Methods, apparatus, and equipment for simulating and detecting the quality of high-precision maps

Abstract

This disclosure provides a method, apparatus, and device for simulating and testing the quality of high-precision maps, relating to the field of autonomous driving technology, specifically the field of simulation testing technology. The specific implementation scheme is as follows: determining the simulation type corresponding to the map to be tested; generating a simulation scene corresponding to the map to be tested based on the simulation type; controlling the driving of a simulated vehicle in the simulation scene and collecting abnormal driving information of the simulated vehicle; and generating a quality detection result for the map to be tested based on the abnormal driving information. This implementation method can improve the accuracy of map quality detection.

Description

Technical Field

[0001] This disclosure relates to the field of autonomous driving technology, specifically to the field of simulation testing technology. Background Technology

[0002] High-precision maps, also known as high-resolution maps, are used by autonomous vehicles. They possess accurate vehicle location information and rich road element data, helping cars anticipate complex road conditions such as slope, curvature, and heading, thus better avoiding potential risks. Currently, the use of high-precision maps is becoming increasingly widespread. Therefore, ensuring high-quality map testing is particularly important.

[0003] Currently, the commonly used method for map quality inspection is to examine the logical relationships between the various elements contained in the map. In practice, it has been found that this method can only detect map quality issues in specific scenarios, and it struggles to screen for situations where no logical problems exist. Therefore, this map quality inspection method suffers from poor accuracy. Summary of the Invention

[0004] This disclosure provides a method, apparatus, and device for simulating and detecting the quality of high-precision maps.

[0005] According to one aspect of this disclosure, a method for simulating and detecting the quality of a high-precision map is provided, comprising: determining the simulation type corresponding to the map to be tested; generating a simulation scene corresponding to the map to be tested based on the simulation type; controlling the driving of a simulated vehicle in the simulation scene and collecting abnormal driving information of the simulated vehicle; and generating a quality detection result of the map to be tested based on the abnormal driving information.

[0006] According to another aspect of this disclosure, an apparatus for simulating and detecting the quality of a high-precision map is provided, comprising: a type determination unit configured to determine the simulation type corresponding to the map to be tested; a scene generation unit configured to generate a simulation scene corresponding to the map to be tested based on the simulation type; a simulation testing unit configured to control the driving of a simulated vehicle in the simulation scene and collect abnormal driving information of the simulated vehicle; and a result generation unit configured to generate a quality detection result of the map to be tested based on the abnormal driving information.

[0007] According to another aspect of this disclosure, an electronic device is provided, comprising: one or more processors; a memory for storing one or more programs; wherein when the one or more programs are executed by the one or more processors, the one or more processors implement any of the above methods for simulating and detecting the quality of high-precision maps.

[0008] According to another aspect of this disclosure, a non-transitory computer-readable storage medium storing computer instructions is provided, wherein the computer instructions are used to cause a computer to perform any of the above methods for simulating and detecting the quality of high-precision maps.

[0009] According to another aspect of this disclosure, a computer program product is provided, including a computer program that, when executed by a processor, implements any of the above-described methods for simulating and detecting the quality of high-precision maps.

[0010] According to the technology disclosed herein, a method for simulating and detecting the quality of high-precision maps is provided, which can improve the accuracy of map quality detection.

[0011] It should be understood that the description in this section is not intended to identify key or essential features of the embodiments of this disclosure, nor is it intended to limit the scope of this disclosure. Other features of this disclosure will become readily apparent from the following description. Attached Figure Description

[0012] The accompanying drawings are provided to better understand this solution and do not constitute a limitation of this disclosure. Wherein:

[0013] Figure 1 This is an exemplary system architecture diagram to which one embodiment of this disclosure can be applied;

[0014] Figure 2 This is a flowchart of an embodiment of the method for simulating and detecting the quality of high-precision maps according to the present disclosure;

[0015] Figure 3 This is a schematic diagram of an application scenario of the method for simulating and detecting the quality of high-precision maps according to this disclosure;

[0016] Figure 4 This is a flowchart of another embodiment of the method for simulating and detecting the quality of high-precision maps according to the present disclosure;

