, intersection data corresponding to an intersection scene can be obtained from all data corresponding to the high-definition map; and the plurality of to-be-tested data corresponding to the target intersection can be determined from the intersection data. The intersection scene can refer to a scene corresponding to all intersections in the high-definition map. The intersection data can refer to a plurality of data corresponding to the intersection scene that need to be tested. The intersection data can include road line data, traffic light data, stop line data, intersection frame line data, etc.

[0100] In one example, the target intersection and a to-be-tested area corresponding to the target intersection can be determined from the intersection data; and the plurality of to-be-tested data located in the to-be-tested area can be determined from the intersection data based on the to-be-tested area. The to-be-tested area can be an area where the to-be-tested data need to be tested in the intersection scene.

[0101] S202, performing accuracy test processing on the plurality of to-be-tested data to obtain data test results corresponding to the plurality of to-be-tested data respectively.

[0102] In the embodiments of the present application, the accuracy test can represent a test method of the accuracy of the to-be-tested data.

[0103] Optionally, the plurality of to-be-tested data can be respectively preset for accuracy test processing by using preset detection configuration information to obtain data test results corresponding to the plurality of to-be-tested data respectively. The preset detection configuration information can be a detection configuration method for performing accuracy detection on intersection data based on existing traffic rules. The preset detection configuration information can refer to a detection configuration method corresponding to each of a plurality of driving indication signs.

[0104] Further, the preset detection configuration information can be obtained; based on the driving indication signs corresponding to the plurality of to-be-tested data respectively, a detection configuration method corresponding to each to-be-tested data is determined; and based on the detection configuration method corresponding to each to-be-tested data, accuracy test processing is performed on each to-be-tested data to obtain a data test result corresponding to each to-be-tested data. The detection method of the present application can quickly perform automatic test on each to-be-tested data.

[0105] In one exemplary embodiment, in the case that the to-be-tested data includes to-be-tested road line data, to-be-tested intersection frame line data and to-be-tested traffic light data, the data test result can include a first data test result corresponding to the to-be-tested road line data, a second data test result corresponding to the to-be-tested intersection frame line data and a third data test result corresponding to the to-be-tested traffic light data. Correspondingly, the preset detection configuration information can include a road line detection configuration method, an intersection detection configuration method and a traffic light detection configuration method.

[0106] Further, the to-be-tested road line data can be subjected to accuracy test processing based on the road line detection configuration method to obtain a first data test result corresponding to the to-be-tested road line data. The to-be-tested road line data can include reference line data, lane edge line data and lane center line data; the reference line data can refer to a reference standard line based on the right lane line of a left-turn lane on a certain road. Correspondingly, the first data test result can include a marking point repetition result, a marking point jump result, a reference line intersection coincidence result and a target driving direction indication result.

[0107] Further, the to-be-tested intersection frame line data can be subjected to accuracy test processing based on the intersection detection configuration method to obtain a second data test result corresponding to the to-be-tested intersection frame line data. The to-be-tested intersection frame line data can include an intersection frame line area; correspondingly, the second data test result can include a coordinate point ground attachment result.

[0108] Further, the traffic light detection configuration mode is used to perform accuracy test processing on the to-be-tested traffic light data, to obtain a third data test result corresponding to the to-be-tested traffic light data. The to-be-tested traffic light data can include attributes of the traffic light and an association relationship between the traffic light and other data in intersection data; the other data in the intersection data can include to-be-tested stop line data and to-be-tested road line data; specifically, the association relationship between the traffic light and the other data in the intersection data can include an association relationship between the traffic light and the to-be-tested stop line data and an association relationship between the traffic light and lane center line data in the to-be-tested road line data. Correspondingly, the third data test result can include a heading direction indication result of the traffic light, a first association result, and a second association result. The heading direction indication result of the traffic light represents an association result between a position of the traffic light and an indication direction.

[0109] S203, in a case where the target data test result exists in the multiple data test results and meets a preset test condition, performing corresponding processing on target to-be-tested data corresponding to the target data test result.

[0110] In the embodiments of the present application, the preset test condition can be a judgment condition in which an error information exists in a data test result. The target data test result meeting the preset test condition represents that the target to-be-tested data corresponding to the target data test result has error information. The target to-be-tested data having error information can mean that part of the data in the target to-be-tested data has an error or all of the data has an error. The corresponding processing can include update processing of the error data or output processing of associated information of the error information.

[0111] Optionally, in a case where the target data test result exists in the multiple data test results and meets the preset test condition, performing update processing on the target to-be-tested data corresponding to the target data test result or determining attribute information and error association information corresponding to the target to-be-tested data based on the target data test result, the error association information including position information corresponding to error information in the target to-be-tested data and a reason for the error information having an error; the attribute information can mean data types, numbers, and the like of the target to-be-tested data. The error association information can also include a detection time of detecting the error information and the like; the processing mode of the intersection data in the present application can not only realize automatic testing of various to-be-tested data, improve testing efficiency, but also automatically correct part of the error data, reduce the process of manual checking and modification by workers; the output attribute information and error association information can facilitate workers to quickly locate and check the error map data content.

[0112] In one example, the attribute information and error association information corresponding to the target to-be-tested data can be output in the form of a log. The log can include a number, a sheet number, a checking time, a checking element type, a checking element number, an error description, an error geometric position, and the like. Table 1 shows the information of the number, the sheet number, the checking time, the checking element type, the checking element number, the error description, and the error geometric position. The checking element type and the checking element number can quickly locate the error object, the error geometric position can be used to determine the part of the data error, and the error description can help the operator to understand the error reason and guide the data modification direction.

[0113] Table 1

[0114]

[0115] Further, the target to-be-tested data corresponding to the target data test result is updated, which can include automatically correcting the error information existing in the target to-be-tested data, and then updating the target to-be-tested data.

[0116] Optionally, the preset test condition can include a first result error condition corresponding to the first data test result, a second result error condition corresponding to the second data test result, and a third result error condition corresponding to the third data test result.

[0117] Correspondingly, in the case that the first data test result satisfies the first result error condition, the to-be-tested road line data corresponding to the first data test result is processed accordingly.

[0118] In the case that the second data test result satisfies the second result error condition, the to-be-tested intersection frame line data corresponding to the second data test result is processed accordingly.

[0119] In the case that the third data test result satisfies the third result error condition, the to-be-tested traffic light data corresponding to the third data test result is processed accordingly.

[0120] In an example embodiment, taking the repeated marker point result, the marker point jump result, the reference line intersection coincidence result, and the target driving direction indication result contained in the first data test result as examples, in the case that the repeated marker point result is that there is a repeated marker point, in the case that the marker point jump result is that there is a jump marker point, in the case that the reference line intersection coincidence result is that neither the start point nor the end point of the second reference line coincides with the end point or start point of any first reference line, and in the case that the target driving direction indication result is that the indication direction of the target lane is different from the indication direction set in advance in the map, it is determined that the first data test result satisfies the first result error condition. The marker point jump result can include elevation jump and horizontal jump, wherein the elevation jump can mean that the jump angle of the jump marker point and each marker point in the vertical direction is greater than a first preset angle. The horizontal jump can mean that the jump angle of the jump marker point and each marker point in the horizontal direction is greater than a second preset angle.

[0121] Further, in the case that the marker point jump result satisfies the first result error condition, the marker point can be updated, and then the road line after the marker point is updated is obtained.

[0122] Specifically, any one of the marker point or the repeated marker point corresponding to the marker point can be deleted to realize the update of the marker point.

[0123] Further, in the case that the marker point jump result satisfies the first result error condition, the marker point can be updated, and then the road line after the marker point is updated is obtained. The jump marker point can include an elevation jump marker point and a horizontal jump marker point.

[0124] Specifically, when updating the elevation jump marker point, the x-axis coordinate and y-axis coordinate of the elevation jump marker point in the horizontal plane can be used to find the first target point cloud position closest to the position of the elevation jump marker point. If the first target power position does not have an elevation jump relative to the marker point corresponding to the elevation jump marker point, the elevation jump marker point is moved to the first target point cloud position. If the first target power position has an elevation jump relative to the marker point corresponding to the elevation jump marker point, the elevation jump marker point is corrected with the elevation value of the marker point corresponding to the elevation jump marker point. Thus, the update of the elevation jump marker point is realized. Further, the update of the road line is realized. The elevation value can mean the coordinate value of the marker point in the z-axis direction.

[0125] Specifically, when updating the horizontal jump marker point, the horizontal jump marker point can be directly deleted to realize the update of the road line.

[0126] Further, in a case where the reference line intersection coincidence result satisfies the first result error condition, a second reference line corresponding to the reference line intersection coincidence result can be determined, and an intersection point between the second reference line and an edge line of a road intersection frame region corresponding to the road intersection frame line data is output, and then an output result corresponding to error information of the second reference line is determined. The output result can include a number, a type, position information of the second reference line, and a time when the error information is detected, and the like, wherein the position information can refer to a position of the intersection point between the second reference line and the edge line of the road intersection frame region corresponding to the road intersection frame line data.

[0127] Further, in a case where the target driving direction indication result satisfies the first result error condition, the indication direction of the lane corresponding to the target driving direction indication result can be directly updated.

[0128] Specifically, in a case where the target driving direction indication result is straight, left turn, right turn, or U-turn, the indication result can be directly used as the indication result of the corresponding lane to update the indication direction of the lane.

[0129] Specifically, if the lane is a to-be-turned lane, the driving direction is updated to straight.

[0130] In another exemplary embodiment, taking the coordinate point ground attachment result contained in the second data test result as an example, in a case where the coordinate point ground attachment result is that the coordinate of the coordinate point in the y-axis direction is not equal to the preset threshold value, it can be determined that the coordinate point ground attachment result satisfies the second result error condition.

[0131] Further, in a case where the coordinate point ground attachment result satisfies the second result error condition, the position of the coordinate point can be updated to obtain updated road intersection frame line data.

[0132] Specifically, the x-axis coordinate and y-axis coordinate of the coordinate point can be used to find a second target point cloud position near the coordinate point, and the second target point cloud position is updated to the coordinate point to update the road intersection frame line data.

[0133] In another example embodiment, taking the heading indication result of the traffic light, the first association result, and the second association result contained in the third data test result as an example, in the case that the heading indication result of the traffic light is that the indication heading of the traffic light sign is different from the preset standard indication heading, in the case that the indication heading of the traffic light sign is the same as the preset indication heading, in the case that the first association result is that the target stop line is not associated with the at least one traffic light on the target object traffic light sign, and in the case that the second association result is that the target lane center line is not associated with the target opposite traffic light, it is determined that the third data test result satisfies the third result error condition.

[0134] Further, in the case that the heading indication result of the traffic light satisfies the third result error condition, for example, in the case that the indication heading of the traffic light sign is different from the preset indication heading, the traffic light sign can be calibrated reversely to update the indication direction of the traffic light sign, so as to obtain the correct indication direction of the traffic light sign.

[0135] Further, in the case that the heading indication result of the traffic light satisfies the third result error condition, for example, in the case that the indication heading of the traffic light sign is the same as the preset indication heading, and the ordering information of the at least one traffic light on the traffic light sign does not correspond to the indication direction of each sub of the at least one traffic light, the leftmost traffic light can be updated to control left turn, the rightmost traffic light can be updated to control right turn, and the remaining traffic lights can be updated to control straight, or if there is no remaining traffic light, the rightmost traffic light can be updated to control right turn and straight.

[0136] Further, in the case that the first association result satisfies the third result error condition, the relevant error information of the target stop line not associated with the at least one traffic light on the target object traffic light sign is directly output.

[0137] Further, in the case that the second association result satisfies the third result error condition, the relevant error information of the target lane center line not associated with the target opposite traffic light is directly output.

[0138] In this embodiment, the present application automatically tests the target data corresponding to the selected target intersection, and automatically processes the target data with error information when the data with error exists in the data test result, which greatly improves the test efficiency of the intersection data of the high-precision map, and further improves the automatic test of the intersection quality of the high-precision map.

[0139] In some example embodiments, as Figure 3As shown in the figure, it is a method flow diagram for obtaining to-be-tested data provided by an embodiment of the present application. Specifically as follows:

[0140] S301, obtaining intersection data corresponding to the target intersection in the high-definition map.

[0141] S302, determining the target intersection and to-be-tested intersection frame line data corresponding to the target intersection from the intersection data.

[0142] In the embodiment of the present application, the to-be-tested intersection frame line data can be a polygon region pre-drawn when drawing the high-definition map. For example, Figure 4 As shown in the figure, it is an exemplary diagram of to-be-tested data, in which the dotted frame line region represents a polygon region corresponding to the to-be-tested intersection frame line data.

[0143] S303, determining the to-be-tested region corresponding to the target intersection based on the to-be-tested intersection frame line data.

[0144] In the embodiment of the present application, the to-be-tested region can be a region where to-be-tested data needs to be tested under the intersection scene.

[0145] Optionally, the to-be-tested region corresponding to the target intersection can be obtained by extending a preset length outward along each side of the polygon corresponding to the to-be-tested intersection frame line data. The shape of the polygon buffer region corresponding to the to-be-tested region can be the same as the shape of the polygon region corresponding to the to-be-tested intersection frame line data. The preset length can be 10-15 m.

[0146] S304, determining the to-be-tested road line data and to-be-tested traffic light data corresponding to the target intersection from the intersection data in the high-definition map based on the to-be-tested region.

[0147] In the embodiment of the present application, the to-be-tested road line data and to-be-tested traffic light data are both intersection data located in the to-be-tested region.

[0148] Optionally, the to-be-tested road line data and to-be-tested traffic light data corresponding to the target intersection can be found by traversing the intersection data based on the shape of the polygon buffer region corresponding to the to-be-tested region, and intersecting the edge line of the polygon buffer region and being located in the polygon buffer region. For example, Figure 4 as indicated in the figure.

[0149] In this embodiment, the target intersection corresponding to the to-be-tested intersection frame line data is used to limit the to-be-tested region, which can not only obtain more comprehensive to-be-tested data, but also obtain more accurate to-be-tested data.

[0150] In one exemplary embodiment, as shown in Figure 5As shown in FIG. 1, which is a flowchart of a method for determining a marker point repetition result and a marker point jump result according to an embodiment of the present application. The method comprises the following steps.

[0151] S501, obtaining marker points on each road line in the road line data to be tested.

[0152] In the embodiment of the present application, the marker points can be points covered by the road lines. Each road line can include a plurality of marker points.

[0153] Optionally, all the marker points on each road line can be obtained.

[0154] S502, traversing the plurality of marker points based on a marker point repetition detection configuration mode, determining a marker point repetition result corresponding to each marker point, the marker point repetition result corresponding to each marker point indicating whether there is a repeated marker point for each marker point, the repeated marker point being at a distance less than a preset distance from each marker point.

[0155] In the embodiment of the present application, the marker point repetition result can include a repeated marker point result and a non-repeated marker point result. The preset distance can be 0.05-0.2 m; preferably, 0.1 m.

[0156] Optionally, each marker point can be detected in sequence based on the marker point repetition detection configuration mode, the distance between two adjacent marker points can be obtained, and the marker point repetition result corresponding to each marker point can be determined based on the distance between the two adjacent marker points.

[0157] In one example, the current marker point can be taken as a reference, and if it is detected that at least one marker point in the other marker points adjacent to the current marker point is at a distance less than the preset distance from the current marker point, it can be determined that the current marker point has a repeated marker point result.

[0158] Specifically, the marker point at a distance less than the preset distance from the current marker point is the repeated marker point of the current marker point. At this time, the marker point repetition result can be determined as the repeated marker point result.

[0159] In another example, the current marker point can be taken as a reference, and if it is detected that all the marker points in the other marker points adjacent to the current marker point are at a distance greater than or equal to the preset distance from the current marker point, it can be determined that the current marker point has no repeated marker point result. The above method can obtain a more accurate marker point repetition result.

[0160] S503, based on the label point jump detection configuration mode, traversing the plurality of label points to determine a label point jump result corresponding to each of the plurality of label points, the label point jump result representing whether each label point has a jump label point, the jump label point having a jump angle with each label point in a vertical direction greater than a first preset angle, or the jump label point having a jump angle with each label point in a horizontal direction greater than a second preset angle.

[0161] In the embodiments of the present application, the label point jump result can include a label point elevation jump result and a label point horizontal jump result. The jump label point can include an elevation jump label point and a horizontal jump label point. The first preset angle can be 8-12°, and preferably can be 10°. The second preset angle can be greater than or equal to 90°, and preferably can be 90°.