[0017] Figure 5 This is a schematic diagram of one embodiment of the apparatus for simulating and detecting the quality of high-precision maps according to the present disclosure;

[0018] Figure 6 This is a block diagram of an electronic device used to implement the method for simulating and detecting the quality of high-precision maps according to embodiments of the present disclosure. Detailed Implementation

[0019] The exemplary embodiments of this disclosure are described below with reference to the accompanying drawings, including various details of the embodiments to aid understanding, and should be considered merely exemplary. Therefore, those skilled in the art will recognize that various changes and modifications can be made to the embodiments described herein without departing from the scope and spirit of this disclosure. Similarly, for clarity and brevity, descriptions of well-known functions and structures are omitted in the following description.

[0020] It should be noted that, unless otherwise specified, the embodiments and features described in this disclosure can be combined with each other. This disclosure will now be described in detail with reference to the accompanying drawings and embodiments.

[0021] like Figure 1 As shown, system architecture 100 may include terminal devices 101, 102, and 103, a network 104, and a server 105. Network 104 serves as the medium for providing communication links between terminal devices 101, 102, and 103 and server 105. Network 104 may include various connection types, such as wired or wireless communication links, or fiber optic cables, etc.

[0022] Users can use terminal devices 101, 102, and 103 to interact with server 105 via network 104 to receive or send messages, etc. Terminal devices 101, 102, and 103 can acquire the map to be tested and send it to server 105 via network 104, so that server 105 can determine the quality inspection result of the map. Afterwards, server 105 can return the quality inspection result to terminal devices 101, 102, and 103.

[0023] Terminal devices 101, 102, and 103 can be either hardware or software. When terminal devices 101, 102, and 103 are hardware, they can be various electronic devices, including but not limited to mobile phones, computers, tablets, etc. When terminal devices 101, 102, and 103 are software, they can be installed in the electronic devices listed above. They can be implemented as multiple software programs or software modules (e.g., to provide distributed services) or as a single software program or software module. No specific limitations are made here.

[0024] Server 105 can be a server providing various services. For example, server 105 can receive the map to be tested sent by terminal devices 101, 102, and 103 through network 104, determine the simulation type corresponding to the map to be tested, and generate a simulation scene corresponding to the map to be tested based on the simulation type. It can also control the driving of simulated vehicles in the simulation scene, collect abnormal driving information of the simulated vehicles, and generate a quality inspection result for the map to be tested based on the abnormal driving information. Afterwards, server 105 can send the quality inspection result to terminal devices 101, 102, and 103 through network 104.

[0025] It should be noted that server 105 can be either hardware or software. When server 105 is hardware, it can be implemented as a distributed server cluster consisting of multiple servers, or as a single server. When server 105 is software, it can be implemented as multiple software programs or software modules (e.g., used to provide distributed services), or as a single software program or software module. No specific limitations are made here.

[0026] It should be noted that the method for simulating and detecting the quality of high-precision maps provided in this embodiment can be executed by terminal devices 101, 102, and 103, or by server 105. The device for simulating and detecting the quality of high-precision maps can be located in terminal devices 101, 102, and 103, or in server 105. This embodiment does not limit the scope of the invention.

[0027] It should be understood that Figure 1 The number of terminal devices, networks, and servers shown is merely illustrative. Depending on implementation needs, any number of terminal devices, networks, and servers can be included.

[0028] Continue to refer to Figure 2 The diagram illustrates a flow 200 of an embodiment of a method for simulating and detecting the quality of high-precision maps according to the present disclosure. The method for simulating and detecting the quality of high-precision maps according to this embodiment includes the following steps:

[0029] Step 201: Determine the simulation type corresponding to the map to be tested.

[0030] In this embodiment, the execution subject (such as...) Figure 1 The server 105 or terminal devices 101, 102, and 103 can perform map quality checks before each map release to ensure the released map is of high quality. To do this, the executing entity can first retrieve the map to be tested from local storage or a pre-connected electronic device. Then, the executing entity can determine the simulation type corresponding to the map to be tested. The simulation type indicates which specific map data in the map to be tested will be simulated; different simulation types indicate different specific map data for simulation. Preferably, the map to be tested is a high-precision map for map quality testing, as high-precision maps have higher positioning accuracy and are therefore more suitable for simulation testing.