[0162] Optionally, for the label point elevation jump result, the first label point and the second label point adjacent to the first label point can be selected in sequence from the starting point on the road line based on the label point jump detection configuration mode, a first included angle between a connecting line between the first label point and the second label point and a horizontal plane can be obtained, and the elevation jump result corresponding to the second label point can be determined based on the first included angle, wherein the first label point can be the starting point on the road line or other label points; and the second label point can be the label point closest to the first label point.

[0163] As shown in FIG. 1, Figure 6 which shows an exemplary schematic diagram of a first included angle provided by an embodiment of the present application; in the figure, angle θ1 represents the first included angle. Further, in the case where the first included angle is greater than the first preset angle, it can be determined that the second label point has an elevation jump, and is an elevation jump label point.

[0164] Optionally, for the label point horizontal jump result, the third label point, the fourth label point and the fifth label point adjacent to the third label point can be selected in sequence from the starting point on the road line based on the label point jump detection configuration mode, a first connecting line between the third label point and the fourth label point and a second connecting line between the fourth label point and the fifth label point can be determined, a second included angle of the first connecting line and the second connecting line on the horizontal plane can be obtained, and the horizontal jump result corresponding to the fifth label point can be determined based on the second included angle, wherein the third label point can be the starting point on the road line or other label points; the fourth label point can be the label point closest to the third label point; and the fifth label point can be the label point closest to the fourth label point.

[0165] As shown in FIG. 1, Figure 7, which shows an exemplary schematic diagram of a second included angle provided by an embodiment of the present application; in the diagram, angle θ2 represents the second included angle. Further, in the case where the second included angle is greater than the second preset angle, it can be determined that the fifth marking point exists horizontal jump, and the fifth marking point is a horizontal jump marking point. The present application can obtain a relatively accurate marking point jump result through the above manner.

[0166] In one exemplary embodiment, as Figure 8 , which shows a flowchart of a method for determining a reference line intersection point coincidence result provided by an embodiment of the present application; the details are as follows.

[0167] S801, based on the reference line data and the to-be-measured intersection frame line data, determining a first reference line set located in a region of the intersection frame line corresponding to the to-be-measured intersection frame line data and a second reference line set intersecting an edge line of the region of the intersection frame line outside the region of the intersection frame line; the first reference line set includes a plurality of first reference lines, and the second reference line set includes a plurality of second reference lines.

[0168] In an embodiment of the present application, the reference line data can refer to a reference standard line made based on a right lane line of a left-turn lane on a certain road. For example, Figure 4 , which shows a region of the intersection frame line corresponding to the reference line data and the to-be-measured intersection frame line data. The first reference lines are all located in the region of the intersection frame line, and the second reference lines are all reference lines intersecting an edge line of the region of the intersection frame line, and part of the reference lines are located in the region of the intersection frame line and part of the reference lines are located outside the region of the intersection frame line.

[0169] S802, based on a reference line intersection point detection configuration manner, traversing the plurality of second reference lines and the plurality of first reference lines to determine a reference line intersection point coincidence result corresponding to each of the plurality of second reference lines; the reference line intersection point coincidence result represents whether a starting point or an ending point of the second reference line coincides with an ending point or a starting point of a certain first reference line.

[0170] In an embodiment of the present application, the reference line intersection point coincidence result can include a case where there is no first reference line adjacent to the second reference line and a case where there is a first reference line adjacent to the second reference line; wherein the second reference line being adjacent to the first reference line can represent that the starting point of the second reference line coincides with the ending point of the first reference line, or the ending point of the second reference line coincides with the starting point of the first reference line.

[0171] Optionally, the first starting point coordinate and the first ending point coordinate of the current second reference line can be obtained by traversing each second reference line, the second starting point coordinate and the second ending point coordinate of each first reference line can be obtained by traversing each first reference line, and the reference line intersection point coincidence result of the current second reference line can be determined based on the first starting point coordinate, the first ending point coordinate, the second starting point coordinate and the second ending point coordinate.

[0172] Specifically, if the second start point coordinate coincides with the first end point coordinate, or the second end point coordinate coincides with the first start point coordinate, it can be determined that there is a first reference line adjacent to the second reference line.

[0173] If the second start point coordinate does not coincide with the first end point coordinate, and the second end point coordinate does not coincide with the first start point coordinate, it can be determined that there is no first reference line adjacent to the second reference line.

[0174] In this embodiment, the present application can obtain a more accurate reference line intersection coincidence result through comparative detection of the reference lines in the intersection frame line area and outside the intersection frame line area.

[0175] In one exemplary embodiment, as Figure 9 which shows a flowchart of a method for determining a target driving direction indication result provided by an embodiment of the present application; the details are as follows.

[0176] S901, obtaining start point direction vectors and end point direction vectors corresponding to each of a plurality of lane center lines in a target lane corresponding to lane center line data;

[0177] In an embodiment of the present application, the target lane can be any lane in any direction road for any road section, and the target lane includes a plurality of lane center lines connected in sequence. The start point direction vectors and the end point direction vectors of the plurality of lane center lines can be the same or different.

[0178] S902, determining driving directions corresponding to each of the plurality of lane center lines based on a driving direction detection configuration mode, the plurality of start point direction vectors and the plurality of end point direction vectors;

[0179] In an embodiment of the present application, each center line can correspond to the same driving direction or different driving directions, and the driving direction can include straight driving, right turning, left turning and U-turn.

[0180] Optionally, the lane type of the target road can be determined based on the plurality of lane center lines, and in a case where the lane type meets a preset type, the driving directions corresponding to each of the plurality of lane center lines are determined based on the driving direction detection configuration mode, the plurality of start point direction vectors and the plurality of end point direction vectors. The preset type can be a type corresponding to a non-turn lane, for example, a right-turn lane, a straight driving lane and a left-turn lane. The lane type can include a turn lane and a non-turn lane.

[0181] In one example, the driving direction associated information and the target angle of each of the plurality of lane centerlines can be determined based on the driving direction detection configuration mode, the plurality of start direction vectors and the plurality of end direction vectors; and the driving direction of each of the plurality of lane centerlines can be determined based on the plurality of driving direction associated information and the plurality of target angles. The driving direction associated information can be the associated relationship between the start direction vector and the end direction vector of a certain lane centerline, for example, the start direction vector and the end direction vector of a certain lane centerline can be in the same direction or in the opposite direction.

[0182] Further, the driving direction of the lane centerline corresponding to the target angle can be determined based on the preset angle direction configuration mode, the target angle and the driving direction associated information. The preset angle direction configuration mode can be the corresponding relationship between the target angle, the driving direction associated information and the driving direction.

[0183] Specifically, in the case that the start direction vector and the end direction vector of the lane centerline correspond to the same direction, if the target angle is less than or equal to a third preset angle, it can be determined that the driving direction of the lane centerline is straight; the third preset angle can be 20°.

[0184] In the case that the start direction vector and the end direction vector of the lane centerline correspond to the opposite direction, if the target angle is less than or equal to a fourth preset angle, it can be determined that the driving direction of the lane centerline is U-turn; the fourth preset angle can be 20°.

[0185] In the case that the start direction vector and the end direction vector of the lane centerline correspond to the same direction or the opposite direction, if the target angle is a fifth preset angle, it can be determined that the driving direction of the lane centerline is left turn; the angle corresponding to the fifth preset angle can be any angle in the range of 30-150°.

[0186] In the case that the start direction vector and the end direction vector of the lane centerline correspond to the same direction or the opposite direction, if the target angle is a sixth preset angle, it can be determined that the driving direction of the lane centerline is right turn; the angle corresponding to the fifth preset angle can be any angle in the range of 210-330°.

[0187] In one specific example, as shown in FIG. 1, a plurality of lane centerlines are provided, and the start direction vector and the end direction vector of each of the plurality of lane centerlines are determined. Figure 10 FIG. 2 shows an exemplary schematic diagram of the start direction vector and the end direction vector of a lane centerline provided by an embodiment of the present application. In FIG. 2, vec-1 represents the start direction vector of the lane centerline, and vec-2 represents the end direction vector of the lane centerline in different directions. Figure 10

[0188] ​Optionally, in a case where the lane type does not satisfy the preset type, that is, the lane type is a lane to be turned, the target driving direction indication result corresponding to the lane can be directly determined as straight driving; and then the driving indication direction of the lane can be directly updated according to the result.

[0189] S903, determining a target driving direction indication result corresponding to the target lane based on the plurality of driving directions.

[0190] In the embodiment of the present application, the target driving direction indication result can represent the overall indication direction of the target lane. The target driving direction indication result can include straight driving, left turn, right turn, and U-turn.

[0191] Optionally, the overall indication direction of the target lane can be determined according to the driving directions of the plurality of lane center lines in the target lane.

[0192] In this embodiment, the present application determines the target driving direction indication result corresponding to the target lane through the indication directions of the plurality of lane center lines, and a more accurate target driving direction indication result can be obtained.

[0193] In one exemplary embodiment, as Figure 11 which shows a flowchart of a method for determining a coordinate point ground attachment result provided by the embodiment of the present application; and the details are as follows.

[0194] S1101, obtaining an edge line of a road intersection frame line region corresponding to road intersection frame line data and a plurality of coordinate points on the edge line of the road intersection frame line region;

[0195] In the embodiment of the present application, all coordinate points on the edge line of the road intersection frame line region can be obtained.

[0196] S1102, determining a coordinate point ground attachment result corresponding to each of the plurality of coordinate points based on the road intersection detection configuration mode and the plurality of coordinate points; the coordinate point ground attachment result represents whether the coordinate of the coordinate point in the z-axis direction is a preset threshold value. The coordinate point ground attachment result includes coordinate point ground attachment or coordinate point non-ground attachment. The preset threshold value can be 0. Coordinate point ground attachment means that the coordinate of the coordinate point in the z-axis direction is 0. Coordinate point non-ground attachment means that the coordinate of the coordinate point in the z-axis direction is not 0.

[0197] Optionally, each coordinate point can be traversed, and the coordinate point ground attachment result corresponding to each coordinate point can be determined according to the coordinate value of each coordinate point in the z-axis direction.

[0198] In this embodiment, the present application can detect a more accurate coordinate point ground attachment result.

[0199] In one exemplary embodiment, as Figure 12As shown in the figure, it is a flowchart of a third data test result determination method provided by an embodiment of the present application; the details are as follows.

[0200] S1201, determining a plurality of traffic light indication boards located at the target intersection and at least one traffic light corresponding to each of the plurality of traffic light indication boards based on the to-be-tested traffic light data;

[0201] In the embodiment of the present application, at least one traffic light is included on each traffic light indication board.

[0202] S1202, determining the association relationship between the indication direction corresponding to each of the plurality of traffic light indication boards, the sorting information of at least one traffic light located on the same traffic light indication board, and the indication direction corresponding to each of the plurality of traffic lights based on the traffic light attribute detection configuration mode, the plurality of traffic light indication boards, and at least one traffic light corresponding to each of the plurality of traffic light indication boards;

[0203] In the embodiment of the present application, the indication direction can refer to the direction of the traffic light set on the traffic light indication board. The association relationship can refer to the corresponding relationship between the traffic location and the traffic light indication direction. For example, taking the traffic light indication board on which three traffic lights are set as an example, the indication direction corresponding to the leftmost traffic light on the traffic light indication board is left turn, the indication direction corresponding to the rightmost traffic light on the traffic light indication board is right turn, and the indication direction corresponding to the traffic light in the middle of the traffic light indication board is straight.

[0204] Optionally, for each traffic light indication board, the intersection center point corresponding to the target intersection is obtained, the preset direction vector of the target traffic light indication board and the direction vector of the line between the intersection center point and the target traffic light indication board are determined based on the traffic light attribute detection configuration mode, the intersection center point, and the target traffic light indication board, and the initial indication direction of the target traffic light indication board is determined based on the included angle between the preset direction vector and the line direction vector. For example Figure 13 As shown in the figure, it is an exemplary schematic diagram of a preset direction vector and a line direction vector provided by an embodiment of the present application; in the figure, vec-3 represents the preset direction vector of the target traffic light indication board, and vec-4 represents the line direction vector between the intersection center point and the target traffic light indication board.

[0205] In one example, in the case where the included angle between the preset direction vector and the line direction vector is greater than 90°, the reverse indication direction of the initial indication direction of the target traffic light indication board is determined as the indication direction corresponding to the target traffic light indication board.

[0206] S1203, based on the relationship between the indicated directions of multiple traffic light signs, the sorting information of at least one traffic light on the same traffic light sign, and the indicated directions of multiple traffic lights, determine the indicated directions of multiple traffic lights.

[0207] In this embodiment, the heading indication result can represent the location of the traffic light and the direction indicated by the traffic light at that location. The heading indication result can include left turn, right turn, straight ahead, and U-turn.

[0208] Optionally, based on the directional directions corresponding to each of the multiple traffic light signs and at least one traffic light located on the same traffic light sign, the sorting information between the traffic lights on each traffic light sign is determined; based on the sorting information between the multiple traffic lights and the correlation between the sorting information between the multiple traffic lights and the directional directions corresponding to the at least one traffic light located on the same traffic light sign and the multiple traffic lights, the directional direction indication result corresponding to each of the multiple traffic lights is determined.

[0209] In one example, for each traffic light sign, the vector of the current traffic light is used as the first direction vector, and the vector of the target traffic light relative to the current traffic light is used as the second direction vector. Based on the first and second direction vectors, the ordering information between the traffic lights on the current traffic light sign is determined. Figure 14 The diagram shown is a schematic representation of a direction vector indication provided in an embodiment of this application. In this diagram, vec-5 represents the first direction vector; vec-6 represents the second direction vector.

[0210] Furthermore, the first direction vector and the second direction vector can be cross-multiplied to obtain the cross-product result, and the sorting information can be determined based on the cross-product result.

[0211] Specifically, the cross product can be calculated using Model 1:

[0212] Model 1: Vec-5 x Vec-6 = x5y6 - x6y5 ,

[0213] Where (x5, y5) represents the vector coordinates of Vec-5, and (x6, y6) represents the vector coordinates of Vec-6. x5y6 - x6y5 Large When the value is 0, it means that the target traffic light corresponding to Vec-6 is located to the left of the current traffic light. x5y6 - x6y5 If the value is greater than 0, it means that the target traffic light corresponding to Vec-6 is located to the right of the current traffic light.

[0214] In another example, the indication direction corresponding to each traffic light on the traffic light indication board can be determined according to the association between the ordering information of at least one traffic light located on the same traffic light indication board and the indication direction corresponding to each traffic light. For example, taking a traffic light indication board with three traffic lights as an example, the indication direction corresponding to the leftmost traffic light on the traffic light indication board is left turn, and the indication direction corresponding to the rightmost traffic light on the traffic light indication board is right turn. The indication direction corresponding to the traffic light in the middle of the traffic light indication board is straight.

[0215] In S1204, based on the traffic light association relationship detection configuration mode, the lane center line data, the to-be-tested stop line data, the plurality of traffic light indication boards and the plurality of heading indication results, a first association result between the plurality of stop lines in the to-be-tested stop line data and the plurality of traffic light indication boards corresponding to each of the plurality of stop lines is determined.

[0216] In the embodiment of the present application, the first association result can refer to the control association information between each stop line and each traffic light on the traffic light indication board corresponding to each stop line.

[0217] In S1205, based on the traffic light association relationship detection configuration mode, the lane center line data, the plurality of traffic lights and the plurality of heading indication results, a second association result between the plurality of lane center lines in the lane center line data and the plurality of target traffic lights corresponding to each of the plurality of lane center lines is determined.

[0218] In the embodiment of the present application, the first association result can refer to the control association information between each lane center line and each traffic light corresponding to each lane center line.

[0219] In this embodiment, the present application divides the third data test result into the heading indication result of the traffic light, the first association result and the second association result for testing respectively, and determines the first association result and the second association result based on the heading indication result of the traffic light, which not only can obtain more accurate heading indication result of the traffic light, first association result and second association result, but also makes the third data test result corresponding to the to-be-tested traffic light data more accurate and comprehensive.

[0220] In one example embodiment, as Figure 15 which shows a flowchart of a method for determining a first association result according to an embodiment of the present application; the specific process is as follows.

[0221] In S1501, based on the plurality of stop lines in the to-be-tested stop line data and the plurality of traffic light indication boards, the plurality of stop lines and the plurality of traffic light indication boards corresponding to each of the plurality of stop lines are determined.

[0222] In the embodiments of the present application, the multiple traffic light indication boards corresponding to the multiple stop lines respectively can be traffic light indication boards related to the stop lines. For example, they can be all traffic light indication boards located at the same intersection.

[0223] In the embodiments of the present application, the lane center line adjacent to the end point coordinate of the stop line can be a lane center line whose end point coordinate is located on the stop line.

[0224] In the embodiments of the present application, the lane center line adjacent to the end point coordinate of the stop line can be a lane center line whose end point coordinate is located on the stop line.