[0031] In some optional implementations of this embodiment, determining the simulation type corresponding to the map under test may include: determining the test category corresponding to the map under test. In response to the test category being release testing, the current map version and the previous map version corresponding to the map under test are determined; based on the difference information between the current map version and the previous map version, the specified map data to be simulated is determined from the map under test; in response to the specified map data containing multiple modules, the simulation type corresponding to the map under test is determined to be multi-module simulation; in response to the specified map data containing a single module, the simulation type corresponding to the map under test is determined to be single-module simulation. In response to the test category being repair testing, the simulation type corresponding to the map under test is determined to be specific scenario simulation. By implementing this optional implementation, simulations corresponding to release testing can be performed for map version updates, and the simulation type can be determined based on version differences between map data, improving the targeting of simulation testing. Furthermore, for map data with problems in the simulation test, repair testing can be performed on these map data after repair to ensure effective map repair.

[0032] Step 202: Based on the simulation type, generate the simulation scene corresponding to the map to be tested.

[0033] In this embodiment, after determining the simulation type, the executing entity can generate a simulation scene corresponding to the specified map data in the map to be tested, according to the specified map data indicated by the simulation type, thereby achieving targeted testing. Specifically, the executing entity can determine the specified map data matching the simulation type from the map to be tested, and generate a simulation scene corresponding to the specified map data and satisfying the preset simulation scale based on the scale information of the specified map data and the preset simulation scale.

[0034] Step 203: Control the driving of the simulated vehicle in the simulation scenario and collect abnormal driving information of the simulated vehicle.

[0035] In this embodiment, the executing entity can control a simulated vehicle to perform simulated driving in a simulated scenario and collect abnormal driving information of the simulated vehicle during the simulated driving process. The number of simulated vehicles can be at least one, but multiple simulated vehicles are preferably used in the simulated scenario. Abnormal driving information may include, but is not limited to, the number of the simulated vehicle exhibiting abnormal driving, the coordinates of the abnormal driving location, and the abnormal driving category; this embodiment does not limit this. Optionally, the executing entity can also pre-set vehicle driving parameters for the simulated vehicle and control the simulated vehicle to drive according to these parameters in the simulated scenario, collecting abnormal driving information of the simulated vehicle during the driving process. These vehicle driving parameters may include vehicle driving route parameters, vehicle driving speed parameters, etc.; this embodiment does not limit this.

[0036] In some optional implementations of this embodiment, controlling the driving of a simulated vehicle in a simulated scenario and collecting abnormal driving information of the simulated vehicle may include: acquiring historical driving information of a real vehicle in a real scenario corresponding to the simulated scenario; generating vehicle control information corresponding to the simulated vehicle based on the historical driving information; controlling the simulated vehicle to drive in the simulated scenario based on the vehicle control information and collecting the driving information of the simulated vehicle; simultaneously, determining the map information corresponding to the simulated scenario; and determining abnormal driving information from the driving information of the simulated vehicle based on the driving information, map information, and pre-stored vehicle driving rules. By implementing this optional implementation, the simulated vehicle can be driven based on the historical driving information of the real vehicle, thereby determining whether the vehicle is driving abnormally by comparing the driving information of the simulated vehicle in the test map with the vehicle driving rules, thus improving the accuracy of determining abnormal driving information.

[0037] Step 204: Based on the abnormal driving information, generate the quality inspection results of the map to be tested.

[0038] In this embodiment, the executing entity can generate a quality inspection result for the map under test based on the aforementioned abnormal driving information. The quality inspection result can include whether the quality inspection passed or failed. Optionally, the executing entity can determine that the quality inspection result of the map under test fails in response to the presence of abnormal driving information, and can determine that the quality inspection result of the map under test passes in response to the absence of abnormal driving information. Further optional, in response to a quality inspection result of passing, the map under test can be published online. In response to a quality inspection result of failing, the map under test can be repaired based on the abnormal driving information, and the simulation type corresponding to the repaired map can be determined as a repair test. A simulation scene can be regenerated, and the simulated vehicle can be controlled to drive in the simulation scene until no abnormal driving information of the simulated vehicle is collected in the simulation scene, confirming that the quality inspection has passed, and the repaired map under test can be published.