[0225] S1503, for each stop line, based on the traffic light association relationship detection configuration mode, the target stop line, the target adjacent lane center line, the multiple traffic light indication boards and the multiple heading indication results, determining the first association relationship between each of the at least one traffic light on the target opposite traffic light indication board and the target stop line.

[0226] In the embodiments of the present application, the first association relationship can be the corresponding relationship between each traffic light on the target opposite traffic light indication board and the target stop line. For example, any traffic light on the target opposite traffic light indication board can control the vehicles on other roads to not enter the lane corresponding to the target stop line. The first association relationship can include the associated control of the target stop line and each traffic light on the target opposite traffic light indication board and the non-associated control of the target stop line and each traffic light on the target opposite traffic light indication board.

[0227] Optionally, for each stop line, based on the traffic light association relationship detection configuration mode, the target stop line, the target adjacent lane center line and the multiple traffic light indication boards, the target opposite traffic light indication board opposite to the target stop line is determined; based on the target stop line, the target opposite traffic light indication board and the multiple heading indication results, the first association relationship between each of the at least one traffic light on the target opposite traffic light indication board and the target stop line is determined.

[0228] In one example, the end point direction of the target adjacent lane center line can be taken as the lane direction vector, and the line between the stop line center point of the target stop line and the multiple traffic light indication boards can be taken as the line. Based on the included angle between the lane direction vector and the line, the target opposite traffic light indication board opposite to the target stop line is determined. As shown in Figure 16 which shows an exemplary schematic diagram of a target stop line and a line provided by the embodiments of the present application. In the diagram, vec-7 represents the lane direction vector, and vec-8 represents the line between the stop line center point and the traffic light indication board.

[0229] Further, in a case that an included angle between the lane direction vector and the connecting line is less than a preset angle threshold, it can be determined that the traffic light sign is a target opposite traffic light sign opposite to the target stop line.

[0230] Further, based on the multiple heading direction indication results corresponding to the multiple traffic lights on the target opposite traffic light sign and the target stop line, it is determined whether the indication directions of the traffic lights on the target opposite traffic light sign are all associated with the target stop line.

[0231] In another example, in a case that the lane is a lane to be turned, a first association relationship can be determined according to a traffic light on the target opposite traffic light sign controlling left turn and the target stop line.

[0232] S1504, determining a first association result of the target stop line and at least one traffic light on the target opposite traffic light sign based on the multiple first association relationships.

[0233] In the embodiment, the application determines the association result between the target stop line and the target opposite traffic light sign based on the relationship between the stop line and the traffic light sign, and can accurately obtain the first association result between the target stop line and the target opposite traffic light sign.

[0234] In an example embodiment, as shown in Figure 17 which is a flowchart of a second association result determination method provided by the embodiment of the application; the specific process is as follows.

[0235] S1701, determining a starting point direction vector corresponding to each of the multiple lane center lines in the lane center line data and a connecting line direction vector corresponding to each of the starting points and the multiple traffic lights based on the lane center line data and the multiple traffic lights.

[0236] In the embodiment of the application, the lane center line data indicates the lane center line data of the motor lane.

[0237] S1702, determining at least one opposite traffic light corresponding to each of the multiple lane center lines based on the starting point direction vector and the multiple connecting line direction vectors.

[0238] In the embodiment of the application, the at least one opposite traffic light can be located on the same traffic light sign.

[0239] S1703, obtaining a driving direction corresponding to each of the multiple lane center lines.

[0240] S1704, for each target lane center line, based on the traffic light association relationship detection configuration mode, the target driving direction corresponding to the target lane center line, at least one opposite traffic light and at least one heading indication result, determine the target opposite traffic light corresponding to the target lane center line and the second association relationship between the target lane center line and the target opposite traffic light.

[0241] In the embodiment of the application, the second association relationship can include target lane center line and target opposite traffic light association control and target lane center line and target opposite traffic light non-association control.

[0242] Optionally, the target opposite traffic light corresponding to the target lane center line can be determined based on the target lane center line and at least one opposite traffic light; the target indication direction corresponding to the target opposite traffic light can be determined according to at least one opposite traffic light and at least one heading indication result; and the second association relationship between the target lane center line and the target opposite traffic light can be determined according to the target driving direction corresponding to the target lane center line and the target indication direction corresponding to the target opposite traffic light.

[0243] S1705, determining the second association result of the target lane center line and the target opposite traffic light based on the plurality of second association relationships.

[0244] In this embodiment, the application determines the association result between the target lane center line and the target opposite traffic light based on the relationship between the lane center line and the traffic light indicator, and can accurately obtain the second association result between the target lane center line and the target opposite traffic light.

[0245] The embodiment of the application also provides a data processing device, as shown in Figure 18 The device comprises:

[0246] The acquisition module 1801 is configured to acquire a plurality of to-be-tested data corresponding to a target intersection in a high-definition map, wherein the plurality of to-be-tested data represent association information of a plurality of driving indication signs of the target intersection.

[0247] The first processing module 1802 is configured to perform accuracy test processing on the plurality of to-be-tested data to obtain a data test result corresponding to each of the plurality of to-be-tested data.

[0248] The second processing module 1803 is configured to perform corresponding processing on target to-be-tested data corresponding to a target data test result in the plurality of data test results when the target data test result satisfies a preset test condition; and the target data test result satisfying the preset test condition represents that the target to-be-tested data corresponding to the target data test result has error information.

[0249] In the embodiments of the present application, the second processing module 1803 includes:

[0250] The first processing unit is configured to, in a case where the target data test result exists in the plurality of data test results and meets the preset test condition, perform update processing on the target to-be-tested data corresponding to the target data test result or determine attribute information and error association information of the target to-be-tested data based on the target data test result, the error association information including position information of error information in the target to-be-tested data and a cause of the error of the error information.

[0251] In the embodiments of the present application, the first processing module 1802 includes:

[0252] The first obtaining unit is configured to obtain preset detection configuration information, the preset detection configuration information including detection configuration modes corresponding to the plurality of driving instruction identifiers respectively.

[0253] The first determining unit is configured to determine, based on the driving instruction identifiers corresponding to the plurality of to-be-tested data respectively, the detection configuration modes corresponding to the to-be-tested data respectively.

[0254] The second processing unit is configured to perform accuracy test processing on the to-be-tested data according to the detection configuration modes corresponding to the to-be-tested data respectively, to obtain data test results corresponding to the to-be-tested data respectively.

[0255] In the embodiments of the present application, the second processing unit includes:

[0256] The third processing unit is configured to perform accuracy test processing on the to-be-tested road line data based on the road line detection configuration mode, to obtain a first data test result corresponding to the to-be-tested road line data.

[0257] The fourth processing unit is configured to perform accuracy test processing on the to-be-tested intersection frame line data based on the intersection detection configuration mode, to obtain a second data test result corresponding to the to-be-tested intersection frame line data.

[0258] The fifth processing unit is configured to perform accuracy test processing on the to-be-tested traffic light data based on the traffic light detection configuration mode, to obtain a third data test result corresponding to the to-be-tested traffic light data.

[0259] In the embodiments of the present application, the third processing unit includes:

[0260] The first obtaining subunit is configured to obtain a marking point on each road line in the to-be-tested road line data.

[0261] The first determining sub-unit is configured to traverse the plurality of marking points based on the marking point repetition detection configuration mode, and determine a marking point repetition result corresponding to each marking point. The marking point repetition result indicates whether there is a repeated marking point for each marking point. The repeated marking point is located within a preset distance from each marking point.

[0262] The second determining sub-unit is configured to traverse the plurality of marking points based on the marking point jump detection configuration mode, and determine a marking point jump result corresponding to each marking point of the plurality of marking points. The marking point jump result indicates whether there is a jump marking point for each marking point. The jump marking point has a jump angle greater than a first preset angle in a vertical direction from each marking point, or has a jump angle greater than a second preset angle in a horizontal direction from each marking point.

[0263] In the embodiments of the present application, the third processing unit further includes:

[0264] The third determining sub-unit is configured to determine, based on the reference line data and the to-be-detected intersection frame line data, a first reference line set located in a region of an intersection frame line corresponding to the to-be-detected intersection frame line data and a second reference line set located outside the region of the intersection frame line and intersecting an edge line of the region of the intersection frame line. The first reference line set includes a plurality of first reference lines, and the second reference line set includes a plurality of second reference lines.