[0039] See also Figure 3 This illustration shows a schematic diagram of an application scenario of the method for simulating and detecting the quality of high-precision maps according to this disclosure. Figure 3In the application scenario, the executing entity can first obtain the map to be tested 301 whose quality needs to be checked, then determine the simulation type 302 corresponding to the map to be tested 301, and construct a simulation scenario 303 based on the simulation type 302. Afterwards, the executing entity can perform simulation testing 304 in the simulation scenario 303, specifically controlling a simulated vehicle to perform simulated driving in the simulation scenario 303, and generating simulation test results based on the driving situation. Then, the executing entity can perform a judgment operation 305 based on the simulation test results to determine whether the map to be tested 301 passes the test. If it passes, the executing entity performs a map import operation 306 on the map to be tested 301. If it fails, the executing entity performs a manual repair operation 307 on the map to be tested 301, and repeats the map quality check operation on the manually repaired map to be tested until a manually repaired map to be tested that passes the test is obtained, and then performs a map import operation on the map to be tested.

[0040] The method for simulating and detecting the quality of high-precision maps provided in the above embodiments of this disclosure can construct different simulation scenarios based on different simulation types, control the driving of simulated vehicles in different simulation scenarios, and generate map quality detection results based on abnormal driving information during the vehicle driving process. Since the constructed simulation scenarios simulate vehicle driving, they can cover a wide range of real driving scenarios. Therefore, the map quality detection results obtained in this way have high accuracy, thereby improving the accuracy of map quality detection.

[0041] See also Figure 4 This illustrates a flow 400 of another embodiment of the method for simulating and detecting the quality of high-precision maps according to the present disclosure. Figure 4 As shown, the method for simulating and detecting the quality of high-precision maps in this embodiment may include the following steps:

[0042] Step 401: Determine the simulation type corresponding to the map to be tested.

[0043] In this embodiment, the detailed description of step 401 is the same as the detailed description of step 201, and will not be repeated here.

[0044] Step 402: In response to determining that the simulation type is multi-module simulation, identify the changed modules in the map to be tested.

[0045] In this embodiment, the simulation types include at least multi-module simulation, single-module simulation, and specific scenario simulation. Multi-module simulation refers to simulating at least two modules in the map under test; single-module simulation refers to simulating one module in the map under test; and specific scenario simulation refers to simulating a fixed problem scenario in the map under test. The executing entity can pre-divide the map under test into multiple modules, with each module corresponding to a specific map region.

[0046] In multi-module simulation, the executing entity can first obtain the map to be tested and the previous version of the map corresponding to the map to be tested. Then, the executing entity can determine the modified modules of the map to be tested that have changed compared to the previous version of the map. The number of modified modules can be at least one.

[0047] Step 403: Identify the associated modules that are related to the change module.

[0048] In this embodiment, after determining the changed module, the executing entity can further determine the associated modules that are related to the changed module. Specifically, for each module in the map to be tested, pre-defined association information between modules is provided. For example, modules that are closer together have a higher degree of association. Then, based on this association information, the executing entity can determine the associated modules that are related to the changed module.

[0049] Step 404: Based on the change module and the association module, generate the simulation scene corresponding to the map to be tested.

[0050] In this embodiment, the executing entity can perform targeted simulations on the map to be tested based on the map data corresponding to the changed module and the map data corresponding to the associated modules, generating simulation scenarios corresponding to the map to be tested. By performing simulation tests on the changed module and the associated modules, simulation scenarios can be jointly established for the changed module and the associated modules affected by the changed module when the modules in the map are changed, thereby improving the comprehensiveness of the simulation test.

[0051] Step 405: In response to determining that the simulation type is a single-module simulation, determine the module to be tested in the map to be tested.

[0052] In this embodiment, for single-module simulation, the executing entity can determine the module to be tested from the various modules in the map under test. Specifically, the executing entity can obtain the annotation information for testing each module in the map under test. This annotation information is used to pre-annotate the modules to be simulated and can be manually entered. Then, the executing entity can parse the annotation information to determine the module to be tested from the various modules in the map under test.