[0265] The fourth determining sub-unit is configured to traverse the plurality of second reference lines and the plurality of first reference lines based on the reference line intersection point detection configuration mode, and determine a reference line intersection point coincidence result corresponding to each of the plurality of second reference lines. The reference line intersection point coincidence result indicates whether a starting point or an ending point of a second reference line coincides with an ending point or a starting point of a first reference line.

[0266] In the embodiments of the present application, the third processing unit further includes:

[0267] The second obtaining sub-unit is configured to obtain a starting point direction vector and an ending point direction vector corresponding to each of a plurality of lane center lines in a target lane corresponding to the lane center line data.

[0268] The fifth determining sub-unit is configured to determine a driving direction corresponding to each of the plurality of lane center lines based on the driving direction detection configuration mode, the plurality of starting point direction vectors, and the plurality of ending point direction vectors.

[0269] The sixth determining sub-unit is configured to determine a target driving direction indication result corresponding to the target lane based on the plurality of driving directions.

[0270] In the embodiments of the present application, the fifth determining sub-unit includes:

[0271] a first determining sub-module, configured to determine, based on the driving direction detection configuration mode, the plurality of start point direction vectors and the plurality of end point direction vectors, the driving direction associated information corresponding to each of the plurality of lane centerlines and a target included angle;

[0272] a second determining sub-module, configured to determine, based on the plurality of driving direction associated information and the plurality of target included angles, the driving direction corresponding to each of the plurality of lane centerlines.

[0273] In the embodiment of the present application, the fourth processing unit comprises:

[0274] a third acquiring sub-unit, configured to acquire an edge line of a junction frame line region corresponding to the to-be-tested junction frame line data and a plurality of coordinate points constituting the edge line of the junction frame line region;

[0275] a seventh determining sub-unit, configured to determine, based on the junction detection configuration mode and the plurality of coordinate points, a coordinate point ground adhesion result corresponding to each of the plurality of coordinate points, the coordinate point ground adhesion result representing whether the coordinate of the coordinate point in the z-axis direction is a preset threshold value.

[0276] In the embodiment of the present application, the fifth processing unit comprises:

[0277] an eighth determining sub-unit, configured to determine, based on the to-be-tested traffic light data, a plurality of traffic light indication boards located at the target junction and at least one traffic light corresponding to each of the plurality of traffic light indication boards;

[0278] a ninth determining sub-unit, configured to determine, based on the traffic light attribute detection configuration mode, the plurality of traffic light indication boards and the at least one traffic light corresponding to each of the plurality of traffic light indication boards, an indication heading corresponding to each of the plurality of traffic light indication boards, a sorting information of the at least one traffic light located on the same traffic light indication board and an associated relationship between the indication direction corresponding to each of the plurality of traffic lights;

[0279] a tenth determining sub-unit, configured to determine, based on the indication heading corresponding to each of the plurality of traffic light indication boards, the sorting information of the at least one traffic light located on the same traffic light indication board and the associated relationship between the indication direction corresponding to each of the plurality of traffic lights, a heading indication result corresponding to each of the plurality of traffic lights;

[0280] an eleventh determining sub-unit, configured to determine, based on the traffic light associated relationship detection configuration mode, the lane centerline data, the to-be-tested stop line data, the plurality of traffic light indication boards and the plurality of heading indication results, the first associated result between the plurality of stop lines in the to-be-tested stop line data and the traffic light indication board corresponding to each of the plurality of stop lines;

[0281] The twelfth determining subunit is configured to determine, based on the traffic light association relationship detection configuration mode, the lane center line data, the plurality of traffic lights, and the plurality of heading indication results, the second association results between the plurality of lane center lines in the lane center line data and the target traffic lights corresponding to the plurality of lane center lines respectively.

[0282] In the embodiments of the present application, the eleventh determining subunit includes:

[0283] The third determining subunit is configured to determine, based on the to-be-detected stop line data and the plurality of traffic light indicators, a plurality of stop lines and a plurality of traffic light indicators corresponding to the plurality of stop lines respectively;

[0284] The fourth determining subunit is configured to determine, based on the lane center line data and the plurality of stop lines, adjacent lane center lines corresponding to the plurality of stop lines respectively, the adjacent lane center lines being lane center lines in the plurality of lane center lines adjacent to the stop lines in terms of end coordinates;

[0285] The fifth determining subunit is configured to determine, for each stop line, a first association relationship between a target opposite traffic light indicator and at least one traffic light on the target opposite traffic light indicator and the target stop line based on the traffic light association relationship detection configuration mode, the target stop line, a target adjacent lane center line, a plurality of traffic light indicators, and a plurality of heading indication results;

[0286] The sixth determining subunit is configured to determine, based on a plurality of first association relationships, a first association result between the target stop line and the at least one traffic light on the target opposite traffic light indicator.

[0287] In the embodiments of the present application, the twelfth determining subunit includes:

[0288] The seventh determining subunit is configured to determine, based on the lane center line data and the plurality of traffic lights, a start point direction vector corresponding to each of the plurality of lane center lines in the lane center line data and a connecting line direction vector corresponding to each of the plurality of traffic lights and the start point respectively;

[0289] The eighth determining subunit is configured to determine, based on the start point direction vector and a plurality of connecting line direction vectors, at least one opposite traffic light corresponding to each of the plurality of lane center lines.

[0290] The first obtaining subunit is configured to obtain a driving indication direction corresponding to each of the plurality of lane center lines;

[0291] a ninth determining sub-module, configured to determine, for each target lane centerline, a target opposite traffic light corresponding to the target lane centerline and a second correlation relationship between the target lane centerline and the target opposite traffic light based on the traffic light correlation relationship detection configuration mode, a target driving direction corresponding to the target lane centerline, at least one opposite traffic light, and at least one heading indication result;

[0292] a tenth determining sub-module, configured to determine the second correlation result of the target lane centerline and the target opposite traffic light based on a plurality of second correlation relationships.

[0293] In the embodiment of the present application, the acquisition module 1801 comprises:

[0294] a second acquisition unit, configured to acquire intersection data corresponding to an intersection scene in the high-definition map;

[0295] a second determining unit, configured to determine a target intersection and target intersection frame line data corresponding to the target intersection from the intersection data;

[0296] a third determining unit, configured to determine a target area corresponding to the target intersection based on the target intersection frame line data;

[0297] a fourth determining unit, configured to determine the target road line data and the target traffic light data corresponding to the target intersection from the intersection data in the high-definition map based on the target area.

[0298] In the embodiment of the present application, the second processing module further comprises:

[0299] a sixth processing unit, configured to perform corresponding processing on the target road line data corresponding to the first data test result in a case where the first data test result satisfies a first result error condition;

[0300] a seventh processing unit, configured to perform corresponding processing on the target intersection frame line data corresponding to the second data test result in a case where the second data test result satisfies a second result error condition;

[0301] an eighth processing unit, configured to perform corresponding processing on the target traffic light data corresponding to the third data test result in a case where the third data test result satisfies a third result error condition.

[0302] It should be noted that the device in the device embodiment and the method embodiment are based on the same inventive concept.

[0303] The embodiment of the present application provides a data processing device, the device comprises a processor and a memory, the memory stores at least one instruction or at least one program, and the at least one instruction or the at least one program is loaded and executed by the processor to realize the data processing method as described in the above method embodiment.

[0304] Further, Figure 19 A hardware structure schematic diagram of an electronic device for implementing the data processing method provided in the embodiment of the present application is shown, and the electronic device can constitute or contain the data processing apparatus provided in the embodiment of the present application. Figure 19 As shown in the figure, the electronic device 190 can include one or more (in the figure, 1902a, 1902b,..., 1902n are used to show) processors (the processor can include but is not limited to a processing device such as a microprocessor MCU or a programmable logic device FPGA), a memory 1904 for storing data, and a transmission device 1906 for communication function. In addition, it can also include a display, an input / output interface (I / O interface), a universal serial bus (USB) port (which can be included as one of the ports of the I / O interface), a network interface, a power supply and / or a camera. Those skilled in the art can understand that Figure 19 The structure shown in the figure is only schematic, and does not limit the structure of the above-mentioned electronic device. For example, the electronic device 190 can also include more or less components than those shown in the figure, or have a different configuration from that shown in the figure. Figure 19 For example, the electronic device 190 can also include more or less components than those shown in the figure, or have a different configuration from that shown in the figure. Figure 19 For example, the electronic device 190 can also include more or less components than those shown in the figure, or have a different configuration from that shown in the figure.