[0053] Step 406: Based on the module under test, generate the simulation scene corresponding to the map under test.

[0054] In this embodiment, the executing entity can perform targeted simulations of the map under test based on the map data corresponding to the module under test, generating a simulation scenario corresponding to the map under test. This simulation scenario generation method allows for focusing the simulation on a specific module within the map under test, thereby improving the accuracy of the simulation.

[0055] Step 407: In response to determining that the simulation type is a specific scenario simulation, determine the repaired map scenario corresponding to the map to be tested.

[0056] In this embodiment, for specific scenario simulation, the executing entity can determine the repaired map scene to be tested from the map under test. Here, the repaired map scene refers to a portion of the scene within a specific module of the map under test. It can be understood that the simulation scope of specific scenario simulation is smaller than that of single-module simulation, and the simulation scope of single-module simulation is smaller than that of multi-module simulation. Different types of simulation can meet different simulation testing needs, thereby improving the flexibility of simulation testing.

[0057] Step 408: Based on the repaired map scene, generate the simulation scene corresponding to the map to be tested.

[0058] In this embodiment, the executing entity can perform targeted simulations on the map to be tested based on the map data corresponding to the repaired map scene, generating a simulation scene corresponding to the map to be tested. This simulation scene generation method allows for focusing on the specific repaired map scene, further narrowing the simulation scope and thus improving simulation accuracy.

[0059] For example, in a simulation test, it was found that a simulated vehicle stopped at an intersection without traffic lights, exhibiting abnormal driving behavior. Subsequent investigation revealed that the map data corresponding to that intersection was missing a traffic light. This issue was corrected by adding a traffic light to the intersection, and the simulation test was then conducted again on the corrected map. This simulation test focused on intersections with existing traffic lights, without involving other roads.

[0060] Step 409: Control the driving of the simulated vehicle in the simulation scenario and collect abnormal driving information of the simulated vehicle.

[0061] In this embodiment, for a detailed description of step 409, please refer to the detailed description of step 203 as well, and this embodiment does not limit it.

[0062] Step 410: Based on the abnormal driving information, generate the quality inspection results of the map to be tested.

[0063] In this embodiment, for a detailed description of step 410, please refer to the detailed description of step 204 as well, and this embodiment does not limit it.

[0064] Step 411: In response to determining that the quality inspection result is passed, publish the map to be tested.

[0065] In this embodiment, the executing entity can publish the map to be tested if the quality inspection result is "passed." Conversely, if the quality inspection result is "failed," the executing entity can identify a scenario with a quality problem and send this problem to the staff's electronic device for manual repair. Afterward, the executing entity can receive the repaired map from the staff and re-perform simulation testing on it until the quality inspection result is "passed," at which point the repaired map is published.

[0066] The method for simulating and detecting the quality of high-precision maps provided in the above embodiments of this disclosure can also be configured with three different simulation types to meet different simulation needs: multi-module simulation, single-module simulation, and specific scenario simulation. Different simulation scenarios are constructed for each simulation type to meet different simulation requirements and improve simulation flexibility. Furthermore, for multi-module simulation, the mutual influence between modules is considered, and simulation scenarios are generated based on changes to and association with modules, improving the comprehensiveness of simulation scenario generation. For single-module simulation and specific scenario simulation, the simulation can be focused on a single module or a specific scenario, improving the relevance of the simulation scenarios. Finally, quality detection is performed before map release, and the map is only released after passing the quality detection, improving the reliability of map release.

[0067] Further reference Figure 5 As an implementation of the methods shown in the above figures, this disclosure provides an embodiment of an apparatus for simulating and detecting the quality of high-precision maps. This apparatus embodiment is similar to... Figure 2 Corresponding to the method embodiments shown, the device can be specifically applied to electronic devices such as terminal devices and servers.

[0068] like Figure 5 As shown, the apparatus 500 for simulating and detecting the quality of high-precision maps in this embodiment includes: a type determination unit 501, a scene generation unit 502, a simulation testing unit 503, and a result generation unit 504.