[0305] It should be noted that the one or more processors and / or other data processing circuits described above can be referred to as "data processing circuits" herein. The data processing circuit can be embodied in whole or in part as software, hardware, firmware or any combination thereof. In addition, the data processing circuit can be a single independent processing module, or all or part of any one of the other elements combined into the electronic device 190 (or mobile device). As referred to in the embodiment of the present application, the data processing circuit serves as a processor control (for example, selection of a variable resistance terminal path connected to an interface).

[0306] The memory 1904 can be used to store software programs of application software and modules, such as program instructions / data storage means corresponding to the data processing method in the embodiments of the present application. The processor executes various functional applications and data processing by running the software programs and modules stored in the memory 1904, that is, implements the above-mentioned data processing method. The memory 1904 can include a high-speed random access memory, and can also include a non-volatile memory, such as one or more magnetic storage devices, flash memories, or other non-volatile solid-state memories. In some examples, the memory 1904 can further include a memory remotely arranged with respect to the processor, which can be connected to the electronic device 190 through a network. Examples of the above-mentioned network include but are not limited to the Internet, an intranet, a local area network, a mobile communication network, and a combination thereof.

[0307] The transmission device 1906 is used to receive or send data via a network. Specific examples of the above-mentioned network can include a wireless network provided by a communication provider of the electronic device 190. In one example, the transmission device 1906 includes a network interface controller (NIC) which can be connected to other network devices through a base station so as to communicate with the Internet. In one embodiment, the transmission device 1906 can be a radio frequency (RF) module used for wireless communication with the Internet.

[0308] The display can be, for example, a touch screen type liquid crystal display (LCD) which can enable a user to interact with the user interface of the electronic device 190 (or mobile device).

[0309] The embodiments of the present application also provide a computer readable storage medium which can be arranged in an electronic device to save at least one instruction or at least one program related to a data processing method in the method embodiments, and the at least one instruction or the at least one program is loaded and executed by the processor to implement the data processing method provided by the above-mentioned method embodiments.

[0310] Optionally, in the present embodiment, the above-mentioned storage medium can be located in at least one network server of a plurality of network servers of a computer network. Optionally, in the present embodiment, the above-mentioned storage medium can include but is not limited to various media capable of storing program codes, such as a U disk, a read-only memory (ROM), a random access memory (RAM), a mobile hard disk, a magnetic disk or an optical disk.

[0311] It should be noted that the above-mentioned order of the embodiments of the present application is only for description, and does not represent the advantages and disadvantages of the embodiments. And the above-mentioned specific embodiments of the present application are described. Other embodiments are within the scope of the appended claims. In some cases, the actions or steps recited in the claims can be performed in an order different than the order in the embodiments, and still achieve the desired result. In addition, the processes depicted in the figures do not necessarily require the particular order shown, or sequential order, to achieve the desired results. In certain implementations, multitasking and parallel processing can be advantageous or required.

[0312] According to an aspect of the present application, a computer program product or computer program is provided, which includes computer instructions stored in a computer readable storage medium. A processor of a computer device reads the computer instructions from the computer readable storage medium, and the processor executes the computer instructions, so that the computer device performs the method provided in the various optional implementations described above.

[0313] The various embodiments in the present application are described in a progressive manner, and the same or similar parts between the various embodiments can be referred to each other. Each embodiment focuses on the difference from other embodiments. In particular, for the device and electronic device embodiments, since they are basically similar to the method embodiments, the description is relatively simple, and the relevant parts can be referred to the part of the method embodiment.

[0314] A person of ordinary skill in the art can understand that all or part of the steps of the above-mentioned embodiments can be completed by hardware, or by program instructing relevant hardware, and the program can be stored in a computer readable storage medium. The storage medium mentioned above can be a read-only memory, a magnetic disk or an optical disk.

[0315] The above-mentioned is only the preferred embodiment of the present application, and does not limit the present application. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A data processing method, characterized in that, The method includes: Acquire multiple test data corresponding to the target intersection in the high-precision map. The multiple test data represent the association information of various driving indicator signs at the target intersection. The multiple test data include test road line data, test intersection outline data, and test traffic light data. The detection configuration method corresponding to each data to be tested in the preset detection configuration information is obtained. The detection configuration method corresponding to each data to be tested is the detection configuration method corresponding to the driving instruction sign corresponding to each data to be tested. The preset detection configuration information is a detection configuration method for detecting the accuracy of multiple data to be tested based on existing traffic rules. The preset detection configuration information includes a road line detection configuration method, which includes a marker point repetition detection configuration method and a marker point jump detection configuration method. According to the detection configuration method corresponding to each data to be tested, the accuracy test processing is performed on each data to be tested to obtain the data test results corresponding to each data to be tested. The data test results include the first data test results corresponding to the road line data to be tested. The first data test results include the marker point repetition results and the marker point jump results corresponding to each marker point. The marker point repetition results indicate whether there are duplicate marker points. The distance between the duplicate marker point and each marker point is less than a preset distance. The marker point repetition results corresponding to each marker point are determined by traversing the marker points on each road line in the road line data to be tested based on the marker point repetition detection configuration method. The marker point jump results indicate whether there are jump marker points. The jump angle between the jump marker point and each marker point in the vertical direction is greater than a first preset angle, or the jump angle between the jump marker point and each marker point in the horizontal direction is greater than a second preset angle. The marker point jump results corresponding to each marker point are determined by traversing the marker points on each road line in the road line data to be tested based on the marker point jump detection configuration method. If, among multiple data test results, a target data test result meets preset test conditions, the target test data corresponding to the target data test result is automatically corrected, or the attribute information and error association information corresponding to the target test data are determined based on the target data test result. The error association information includes the location information corresponding to the error information in the target test data and the reason for the error information. The fact that the target data test result meets the preset test conditions indicates that the target test data corresponding to the target data test result has error information.

2. The data processing method according to claim 1, characterized in that, The method for obtaining the detection configuration corresponding to each data to be tested in the preset detection configuration information includes: Obtain preset detection configuration information; the preset detection configuration information includes the detection configuration methods corresponding to each of the various driving indicator signs; Based on the driving indicator corresponding to each of the multiple test data, the detection configuration method corresponding to each test data is determined.

3. The data processing method according to claim 2, characterized in that, The preset detection configuration information includes intersection detection configuration methods and traffic light detection configuration methods; the accuracy test processing of each data to be tested according to the detection configuration method corresponding to each data to be tested, to obtain the data test results corresponding to each data to be tested, includes: Based on the road line detection configuration method, the accuracy test processing of the road line data to be tested is performed to obtain the first data test result corresponding to the road line data to be tested. Based on the intersection detection configuration method, the accuracy of the intersection frame data to be tested is processed to obtain the second data test result corresponding to the intersection frame data to be tested. Based on the traffic light detection configuration method, the accuracy test processing of the traffic light data to be tested is performed to obtain the third data test result corresponding to the traffic light data to be tested.

4. The data processing method according to claim 3, characterized in that, The first data test result also includes the reference line intersection coincidence result, the road line detection configuration method also includes the reference line intersection detection configuration method, the road line data to be tested includes reference line data, and the step of performing accuracy test processing on the road line data to be tested based on the road line detection configuration method to obtain the first data test result corresponding to the road line data to be tested further includes: Based on the reference line data and the intersection frame data to be tested, a first set of reference lines located within the intersection frame area corresponding to the intersection frame data to be tested and a second set of reference lines located outside the intersection frame area and intersecting with the edge line of the intersection frame area are determined; the first set of reference lines includes multiple first reference lines, and the second set of reference lines includes multiple second reference lines. Based on the reference line intersection detection configuration, the plurality of second reference lines and the plurality of first reference lines are traversed to determine the reference line intersection coincidence result corresponding to each of the plurality of second reference lines; the reference line intersection coincidence result indicates whether the start or end point of the second reference line coincides with the end or start point of a certain first reference line.

5. The data processing method according to claim 3, characterized in that, The road line data to be tested includes lane centerline data; the first data test result also includes target driving direction indication results; the road line detection configuration method includes a driving direction detection configuration method; the accuracy test processing of the road line data to be tested based on the road line detection configuration method to obtain the first data test result corresponding to the road line data to be tested includes: Obtain the starting direction vector and ending direction vector of each of the multiple lane centerlines in the target lane corresponding to the lane centerline data; Based on the driving direction detection configuration, multiple starting point direction vectors and multiple ending point direction vectors, the driving direction corresponding to each of the multiple lane centerlines is determined; The target driving direction indication result corresponding to the target lane is determined based on multiple driving directions.

6. The data processing method according to claim 5, characterized in that, The step of determining the driving direction corresponding to each of the multiple lane centerlines based on the driving direction detection configuration, multiple starting direction vectors, and multiple ending direction vectors includes: Based on the driving direction detection configuration, the multiple starting point direction vectors and the multiple ending point direction vectors, determine the driving direction association information and target angle corresponding to each of the multiple lane centerlines; Based on multiple driving direction association information and multiple target angles, the driving direction corresponding to each of the multiple lane center lines is determined.

7. The data processing method according to claim 3, characterized in that, The second data test result includes the coordinate point ground-level result; the accuracy test processing of the intersection outline data to be tested based on the intersection detection configuration method to obtain the second data test result corresponding to the intersection outline data to be tested includes: Obtain the edge line of the intersection frame area corresponding to the intersection frame data to be tested, as well as multiple coordinate points on the edge line of the intersection frame area; Based on the intersection detection configuration and the multiple coordinate points, the ground contact result of each of the multiple coordinate points is determined; the ground contact result indicates whether the coordinate of the coordinate point in the z-axis direction is a preset threshold.

8. The data processing method according to claim 3, characterized in that, The traffic light detection configuration method includes a traffic light attribute detection configuration method and a traffic light association detection configuration method. The data to be tested includes stop line data and lane center line data. The third data test result includes the traffic light's heading indication result, the first correlation result, and the second correlation result; the accuracy test processing of the traffic light data to be tested based on the traffic light detection configuration method to obtain the third data test result corresponding to the traffic light data to be tested includes: Based on the traffic light data to be tested, determine multiple traffic light signs located at the target intersection and at least one traffic light corresponding to each of the multiple traffic light signs; Based on the traffic light attribute detection configuration method, multiple traffic light signs, and at least one traffic light corresponding to each of the multiple traffic light signs, the association between the indicated headings corresponding to each of the multiple traffic light signs, the sorting information of at least one traffic light located on the same traffic light sign, and the indicated directions corresponding to each of the multiple traffic lights is determined. Based on the correlation between the indicated headings corresponding to each of the multiple traffic light signs, the sorting information of at least one traffic light located on the same traffic light sign, and the indicated directions corresponding to each of the multiple traffic lights, the indicated headings corresponding to each of the multiple traffic lights are determined. Based on the traffic light association detection configuration method, the lane centerline data, the stop line data to be tested, the multiple traffic light signs, and the multiple heading indication results, the first association result between the multiple stop lines in the stop line data to be tested and the corresponding opposite traffic light signs of the multiple stop lines is determined; Based on the traffic light association detection configuration method, the lane centerline data, the multiple traffic lights, and the multiple heading indication results, the second association result between the multiple lane centerlines in the lane centerline data and the target traffic lights corresponding to each of the multiple lane centerlines is determined.

9. The data processing method according to claim 8, characterized in that, The step of determining the first association result between multiple stop lines in the stop line data to be tested and their corresponding opposite traffic light signs, based on the traffic light association detection configuration method, the lane centerline data, the stop line data to be tested, the multiple traffic light signs, and the multiple heading indication results, includes: Based on the stop line data to be tested and the multiple traffic light signs, multiple stop lines and multiple traffic light signs corresponding to each of the multiple stop lines are determined; Based on the lane centerline data and the multiple stop lines, the adjacent lane centerlines corresponding to each of the multiple stop lines are determined. The adjacent lane centerlines are the lane centerlines whose endpoint coordinates are adjacent to the stop lines among the multiple lane centerlines. For each stop line, based on the traffic light association detection configuration method, the target stop line, the center line of the target adjacent lane, multiple traffic light signs, and multiple heading indication results, the first association relationship between the target opposite traffic light sign and at least one traffic light on the target opposite traffic light sign and the target stop line is determined. The first association result between the target stop line and at least one traffic light on the traffic light sign opposite the target is determined based on multiple first association relationships.

10. The data processing method according to claim 8, characterized in that, The step of determining the second association result between multiple lane centerlines in the lane centerline data and their respective target traffic lights, based on the traffic light association detection configuration method, the lane centerline data, the multiple traffic lights, and multiple heading indication results, includes: Based on the lane centerline data and the multiple traffic lights, determine the starting point direction vector of each lane centerline in the lane centerline data and the connection direction vector between the starting point and each of the multiple traffic lights. Based on the starting point direction vector and multiple connecting line direction vectors, at least one opposing traffic light is determined for each of the multiple lane centerlines; Obtain the driving direction corresponding to each of the multiple lane center lines; For each target lane centerline, based on the traffic light association detection configuration method, the target driving direction corresponding to the target lane centerline, at least one oncoming traffic light, and at least one heading indication result, the target oncoming traffic light corresponding to the target lane centerline and the second association relationship between the target lane centerline and the target oncoming traffic light are determined. The second association result between the target lane centerline and the target oncoming traffic light is determined based on multiple second association relationships.

11. The data processing method according to claim 3, characterized in that, The acquisition of multiple test data corresponding to the target intersection in the high-precision map includes: Obtain the intersection data corresponding to the intersection scene in the high-precision map; The target intersection and the corresponding boundary data of the intersection to be tested are determined from the intersection data. The test area corresponding to the target intersection is determined based on the intersection outline data to be tested. Based on the area to be tested, the road line data and traffic light data corresponding to the target intersection are determined from the intersection data in the high-precision map.

12. The data processing method according to claim 3, characterized in that, The preset test conditions include a first result error condition corresponding to the first data test result, a second result error condition corresponding to the second data test result, and a third result error condition corresponding to the third data test result. When a target data test result among multiple data test results meets preset test conditions, the target test data corresponding to the target data test result is processed accordingly, including: If the first data test result meets the first result error condition, the test road data corresponding to the first data test result shall be processed accordingly. If the second data test result meets the second result error condition, the test intersection frame data corresponding to the second data test result shall be processed accordingly; If the third data test result meets the third result error condition, the traffic light data to be tested corresponding to the third data test result shall be processed accordingly.

13. A data processing apparatus, characterized in that, The device includes: The acquisition module is used to acquire multiple test data corresponding to the target intersection in the high-precision map. The multiple test data represent the association information of various driving indicator signs of the target intersection. The multiple test data include test road line data, test intersection frame data and test traffic light data. The configuration method acquisition module is used to acquire the detection configuration method corresponding to each data to be tested in the preset detection configuration information. The detection configuration method corresponding to each data to be tested is the detection configuration method corresponding to the driving instruction sign corresponding to each data to be tested. The preset detection configuration information is a detection configuration method for accuracy detection of multiple data to be tested based on existing traffic rules. The preset detection configuration information includes a road line detection configuration method, which includes a marker point repetition detection configuration method and a marker point jump detection configuration method. The first processing module is used to perform accuracy testing on each data to be tested according to the detection configuration method corresponding to each data to be tested, and to obtain the data test results corresponding to each data to be tested. The data test results include the first data test results corresponding to the road line data to be tested. The first data test results include the marker point repetition results and the marker point jump results corresponding to each marker point. The marker point repetition results indicate whether there are duplicate marker points. The distance between the duplicate marker point and each marker point is less than a preset distance. The marker point repetition results corresponding to each marker point are determined by traversing the marker points on each road line in the road line data to be tested based on the marker point repetition detection configuration method. The marker point jump results indicate whether there are jump marker points. The jump angle between the jump marker point and each marker point in the vertical direction is greater than a first preset angle, or the jump angle between the jump marker point and each marker point in the horizontal direction is greater than a second preset angle. The marker point jump results corresponding to each marker point are determined by traversing the marker points on each road line in the road line data to be tested based on the marker point jump detection configuration method. The second processing module is used to automatically correct the target test data corresponding to the target data test result or determine the attribute information and error association information corresponding to the target test data based on the target data test result when the target data test result meets the preset test conditions among multiple data test results. The error association information includes the location information corresponding to the error information in the target test data and the reason for the error information. The fact that the target data test result meets the preset test conditions indicates that the target test data corresponding to the target data test result has error information.

14. A data processing device, characterized in that, The device includes a processor and a memory, the memory storing at least one instruction or at least one program, the at least one instruction or the at least one program being loaded and executed by the processor to implement the data processing method as described in any one of claims 1 to 12.

15. A computer-readable storage medium, characterized in that, The storage medium stores at least one instruction or at least one program segment, which is loaded by a processor and executed by the data processing method as described in any one of claims 1 to 12.

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