[0069] The type determination unit 501 is configured to determine the simulation type corresponding to the map to be tested.

[0070] The scene generation unit 502 is configured to generate a simulation scene corresponding to the map to be tested based on the simulation type.

[0071] The simulation test unit 503 is configured to control the driving of the simulated vehicle in a simulation scenario and collect abnormal driving information of the simulated vehicle.

[0072] The result generation unit 504 is configured to generate quality inspection results for the map under test based on abnormal driving information.

[0073] In some optional implementations of this embodiment, the simulation types include at least multi-module simulation, single-module simulation, and specific scenario simulation.

[0074] In some optional implementations of this embodiment, the scene generation unit 502 is further configured to: in response to determining that the simulation type is a multi-module simulation, determine the changed module in the map to be tested; determine the associated module that has an association relationship with the changed module; and generate a simulation scene corresponding to the map to be tested based on the changed module and the associated module.

[0075] In some optional implementations of this embodiment, the scene generation unit 502 is further configured to: in response to determining that the simulation type is a single-module simulation, determine the module to be tested in the map to be tested; and generate a simulation scene corresponding to the map to be tested based on the module to be tested.

[0076] In some optional implementations of this embodiment, the scene generation unit 502 is further configured to: in response to determining that the simulation type is a specific scene simulation, determine the repaired map scene corresponding to the map to be tested; and generate the simulation scene corresponding to the map to be tested based on the repaired map scene.

[0077] In some optional implementations of this embodiment, a map publishing unit is further included, configured to publish the map to be tested in response to determining that the quality inspection result is that the quality inspection has passed.

[0078] It should be understood that units 501 to 504 described in the apparatus 500 for simulating and detecting the quality of high-precision maps are respectively related to the reference... Figure 2 The steps described in the method correspond to those in the previous section. Therefore, the operations and features described above for the method of simulating and detecting the quality of high-precision maps are also applicable to the device 500 and the units contained therein, and will not be repeated here.

[0079] According to embodiments of this disclosure, this disclosure also provides an electronic device, a readable storage medium, and a computer program product.

[0080] Figure 6 A schematic block diagram of an example electronic device 600 that can be used to implement embodiments of the present disclosure is shown. The electronic device is intended to represent various forms of digital computers, such as laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The electronic device may also represent various forms of mobile devices, such as personal digital processors, cellular phones, smartphones, wearable devices, and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely illustrative and are not intended to limit the implementation of the present disclosure described and / or claimed herein.

[0081] like Figure 6 As shown, device 600 includes a computing unit 601, which can perform various appropriate actions and processes based on a computer program stored in read-only memory (ROM) 602 or a computer program loaded from storage unit 608 into random access memory (RAM) 603. RAM 603 may also store various programs and data required for the operation of device 600. The computing unit 601, ROM 602, and RAM 603 are interconnected via bus 604. Input / output (I / O) interface 605 is also connected to bus 604.

[0082] Multiple components in device 600 are connected to I / O interface 605, including: input unit 606, such as keyboard, mouse, etc.; output unit 607, such as various types of monitors, speakers, etc.; storage unit 608, such as disk, optical disk, etc.; and communication unit 609, such as network card, modem, wireless transceiver, etc. Communication unit 609 allows device 600 to exchange information / data with other devices through computer networks such as the Internet and / or various telecommunications networks.

[0083] The computing unit 601 can be a variety of general-purpose and / or special-purpose processing components with processing and computing capabilities. Some examples of the computing unit 601 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various special-purpose artificial intelligence (AI) computing chips, various computing units running machine learning model algorithms, a digital signal processor (DSP), and any suitable processor, controller, microcontroller, etc. The computing unit 601 performs the various methods and processes described above, such as methods for simulating the detection of high-definition map quality. For example, in some embodiments, the methods for simulating the detection of high-definition map quality can be implemented as computer software programs tangibly contained in a machine-readable medium, such as storage unit 608. In some embodiments, part or all of the computer program can be loaded and / or installed on device 600 via ROM 602 and / or communication unit 609. When the computer program is loaded into RAM 603 and executed by the computing unit 601, one or more steps of the methods for simulating the detection of high-definition map quality described above can be performed. Alternatively, in other embodiments, the computing unit 601 may be configured by any other suitable means (e.g., by means of firmware) to perform a method for simulating the detection of high-precision map quality.

[0084] Various embodiments of the systems and techniques described above herein can be implemented in digital electronic circuit systems, integrated circuit systems, field-programmable gate arrays (FPGAs), application-specific integrated circuits (ASICs), application-specific standard products (ASSPs), systems-on-a-chip (SoCs), payload-programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various embodiments may include implementations in one or more computer programs that can be executed and / or interpreted on a programmable system including at least one programmable processor, which may be a dedicated or general-purpose programmable processor, capable of receiving data and instructions from a storage system, at least one input device, and at least one output device, and transmitting data and instructions to the storage system, the at least one input device, and the at least one output device.

[0085] The program code used to implement the methods of this disclosure may be written in any combination of one or more programming languages. This program code may be provided to a processor or controller of a general-purpose computer, special-purpose computer, or other programmable data processing apparatus, such that when executed by the processor or controller, the program code causes the functions / operations specified in the flowcharts and / or block diagrams to be implemented. The program code may be executed entirely on a machine, partially on a machine, as a standalone software package partially on a machine and partially on a remote machine, or entirely on a remote machine or server.

[0086] In the context of this disclosure, a machine-readable medium can be a tangible medium that may contain or store a program for use by or in conjunction with an instruction execution system, apparatus, or device. A machine-readable medium can be a machine-readable signal medium or a machine-readable storage medium. A machine-readable medium can be, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, apparatus, or devices, or any suitable combination of the foregoing. More specific examples of machine-readable storage media include electrical connections based on one or more wires, portable computer disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fiber, portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination of the foregoing.

[0087] To provide interaction with a user, the systems and techniques described herein can be implemented on a computer having: a display device for displaying information to the user (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor); and a keyboard and pointing device (e.g., a mouse or trackball) through which the user provides input to the computer. Other types of devices can also be used to provide interaction with the user; for example, feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form (including sound input, voice input, or tactile input).

[0088] The systems and technologies described herein can be implemented in computing systems that include backend components (e.g., as a data server), or computing systems that include middleware components (e.g., an application server), or computing systems that include frontend components (e.g., a user computer with a graphical user interface or web browser through which a user can interact with embodiments of the systems and technologies described herein), or any combination of such backend, middleware, or frontend components. The components of the system can be interconnected via digital data communication of any form or medium (e.g., a communication network). Examples of communication networks include local area networks (LANs), wide area networks (WANs), and the Internet.

[0089] Computer systems can include clients and servers. Clients and servers are generally located far apart and typically interact via communication networks. Client-server relationships are created by computer programs running on the respective computers and having a client-server relationship with each other. Servers can be cloud servers, servers in distributed systems, or servers incorporating blockchain technology.

[0090] It should be understood that the various forms of processes shown above can be used to reorder, add, or delete steps. For example, the steps described in this disclosure can be executed in parallel, sequentially, or in different orders, as long as the desired result of the technical solution disclosed in this disclosure can be achieved, and this is not limited herein.

[0091] The specific embodiments described above do not constitute a limitation on the scope of protection of this disclosure. Those skilled in the art should understand that various modifications, combinations, sub-combinations, and substitutions can be made according to design requirements and other factors. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this disclosure should be included within the scope of protection of this disclosure.

Claims

1. A method for simulating and detecting the quality of high-precision maps, comprising: Determining the simulation type corresponding to the map under test includes: determining the test category corresponding to the map under test, and determining the simulation type based on the test category. The test category includes release testing and repair testing. The simulation type includes at least multi-module simulation, single-module simulation, and specific scenario simulation. The multi-module simulation is used to represent the simulation of at least two modules in the map under test. The single-module simulation is used to represent the simulation of one module in the map under test. The specific scenario simulation is used to represent the simulation of a repaired problem scenario in the map under test. Based on the simulation type, generate the simulation scene corresponding to the map to be tested; Control the driving of the simulated vehicle in the simulation scenario and collect abnormal driving information of the simulated vehicle; Based on the abnormal driving information, a quality inspection result for the map to be tested is generated; The step of controlling the driving of the simulated vehicle in the simulation scenario and collecting abnormal driving information of the simulated vehicle includes: Obtain historical driving information of real vehicles in the real scene corresponding to the simulation scene; Based on the historical driving information, vehicle control information corresponding to the simulated vehicle is generated; Based on the vehicle control information, the simulated vehicle is controlled to drive in the simulated scenario, and the driving information of the simulated vehicle is collected. Based on the driving information, the map information corresponding to the simulation scenario, and the pre-stored vehicle driving rules, abnormal driving information of the simulated vehicle is determined from the driving information.

2. The method according to claim 1, wherein, The step of generating a simulation scene corresponding to the map under test based on the simulation type includes: In response to determining that the simulation type is the multi-module simulation, the changed modules in the map to be tested are determined; Identify the associated modules that are related to the change module; Based on the change module and the association module, a simulation scene corresponding to the map to be tested is generated.

3. The method according to claim 1, wherein, The step of generating a simulation scene corresponding to the map under test based on the simulation type includes: In response to determining that the simulation type is the single-module simulation, the module to be tested in the map to be tested is determined; Based on the module to be tested, a simulation scene corresponding to the map to be tested is generated.

4. The method according to claim 1, wherein, The step of generating a simulation scene corresponding to the map under test based on the simulation type includes: In response to determining that the simulation type is the specific scenario simulation, the repaired map scenario corresponding to the map to be tested is determined; Based on the repaired map scene, a simulation scene corresponding to the map to be tested is generated.

5. The method according to any one of claims 1 to 4, further comprising: In response to determining that the quality inspection result is a pass, the map to be tested is published.

6. An apparatus for simulating and detecting the quality of high-precision maps, comprising: The type determination unit is configured to determine the simulation type corresponding to the map under test, including: determining the test category corresponding to the map under test, and determining the simulation type according to the test category, wherein the test category includes release testing and repair testing, and the simulation type includes at least multi-module simulation, single-module simulation and specific scenario simulation, wherein the multi-module simulation is used to characterize the simulation of at least two modules in the map under test, the single-module simulation is used to characterize the simulation of one module in the map under test, and the specific scenario simulation is used to characterize the simulation of a repaired problem scenario in the map under test; The scene generation unit is configured to generate a simulation scene corresponding to the map to be tested based on the simulation type. The simulation test unit is configured to control the driving of the simulated vehicle in the simulation scenario and collect abnormal driving information of the simulated vehicle. The result generation unit is configured to generate a quality detection result of the map under test based on the abnormal driving information. The simulation test unit is further configured as follows: Obtain historical driving information of real vehicles in the real scene corresponding to the simulation scene; Based on the historical driving information, vehicle control information corresponding to the simulated vehicle is generated; Based on the vehicle control information, the simulated vehicle is controlled to drive in the simulated scenario, and the driving information of the simulated vehicle is collected. Based on the driving information, the map information corresponding to the simulation scenario, and the pre-stored vehicle driving rules, abnormal driving information of the simulated vehicle is determined from the driving information.

7. The apparatus according to claim 6, wherein, The scene generation unit is further configured to: In response to determining that the simulation type is the multi-module simulation, the changed modules in the map to be tested are determined; Identify the associated modules that are related to the change module; Based on the change module and the association module, a simulation scene corresponding to the map to be tested is generated.

8. The apparatus according to claim 6, wherein, The scene generation unit is further configured to: In response to determining that the simulation type is the single-module simulation, the module to be tested in the map to be tested is determined; Based on the module to be tested, a simulation scene corresponding to the map to be tested is generated.

9. The apparatus according to claim 6, wherein, The scene generation unit is further configured to: In response to determining that the simulation type is the specific scenario simulation, the repaired map scenario corresponding to the map to be tested is determined; Based on the repaired map scene, a simulation scene corresponding to the map to be tested is generated.

10. The apparatus according to any one of claims 6 to 9, further comprising: The map publishing unit is configured to publish the map to be tested in response to determining that the quality inspection result is a quality inspection pass.

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

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

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

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